CN111406505A - Device and method for monitoring remaining capacity and remaining walking distance of grain tank of combine harvester - Google Patents
Device and method for monitoring remaining capacity and remaining walking distance of grain tank of combine harvesterDownload PDFInfo
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- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
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Abstract
Description
Translated fromChinese技术领域technical field
本发明属于农机技术领域，尤其涉及一种联合收获机粮箱剩余容量及剩余行走距离监测装置和方法。The invention belongs to the technical field of agricultural machinery, and in particular relates to a device and method for monitoring the remaining capacity and remaining walking distance of a grain tank of a combine harvester.
背景技术Background technique
近年来，随着我国谷物联合收获机的推广，谷物收获作业的工作效率得到了极大的提高。这其中，由于我国农田存在分区分块、无大规模种植的特点，中小型联合收获机得到了广泛的应用。中小型联合收获机作业过程中，收获的谷物籽粒会暂时储存在粮箱内，待粮箱积满后，联合收获机行驶至田埂旁进行统一卸粮。相比之下，国外平原地区在对作物进行大规模收割时，大型联合收获机和粮食运输车配合作业，联合收获机在收割同时进行卸粮，从而大大提高了作业效率。In recent years, with the promotion of grain combine harvesters in my country, the work efficiency of grain harvesting operations has been greatly improved. Among them, small and medium-sized combine harvesters have been widely used due to the characteristics of my country's farmland being divided into blocks and no large-scale planting. During the operation of the small and medium-sized combine harvester, the harvested grains will be temporarily stored in the grain tank. After the grain tank is full, the combine harvester will drive to the ridge for unified unloading. In contrast, when large-scale harvesting of crops is carried out in foreign plains, large combine harvesters and grain transport vehicles work together, and the combine harvester unloads grain at the same time, thus greatly improving the operation efficiency.
我国现有中小型联合收获机在工作过程中所面临的问题包括以下几点：The problems faced by the existing small and medium-sized combine harvesters in our country include the following points:
1、联合收获机粮箱由不透明金属板制成，机手无法掌握粮箱内谷物堆积情况，若卸粮工作不及时，甚至会出现粮食泄漏，从而造成损失；1. The grain tank of the combine harvester is made of opaque metal plate. The operator cannot grasp the accumulation of grain in the grain tank. If the unloading of grain is not timely, grain leakage may even occur, resulting in losses;
2、中小型联合收获机粮箱普遍偏小，机器经常行驶到田块中央位置时出现粮箱报警情况，此时机手需将联合收获机开至田埂进行卸粮，极大降低了工作效率；2. The grain tank of small and medium-sized combine harvesters is generally too small, and the grain tank alarm occurs when the machine often drives to the center of the field. At this time, the operator needs to drive the combine harvester to the field ridge to unload the grain, which greatly reduces the work efficiency;
3、在湖南等地收获再生稻时，中小型联合收获机频繁的卸粮动作会增加机器在田间的碾压，造成第二季水稻得减产，增加了经济损失。3. When harvesting regenerated rice in Hunan and other places, the frequent unloading of small and medium-sized combine harvesters will increase the rolling of the machine in the field, resulting in a reduction in the production of the second season of rice and increased economic losses.
发明内容SUMMARY OF THE INVENTION
针对上述技术问题，本发明提供一种联合收获机粮箱剩余容量及剩余行走距离监测装置和方法，通过实时监测粮箱中的剩余空间，计算出联合收获机收割工作中的剩余行走距离，并实时显示在驾驶室显示器上，从而有助于机手规划收割路线和卸粮路线，减少联合收获机在田间行走过的空行程，提高收获工作效率；在粮箱容量即将耗尽时发光二极管配合蜂鸣器进行警报，提示机手及时卸粮，避免籽粒泄漏造成损失。In view of the above technical problems, the present invention provides a device and method for monitoring the remaining capacity of the grain tank of the combine harvester and the remaining walking distance. It is displayed on the cab display in real time, which helps the operator to plan the harvesting route and grain unloading route, reduce the empty travel of the combine harvester in the field, and improve the harvesting efficiency; when the capacity of the grain tank is about to be exhausted, the LED cooperates with the The buzzer gives an alarm, prompting the operator to unload the grain in time to avoid loss caused by grain leakage.
