CN110987093B - Grain flow detection device and detection method - Google Patents

Grain flow detection device and detection method Download PDF

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CN110987093B
CN110987093B CN201911244058.XA CN201911244058A CN110987093B CN 110987093 B CN110987093 B CN 110987093B CN 201911244058 A CN201911244058 A CN 201911244058A CN 110987093 B CN110987093 B CN 110987093B
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sensor
grain
miniature
inclination angle
impact
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汪六三
王儒敬
刘洋
许桃胜
黄子良
刘源
黄河
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Hefei Institutes of Physical Science of CAS
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F1/00—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow
    • G01F1/05—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by using mechanical effects
    • G01F1/34—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by using mechanical effects by measuring pressure or differential pressure
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A01D41/127—Control or measuring arrangements specially adapted for combines
    • A01D41/1271—Control or measuring arrangements specially adapted for combines for measuring crop flow
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F1/00—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow
    • G01F1/05—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by using mechanical effects
    • G01F1/34—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by using mechanical effects by measuring pressure or differential pressure
    • G01F1/50—Correcting or compensating means

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  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Measuring Volume Flow (AREA)
  • Threshing Machine Elements (AREA)

Abstract

The invention discloses a grain flow detection device and a grain flow detection method, which belong to the technical field of grain flow detection, and comprise a net grain elevator, an impact plate, a rigid beam, a two-dimensional force sensor, a first miniature inclination angle sensor, a miniature acceleration sensor, a signal processing module, a shell and a connecting bracket; the grain cleaning elevator is used for lifting grains to a set height and then throwing the grains out, the impact plate is fixed on the rigid body beam and positioned on a grain throwing path, the shell is fixed on the connecting support, the two-dimensional force sensor is fixed on the outer part of the shell, the signal processing module is arranged in the shell, and the stress sheet is attached to the body of the two-dimensional force sensor; the connecting bracket is fixed at the top of the net grain elevator, and the first miniature inclination angle sensor and the miniature acceleration sensor are fixed on the connecting bracket; the outputs of the first micro angle sensor, the micro acceleration sensor and the stress sheet are all connected with the input interface of the signal processing module. The invention improves the accuracy of grain flow detection.

