CN115031821B - Photoelectric production system and method based on inclination angle correction of vehicle body and harvester - Google Patents
Photoelectric production system and method based on inclination angle correction of vehicle body and harvester Download PDFInfo
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- CN115031821B CN115031821B CN202210588113.2A CN202210588113A CN115031821B CN 115031821 B CN115031821 B CN 115031821B CN 202210588113 A CN202210588113 A CN 202210588113A CN 115031821 B CN115031821 B CN 115031821B
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- 238000012937 correction Methods 0.000 title claims abstract description 27
- 238000004519 manufacturing process Methods 0.000 title claims description 14
- 238000000034 method Methods 0.000 title abstract description 8
- 238000001514 detection method Methods 0.000 claims abstract description 64
- 238000005259 measurement Methods 0.000 claims abstract description 12
- 238000007790 scraping Methods 0.000 claims description 8
- 239000011521 glass Substances 0.000 claims description 7
- 239000000523 sample Substances 0.000 claims description 6
- 238000000691 measurement method Methods 0.000 claims description 3
- 230000005693 optoelectronics Effects 0.000 claims 1
- 238000010248 power generation Methods 0.000 claims 1
- 125000006850 spacer group Chemical group 0.000 claims 1
- 241001124569 Lycaenidae Species 0.000 abstract description 5
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 235000013339 cereals Nutrition 0.000 description 75
- 238000003306 harvesting Methods 0.000 description 10
- 230000009286 beneficial effect Effects 0.000 description 7
- 238000009434 installation Methods 0.000 description 5
- 238000009825 accumulation Methods 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001012 protector Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 241000894007 species Species 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/52—Weighing apparatus combined with other objects, e.g. furniture
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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
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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
- A01D41/1277—Control or measuring arrangements specially adapted for combines for measuring grain quality
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The invention relates to the technical field of harvesters, and discloses a photoelectric measurement system and method based on inclination correction of a vehicle body and the harvesters, wherein the system comprises: the harvester comprises a state detection assembly for detecting whether the harvester is in an operating state, a photoelectric sensor arranged on the elevator, a vehicle body inclination angle sensor for acquiring the vehicle body inclination angle and a controller; the controller acquires photoelectric PWM signals acquired by the photoelectric sensor and the vehicle body inclination acquired by the vehicle body inclination sensor in real time when determining that the harvester is in an operation state according to the detection data acquired by the state detection component; and determining the weight of the grain in real time according to the inclination angle of the car body, the geometric parameters of the elevator and the photoelectric PWM signals. According to the invention, the real-time grain weight is determined according to the inclination angle of the car body, the geometric parameters of the elevator and the photoelectric PWM signals, so that the real-time correction of the grain weight based on the inclination angle of the car body is realized, and the yield monitoring precision can be effectively improved.
Description
Technical Field
The invention relates to the technical field of harvesters, in particular to a photoelectric measurement system and method based on inclination correction of a vehicle body and a harvester.
Background
China is a large agricultural country, grain harvest accounts for a large amount of grain yield in China, along with the continuous enhancement of the large-scale grain planting trend, the intelligent demand of agricultural machinery is continuously improved, and the development of photoelectric yield detection technology becomes a bottleneck problem of intelligent development of grain combine harvesters. The yield detection function determines the operation quality of the grain combine harvester, and the operation index determines the adjustment of various operation parameters of the harvester. The existing photoelectric detection technology mainly detects the change of the grain thickness of the scraper blade of the elevator to realize the detection of the grain yield. However, in a complex farmland environment, the vehicle body is inclined due to uneven ground, so that the grain volume on the scraper of the elevator is not predicted accurately, and the yield detection accuracy is low.
Disclosure of Invention
The invention aims to solve the technical problems of the prior art and provides a photoelectric measurement production system and method based on inclination angle correction of a vehicle body and a harvester.