本发明还提出一种包括所述联合收获机粮箱剩余容量及剩余行走距离监测装置的联合收获机。The present invention also proposes a combine harvester including a monitoring device for the remaining capacity of the grain tank of the combine harvester and the remaining walking distance.
本发明的技术方案是：一种联合收获机粮箱剩余容量及剩余行走距离监测装置，包括粮箱、检测装置、控制面板、控制单元和报警装置；The technical scheme of the present invention is: a combined harvester grain tank remaining capacity and remaining walking distance monitoring device, comprising a grain tank, a detection device, a control panel, a control unit and an alarm device;
所述检测装置用于检测粮箱内籽粒堆积表面离粮箱顶部的平均距离信息，并传递给控制单元；The detection device is used to detect the average distance information of the grain accumulation surface in the grain tank from the top of the grain tank, and transmit it to the control unit;
所述控制面板用于至少输入粮箱横截面积、粮箱高度、联合收获机割幅、每平方米籽粒产量和谷物颗粒容重的信息，并传递给控制单元；The control panel is used to input at least the information of the cross-sectional area of the grain tank, the height of the grain tank, the cutting width of the combine harvester, the grain yield per square meter and the bulk density of grain grains, and transmit them to the control unit;
所述控制单元分别与检测装置、控制面板和报警装置连接，控制单元根据检测装置和控制面板的信息计算粮箱剩余容量和联合收获机剩余行走距离，当计算的粮箱剩余容量大于预设值时，控制报警装置发出警报。The control unit is respectively connected with the detection device, the control panel and the alarm device. The control unit calculates the remaining capacity of the grain tank and the remaining walking distance of the combine harvester according to the information of the detection device and the control panel. When the calculated remaining capacity of the grain tank is greater than the preset value When the alarm is controlled, the alarm will be issued.
上述方案中，所述检测装置为ToF深度传感器；所述ToF深度传感器用于安装在粮箱顶面。In the above solution, the detection device is a ToF depth sensor; the ToF depth sensor is used to be installed on the top surface of the grain tank.
上述方案中，所述控制单元为单片机。In the above solution, the control unit is a single-chip microcomputer.
上述方案中，所述报警装置包括发光二极管和蜂鸣器；In the above solution, the alarm device includes a light-emitting diode and a buzzer;
所述发光二极管和蜂鸣器分别与控制单元连接。The light-emitting diodes and the buzzer are respectively connected with the control unit.
上述方案中，还包括显示器；所述显示器与控制单元连接。In the above solution, a display is also included; the display is connected to the control unit.
一种联合收获机，包括所述的联合收获机粮箱剩余容量及剩余行走距离监测装置。A combine harvester includes the said combined harvester grain tank remaining capacity and remaining travel distance monitoring device.
一种根据所述的联合收获机粮箱剩余容量及剩余行走距离监测装置的监测方法，包括以下步骤：A monitoring method according to the monitoring device for the remaining capacity of the grain tank of the combine harvester and the remaining walking distance, comprising the following steps:
所述控制面板输入粮箱横截面积S、粮箱高度H、联合收获机割幅B、每平方米籽粒产量q和谷物颗粒容重γ的信息，并传递给控制单元；The control panel inputs the information of the cross-sectional area S of the grain tank, the height H of the grain tank, the cutting width B of the combine harvester, the grain yield per square meter q and the grain bulk density γ, and transmits it to the control unit;
所述检测装置检测粮箱内籽粒堆积表面离粮箱顶部的平均距离h的信息，并传递给控制单元；The detection device detects the information of the average distance h between the grain accumulation surface in the grain tank and the top of the grain tank, and transmits it to the control unit;
所述控制单元分别与检测装置、控制面板和报警装置连接，控制单元根据检测装置和控制面板的信息计算粮箱剩余容量和联合收获机剩余行走距离，当计算的粮箱剩余容量大于预设值时，控制单元控制报警装置发出警报。The control unit is respectively connected with the detection device, the control panel and the alarm device. The control unit calculates the remaining capacity of the grain tank and the remaining walking distance of the combine harvester according to the information of the detection device and the control panel. When the calculated remaining capacity of the grain tank is greater than the preset value When the control unit controls the alarm device to issue an alarm.