Description

Grain flow detection device and detection method
Technical Field
The invention relates to the technical field of grain flow detection, in particular to a grain flow detection device and a grain flow detection method.
Background
The precision agriculture is to adjust the input of crops according to the soil nutrient condition of the crop growth, mobilize the soil productivity according to the crop growth target, achieve the same income or higher income with the least or most saved input, improve the environment and efficiently utilize various agricultural resources. For the soil fertility of farmland, the crop yield can be inverted, so that a combine harvester is necessary to be provided with a yield measuring system.
The core component in the yield measuring system is a grain flow detection device. At present, the grain flow detection modes mainly comprise a photoelectric volume type, a radiation type and an impulse type. In comparison, the photoelectric probe is easy to be polluted, the radiation type probe is harmful to the human body, the impulse type probe is simple in structure and convenient to install, and the photoelectric probe is the most widely applied probe. But the impulse type detection device has large measurement error due to the influence of factors such as the vibration of the combine harvester, the flow change, the gradient of the field and the like.
The invention patent with Chinese patent publication No. CN101995284B provides an impulse type grain mass flow sensor calibration and test device, which measures impact force in a one-dimensional force mode, and corrects the measurement result by combining a vibration sensor and an inclination angle sensor, but the detection precision of grain mass flow is limited because the measurement is in one-dimensional direction and the inclination angle only considers one-dimensional correction. The invention patent with Chinese patent publication No. CN103125204A provides a grain quality measuring device and a grain quality measuring method of a combine harvester, which adopt a multi-dimensional force mode to measure impact force, but the calibration of the multi-dimensional force in the device is complex and is limited in practical application. In addition, the device does not consider the influence of vibration and inclination on measurement when the combine harvester works.
Disclosure of Invention
The invention aims to overcome the defects in the prior art so as to improve the flow measurement accuracy of the grains.
To achieve the above object, the present invention adopts a grain flow rate detecting device including: the device comprises a net grain elevator, an impact plate, a rigid beam, a two-dimensional force sensor, a first micro tilt angle sensor, a micro acceleration sensor, a signal processing module, a shell and a connecting bracket;
the grain cleaning elevator is used for lifting grains to a set height and then throwing the grains out, the impact plate is fixed on the rigid body beam and positioned on a grain throwing path, the shell is fixed on the connecting support, the two-dimensional force sensor is fixed on the outer part of the shell, and the signal processing module is arranged in the shell; the two-dimensional force sensor body is adhered with a stress sheet and used for measuring vertical impact force generated by grain impact and the self gravity of the grain in the vertical direction; the connecting bracket is fixed at the top of the net grain elevator, and the first miniature inclination angle sensor and the miniature acceleration sensor are fixed on the connecting bracket; the outputs of the first miniature inclination angle sensor, the miniature acceleration sensor and the stress sheet are all connected with the input interface of the signal processing module.
Furthermore, a second miniature inclination angle sensor is further fixed on the connecting support, and the first miniature inclination angle sensor and the second miniature inclination angle sensor are respectively used for measuring angle changes in the front-back direction and the left-right direction during operation of the combine harvester.
Further, the first miniature tilt sensor and the second miniature tilt sensor are both dynamic tilt sensors.
Furthermore, the two-dimensional force sensor is in an octagonal ring shape, and the stress sheets are respectively attached to the left vertical side and the right vertical side of the octagonal ring.
Further, the signal processing module comprises a full Wheatstone bridge circuit, a DSP chip, an input interface and an output interface, the output of the two-dimensional force sensor is connected with the input of the full Wheatstone bridge circuit, the output of the full Wheatstone bridge circuit is connected with the DSP chip, the outputs of the first miniature inclination angle sensor, the second miniature inclination angle sensor and the miniature acceleration sensor are connected with the input of the DSP chip through the input interface, and the output interface is used for outputting the corrected grain flow value.
Further, the impact plate is composed of an ultra-high molecular polymer plate and a steel plate.
In a second aspect, a combine harvester is used, comprising a grain flow detection device as described above.
In a third aspect, a method for detecting grain flow is provided, comprising the steps of:
lifting the grains to a set height by using a clean grain lifting conveyor, throwing the grains out to impact on the impact plate so as to deform the impact plate;
the force generated by the deformation of the impact plate is transmitted to the two-dimensional force sensor through the rigid body beam, and the vertical impact force generated by the impact of the measured grains and the gravity of the grains in the vertical direction are transmitted to the signal processing module by the two-dimensional force sensor to obtain a grain flow measurement result;
