阅读说明：本技术 一种基于离心力分析的联合收割机谷物流量检测装置及其检测方法 (Combine harvester grain flow detection device based on centrifugal force analysis and detection method thereof ) 是由 汪六三 王儒敬 刘洋 许桃胜 宿宁 黄伟 黄子良 于 2020-12-28 设计创作，主要内容包括：本发明涉及一种基于离心力分析的联合收割机谷物流量检测装置及其检测方法,与现有技术相比解决了谷物流量测量方式难以满足实际使用需要的缺陷。本发明中壳体位于主动齿轮的上方处为圆弧形且圆弧形的圆心与主动齿轮的圆心为同一点,壳体上开有离心力采集窗口,离心力采集窗口的位置位于当刮板运动至主动齿轮顶端时刮板安装处的切线方向上,参考力冲动板、测量力冲击板分别通过刚体梁安装在参考力传感器、测量力传感器上,测量力冲击板位于离心力采集窗口内,参考力冲动板位于壳体外。本发明利用离心力方式进行谷物流量检测,通过链式提升机的圆周运动的测量谷物流量,检测精度高、复杂度低。(The invention relates to a combine harvester grain flow detection device based on centrifugal force analysis and a detection method thereof, and compared with the prior art, the combine harvester grain flow detection device overcomes the defect that a grain flow measurement mode is difficult to meet the actual use requirement. The shell is positioned above the driving gear and is in an arc shape, the circle center of the arc shape is the same as that of the driving gear, a centrifugal force acquisition window is arranged on the shell, the position of the centrifugal force acquisition window is positioned in the tangential direction of the installation position of the scraper when the scraper moves to the top end of the driving gear, the reference force impact plate and the measuring force impact plate are respectively arranged on the reference force sensor and the measuring force sensor through rigid beams, the measuring force impact plate is positioned in the centrifugal force acquisition window, and the reference force impact plate is positioned outside the shell. The invention utilizes the centrifugal force mode to detect the grain flow, measures the grain flow through the circular motion of the chain type elevator, and has high detection precision and low complexity.)

1. The utility model provides a combine cereal flow detection device based on centrifugal force analysis, includes net grain lifting conveyor (1), net grain lifting conveyor (1) in establish chain lifting machine (2), chain lifting machine (2) are including installing driving gear (4) in casing (3), install chain (5) on driving gear (4), equidistant fixed mounting has a plurality of scraper blade (6) on chain (5), platform (15) and chain (5) of scraper blade (6) are mutually perpendicular, measure force transducer (7) and reference force transducer (8) and all install on net grain lifting conveyor (1) and be located casing (3) top, its characterized in that:

the device is characterized in that the position, above the driving gear (4), of the shell (3) is in a circular arc shape, the circle center of the circular arc shape is the same as that of the driving gear (4), a centrifugal force acquisition window is formed in the shell (3), the position of the centrifugal force acquisition window is located in the tangential direction of the installation position of the scraper (6) when the scraper (6) moves to the top end of the driving gear (4), a reference force impact plate (15) and a measurement force impact plate (16) are respectively installed on a reference force sensor (8) and a measurement force sensor (7) through a rigid body beam (13), the measurement force impact plate (16) is located in the centrifugal force acquisition window, and the reference force impact plate (15) is located outside the shell (3);

the signal output end of the measuring force sensor (7) is connected with the input end of the bridge A (9), the signal output end of the reference force sensor (8) is connected with the input end of the bridge B (10), the output ends of the bridge A (9) and the bridge B (10) are connected with the input end of the multi-channel high-speed AD (11), and the output end of the multi-channel high-speed AD (11) is connected with the input end of the FPGA (12).

2. The combine harvester grain flow detection device based on centrifugal force analysis of claim 1, wherein: the number of the rigid body beams (13) is two, and the length difference between the two rigid body beams (13) is less than 2 cm.

3. The combine harvester grain flow detection device based on centrifugal force analysis of claim 1, wherein: the measuring force impact plate (16) is arc-shaped, and the size of the measuring force impact plate (16) is the same as that of the centrifugal force acquisition window.

4. The combine harvester grain flow detection device based on centrifugal force analysis of claim 1, wherein: the scraper (6) is positioned at the periphery of the platform (15) and is provided with baffles (14).

5. The combine harvester grain flow detection device based on centrifugal force analysis of claim 1, wherein: the distance between two adjacent scrapers (6) on the chain (5) is more than one fourth of the circumference of the driving gear (4).