In order to solve the technical problems, the invention provides a photoelectric production measuring system based on inclination correction of a vehicle body, comprising: the harvester comprises a state detection component for detecting whether the harvester is in an operating state, photoelectric sensors arranged on two sides of a lift conveyer shell, a car body inclination angle sensor for acquiring a car body inclination angle and a controller; the controller is used for acquiring photoelectric PWM signals acquired by the photoelectric sensor and the vehicle body inclination acquired by the vehicle body inclination sensor in real time when the harvester is in an operation state according to the detection data acquired by the state detection component; and determining the weight of the real-time grain according to the inclination angle of the car body, the geometric parameters of the elevator and the photoelectric PWM signal.
The beneficial effects of the invention are as follows: the vehicle body inclination angle is acquired through the vehicle body inclination angle sensor, and the real-time grain weight is determined according to the vehicle body inclination angle, the geometric parameters of the elevator and the photoelectric PWM signals, so that the grain volume prediction accuracy on the scraper of the elevator is improved, and the yield detection accuracy is further improved.
On the basis of the technical scheme, the invention can be improved as follows.
Further, the vehicle body inclination angle comprises a front inclination angle, a back inclination angle and a left inclination angle and right inclination angles; the controller is used for: determining the detection volume corresponding to the photoelectric PWM signal according to the front-back inclination angle, the left-right inclination angle, the geometric parameters of the elevator and the duty ratio detected by the photoelectric sensor in one period; determining the grain weight of a single scraper of the elevator according to the grain volume weight and the detection volume corresponding to the photoelectric PWM signals; and determining the real-time grain weight according to the grain weight of a single scraper blade of the elevator and the number of the scraper blades.
The beneficial effect of adopting above-mentioned further scheme is, three influence factors of duty cycle, front-back inclination and left-right inclination of cereal have been considered, confirm the detection volume that photoelectric PWM signal corresponds jointly according to above-mentioned influence factor and lift conveyer's geometric parameters, make the rate of detection of volume more accurate, and then can improve the detection precision of grain weight on the single scraper blade of lift conveyer to improve the detection precision of real-time grain weight.
Further, the controller is used for determining the detection volume corresponding to the photoelectric PWM signal according to the front-back inclination angle, the left-right inclination angle, the geometric parameters of the elevator and the duty ratio detected by the photoelectric sensor in one period, and the formula is as follows:
Where a is the length of the elevator flight, b is the width of the elevator flight, d is the length of the elevator chain, e is the width of the elevator chain, and l is the maximum height of the grain pile; PWM is the duty ratio detected by a photoelectric sensor in a period, beta is the front-back inclination angle, and when the harvester descends, the beta angle is positive; gamma is the left-right inclination angle.
The beneficial effect of adopting above-mentioned further scheme is, three influence factors of duty cycle, front-back inclination and left-right inclination of cereal have been considered, the detection volume that photoelectric PWM signal corresponds is jointly confirmed according to above-mentioned influence factor and lift conveyer's geometric parameters, makes the rate of detection of volume more accurate.
Further, the controller determines the grain weight of a single scraper of the elevator according to the grain volume weight and the detection volume corresponding to the photoelectric PWM signal, and the formula is as follows:
u＝R0*Q*V
wherein u is the grain weight of a single scraper and is in kg; r 0 is a model coefficient, which is a constant related to the grain species; q is the volume weight of different grains, and the unit is kg/L; v is the detection volume corresponding to the photoelectric PWM signal, and the unit is L.
The beneficial effect of adopting above-mentioned further scheme is, three influence factors of duty cycle, front-back inclination and left-right inclination of cereal have been considered, the detection volume that photoelectric PWM signal corresponds is confirmed jointly according to above-mentioned influence factor and lift conveyer's geometric parameters, makes volumetric detection rate more accurate, and then can improve the detection precision of grain weight on the single scraper blade of lift conveyer.
Further, the controller determines the real-time grain weight according to the grain weight and the number of scrapers of the single scraper of the elevator, and the formula is as follows:
Wherein M is the weight of the real-time grains, and the unit is kg; k 0 is correction coefficient = actual weight/measured weight; i is the ith scraping plate passing through the photoelectric sensor, and P is the total number of scraping plates passing through the photoelectric sensor; u is the grain weight of a single scraper in kg.
