阅读说明：本技术 用于打捆机的计捆设备以及计捆方法 (Bundling device and method for bundling machine ) 是由 韩飞 曲宏伟 刘晓宇 夏阳 于 2019-12-06 设计创作，主要内容包括：本发明涉及农用机械设备领域,提供了用于打捆机的计捆设备以及计捆方法。用于打捆机的计捆设备包括：数据采集模块,配置成采集所述打捆机在操作过程中的状态参数、操作参数和环境参数；以及数据处理模块,配置成接收并处理所述状态参数、所述操作参数和所述环境参数且输出打捆计数数据。本发明提供的用于打捆机的计捆设备以及计捆方法至少能够实现系统结构的简化以及操作的便利化。(The invention relates to the field of agricultural mechanical equipment, and provides a bundling device and a bundling method for a bundling machine. A counting device for a baler comprises: a data acquisition module configured to acquire state parameters, operating parameters and environmental parameters of the baler during operation; and a data processing module configured to receive and process the status parameters, the operational parameters, and the environmental parameters and output bundling count data. The invention provides a bundling device and a bundling method for a bundling machine, which can at least realize simplification of system structure and convenience of operation.)

1. A counting device for a baler, characterized by comprising:

a data acquisition module configured to acquire state parameters, operating parameters and environmental parameters of the baler during operation; and

a data processing module configured to receive and process the status parameters, the operational parameters, and the environmental parameters and output bundling count data.

2. The bundle counting device according to claim 1, wherein the data acquisition module comprises:

a positioning module configured to receive positioning signals to resolve current position, speed and time parameters of the baler in real time;

the inertial measurement module is configured to detect angular velocity and acceleration parameters of each direction of the bundling machine in a bundling process in real time; and

a sound collection module configured to collect ambient sound parameters of the baler.

3. The bundle counting apparatus according to claim 2, further comprising:

and the communication module is configured to be in signal connection with the data processing module so as to receive bundling counting data output by the data processing module.

4. The baling device of claim 3, wherein said communication module is electrically connected with a communication antenna configured to upload said baling count data to a backend server.

5. The bundling apparatus of claim 2, wherein the positioning module is electrically connected with a positioning antenna configured to receive a positioning signal.

6. The bundle counting apparatus according to claim 3, further comprising:

a solar cell configured to electrically connect with the positioning module, the inertial measurement module, the sound collection module, the communication module, and the data processing module to supply power.

7. The apparatus according to claim 6, wherein the apparatus comprises a housing and a mounting portion is provided in the housing, wherein the solar cell is located at a top of the housing, the positioning module, the inertial measurement module, the sound collection module, and the data processing module are provided on the mounting portion, a magnetic member is provided at a bottom of the housing, and a sound transmission hole is formed at a side wall of the housing.

8. A banding method performed by the banding device of any one of claims 1 to 7, characterized by comprising the steps of:

acquiring state parameters, operation parameters and environment parameters of the bundling machine in the operation process through a data acquisition module; and

receiving and processing the state parameters, the operating parameters and the environmental parameters by a data processing module and outputting bundling count data.

9. The method of claim 8, wherein collecting the status parameters, the operational parameters, and the environmental parameters further comprises:

receiving a positioning signal through a positioning module so as to analyze the current position, speed and time parameters of the bundling machine in real time;

detecting angular velocity and acceleration parameters of each direction of the bundling machine in real time through an inertia measurement module; and

and collecting peripheral sound parameters of the bundling machine through a sound collection module.

10. The method of claim 8, further comprising:

the counting device is detachably mounted on the baler before the state parameters, the operating parameters and the environmental parameters of the baler during operation are acquired by the data acquisition module.

Technical Field

The invention relates to the field of agricultural mechanical equipment, in particular to a bundling device and a bundling method for a bundling machine.