上述方案中，所述粮箱剩余容量E的计算公式如下：In the above scheme, the calculation formula of the remaining capacity E of the grain tank is as follows:
上述方案中，所述联合收获机剩余行走距离的计算公式如下：In the above scheme, the calculation formula of the remaining walking distance of the combine harvester is as follows:
在全割幅工作状态下，粮箱积满之前，联合收获机剩余的行走距离L为：In the working state of full cutting width, before the grain tank is full, the remaining walking distance L of the combine harvester is:
上述方案中，所述控制单元控制报警装置发出警报的步骤具体为：In the above scheme, the step that the control unit controls the alarm device to issue an alarm is specifically:
当所述检测装置测得粮箱内籽粒堆积表面离粮箱顶部的平均距离h低于粮箱高度H的20％时，控制单元控制发光二极管开始闪烁；当粮箱内籽粒堆积表面离粮箱顶部的平均距离h低于粮箱高度H的10％时，控制单元控制蜂鸣器发出警报。When the detection device detects that the average distance h between the grain accumulation surface in the grain tank and the top of the grain tank is lower than 20% of the grain tank height H, the control unit controls the light-emitting diodes to start flashing; when the grain accumulation surface in the grain tank leaves the grain tank When the average distance h of the top is lower than 10% of the height H of the grain tank, the control unit controls the buzzer to give an alarm.
与现有技术相比，本发明的有益效果是：Compared with the prior art, the beneficial effects of the present invention are:
1.本发明实时将粮箱内籽粒的高度反馈给机手，并在粮箱即将装满时发出警报，使机手实时掌握粮箱内籽粒的堆积状况，手动控制机器的作业与停机并及时卸粮，避免粮食过满造成的堵塞和粮食泄漏，减少损失。1. The present invention feeds back the height of the grains in the grain tank to the operator in real time, and sends out an alarm when the grain tank is about to be full, so that the operator can grasp the accumulation status of the grains in the grain tank in real time, and manually control the operation and shutdown of the machine in a timely manner. Unloading grain, avoiding blockage and grain leakage caused by overfilling of grain, and reducing losses.
2.本发明通过在收割工作进行前手动输入割幅、每平米籽粒产量以及籽粒容重三个参数，实时计算联合收获机剩余的工作距离并反馈给机手，有助于机手合理规划收割线路与卸粮线路，避免联合收获机在田块中央出现粮箱积满的状况，减少联合收获机在田间行走过的空行程，提高收割工作效率。2. The present invention calculates the remaining working distance of the combine harvester in real time and feeds it back to the operator by manually inputting the three parameters of cutting width, grain yield per square meter and grain bulk density before the harvesting work, which is helpful for the operator to rationally plan the harvesting route. With the grain unloading line, the combine harvester can avoid the situation that the grain tank is full in the center of the field, reduce the empty travel of the combine harvester in the field, and improve the harvesting efficiency.
附图说明Description of drawings
图1是本发明一实施方式的联合收获机粮箱剩余容量及剩余行走距离监测装置连接示意图；Fig. 1 is the connection schematic diagram of the remaining capacity of the grain tank of the combine harvester and the remaining running distance monitoring device according to an embodiment of the present invention;
图2是本发明一实施方式的联合收获机粮箱剩余容量及剩余行走距离监测装置单片机引脚连接简略图。2 is a schematic diagram of pin connections of the single chip microcomputer of the monitoring device for the remaining capacity of the grain tank of the combine harvester and the remaining walking distance according to an embodiment of the present invention.
具体实施方式Detailed ways
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present invention and should not be construed as limiting the present invention.
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“轴向”、“径向”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "axial", The orientation or positional relationship indicated by "radial", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description , rather than indicating or implying that the indicated device or element must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first", "second" may expressly or implicitly include one or more of that feature. In the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。In the present invention, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrally connected; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or the internal communication between the two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.