6. The measurement method of the combine harvester grain flow detection device based on centrifugal force analysis as claimed in claim 1, characterized by comprising the following steps:

61) the clean grain elevator (1) controls the chain elevator (2) to drive the scraper (6) to move, when the scraper (6) circularly moves to the top, grains are thrown out along the direction of a circumferential tangent line at the speed of the elevator, and impact on an impact plate of the measuring force sensor (7) to generate centrifugal force on the impact plate surface;

62) the measuring force sensor (7) acquires impact force data and external acting force data generated by the operation of the combine harvester, and the reference force sensor (8) acquires the external acting force data generated by the operation of the combine harvester and transmits the external acting force data to the FPGA (12);

63) the FPGA (12) carries out difference operation on the obtained data of the measuring force sensor (7) and the reference force sensor (8), removes external acting force data generated by the operation of the combine harvester, and obtains a net centrifugal force F_G；

64) Calculating the mass of the impacted grains through the centrifugal force of the grains, wherein the correction model formula is as follows:

wherein m is the mass of the impacted grains, V is the running speed of the scraper (6), and r is the circular motion radius;

65) the average mass flow of the grains is calculated by using the centrifugal force of the grains, and the calculation formula is as follows:

where Δ t is the impact action time and Q is t₁-t₂Average mass flow of grain over a time interval.

Technical Field

The invention relates to the technical field of grain flow detection, in particular to a combine harvester grain flow detection device based on centrifugal force analysis and a detection method thereof.

Background

Precision agriculture is a precision farming technology for field crop production, which is mainly based on a 3S spatial information technology and a crop production management decision support technology. A grain yield monitoring system is arranged on the combine harvester to obtain crop yield distribution information, and establishing a farmland yield spatial distribution diagram is important content for accurate agricultural implementation. The core component of the grain yield monitoring system is a grain flow detection device, and the grain flow detection modes mainly comprise a photoelectric volume type, a radiation type and an impulse type. Among them, the photoelectric probe is easy to be polluted, the radiation type is harmful to human body, the impulse type is not sensitive to grain variety, the structure is simple and the installation is convenient, which is the most widely used.

In the prior art, the invention patent with Chinese patent publication No. CN101995284B provides an impulse type grain mass flow sensor calibration and test device, but the detection precision of grain mass flow is limited because of one-dimensional direction measurement and the inclination angle only considers one-dimensional correction; the invention patent with Chinese patent publication No. CN103125204A provides a grain quality measuring device and a grain quality measuring method of a combine harvester, which adopt a six-dimensional force mode to measure impact force, but the calibration of the six-dimensional force in the device is complex and is limited in practical application. Therefore, although the impact (measurement) type grain detection is widely applied, the impact type grain detection device has large measurement error due to the influence of factors such as the vibration of the combine harvester, the flow change, the gradient in the field and the like, and the actual use requirement cannot be met.

How to develop a grain flow detection device and a detection method thereof which do not only depend on impact (quantity) mode is an urgent technical problem to be solved.

Disclosure of Invention

The invention aims to solve the defect that the grain flow measuring mode in the prior art is difficult to meet the actual use requirement, and provides a grain flow detecting device of a combine harvester based on centrifugal force analysis and a detecting method thereof to solve the problems.

In order to achieve the purpose, the technical scheme of the invention is as follows:

a combine harvester grain flow detection device based on centrifugal force analysis comprises a net grain elevator, wherein a chain type elevator is arranged in the net grain elevator, the chain type elevator comprises a driving gear arranged in a shell, a chain is arranged on the driving gear, a plurality of scraping plates are fixedly arranged on the chain at equal intervals, platforms of the scraping plates are perpendicular to the chain, a measuring force sensor and a reference force sensor are arranged on the net grain elevator and positioned above the shell,

the shell is positioned above the driving gear and is in an arc shape, the circle center of the arc shape is the same as that of the driving gear, a centrifugal force acquisition window is arranged on the shell, the position of the centrifugal force acquisition window is positioned in the tangential direction of the installation position of the scraper when the scraper moves to the top end of the driving gear, the reference force impact plate and the measuring force impact plate are respectively arranged on the reference force sensor and the measuring force sensor through rigid beams, the measuring force impact plate is positioned in the centrifugal force acquisition window, and the reference force impact plate is positioned outside the shell;

the signal output end of the measuring force sensor is connected with the input end of the bridge A, the signal output end of the reference force sensor is connected with the input end of the bridge B, the output ends of the bridge A and the bridge B are connected with the input end of the multi-channel high-speed AD, and the output end of the multi-channel high-speed AD is connected with the input end of the FPGA.