The beneficial effect of adopting above-mentioned further scheme is, three influence factors of duty cycle, front-back inclination and left-right inclination of cereal have been considered, confirm the detection volume that photoelectric PWM signal corresponds jointly according to above-mentioned influence factor and lift conveyer's geometric parameters, make the rate of detection of volume more accurate, and then can improve the detection precision of grain weight on the single scraper blade of lift conveyer to improve the detection precision of real-time grain weight.
Further, the technical scheme further comprises a transmitting end mounting base and a receiving end mounting base of the photoelectric sensor, wherein the transmitting end mounting base and the receiving end mounting base are respectively fixed on two side walls of the elevator shell and correspond to each other in position; the photoelectric sensor comprises a transmitting end mounting base and a receiving end mounting base, wherein U-shaped holes are formed in the transmitting end mounting base and the receiving end mounting base, opposite holes are formed in the side wall positions of the elevator shell corresponding to the U-shaped holes, the transmitting end and the receiving end of the photoelectric sensor penetrate through the U-shaped holes and are fixed on the corresponding mounting bases, and probes of the transmitting end and the receiving end are aligned with the opposite holes.
The beneficial effect of adopting above-mentioned further scheme is, installs photoelectric sensor on the lifting casing both sides wall through the installation base, has effectively solved the inconvenient problem of photoelectric sensor installation, and sets up the U-shaped hole on the installation base, can adjust the position of sensor as required.
Furthermore, the transmitting end and the receiving end of the photoelectric sensor are both fixed with a protection device.
Further, the protection device comprises a base, a lens gasket and a glass lens which are sequentially connected and fixed.
Adopt the beneficial effect of above-mentioned further scheme, all install protector on transmitting terminal and the receiving terminal probe, protector is including connecting gradually fixed base, lens gasket and glass lens, can effectively protect photoelectric sensor head to avoid the friction of grain seed grain, and glass lens's existence still does not influence photoelectric signal's transmission and receipt, has effectively solved the problem that protection is difficult and output detection precision is low, has improved output detection's quality and efficiency.
In order to solve the technical problems, the invention provides a photoelectric measurement method based on vehicle body inclination correction, which is realized by using the photoelectric measurement system based on vehicle body inclination correction provided by the technical scheme, and comprises the following steps: when the harvester is in an operation state according to the detection data acquired by the state detection component, acquiring photoelectric PWM signals acquired by the photoelectric sensor and the vehicle body inclination acquired by the vehicle body inclination sensor in real time; and determining the weight of the real-time grain according to the inclination angle of the car body, the geometric parameters of the elevator and the photoelectric PWM signal.
In order to solve the technical problems, the invention provides a harvester, which comprises the photoelectric measurement system based on the inclination correction of the vehicle body.
Additional aspects of the invention and advantages thereof will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a diagram of a photoelectric measurement system based on inclination correction of a vehicle body according to an embodiment of the present invention;
FIG. 2 is a schematic view of a mounting structure of a photoelectric sensor on two sidewalls of an elevator according to an embodiment of the present invention;
FIG. 3 is a block diagram of a transmitting end mounting base and a receiving end mounting base according to an embodiment of the present invention;
FIG. 4 is an exploded view of a guard according to an embodiment of the present invention;
FIG. 5 is a side view of a protective device according to an embodiment of the present invention;
FIG. 6 is a cross-sectional view of a mounting structure of a photosensor on both side walls of an elevator according to an embodiment of the present invention;
Fig. 7 is a timing chart of a photoelectric PWM signal collected by a photoelectric sensor according to an embodiment of the present invention;
FIG. 8 is a schematic view of grain accumulation in an elevator with different body tilt angles according to an embodiment of the present invention;
Fig. 9 is a schematic view of a grain accumulation model in an elevator according to an embodiment of the invention.