Background

In recent years, with the increasing requirements of laws and regulations such as environmental protection and the like and the increasing requirements of biomass power generation and the like, bundling and recycling of straws in fields become a necessary link for agricultural production, so that the bundling calculation by a third party becomes more important. At present, a traditional bundling machine is provided with a bundling meter head at a tractor for drawing the traditional bundling machine, the meter head is only used by a bundling machine manipulator, but the bundling result of a bundling machine renter is extremely inconvenient. With the development of the internet of things technology, most of the leasers of the bundling machines install bundle collecting equipment on the bodies of the bundling machines, detect each bundling action of the bundling machines through a plurality of proximity switch sensors or directly receive bundle counting signals output by the bundling machines, and then remotely send bundle counting data to the leasers through a mobile communication network, so that the purpose of bundle counting of the leasers is achieved.

There are problems with the prior art in general. First, various components for counting the bundles need to be mounted on the bundling machine and debugged, respectively, which results in high installation and debugging costs. Moreover, the structure of the bundler needs to be modified, and the operation and the expansion of multiple machines of the bundler are not facilitated.

Disclosure of Invention

To solve the problems in the prior art, it is an object of the present invention to provide a counting apparatus and a counting method for a baler to achieve at least simplification of a system structure and facilitation of operation.

According to an embodiment of a first aspect of the present invention, there is provided a counting apparatus for a baler, comprising: a data acquisition module configured to acquire state parameters, operating parameters and environmental parameters of the baler during operation; and a data processing module configured to receive and process the status parameters, the operational parameters, and the environmental parameters and output bundling count data.

According to an embodiment of the invention, the data acquisition module comprises: a positioning module configured to receive positioning signals to resolve current position, speed and time parameters of the baler in real time; the inertial measurement module is configured to detect angular velocity and acceleration parameters of each direction of the bundling machine in a bundling process in real time; and a sound collection module configured to collect ambient sound parameters of the baler.

According to an embodiment of the present invention, further comprising: and the communication module is configured to be in signal connection with the data processing module so as to receive bundling counting data output by the data processing module.

According to an embodiment of the invention, the communication module is electrically connected with a communication antenna configured to upload the bundling count data to a backend server.

According to an embodiment of the invention, the positioning module is electrically connected with a positioning antenna configured to receive a positioning signal.

According to an embodiment of the present invention, further comprising: a solar cell configured to electrically connect with the positioning module, the inertial measurement module, the sound collection module, the communication module, and the data processing module to supply power.

According to an embodiment of the present invention, the bundle counting apparatus includes a housing and a mounting part is provided in the housing, wherein the solar cell is located at a top of the housing, the positioning module, the inertia measurement module, the sound collection module and the data processing module are provided on the mounting part, a magnetic member is provided at a bottom of the housing, and a sound transmission hole is formed at a side wall of the housing.

According to an embodiment of the second aspect of the present invention, there is provided a banding method performed by the banding device as described above, the method including the steps of: acquiring state parameters, operation parameters and environment parameters of the bundling machine in the operation process through a data acquisition module; and receiving and processing the state parameters, the operating parameters and the environmental parameters through a data processing module and outputting bundling count data.

According to an embodiment of the present invention, acquiring the status parameter, the operational parameter and the environmental parameter further comprises: receiving a positioning signal through a positioning module so as to analyze the current position, speed and time parameters of the bundling machine in real time; detecting angular velocity and acceleration parameters of each direction of the bundling machine in real time through an inertia measurement module; and acquiring peripheral sound parameters of the bundling machine through a sound acquisition module.

According to an embodiment of the present invention, further comprising: the counting device is detachably mounted on the baler before the state parameters, the operating parameters and the environmental parameters of the baler during operation are acquired by the data acquisition module.

The invention has the beneficial effects that:

in the bundling device and the bundling method for the bundling machine, the data acquisition module and the data processing module are modularly integrated into the bundling device, so that the acquisition and the processing of various parameters can be directly carried out, and additional post-sale personnel are not needed to install the sensor and the bundling acquisition device. In addition, because the data acquisition module and the data processing module are modularly integrated, the circuit structure of the bundling machine does not need to be known in detail, and the wire breaking or the hole forming on the body of the bundling machine is not needed. Thereby, the structure of the bundling device system of the invention is more simplified and the operation is more convenient.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a system block diagram of a bundling apparatus according to one embodiment of the present invention;

FIG. 2 is a perspective cross-sectional view of a bale counting apparatus according to one embodiment of the present invention;

FIG. 3 is a perspective view of the embodiment shown in FIG. 2;

fig. 4 is a flow chart of a method of counting bundles according to one embodiment of the present invention.