the signal processing module corrects the grain flow measurement result by using the angle signal of the combine harvester operation measured by the first miniature inclination angle sensor and the acceleration signal of the combine harvester operation measured by the miniature acceleration sensor to obtain the corrected grain flow value.
Further, still include:
the signal processing module corrects the grain flow measurement result by utilizing angle changes of the first miniature inclination angle sensor and the second miniature inclination angle sensor in the front-back direction and the left-right direction during the operation of the combine harvester and acceleration signals of the combine harvester measured by the miniature acceleration sensor to obtain the corrected grain flow value.
Compared with the prior art, the invention has the following technical effects: according to the invention, the impact force generated by the deformation of the impact plate is measured by adopting the two-dimensional force sensor, so that the impact force is more accurately measured, and the grain flow value calculated according to the impact force is more accurate. In addition, the acceleration that vibration produced during the operation of the combine harvester and two-dimensional angle information during the operation are gathered to utilize acceleration and angle to carry out vibration, angle correction to cereal flow value in this scheme, further improved cereal flow measurement's accuracy.
Drawings
The following detailed description of embodiments of the invention refers to the accompanying drawings in which:
FIG. 1 is a schematic view of a grain flow sensing device;
FIG. 2 is a schematic diagram of a two-dimensional force sensor and its external component structure;
FIG. 3 is a schematic diagram of a two-dimensional force sensor configuration;
FIG. 4 is a schematic flow diagram of a method of detecting grain flow.
In the figure:
10-a clean grain elevator; 20-an impingement plate; 30-rigid beam; 40-a two-dimensional force sensor; 50-a first miniature tilt sensor; 60-a second miniature tilt sensor; 70-a miniature acceleration sensor; 80-a signal processing module; 90-a housing; 100-connecting the stent; 21-ultra high molecular polymer plate; 22-45 steel plate; 81-full Wheatstone bridge circuit; 82-DSP chip; 83-input interface; 84-an output interface; 81-1-a first full Wheatstone bridge circuit; 81-2-second full Wheatstone bridge circuit.
Detailed Description
To further illustrate the features of the present invention, refer to the following detailed description of the invention and the accompanying drawings. The drawings are for reference and illustration purposes only and are not intended to limit the scope of the present disclosure.
As shown in fig. 1 to 3, the present embodiment discloses a grain flow rate detection device, including: the device comprises a net grain elevator 10, an impact plate 20, a rigid body beam 30, a two-dimensional force sensor 40, a first micro tilt angle sensor 50, a micro acceleration sensor 70, a signal processing module 80, a shell 90 and a connecting bracket 100;
the net grain elevator 10 is used for lifting grains to a set height and then throwing the grains, the impact plate 20 is fixed on the rigid body beam 30 and is positioned on a grain throwing path, the shell 90 is fixed on the connecting support 100, the two-dimensional force sensor 40 is fixed outside the shell 90, the signal processing module 80 is arranged inside the shell 90, and the stress sheet is attached to the body of the two-dimensional force sensor 40 and used for measuring vertical impact force generated by grain impact and the gravity of the grains in the vertical direction; the connecting bracket 100 is fixed at the top of the net grain elevator 10, and the first miniature inclination angle sensor 50 and the miniature acceleration sensor 70 are fixed at the connecting bracket 100; the outputs of the first micro tilt sensor 50, the micro acceleration sensor 70 and the stress sheet are all connected to the input interface of the signal processing module 80.
It should be noted that the first miniature tilt sensor 50 here measures the angle change in the fore-and-aft direction during operation of the combine harvester. The rigid body beam 30 and the two-dimensional force sensor 40 are fixed by screws.
Specifically, the impact plate 20 is composed of an ultra-high molecular polymer plate 21 and a 45-gauge steel plate 22. The impact plate 20 is 11.5cm long, 11.1cm wide and 5cm thick. Rigid body beam 30 is 45 gauge steel and has the same width as impact plate 20.
Particularly, two-dimensional force sensor 40 is the octagon annular, respectively pastes inside and outside the vertical limit about the octagon annular stress piece for measure the octagon annular deformation. The net grain elevator lifts the grains to a certain height, and the grains are thrown out at a certain speed and then hit the impact plate 20, so that the impact plate 20 deforms, the two-dimensional force sensor 40 measures the impact force at the moment and transmits the impact force to the signal processing module 80, and the grain flow value is calculated by the signal processing module 80.
Specifically, the first micro tilt sensor 50 is used for measuring the angle change of the combine harvester during operation, the micro acceleration sensor 70 is used for measuring the acceleration generated by vibration of the combine harvester during operation, and the signal processing module 80 is used for acquiring an angle signal and an acceleration signal to correct the calculated grain flow value.