Detailed Description
Other advantages and effects of the present disclosure will become readily apparent to those skilled in the art from the following disclosure, which describes embodiments of the present disclosure by way of specific examples. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present disclosure. The disclosure may be embodied or practiced in other different specific embodiments, and details within the subject specification may be modified or changed from various points of view and applications without departing from the spirit of the disclosure. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure are intended to be within the scope of this disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the following claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present disclosure, one skilled in the art will appreciate that one aspect described herein may be implemented independently of any other aspect, and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. In addition, such apparatus may be implemented and/or such methods practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
Fig. 1 is a block diagram of a photoelectric measurement system based on inclination correction of a vehicle body according to an embodiment of the present invention. As shown in fig. 1, the system includes: the harvester comprises a state detection component for detecting whether the harvester is in an operating state, photoelectric sensors arranged on two sides of the elevator shell, a car body inclination angle sensor for acquiring the car body inclination angle and a controller. The controller is used for acquiring photoelectric PWM signals acquired by the photoelectric sensor and the vehicle body inclination acquired by the vehicle body inclination sensor in real time when the harvester is in an operation state according to the detection data acquired by the state detection component; and determining the weight of the real-time grain according to the inclination angle of the car body, the geometric parameters of the elevator and the photoelectric PWM signal.
According to the embodiment of the invention, the vehicle inclination angle is acquired through the vehicle inclination angle sensor, and the real-time grain weight is determined according to the vehicle inclination angle, the geometric parameters of the elevator and the photoelectric PWM signals, so that the grain volume prediction accuracy on the scraper of the elevator is improved, and the yield detection accuracy is further improved.
In the embodiment of the invention, the state detection assembly can comprise a header height sensor, a vehicle speed sensor, a roller rotating speed sensor, a lifting running speed sensor and the like. The header height sensor is fixed near the header bridge and used for collecting the position information of the header. The vehicle speed sensor is fixed at the front wheel half shaft and is used for collecting the running speed of the vehicle. The roller rotating speed sensor is fixed at the axial-flow roller and is used for collecting the working rotating speed of the roller; the lifting operation speed sensor is fixed at the tail end of the output shaft of the elevator and is used for collecting the working rotation speed of the elevator.
The controller determines whether the combine harvester starts harvesting according to the rotation speeds of the wheels, the elevator, the axial flow roller and the re-threshing device and the ground clearance of the combine harvester, and performs yield detection after determining that the combine harvester starts harvesting. If the drum rotation speed information represents whether the drum harvesting operation starts, when the drum rotation speed is greater than a set value, the first condition of the harvesting operation is satisfied; the harvesting area can be calculated by combining the vehicle speed with the harvesting amplitude input by the instrument, and the vehicle speed is also used as a second condition for whether harvesting operation starts or not.
The vehicle body inclination sensor is fixed below the cab and used for collecting the walking posture of the vehicle to obtain the vehicle body inclination angle. Photoelectric sensors (photoelectric volume sensors) are arranged on two sides of the elevator, when the elevator scraper conveys grains to pass through the photoelectric detectors, the grains can intermittently block the light path to generate pulse signals, and the thickness of the grain layer on the elevator scraper can be calculated according to the width (blocking time length) of the pulse signals, so that grain flow is obtained. Thereby accurately detecting the grain yield.
In the prior art, the photoelectric sensor is fixed at the top of the elevator, and the problems of inconvenient installation, difficult protection, low yield detection precision and the like exist. In the embodiment of the invention, as shown in fig. 2, the photoelectric sensor is arranged, the scraper 4 is connected by the elevator through the chain 3 at fixed intervals, the photoelectric sensor is divided into the transmitting end 7 and the receiving end 5, and the grain weight is converted by detecting the grain pile thickness on the scraper 4 during harvesting. The emitting end and the receiving end of the photoelectric sensor are arranged on two sides of the elevator shell through the mounting base 8, and the positions of the emitting end and the receiving end correspond to each other. As shown in fig. 3, the side wall positions of the elevator casing 11 corresponding to the U-shaped holes 9,U and 9 are respectively provided with a transmitting end mounting base and a receiving end mounting base, the transmitting end and the receiving end of the photoelectric sensor pass through the U-shaped holes 9 and are fixed on the corresponding mounting base 8 (the transmitting end and the receiving end can be fixed through locking gaskets and locking nuts, such as the inner side and the outer side of the mounting base are respectively provided with a locking gasket and a locking nut), and the probes of the transmitting end and the receiving end are aligned with the corresponding perforating holes 10.