Reference numerals:

100: a bundle counting device; 102: a data processing module; 104: a positioning module; 106: an inertial measurement module; 108: a sound collection module; 110: a communication module; 112: a communication antenna; 114: positioning an antenna; 116: a solar cell; 200: a housing; 202: an installation part; 204: a magnetic member; 206: a sound transmission hole; 400: a bundle counting method; 402. 404: and (5) carrying out the following steps.

Detailed Description

The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.

In embodiments of the invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Referring now to fig. 1 to 4, the baling device for a baler of the present invention and the related baling method will be described. It should be understood that the following description is only exemplary embodiments of the present invention and does not constitute any particular limitation of the present invention.

As shown in fig. 1, an embodiment of the present invention provides a counting apparatus 100 for a baler. The bundling device 100 may generally include a data acquisition module and a data processing module 102. In particular, the data acquisition module may be configured to acquire status parameters, operating parameters, and environmental parameters of the baler during operation, while the data processing module 102 may be configured to receive and process the status parameters, operating parameters, and environmental parameters as described above and output baling count data.

In the above embodiment provided by the present invention, the data acquisition module and the data processing module 102 are modularly integrated into the bundle counting device 100, so that the acquisition and processing of various parameters can be directly performed, and thus, no additional after-sales personnel is needed to install the sensors and the bundle counting acquisition device. In addition, because the data acquisition module and the data processing module 102 are modularly integrated, the circuit structure of the bundling machine does not need to be thoroughly understood, and the wire breaking or the hole forming on the body of the bundling machine is not needed. Thereby, the system structure of the bundling device of the invention is simplified and the operation is more convenient.

With further reference to fig. 1, in one embodiment of the invention, the data acquisition module may include a localization module 104, an inertial measurement module 106, and a sound acquisition module 108. In particular, the positioning module 104 may be configured to receive positioning signals to resolve current position, speed and time parameters of the baler in real time, the inertial measurement module 106 may be configured to detect angular speed and acceleration parameters of the baler in real time during baling, and the sound collection module 108 may be configured to collect ambient sound parameters of the baler. In this embodiment, the position, velocity and time parameters collected by the localization module 104 are used as the state parameters, the angular velocity and acceleration parameters collected by the inertial measurement module 106 are used as the operation parameters, and the ambient sound parameters collected by the sound collection module 108 are used as the environment parameters. After the data is collected, the data is transmitted to the data processing module 102 for processing and then the bundling count data is finally output. This process will be described in more detail below.

With continued reference to fig. 1, in one embodiment of the present invention, the bundling apparatus 100 may further comprise a communication module 110. Specifically, the communication module 110 may be configured to be in signal communication with the data processing module 102 to receive the bundling count data output by the data processing module 102. By using the communication module 110, the bundling count data can be transmitted to a remote server for storage, so that the user can call and view the bundling count data at any time.

In particular implementations, as shown in fig. 1, the communication module 110 may be electrically connected to a communication antenna 112, and the communication antenna 112 may be configured to upload the bundling count data to a backend server. Similarly, in one embodiment, the positioning module 104 may be similarly electrically connected with a positioning antenna 114 configured to receive positioning signals.

In another embodiment, as shown in fig. 1, the counting bundle device 100 of the present invention may further include a solar cell 116 for supplying power. Specifically, the solar cell 116 may be configured to be electrically connected to the positioning module 104, the inertial measurement module 106, the sound collection module 108, the communication module 110, and the data processing module 102, so as to supply power to the above modules respectively.