Further, in this embodiment, a second micro tilt sensor 60 is further fixed on the connecting bracket, and the first micro tilt sensor 50 and the second micro tilt sensor 60 are respectively used for measuring angle changes in the front-back direction and the left-right direction during operation of the combine harvester.
Further, the first and second miniature tilt sensors 50, 60 in this embodiment are both dynamic tilt sensors.
Further, as shown in fig. 2, the signal processing module 80 includes a full wheatstone bridge circuit 81, a DSP chip 82, an input interface 83 and an output interface 84, wherein an output of the two-dimensional force sensor 40 is connected to an input of the full wheatstone bridge circuit 81, an output of the full wheatstone bridge circuit 81 is connected to the DSP chip 82, outputs of the first micro tilt sensor 50, the second micro tilt sensor 60 and the micro acceleration sensor 70 are connected to an input of the DSP chip 82 through the input interface 83, and the output interface 84 is used for outputting a corrected grain flow value.
The full wheatstone bridge circuit 81 in this embodiment includes a first full wheatstone bridge circuit 81-1 and a second full wheatstone bridge circuit 81-2 to measure forces in two dimensions, respectively.
Further, this embodiment still discloses a combine, and above-mentioned cereal flow detection device is installed to this combine for detect the flow of the cereal of reaping.
As shown in fig. 4, the present embodiment further discloses a grain flow rate detection method, which includes the following steps S1-S3:
s1, lifting the grains to a set height by using a grain cleaning elevator, throwing the grains out to impact on the impact plate to deform the impact plate;
s2, transmitting the force generated by the deformation of the impact plate to the two-dimensional force sensor through the rigid beam, and sending the force to the signal processing module by the two-dimensional force sensor to obtain a grain flow measurement result;
and S3, the signal processing module corrects the grain flow measurement result by using the angle signal of the combine harvester operation measured by the first miniature inclination angle sensor and the acceleration signal of the combine harvester operation measured by the miniature acceleration sensor to obtain the corrected grain flow value.
Further, when two miniature inclination sensors are arranged and used for measuring angle changes in the front-back direction and the left-right direction during operation of the combine harvester respectively, the signal processing module corrects the grain flow measurement result by using the angle changes in the front-back direction and the left-right direction during operation of the combine harvester measured by the first miniature inclination sensor and the second miniature inclination sensor and an acceleration signal of operation of the combine harvester measured by the miniature acceleration sensor to obtain a corrected grain flow value.
It should be noted that in the present embodiment, the angle changes in the front-back direction and the left-right direction are measured by using two miniature tilt sensors, so as to perform angle correction; in addition, a miniature acceleration sensor is used for measuring vibration and correcting the influence of the vibration on the grain flow. The angle and the vibration in the two-dimensional direction are corrected, and the flow measurement accuracy of the grains is improved.
In step S2, the process of processing the signal sent by the two-dimensional force sensor by the signal processing module is specifically as follows:
2 full Wheatstone bridge circuits were used to measure forces in 2 directions respectively, where R1～R4For measuring Fx；R5～R8For measuring Fy：
Fx＝α1(R1-R2+R3-R4)
Fy＝α2(R5-R6+R7-R8)
Wherein, FxForce in the horizontal direction, FyThe force is vertical, namely the impact force of the grains; alpha is alpha1、α2Are respectively Fx、FyThe output coefficient of (a); alpha is alpha1、α2Calibration can be obtained in a static situation, given a known force.
According to impulse theorem, there are:
Fy(t)Δ(t)＝Δm(t)Δν
Figure GDA0003033763570000061
in the formula: and the delta m is the mass of the grains in the impact action time, the delta t is the impact action time, the delta ν is the speed variation of the grains before and after impact, and the q is the mass flow of the grains.
Average value F of impact force in a certain time intervalaCan be expressed as:
Figure GDA0003033763570000071
wherein Q is a certain time interval (t)1-t2) Average mass flow of inner grain.
It should be noted that the time interval is important, and if the time interval is too short, it is easily interfered by noise, and if it is too long, the spatial resolution of the yield distribution is reduced. The time interval is therefore generally chosen to be an integer multiple of the period of the impact.
Further, the signal processing module corrects the grain flow measurement result by using the angle signal of the combine harvester operation and the acceleration signal of the combine harvester operation, specifically as follows:
considering the vibrations and inclinations present during the operation of the combine harvester, these two factors need to be corrected, FaCan be expressed as:
Figure GDA0003033763570000072
wherein, a, theta1、θ2Acceleration, first inclination angle, second inclination angle, k1、k2、k3The correction coefficients of the acceleration, the first inclination angle and the second inclination angle are respectively. The correction coefficients of the acceleration, the first inclination angle and the second inclination angle can be obtained by a correction experiment, Fy(t) is the vertical force acting on the striking plate at time t.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (7)