In the embodiment of the invention, the photoelectric sensor is arranged on the two side walls of the lifting shell through the mounting base, so that the problem of inconvenient installation of the photoelectric volume sensor is effectively solved, and the U-shaped holes are arranged on the mounting base, so that the position of the sensor can be adjusted according to the requirement.
The transmitting end and the receiving end of the photoelectric sensor are both fixed with a protecting device 6. As shown in fig. 4 and 5, the guard 6 includes a base 6-1, a lens pad 6-3, and a glass lens 6-2, which are fixedly connected in sequence. The glass lens 6-2 is made of K9 glass, is not easy to wear, can improve focusing performance, and can also protect a sensor probe. Therefore, on one hand, the protection device can protect the head of the photoelectric sensor from being rubbed by grains, on the other hand, the existence of the lens does not influence the emission and the reception of photoelectric signals, the problems of difficult protection and low yield detection precision are effectively solved, and the quality and the efficiency of yield detection are improved.
The controller collects signals of the header height sensor, the lifting running speed sensor, the vehicle body inclination angle sensor, the vehicle speed sensor and the photoelectric sensor, and the internal control algorithm comprehensively judges the signals to realize yield detection and display yield results on the instrument.
In order to simplify the program control logic and the sensing detection system, the cutting amplitude and the yield detection precision can be set through an instrument, wherein the cutting amplitude can be combined with the vehicle speed information to calculate the cutting area, and the vehicle body inclination angle can be combined with the photoelectric PWM signal to obtain the weight of a single scraper crop, so that the total weight is calculated.
The embodiment of the invention is based on the existing electric appliance module on the grain harvester, and is provided with a controller, a photoelectric sensor, a vehicle body inclination angle sensor, a header height sensor and a T-BOX, and combines an original vehicle speed sensor, a roller rotating speed sensor, a lifting running speed sensor and a combination instrument to form a yield detection system, wherein the selected electric appliances are electric appliance products with low cost and reliable running, and the production cost is controllable. After the photoelectric yield measuring system based on the inclination angle correction of the vehicle body provided by the embodiment of the invention is applied to a grain harvester, the principle of yield detection has important reference significance for the yield detection of various harvesters.
In the embodiment of the invention, the controller CAN be connected with the T_BOX through the CAN bus, the T_BOX is connected with the GPS receiver and the GPRS module, the GPRS module is connected with the GPRS network, and the controller is connected with the fine management system for remote monitoring and receiving goods operation through the GPRS network.
As shown in fig. 6, the photosensor sensor is composed of a transmitting end and a receiving end. As shown in fig. 7, when an object passes through and blocks near infrared light of the transmitting end, the output voltage signal of the PNP type sensor is changed from low level to high level (NPN type is opposite), and when the object is far away, the voltage signal of the sensor is restored to low level, and the time t0, t1, t2 … tn of the object blocking can be accurately obtained by presenting two opposite voltage signals in the process of having and not having the object blocking, and n is a positive integer. By calculating the heights of the grains within the time interval t0, t1, t2 … tn with grain occlusion and obtaining a fixed area of the scraper, the instantaneous yield of grains on the scraper can be obtained by using the established grain accumulation model. And then the grain flow is obtained, so that the grain yield is accurately detected.
As shown in fig. 8, the body posture is changed frequently during harvesting, and the body posture affects the monitoring result of the yield. The face above the grain shape in the elevator is assumed to be a plane, which aids in the creation of the geometric model. Because the quantity and the shape of the grains in the grain tank can influence the calculation of the duty ratio of each unit in the elevator, and the forward-backward inclination and the left-right inclination of the harvester body influence the specific geometric shape of the grains in each unit, the embodiment of the invention considers three influencing factors of the duty ratio, the forward-backward inclination and the left-right inclination of the grains. The grain model in the elevator is established as shown in fig. 9.