With continued reference to fig. 2 and 3, in one embodiment, the bundling apparatus 100 may comprise a housing 200 for the specific structure of the bundling apparatus 100 of the present invention. Specifically, a mounting portion 202 may be provided in the housing 200. The solar cell 116 may be located on the top of the housing 200, and the positioning module 104, the inertial measurement module 106, the sound collection module 108, and the data processing module 102 may be disposed on the mount 202. In addition, a magnetic member 204 may be provided at the bottom of the case 200, and a sound transmitting hole 206 may be formed at a sidewall of the case 200.

On the other hand, as shown in fig. 4, the present invention also provides a banding method performed by the banding device 100 as described above. In one embodiment, referring to fig. 4, the method 400 of counting bundles may include the steps of:

at step 402, state parameters, operating parameters, and environmental parameters of the baler during operation are collected by a data collection module. And at step 404, the status parameters, operating parameters and environmental parameters are received and processed by the data processing module and bundling count data is output.

Since the bundling method adopts the bundling device as described above and executes the corresponding bundling method, the bundling method also has various advantages and benefits as described above and below.

In a specific embodiment, the step of acquiring the state parameters, the operation parameters and the environment parameters may further comprise: receiving a positioning signal through a positioning module to analyze the current position, speed and time parameters of the bundling machine in real time; detecting angular velocity and acceleration parameters of each direction of the bundling machine in real time through an inertia measurement module in the bundling process; and collecting peripheral sound parameters of the bundling machine through a sound collection module.

In addition, in an optional embodiment, the bundle counting method may further include: the counting device is detachably mounted on the bundling machine before the state parameters, the operation parameters and the environment parameters of the bundling machine in the operation process are collected through the data collection module. In other words, the counting device provided by the invention is independently and separately arranged from the bundling machine, and can be used only by being adsorbed on the bundling machine through the magnetic component when in use, so that the operation is simpler and more convenient, and the module integration degree is higher.

An embodiment of the present invention in use will be described below with reference to the accompanying drawings. It is to be understood that the following description is only exemplary embodiments of the present invention and is not intended to limit the present invention in any way.

It should be understood at first that the position, speed, sound, posture and other dimensional levels of the baler (such as a round baler) have obvious characteristics compared with the unbundled state during the baling process. Specifically, during a complete baling process of the baler, the position and speed of the baler will change correspondingly with a complete series of actions of the baler, i.e., static → starting → advancing (raking) → stopping (baling) → discharging the bale. In addition, in the process of releasing the bales after the bales are bundled, the opening and closing of the bin door and the rolling-down process of the bales of the baler can cause corresponding changes of self postures. And, at the same time, the opening and closing of the rear door also produces a sound of a particular frequency.

Based on this, the present invention provides a counting device 100 for a baler according to all the above-described features of the baling process of the baler. In one embodiment, the present invention is described with a microprocessor mcu (micro controller unit) as a data processing module 102, a GPS/beidou receiving module as a positioning module 104, a microphone MIC module as a sound collecting module 108, and a MEMS IMU module as an inertia measuring module 106. However, the above is merely an example of the present invention and does not limit the present invention in any way.

Specifically, the GPS/Beidou receiving module is used for receiving GPS/Beidou satellite signals and analyzing the current position, speed and time information of the bundling machine in real time. The Micro-Electro-Mechanical System (MEMS) IMU module is internally composed of a three-axis gyroscope and a three-axis accelerometer and is used for detecting angular velocity and acceleration information of each direction in the bundling process of the bundling machine in real time. In addition, the microphone MIC module is used for collecting peripheral sound of the bundling machine. And the communication module can upload the bundling result of the bundling machine and the current position of the bundling machine to a background server of a leasing party of the bundling machine.

In one embodiment, the communication module includes, but is not limited to, 2G, 3G, 4G, 5G communication modes, or Zigbee, Lora, bluetooth BLE, etc. communication modes.

Further, the solar cell is used for converting solar energy into electric energy to supply power to each module of the system. The microprocessor MCU is used for receiving the original data of each sensor such as the GPS/Beidou receiving module, the micro-electromechanical inertia measurement combination IMU module, the microphone MIC module and the like, converting, calculating and judging the original data through corresponding algorithms, and then sending bundling results to the communication module for uploading.

