阅读说明：本技术 一种薯类作物精细化测产方法和系统 (Fine yield measurement method and system for potato crops ) 是由 张健 杨然兵 张还 潘志国 于 2021-09-09 设计创作，主要内容包括：本申请公开了一种薯类作物精细化测产方法和系统,本方法包括获取薯类作物的收获重量,对收获机械的坐标数据进行转换,修正收获作业面积,计算薯类作物产量。本系统包括称重模块、机械行驶计量模块、收获面积修正模块和产量计量模块；称重模块用于统计收获的薯类作物总重量；机械行驶计量模块用于得到高斯坐标系下的收获机械的行驶数据；收获面积修正模块用于得到收获作业面积；产量计量模块用于计算薯类作物的单位产量。本申请能够减小称重数据的波动,提高称重数据的稳定性和精确度；通过面积修正策略,提高了收获作业面积的准确性,提高了薯类作物单位产量的精确计算；同时实现了薯类作物在收获过程中实时测产。(The application discloses a method and a system for finely measuring yield of potato crops. The system comprises a weighing module, a mechanical running metering module, a harvesting area correcting module and a yield metering module; the weighing module is used for counting the total weight of the harvested potato crops; the machine running metering module is used for obtaining running data of the harvesting machine under a Gaussian coordinate system; the harvesting area correction module is used for obtaining a harvesting operation area; the yield metering module is used for calculating the unit yield of the potato crops. The method and the device can reduce the fluctuation of the weighing data and improve the stability and the accuracy of the weighing data; by the area correction strategy, the accuracy of the harvesting operation area is improved, and the accurate calculation of the unit yield of the potato crops is improved; meanwhile, the real-time yield measurement of the potato crops in the harvesting process is realized.)

1. A refined yield measurement method for potato crops is characterized by comprising the following steps:

obtaining the total weight of the potato crops harvested within a preset time period;

carrying out coordinate conversion on the geodetic coordinate data of the harvesting machine of the potato crops to obtain Gaussian plane coordinate data of the harvesting machine;

obtaining the harvesting operation area of the harvesting machine according to the Gaussian plane coordinate data of the harvesting machine and the crop displacement data of the potato crops on the harvesting machine;

and according to the total weight of the potato crops and the harvesting operation area, obtaining the yield per unit area of the potato crops, and finishing the fine yield measurement of the potato crops.

2. The method for refined yield measurement of potato crops as claimed in claim 1, wherein the method for obtaining the total weight of the potato crops comprises:

continuously acquiring a plurality of weight data, and acquiring weighted weight data by a weighted average filtering method;

obtaining real-time weight data based on the weighted weight data using a judgment filtering method;

and obtaining the total weight of the potato crops harvested within the preset time period based on the real-time weight data.

3. The method for refined yield measurement of potato crops as claimed in claim 1, wherein the method for obtaining the Gaussian plane coordinate data of the harvesting machine comprises:

initializing Gaussian projection parameters and obtaining Gaussian projection coefficients;

obtaining a Gaussian plane coordinate function according to the Gaussian projection coefficient;

and acquiring the geodetic positioning coordinate data of the harvesting machine, and performing coordinate conversion on the geodetic positioning coordinate data of the harvesting machine according to the Gaussian plane coordinate function to obtain the Gaussian plane coordinate data of the harvesting machine.

4. The method for refined yield measurement of potato crops as claimed in claim 1, wherein the method for obtaining the harvesting operation area comprises:

according to the mechanical driving speed of the harvesting machine and the crop displacement data, obtaining the non-harvesting forward distance of the harvesting machine, wherein the non-harvesting forward distance is the forward distance of the harvesting machine when the potato crops generate displacement actions on the harvesting machine;

and obtaining the harvesting operation area according to the Gaussian plane coordinate data of the harvesting machine, the advancing distance of the non-harvesting operation and the operation width of the harvesting machine.