The number of the rigid beams is two, and the length difference between the two rigid beams is less than 2 cm.

The measuring force impact plate is arc-shaped, and the size of the measuring force impact plate is the same as that of the centrifugal force acquisition window.

The scraper blades are arranged on the periphery of the platform and are provided with baffles.

The distance between two adjacent scrapers on the chain is larger than one fourth of the circumference of the driving gear.

A measuring method of a combine harvester grain flow detection device based on centrifugal force analysis comprises the following steps:

the net grain elevator controls the chain elevator to drive the grain on the scraper to move, when the scraper circularly moves to the top, the grain is thrown out along the circumferential tangential direction at the speed of the elevator, and impacts an impact plate of the measuring force sensor to generate centrifugal force on the impact plate surface;

the measuring force sensor acquires impact force data and external acting force data generated by the operation of the combine harvester, and the reference force sensor acquires the external acting force data generated by the operation of the combine harvester and transmits the external acting force data to the FPGA;

the FPGA carries out difference operation on the obtained data of the measuring force sensor and the reference force sensor, removes external acting force data generated by the operation of the combine harvester, and obtains a net centrifugal force F_G；

Calculating the mass of the impacted grains through the centrifugal force of the grains, wherein the correction model formula is as follows:

wherein m is the mass of the impacted grains, V is the running speed of the scraper and r is the radius of circular motion;

the average mass flow of the grains is calculated by using the centrifugal force of the grains, and the calculation formula is as follows:

where Δ t is the impact action time and Q is t₁-t₂Average mass flow of grain over a time interval.

Advantageous effects

Compared with the prior art, the grain flow detection device of the combine harvester based on centrifugal force analysis and the detection method thereof utilize a centrifugal force mode to detect the grain flow, measure the grain flow through the circular motion of the chain type hoister, and have high detection precision and low complexity.

The scraper adopts the design of additionally arranging the baffle plate in a dustpan-like shape, so that the falling probability of grains is reduced; the three-dimensional force sensor is adopted, so that the centrifugal force of the grains can be measured, and the forces generated by acceleration, inclination of the machine body and the like can be measured, the use of an acceleration sensor and an inclination angle sensor is omitted, and the calibration complexity of the grain flow detection device is reduced; through the difference of the two same three-dimensional force sensors, the influence of external factors such as acceleration, inclination of a machine body and the like on the flow measurement of the grains is eliminated, and the detection precision of the grain flow detection device is further improved.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic block diagram of the electrical connection of the present invention;

FIG. 3 is a sequence diagram of the detection method of the present invention;

the system comprises a clean grain elevator 1, a chain type elevator 2, a shell 3, a driving gear 4, a chain 5, a scraper 6, a measuring force sensor 7, a reference force sensor 8, a bridge A10, a bridge B11, a multi-channel high-speed AD 12, an FPGA 13, a rigid beam 14, a baffle plate 15, a reference force impact plate 16 and a measuring force impact plate 16.

Detailed Description

So that the manner in which the above recited features of the present invention can be understood and readily understood, a more particular description of the invention, briefly summarized above, may be had by reference to embodiments, some of which are illustrated in the appended drawings, wherein:

as shown in fig. 1, the grain flow detection device of the combine harvester based on centrifugal force analysis comprises a net grain elevator 1, wherein a chain type elevator 2 is arranged in the net grain elevator 1. Chain elevator 2 is including installing driving gear 4 in casing 3, installs chain 5 on the driving gear 4, and equidistant fixed mounting has a plurality of scraper blade 6 on the chain 5, makes the ascending motion through scraper blade 6 on driving gear 4 drive chain 5. Here, the scrapers 6 are used for carrying the grain and are fixedly mounted to the chain 5, i.e. the scrapers 6 face upwards on one side of the chain 5 and the scrapers 6 face downwards on the other side of the chain 5. The platform 15 of the scraper 6 is perpendicular to the chain 5, and when the scraper 6 moves to the top of the driving gear 4 along with the chain 5, the scraper 6 is perpendicular to the ground, so that the grains on the scraper 6 can fly out of the scraper 6 under the action of the rotating centrifugal force.