As shown in fig. 2 and 3, the modules are integrated inside a cylindrical housing, for example. The top side is provided with a solar cell, a GPS/Beidou receiving antenna and a communication antenna; the middle part is provided with a GPS/Beidou receiving module, a micro-electromechanical Inertial Measurement Unit (IMU) module, a microphone MIC module and a microprocessor MCU; the side of the casing is a sound transmission hole and the bottom side is provided with a magnetic component such as a magnet. In the use, the bundle counting device can be adsorbed to the top or the side of the bundling machine by the built-in magnet and can be used at the position where the sunlight and the GPS/Beidou signals are well received.

In the using process, firstly, the counting device is adsorbed on the top or the side surface of the bundling machine, the bundling machine is enabled to carry out a plurality of groups (for example, at least 3 groups, each group is about half an hour) of continuous bundling operation, data are acquired only by using various sensors arranged in the device in the process, and the data comprise position, speed and time data acquired by a GPS/Beidou receiving module; sound data collected by a microphone MIC module; the MEMS inertial measurement is combined with angular velocity and acceleration data in three directions acquired by the MEMS IMU module.

Then, the acquired sensor data is analyzed. Specifically, acquired angular velocity and acceleration data of the MEMS inertial measurement unit MEMS IMU are resolved into attitude data of the bundling machine in all directions through a quaternion algorithm, so that attitude change of the bundling machine during operation can be obtained; the sound data of the microphone MIC module is resolved into frequency domain data through a fast Fourier transform algorithm, so that all sound frequencies around the bundling machine during operation can be obtained.

Then, all the above-mentioned position, speed, sound frequency spectrum data and attitude data are classified by KNN algorithm (also called k-nearest neighbor classification algorithm) with bundling or not-bundling mark, so that the threshold value of various data characterizing the complete bundling process of the bundling machine is calculated, trained and determined by the learning process. It should be understood here that the more samples of the various sensor data produced by the baler in the early stages of baling, the more accurate the data thresholds that are written into the microprocessor MCU of the device. Due to the fact that the multi-type bundling machine and the possible change of the installation position of the device are involved, the operations of analyzing the sensor data, learning and calculating the machine, training and the like can be achieved by compiling batch processing algorithm software for packaging.

Further, the counting device of the invention is attached to the position of the baler in the same state as the data acquisition state when the baler is actually operated.

In the normal bundling process, the microprocessor MCU also converts the sound data collected by the microphone MIC module into frequency domain signals in real time through a fast Fourier transform algorithm. And the angular velocity and acceleration data of the MEMS IMU combined with the MEMS inertial measurement are resolved into attitude signals in all directions in real time through a quaternion algorithm. All the sensor raw data and the data converted by the algorithm are judged by corresponding threshold values written in the MCU in advance. If the binding action can meet the threshold, judging that the binding action is successful for 1 time, and recording the binding action as the binding operation for 1 time; and if the threshold value can not be met, continuously acquiring data to wait for the next judgment.

After the operation is completed, the counting device sends the counting result to the background server through the communication module, so that the counting operation is completed.

In summary, the present invention provides an automatic counting method and a counting apparatus for a baler which are free from installation maintenance. Compared with other bundling machine counting devices, the counting device and the related method provided by the invention have simple system structures, do not need additional after-sales personnel to install sensors and counting collecting devices, do not need to know the circuit structure of the bundling machine in detail, do not need to break lines or open holes on the body of the bundling machine, can realize fast matching of all bundling machines of the type only by fusing multi-sensor data in the device through preset batch processing algorithm software and acquiring bundling operation characteristics of the bundling machine through machine learning, and further achieve the purpose of remote and accurate counting and settlement of a leasing party of the bundling machine. In embodiments of the invention, the apparatus may be used in other baler machines (e.g. square baler machines) as well as in other agricultural machines with similar features, such as seed planters, silage machines, etc.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.