5. A refined yield measurement system for potato crops is characterized by comprising a weighing module, a mechanical driving metering module, a harvesting area correction module and a yield metering module;

the weighing module is connected with the yield metering module, and the mechanical running metering module, the harvesting area correcting module and the yield metering module are sequentially connected;

the weighing module is used for counting the total weight of the potato crops harvested within a preset time period;

the mechanical running metering module is used for obtaining plane coordinate data of the harvesting machinery under a Gaussian coordinate system;

the harvesting area correction module is used for obtaining a harvesting operation area according to the planar coordinate data of the harvesting machine, the crop displacement data of the potato crops on the harvesting machine and the operation width of the harvesting machine;

the yield metering module is used for obtaining the unit yield of the potato crops according to the total weight of the potato crops and the harvesting operation area.

6. The refined yield-measuring system for potato crops as claimed in claim 5, wherein the weighing module comprises a weighing sensor and a filtering metering unit;

the weighing sensor is used for collecting the collection weight of the potato crops;

and the filtering metering unit is used for obtaining the total weight of the potato crops according to the collection weight.

7. The refined yield measurement system for potato crops as claimed in claim 6, wherein the filtering metering unit comprises a weighting filtering module, a judging filtering module and an accumulating module;

the weighted filtering module is used for carrying out weighted filtering calculation on the acquired weight to obtain weighted weight data;

the judging and filtering module is used for judging and filtering the weighted weight data to obtain real-time weight data;

and the accumulation module is used for obtaining the total weight of the potato crops according to the real-time weight data.

8. The refined yield measurement system for potato crops as claimed in claim 5, wherein the mechanical driving metering module comprises a Gaussian coordinate module and a positioning data module;

the Gaussian coordinate module is used for generating a Gaussian plane coordinate function;

and the positioning data module is used for converting the geodetic positioning coordinate data of the harvesting machine into Gaussian plane coordinate data of the harvesting machine according to the Gaussian plane coordinate function.

9. The refined yield measurement system for potato crops as claimed in claim 5, wherein the harvesting area correction module comprises a harvesting distance correction module and a working area metering module;

the harvesting distance correction module is used for obtaining the non-harvesting advancing distance of the harvesting machine according to the driving data and the crop displacement data, wherein the non-harvesting advancing distance is the advancing distance of the harvesting machine when the potato crops generate displacement actions on the harvesting machine;

and the working area metering module is used for obtaining the harvesting working area according to the running data, the non-harvesting advancing distance and the working width of the harvesting machine.

Technical Field

The application relates to the technical field of agricultural intelligent equipment, in particular to a method and a system for finely measuring yield of potato crops.

Background

Agricultural modernization in China is gradually advancing to higher steps, fine agriculture and accurate management are gradually popular, requirements of people on functions and stability of fine production measuring equipment are higher and higher, fine agricultural development is required under the current economic conditions, problems of production areas, fertilizers, varieties and the like are specifically analyzed through accurate measurement of crop yield, and the improvement of the crop yield is greatly facilitated. Yield detection needs continuous improvement of a yield measurement system and reduction of errors, national conditions of various countries are different, and a yield measurement instrument of each country is reasonably applied according to agricultural production conditions of various countries, so that yield measurement products suitable for agricultural production of China are researched according to specific conditions.

At present, the yield measurement of potato crops is mostly manually intervened, and the crop yield and the farmland acre yield are weighed and calculated through manual operation. The production measuring method is not only complicated in operation, but also low in accuracy, easy to be influenced by physical factors and large in error range.

Disclosure of Invention

The application provides a refined yield measurement method and system for potato crops, weighing errors are reduced through a filtering mode, accurate harvesting operation areas are obtained through area correction, and calculation schemes of weight and operation areas collected in a preset time period are provided, so that the purpose of refined yield measurement of the potato crops is achieved.

In order to achieve the above purpose, the present application provides the following solutions:

a refined yield measurement method for potato crops comprises the following steps:

obtaining the total weight of the potato crops harvested within a preset time period;

carrying out coordinate conversion on the geodetic coordinate data of the harvesting machine of the potato crops to obtain Gaussian plane coordinate data of the harvesting machine;

obtaining the harvesting operation area of the harvesting machine according to the Gaussian plane coordinate data of the harvesting machine and the crop displacement data of the potato crops on the harvesting machine;

and according to the total weight of the potato crops and the harvesting operation area, obtaining the yield per unit area of the potato crops, and finishing the fine yield measurement of the potato crops.