In the model shown in fig. 9, the geometry of d, e is the volume occupied by the elevator chain, and the photosensor is mounted at the midpoint of the b-edge. The controller is used for determining the detection volume corresponding to the photoelectric PWM signal according to the front-back inclination angle, the left-right inclination angle, the geometric parameters of the elevator and the duty ratio detected by the photoelectric sensor in one period, and the formula is as follows:
Wherein a is the length of the elevator flight, b is the width of the elevator flight, d is the length of the elevator chain, e is the width of the elevator chain, l is the maximum height of the grain pile; the unit cm, PWM is the duty ratio detected by a photoelectric sensor in one period, beta is the front-back inclination angle, and when the harvester descends, the beta angle is positive; gamma is the left-right inclination angle.
In practical engineering, the data of duty ratio, front-back inclination angle, left-right inclination angle and the like measured by a sensor are often obtained, and the volume of grains is calculated according to the three data. However, a change in these parameters by one value may cause a large change in volume. I.e. the degree of sensitivity of the volumetric calculation to these three parameters is different. According to the embodiment of the invention, the front-back left-right inclination angle of the vehicle body is obtained through the vehicle body posture sensor, so that the volume change on the scraping plate is corrected, and the influence of the vehicle body posture on the grain volume of the scraping plate is overcome.
According to the crop volume weight and the detection volume corresponding to the photoelectric PWM signal, determining the grain weight of a single scraper of the elevator, wherein the formula is as follows:
u＝R0*Q*V
Wherein u is the grain weight of a single scraper and kg; r 0 is a model coefficient, and is related to grain types; q is the volume weight of different crops, kg/L; v is the detection volume corresponding to the photoelectric PWM signal, and the unit is L.
And determining the real-time grain weight according to the grain weight and the number of the scrapers of the single scraper of the elevator, wherein the formula is as follows:
wherein M is the weight of the real-time grain and kg; k 0 is calibration coefficient = actual weight/measured weight; i is the ith scraping plate passing through the photoelectric sensor, and P is the total number of scraping plates passing through the photoelectric sensor; u is the grain weight of a single scraper, kg.
The embodiment of the invention also provides a photoelectric measurement and production method based on the inclination angle correction of the vehicle body, which is realized by using the photoelectric measurement and production system based on the inclination angle correction of the vehicle body, and comprises the following steps: when the harvester is in an operation state according to the detection data acquired by the state detection component, acquiring photoelectric PWM signals acquired by the photoelectric sensor and the vehicle body inclination acquired by the vehicle body inclination sensor in real time; and determining the weight of the real-time grain according to the inclination angle of the car body, the geometric parameters of the elevator and the photoelectric PWM signal.
The embodiment of the invention also provides a harvester, which comprises the photoelectric yield measuring system based on the inclination angle correction of the vehicle body.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (8)
1. An optoelectronic testing and producing system based on inclination angle correction of a vehicle body is characterized by comprising: the harvester comprises a state detection component for detecting whether the harvester is in an operating state, photoelectric sensors arranged on two sides of a lift conveyer shell, a car body inclination angle sensor for acquiring a car body inclination angle and a controller;
The controller is used for acquiring photoelectric PWM signals acquired by the photoelectric sensor and the vehicle body inclination acquired by the vehicle body inclination sensor in real time when the harvester is in an operation state according to the detection data acquired by the state detection component; determining the weight of the real-time grains according to the inclination angle of the vehicle body, the geometric parameters of the elevator and the photoelectric PWM signals;
The vehicle body inclination angle comprises a front inclination angle, a back inclination angle, a left inclination angle and a right inclination angle; the controller is used for:
determining the detection volume corresponding to the photoelectric PWM signal according to the front-back inclination angle, the left-right inclination angle, the geometric parameters of the elevator and the duty ratio detected by the photoelectric sensor in one period;
The controller is used for determining the detection volume corresponding to the photoelectric PWM signal according to the front-back inclination angle, the left-right inclination angle, the geometric parameters of the elevator and the duty ratio detected by the photoelectric sensor in one period, and the formula is as follows:
Where a is the length of the elevator flight, b is the width of the elevator flight, d is the length of the elevator chain, e is the width of the elevator chain, and l is the maximum height of the grain pile; PWM is the duty ratio detected by a photoelectric sensor in one period, beta is the front-back inclination angle, and when the harvester descends, the beta angle is positive; gamma is the left-right inclination angle;
Determining the grain weight of a single scraper of the elevator according to the grain volume weight and the detection volume corresponding to the photoelectric PWM signals;
And determining the real-time grain weight according to the grain weight of a single scraper blade of the elevator and the number of the scraper blades.