1. A grain flow rate detecting device, comprising: the device comprises a net grain elevator, an impact plate, a rigid beam, a two-dimensional force sensor, a first micro tilt angle sensor, a micro acceleration sensor, a signal processing module, a shell and a connecting bracket;
the grain cleaning elevator is used for lifting grains to a set height and then throwing the grains out, the impact plate is fixed on the rigid body beam and positioned on a grain throwing path, the shell is fixed on the connecting support, the two-dimensional force sensor is fixed on the outer part of the shell, and the signal processing module is arranged in the shell; the two-dimensional force sensor body is adhered with a stress sheet and used for measuring vertical impact force generated by grain impact and the self gravity of the grain in the vertical direction; the connecting bracket is fixed at the top of the net grain elevator, and the first miniature inclination angle sensor and the miniature acceleration sensor are fixed on the connecting bracket; the outputs of the first miniature inclination angle sensor, the miniature acceleration sensor and the stress sheet are all connected with an input interface of the signal processing module;
the connecting bracket is also fixedly provided with a second miniature inclination angle sensor, and the first miniature inclination angle sensor and the second miniature inclination angle sensor are respectively used for measuring the angle changes in the front-back direction and the left-right direction during the operation of the combine harvester;
wherein, the signal processing module utilizes the angle signal around the combine operation that first miniature inclination sensor measured, the angle signal about the combine operation that the miniature inclination sensor measured and the acceleration signal of the combine operation that miniature acceleration sensor measured to rectify cereal flow measurement result, obtains the cereal flow value after the correction, specifically is:
Figure FDA0003033763560000011
wherein, a, theta1、θ2Acceleration, first inclination angle, second inclination angle, k1、k2、k3Acceleration, first inclination angle and second inclination angle correction coefficient respectively, and Q is a certain time interval (t)1-t2) Average flow of inner grain, FaIs the average value of the impact force over a certain time interval, Fy(t) is the vertical force acting on the striking plate at time t.
2. The grain flow sensing device of claim 1, wherein the first and second miniature tilt sensors are dynamic tilt sensors.
3. The grain flow detecting device according to claim 1, wherein the two-dimensional force sensor is an octagonal ring, and the stress pieces are respectively attached to the inside and the outside of the left and the right vertical edges of the octagonal ring.
4. The grain flow rate detecting device according to claim 1, wherein the signal processing module comprises a full wheatstone bridge circuit, a DSP chip, an input and an output interface, wherein an output of the two-dimensional force sensor is connected to an input of the full wheatstone bridge circuit, an output of the full wheatstone bridge circuit is connected to the DSP chip, outputs of the first micro tilt sensor, the second micro tilt sensor and the micro acceleration sensor are connected to an input of the DSP chip via the input interface, and the output interface is used for outputting the corrected grain flow rate value.
5. The grain flow rate detecting device according to claim 1, wherein the impact plate is composed of an ultra-high molecular polymer plate and a steel plate.
6. A combine harvester comprising a grain flow sensing device according to any one of claims 1 to 5.
7. A method of detecting grain flow, comprising:
lifting the grains to a set height by using a clean grain lifting conveyor, throwing the grains out to impact on the impact plate so as to deform the impact plate;
the force generated by the deformation of the impact plate is transmitted to the two-dimensional force sensor through the rigid body beam, and the vertical impact force generated by the impact of the measured grains and the gravity of the grains in the vertical direction are transmitted to the signal processing module by the two-dimensional force sensor to obtain a grain flow measurement result;
the signal processing module utilizes the front and back angle signals of the combine harvester operation measured by the first miniature inclination angle sensor, the left and right angle signals of the combine harvester operation measured by the second miniature inclination angle sensor and the acceleration signal of the combine harvester operation measured by the miniature acceleration sensor to correct the grain flow measurement result to obtain the corrected grain flow value, and the signal processing module specifically comprises the following steps:
Figure FDA0003033763560000021
wherein, a, theta1、θ2Acceleration, first inclination angle, second inclination angle, k1、k2、k3Acceleration, first inclination angle and second inclination angle correction coefficient respectively, and Q is a certain time interval (t)1-t2) Average flow of inner grain, FaIs the average value of the impact force over a certain time interval, Fy(t) is the vertical force acting on the striking plate at time t.
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CN103404300A (en) * 2013-08-08 2013-11-27 江苏大学 Balance-beam impact combine-harvester grain flow measuring device and grain flow measuring method
CN109506731A (en) * 2017-09-15 2019-03-22 迪尔公司 Monitoring device for monitoring crop yield

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