Preferably, the method for obtaining the total weight of the potato crops comprises the following steps:

continuously acquiring a plurality of weight data, and acquiring weighted weight data by a weighted average filtering method;

obtaining real-time weight data based on the weighted weight data using a judgment filtering method;

and obtaining the total weight of the potato crops harvested within the preset time period based on the real-time weight data.

Preferably, the method for acquiring the gaussian plane coordinate data of the harvesting machine comprises the following steps:

initializing Gaussian projection parameters and obtaining Gaussian projection coefficients;

obtaining a Gaussian plane coordinate function according to the Gaussian projection coefficient;

and acquiring the geodetic positioning coordinate data of the harvesting machine, and performing coordinate conversion on the geodetic positioning coordinate data of the harvesting machine according to the Gaussian plane coordinate function to obtain the Gaussian plane coordinate data of the harvesting machine.

Preferably, the method for obtaining the harvesting working area comprises the following steps:

according to the mechanical driving speed of the harvesting machine and the crop displacement data, obtaining the non-harvesting forward distance of the harvesting machine, wherein the non-harvesting forward distance is the forward distance of the harvesting machine when the potato crops generate displacement actions on the harvesting machine;

and obtaining the harvesting operation area according to the Gaussian plane coordinate data of the harvesting machine, the advancing distance of the non-harvesting operation and the operation width of the harvesting machine.

The application also discloses a refined yield measurement system for the potato crops, which comprises a weighing module, a mechanical driving metering module, a harvesting area correction module and a yield metering module;

the weighing module is connected with the yield metering module, and the mechanical running metering module, the harvesting area correcting module and the yield metering module are sequentially connected;

the weighing module is used for counting the total weight of the potato crops harvested within a preset time period;

the mechanical running metering module is used for obtaining plane coordinate data of the harvesting machinery under a Gaussian coordinate system;

the harvesting area correction module is used for obtaining a harvesting operation area according to the planar coordinate data of the harvesting machine, the crop displacement data of the potato crops on the harvesting machine and the operation width of the harvesting machine;

the yield metering module is used for obtaining the unit yield of the potato crops according to the total weight of the potato crops and the harvesting operation area.

Preferably, the weighing module comprises a weighing sensor and a filtering metering unit;

the weighing sensor is used for collecting the collection weight of the potato crops;

and the filtering metering unit is used for obtaining the total weight of the potato crops according to the collection weight.

Preferably, the filtering metering unit comprises a weighting filtering module, a judging filtering module and an accumulation module;

the weighted filtering module is used for carrying out weighted filtering calculation on the acquired weight to obtain weighted weight data;

the judging and filtering module is used for judging and filtering the weighted weight data to obtain real-time weight data;

and the accumulation module is used for obtaining the total weight of the potato crops according to the real-time weight data.

Preferably, the mechanical driving metering module comprises a gaussian coordinate module and a positioning data module;

the Gaussian coordinate module is used for generating a Gaussian plane coordinate function;

and the positioning data module is used for converting the geodetic positioning coordinate data of the harvesting machine into Gaussian plane coordinate data of the harvesting machine according to the Gaussian plane coordinate function.

Preferably, the harvesting area correcting module comprises a harvesting distance correcting module and a working area metering module;

the harvesting distance correction module is used for obtaining the non-harvesting advancing distance of the harvesting machine according to the driving data and the crop displacement data, wherein the non-harvesting advancing distance is the advancing distance of the harvesting machine when the potato crops generate displacement actions on the harvesting machine;

and the working area metering module is used for obtaining the harvesting working area according to the running data, the non-harvesting advancing distance and the working width of the harvesting machine.