2. The photoelectric production measurement system based on vehicle body inclination correction according to claim 1, wherein the controller determines the grain weight of a single scraper of the elevator according to the grain volume weight and the detection volume corresponding to the photoelectric PWM signal, and the formula is as follows:
u＝R0*Q*V
wherein u is the grain weight of a single scraper and is in kg; r 0 is a model coefficient, which is a constant related to the grain species; q is the volume weight of different grains, and the unit is kg/L; v is the detection volume corresponding to the photoelectric PWM signal, and the unit is L.
3. The photoelectric production measurement system based on inclination correction of a vehicle body according to claim 2, wherein the controller determines a real-time grain weight from a grain weight and a number of scrapers of the elevator, the formula is as follows:
Wherein M is the weight of the real-time grains, and the unit is kg; k 0 is correction coefficient = actual weight/measured weight; i is the ith scraping plate passing through the photoelectric sensor, and P is the total number of scraping plates passing through the photoelectric sensor; u is the grain weight of a single scraper in kg.
4. A photoelectric measurement and production system based on inclination correction of a vehicle body according to any one of claims 1 to 3, further comprising a transmitting end mounting base and a receiving end mounting base of the photoelectric sensor, wherein the transmitting end mounting base and the receiving end mounting base are respectively fixed on two side walls of the elevator housing and correspond to each other in position; the photoelectric sensor comprises a transmitting end mounting base and a receiving end mounting base, wherein U-shaped holes are formed in the transmitting end mounting base and the receiving end mounting base, opposite holes are formed in the side wall positions of the elevator shell corresponding to the U-shaped holes, the transmitting end and the receiving end of the photoelectric sensor penetrate through the U-shaped holes and are fixed on the corresponding mounting bases, and probes of the transmitting end and the receiving end are aligned with the opposite holes.
5. The photoelectric production measuring system based on the inclination angle correction of the vehicle body according to claim 4, wherein the transmitting end and the receiving end probes of the photoelectric sensor are respectively fixed with a protection device.
6. The vehicle body tilt correction based photovoltaic production system of claim 5, wherein the guard comprises a base, a lens spacer, and a glass lens connected in sequence.
7. A photoelectric measurement and production method based on vehicle body inclination correction, characterized in that the photoelectric measurement and production system based on vehicle body inclination correction as claimed in any one of claims 1 to 6 is used, comprising the following steps:
When the harvester is in an operation state according to the detection data acquired by the state detection component, acquiring photoelectric PWM signals acquired by the photoelectric sensor and the vehicle body inclination acquired by the vehicle body inclination sensor in real time; and determining the weight of the real-time grain according to the inclination angle of the car body, the geometric parameters of the elevator and the photoelectric PWM signal.
8. A harvester comprising the vehicle body inclination correction-based photovoltaic power generation system of any one of claims 1 to 6.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210588113.2A CN115031821B (en) | 2022-05-26 | 2022-05-26 | Photoelectric production system and method based on inclination angle correction of vehicle body and harvester |
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| CN202210588113.2A CN115031821B (en) | 2022-05-26 | 2022-05-26 | Photoelectric production system and method based on inclination angle correction of vehicle body and harvester |
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