In order to match with the centrifugal force generated by the scraper 6 in the rotation process of the driving gear 4, the position of the shell 3 above the driving gear 4 is in an arc shape, the position of the shell 3 above the driving gear 4 is in the arc shape, and the circle center of the arc shape is the same as that of the driving gear 4, namely the arc shape is just for simulating the rotation track of the driving gear 4. If the housing 3 is designed in a regular square shape, the difference in the height difference of different grains will be encountered when the grains fly out due to centrifugal force, for example, some grains will arrive at the housing first, and some grains will not reach the housing due to too large space, thereby causing the error of grain flow rate measurement.

A centrifugal force collecting window is formed on the housing 3, and the position of the centrifugal force collecting window is positioned in the tangential direction of the installation position of the scraper 6 when the scraper 6 moves to the top end of the driving gear 4, namely, when the grains on the scraper 6 fly out due to the centrifugal force, the position of the grains is positioned in the centrifugal force collecting window. The measuring force sensor 7 and the reference force sensor 8 are both mounted on the net lift 1 and above the housing 3, wherein the measuring force sensor 7 and the reference force sensor 8 are mounted on other parts of the net lift 1 in the conventional manner, as long as they are above the housing 3.

The reference force impact plate 15 and the measurement force impact plate 16 are respectively installed on the reference force sensor 8 and the measurement force sensor 7 through rigid body beams 13, and the number of the rigid body beams 13 is two. The measuring force impact plate 16 is positioned in the centrifugal force collecting window, and can collect the mass of the grain impacted when the grain flies out due to the centrifugal force. Because the combine harvester has vibration, the reference force impulse plate 15 is positioned outside the shell 3 and used for verifying the measuring force sensor 7 and eliminating influence force caused by factors such as vibration and inclination of the combine harvester.

In order to ensure that the flight path of the grain on the scrapers 6 is not disturbed, the distance between adjacent scrapers 6 on the chain 5 is more than a quarter of the circumference of the driving gear 4. At the same time, in order to further increase the accuracy of the measuring force sensor 7, the length difference between the two rigid beams 13 is less than 2cm, the rigid beams serving to reduce the effect of vibrations, while simulating more likely the combine vibration force, inclination of the measuring force sensor 7 by means of the reference force sensor 8.

In order to apply the grain acting force to a greater extent, the measuring force impact plate 16 can be designed into an arc shape, the size of the measuring force impact plate 16 is the same as that of the centrifugal force collecting window, and the measuring force impact plate is matched with the shell 3 to form an integral structure. The scraper 6 can be positioned at the periphery of the platform 15 and is provided with a baffle 14, so that the shape of the scraper is similar to a dustpan, and grains can be prevented from falling off in the movement process.

As shown in fig. 2, in the signal processing section, the signal output end of the measurement force sensor 7 is connected to the input end of a bridge a9, the signal output end of the reference force sensor 8 is connected to the input end of a bridge B10, the output ends of the bridge a9 and the bridge B10 are both connected to the input end of a multi-channel high-speed AD11, the output end of the multi-channel high-speed AD11 is connected to the input end of an FPGA12, and the data collected by the measurement force sensor 7 and the reference force sensor 8 are subjected to analog-to-digital conversion and then sent to the FPGA12 for analysis processing.

As shown in fig. 3, there is also provided a measuring method of a combine harvester grain flow detection device based on centrifugal force analysis, comprising the following steps:

firstly, the net grain elevator 1 controls the chain type elevator 2 to drive the scraper 6 to move, when the scraper 6 circularly moves to the top, the grain is thrown out along the direction of a circumferential tangent line at the speed of the elevator, and impacts an impact plate of the measuring force sensor 7 to generate centrifugal force on an impact plate surface.

And secondly, the measuring force sensor 7 acquires impact force data and external acting force data generated by the operation of the combine harvester, and the reference force sensor 8 acquires the external acting force data generated by the operation of the combine harvester and transmits the external acting force data to the FPGA 12.

In a third step, the FPGA12 differentiates the acquired data of the measurement force sensor 7 and the reference force sensor 8Calculating to remove external force data generated by the operation of the combine harvester to obtain a net centrifugal force F_G。

Fourthly, calculating the mass of the impacted grains through the centrifugal force of the grains, wherein the calculation formula is as follows:

where m is the mass of grain impacted, V is the speed of travel of the scraper 6, and r is the radius of circular motion.

Fifthly, calculating the average mass flow of the grains by using the centrifugal force of the grains, wherein the correction model formula is as follows:

where Δ t is the impact action time and Q is t₁-t₂Average mass flow of grain over a time interval.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.