The beneficial effect of this application does:

the application discloses a refined yield measurement method and system for potato crops, wherein a double-filtering mode is used for weighing and metering the harvested potato crops, so that the fluctuation of weighing data can be reduced, and the stability and the accuracy of the weighing data are improved; the time difference of the potato crops caused by displacement on the harvesting machine and the area deviation of the actual harvesting area are comprehensively considered, an area correction strategy is provided, the accuracy of the harvesting operation area is improved, and the accurate calculation of the unit yield of the potato crops is improved; meanwhile, a real-time calculation method of the harvesting operation area and the harvesting weight is creatively provided, and the real-time yield measurement of the potato crops in the harvesting process is realized. The method can replace the complex process of manual and traditional production measurement operation, realizes the fine measurement of the yield of the tuber crops in unit area on any land, and has the measurement error less than 0.1 percent. The method and the device have wide popularization space and use value.

Drawings

In order to more clearly illustrate the technical solution of the present application, the drawings needed to be used in the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for a person skilled in the art to obtain other drawings without any inventive exercise.

Fig. 1 is a schematic flow chart of a refined yield measurement method for potato crops according to an embodiment of the present application;

FIG. 2 is a schematic view of a process for obtaining harvested potato weight according to one embodiment of the present application;

FIG. 3 is a schematic geodetic coordinate diagram of a path of travel of a potato harvesting machine in accordance with a first embodiment of the present application;

FIG. 4 is a schematic view of a potato movement process on the harvesting machine as assumed in the first embodiment of the present application;

fig. 5 is a schematic structural diagram of a refined yield measurement system for potato crops in the second embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, the present application is described in further detail with reference to the accompanying drawings and the detailed description.

Example one

As shown in fig. 1, a detailed yield measurement method for potato crops according to a first embodiment of the present application is described, in which a potato is used as a potato crop for a first embodiment of the present application, and the method includes the following steps:

s1, acquiring the total weight of the potato crops harvested in unit time; the total weight data fluctuation is the largest adverse factor influencing the yield calculation, so that the first embodiment adopts a filtering algorithm twice to reduce the fluctuation of the data and obtain stable and accurate data; meanwhile, in order to realize real-time calculation of the yield per unit area, in the first embodiment, two collecting baskets are adopted. The specific method comprises the following steps: weighted average filtering, decision filtering and accumulation calculation as shown in fig. 2.

S1.1. continuously obtaining M_i(i is more than or equal to 0 and less than or equal to 9) weight data, and obtaining weighted weight data by a weighted average filtering method;

in the first embodiment, 10 pieces of weight data are continuously received, and the weight acquired at the time K is set as M_KThen the weighted weight data at time K can be expressed as

And isC_i＝1，C_iIs a constant.

S1.2, based on the weighted weight data, obtaining real-time weight data by using a judgment filtering method; namely, the weighted weight data at the K moment of S1.1 is taken,

if it isThen

If it isThen

And the delta M is a constant, and the value is 0.1 best through a large number of experimental verifications and summarizations, and the obtained real-time weight data is M kilograms.

S1.3, accumulating the potatoes in the two collecting frames which are taken down to the total weight when any one of the two collecting frames is fully collected and taken down after verification is performed on the basis of real-time weight data, and obtaining the total weight of the potato crops harvested in unit time.

Assuming that one of the collection baskets is full at time K, M_max＝M_KIf the weight changes at this time, M_K<M_K+1Considering the weight fluctuation, M is required_max>q, then the total weight M_{General assembly}＝M_h+M_max. Wherein M is_maxFor maximum weight value collected, M_hQ is the sum of the weights before summation, M is the constant of the anti-fluctuation value_{General assembly}Is the total weight collected over the period K.

Through the steps, the total weight of the potatoes harvested in a time period can be accurately obtained in real time.

And S2, carrying out coordinate conversion on the geodetic coordinate data of the harvesting machine to obtain Gaussian plane coordinate data of the harvesting machine, and preparing for obtaining a harvesting operation area.

Specifically, the method comprises the following steps:

s2.1, initializing Gaussian projection parameters;

firstly, selecting an origin, taking the initial position of the mechanical vehicle as the origin, and obtaining the geodetic coordinates of (L, B, H) and the dimension of the origin as L₀And expanding the point, and performing projection parameter calculation, wherein a semiaxis of elongation a and a variability f represent the shape and size of the ellipse, and a is 6378137 and f is 298.257223563 according to WGS-84 ellipse parameters. L, B, H is the single length, width and height of the earth coordinate system.

Initializing Gaussian projection parameters, and obtaining e by f parameters of flat rate²To obtain formula (4)

e²＝1-(1-f)² (4)

Calculating the Gaussian projection coefficient A from the square of the first eccentricity₀、A₂、A₄、A₆、A₈As shown in formula (5)

S2.2, obtaining a Gaussian plane coordinate function according to the Gaussian projection coefficient of the formula (5);

from the formula (5), the meridian arc length from the equator and the radius of the meridian radius can be obtained as in the formula (6),

the radial arc length and the radius of the meridian radius obtained by the formula (6) and the current longitude and latitude are listed in the formula (7) to obtain the Gaussian plane coordinates.

The parameter t of the above formula is tanB,m＝cosβ×(L-Lo)。

considering the geographical position of China, the abscissa needs to be translated by 5000KM to the west, as shown in formula (8)

y＝y+5000 (8)

And S2.3, converting the geodetic coordinates of the harvesting machine into Gaussian plane coordinates according to the formula (7) and the formula (8).

The longitude and latitude height coordinates of the harvesting machine in the working process are respectively set as Q₁(L₁,B₁),Q₂(L₂,B₂)...Q_(n-1)(L_(n-1),B_(n-1)),Q_n(L_n,B_n) Converting the longitude and latitude into Gaussian plane coordinate Q by coordinate conversion algorithm₁(x₁,y₁),Q₂(x₂,y₂)...Q_(n-1)(x_(n-1),y_(n-1)),Q_n(x_n,y_n). As shown in fig. 3.

And S3, obtaining the harvesting operation area of the harvesting machine according to the Gaussian plane coordinate data of the harvesting machine and the crop displacement data of the potatoes on the harvesting machine.

And S3.1, acquiring the non-harvesting advancing distance of the harvesting machine according to the mechanical driving speed of the harvesting machine and crop displacement data of the potatoes on the harvesting machine. It is known that potatoes, after being harvested from the ground, are transported on a harvesting machine for a certain time before they enter a collecting basketThe harvesting machine is always moving forward, so that the actual running area of the machine deviates from the potato harvesting operation area. As shown in FIG. 4, assuming that the harvester is running at a constant speed during operation, the conveyor chain will also rotate at a constant speed, and the harvester is running at a speed V, potatoes are transported on the harvester at two stages, each having a length d₁、d₂The transfer speeds are respectively V₁、V₂Wherein d is₂The included angle between the horizontal plane and the horizontal plane is theta, and the proportional coefficients of the running speed of the harvesting machine and the speeds in the two transmission processes are j₁、j₂The length from the digging shovel of the harvesting machine to the collecting basket is set as d,

then there is

d＝d₁+d₂cosθ (10)

Neglecting the slipping condition of the potatoes in the two-stage conveying process, setting the time T of the potatoes in the two-stage conveying process, and the traveling distance of the harvesting machine at the moment as x', then

x′＝j₁d₁+j₂d₂ (12)

And S3.2, calculating the harvesting operation area.

If the harvesting machine is driven from Q, as shown in FIG. 3_(n-1)To Q_nX, the potatoes collected in the collection basket are the length of the harvesting machine operation (x-x').

Assuming that the harvesting machine is operating with a harvest weight W between two points of travel_n-1(n>2) The operation width is fixed as F, and the operation Q can be obtained by combining a two-point calculation formula_(n-1)To Q_nArea at length S_n-1：

And S4, obtaining the yield per unit area according to the total weight of the potatoes and the harvesting operation area.

From the formula (13) and the harvest weight, the real-time yield N of the harvester during operation can be obtained

Thus, the refined production testing process of the potato of the first embodiment is completed. By using the method of the first embodiment, the test is performed in the national key project demonstration base of intelligent potato production equipment in the Jiaozhou area of Qingdao city, and the comparison difference value between the following experimental data and the manual measurement is obtained.

Assuming that the advancing distance of the harvester is x, the potatoes harvested by the collecting frame correspond to the advancing distance y, the weight m of the potatoes collected in the collecting frame is shown in table 1,

TABLE 1

Through experimental tests, the harvesting distance of the harvester and the manual measurement error are measured to be within 10cm, the harvesting weight error is measured to be within 0.3kg, and the per mu measurement error is less than 0.1%.

Example two

Fig. 5 is a refined yield measurement system for potato crops in the second embodiment, which includes a weighing module, a mechanical driving metering module, a harvesting area correction module and a yield metering module, wherein the weighing module is connected with the yield metering module, the mechanical driving metering module, the harvesting area correction module and the yield metering module are connected in sequence, and all devices are installed on a potato harvesting machine.

Wherein the weighing module is used for counting the total weight of the potatoes harvested in unit time; the machine running metering module is used for obtaining running data of the harvesting machine under a Gaussian coordinate system; the harvesting area correction module is used for obtaining a harvesting operation area according to the driving data, the crop displacement data of the potatoes on the harvesting machine and the operation width of the harvesting machine; the yield metering module is used for obtaining the unit yield of the potatoes according to the total weight of the potatoes and the harvesting operation area.

In the second embodiment, the weighing module includes a weighing sensor and a filtering metering unit. Wherein the weighing sensor is used for collecting the collecting weight of the potatoes; and the filtering metering unit is used for obtaining the total weight of the potatoes according to the collected weight.

In the second embodiment, two weighing sensors are adopted to respectively acquire two sets of data of the first channel and the second channel, and the data acquisition frequency is 10 times/second, so that the continuous production measurement and the real-time production measurement are facilitated.

Furthermore, the filtering metering unit comprises a weighting filtering module, a judging filtering module and an accumulation module; the weighting filtering module is used for carrying out weighting filtering calculation on the collected weight to obtain weighting weight data; the judging and filtering module is used for judging and filtering the weighted weight data to obtain real-time weight data; and the accumulation module is used for obtaining the total weight of the potatoes according to the real-time weight data.

In the second embodiment, the mechanical driving metering module includes a gaussian coordinate module and a positioning data module; the Gaussian coordinate module is used for generating a Gaussian plane coordinate function; and the positioning data module is used for converting the geodetic positioning coordinate data of the harvesting machine into the Gaussian plane coordinate data of the harvesting machine according to the Gaussian plane coordinate function. In the second embodiment, the geodetic coordinates of the harvesting machine are determined by using a GPS device, and gaussian plane coordinate data is obtained through coordinate conversion.

In the second embodiment, the harvesting area correcting module includes a harvesting distance correcting module and a working area metering module; the harvesting distance correction module is used for obtaining the non-harvesting advancing distance of the harvesting machine according to the driving data and the crop displacement data of the potatoes on the harvesting machine, wherein the non-harvesting advancing distance is the advancing distance of the harvesting machine when the potatoes generate displacement action on the harvesting machine; the real-time working area metering module is used for obtaining the harvesting working area according to the driving data, the non-harvesting advancing distance and the working width of the harvesting machine.

As shown in fig. 4, it is known that potatoes are harvested out of the ground, and are moved on the harvesting machine for a certain time before entering the collecting basket, and the harvesting machine is moved forward all the time, so that a deviation between the actual driving area of the machine and the potato harvesting area occurs, and the deviation is corrected by the harvesting distance correction module, thereby obtaining a more accurate harvesting area.

And finally, obtaining the yield of the potatoes by a yield metering module, calculating the yield in a unit area in real time, and realizing fine yield measurement.

The above-described embodiments are merely illustrative of the preferred embodiments of the present application, and do not limit the scope of the present application, and various modifications and improvements made to the technical solutions of the present application by those skilled in the art without departing from the spirit of the present application should fall within the protection scope defined by the claims of the present application.