实施例1Example 1
图1所示为所述联合收获机粮箱剩余容量及剩余行走距离监测装置的一种较佳实施方式，所述联合收获机粮箱剩余容量及剩余行走距离监测装置，包括粮箱、检测装置、控制面板、控制单元、报警装置和显示器。所述检测装置用于检测粮箱内籽粒堆积表面离粮箱顶部的平均距离信息，并传递给控制单元；所述控制面板用于至少输入粮箱横截面积、粮箱高度、联合收获机割幅、每平方米籽粒产量和谷物颗粒容重的信息，并传递给控制单元；所述控制单元分别与检测装置、控制面板、报警装置和显示器连接，控制单元根据检测装置和控制面板的信息计算粮箱剩余容量和联合收获机剩余行走距离，当计算的粮箱剩余容量大于预设值时，控制报警装置发出警报。Fig. 1 shows a preferred embodiment of the monitoring device for the remaining capacity of the grain tank of the combine harvester and the remaining walking distance. The monitoring device for the remaining capacity of the grain tank and the remaining walking distance of the combine harvester includes a grain tank, a detection device , control panels, control units, alarm devices and displays. The detection device is used to detect the average distance information of the grain accumulation surface in the grain tank from the top of the grain tank, and transmit it to the control unit; The information of grain width, grain yield per square meter and grain density of grain is transmitted to the control unit; the control unit is respectively connected with the detection device, the control panel, the alarm device and the display, and the control unit calculates the grain size according to the information of the detection device and the control panel. When the remaining capacity of the grain tank is greater than the preset value, the control alarm device will issue an alarm.
所述检测装置为ToF深度传感器，所述ToF深度传感器固定在粮箱顶面，其摄像头朝向下方，以每秒30～60次的频率实时扫描粮箱内籽粒的堆积状况，记录下籽粒堆积表面离粮箱顶部的平均距离。The detection device is a ToF depth sensor, the ToF depth sensor is fixed on the top surface of the grain tank, and its camera faces downward, scans the accumulation status of grains in the grain tank in real time at a frequency of 30 to 60 times per second, and records the accumulation surface of the grains Average distance from the top of the grain tank.
所述控制单元为单片机，所述报警装置包括发光二极管和蜂鸣器；所述发光二极管和蜂鸣器分别与单片机连接。The control unit is a single-chip microcomputer, and the alarm device includes a light-emitting diode and a buzzer; the light-emitting diode and the buzzer are respectively connected with the single-chip microcomputer.
具体的，所述单片机的输入端通过一传感器电路与所述ToF深度传感器输出端相连，所述发光二极管与单片机输出端相连。所述蜂鸣器通过一报警电路与单片机输出端相连。所述单片机输出端与显示器相连。所述单片机输入端还与控制面板相连。所述显示器和控制面板均用于安装在联合收获机。Specifically, the input end of the single-chip microcomputer is connected to the output end of the ToF depth sensor through a sensor circuit, and the light-emitting diode is connected to the output end of the single-chip microcomputer. The buzzer is connected with the output end of the single-chip microcomputer through an alarm circuit. The output end of the single-chip microcomputer is connected with the display. The input end of the single-chip microcomputer is also connected with the control panel. Both the display and the control panel are intended to be mounted on the combine harvester.
本发明的工作过程为：所述ToF深度传感器记录下籽粒堆表面距离粮箱顶部的平均距离h(m)，并发送给单片机。单片机在事先设定好的程序下运行，计算出粮箱内籽粒高度i(m)，并与阈值相对比，当籽粒堆积高度i(m)达到粮箱高度H(m)的80％以上时，由单片机控制的发光二极管开始以500ms的频率开始闪烁；当籽粒堆积高度i(m)达到粮箱高度H(m)的90％以上时，单片机通过报警电路控制蜂鸣器发出警报。单片机进一步结合粮箱横截面面积S(m2)计算出粮箱剩余空间。工作前，通过将当地每平方米谷物籽粒产量q(kg)、谷物容重γ(kg/m3)和联合收割机割幅B(m)三个参数输入控制面板，控制面板将这些参数发送给单片机，单片机可根据程序估算出联合收获机在粮箱堆满前所能行走的剩余距离L(m)并发送给显示器，显示器连接到联合收获机驾驶室控制台上，其实时显示粮箱剩余容量E(％)和联合收获机剩余行走距离L(m)等数据。The working process of the present invention is as follows: the ToF depth sensor records the average distance h (m) between the surface of the grain pile and the top of the grain tank, and sends it to the single-chip microcomputer. The single-chip microcomputer runs under the pre-set program, calculates the grain height i(m) in the grain tank, and compares it with the threshold value. When the grain accumulation height i(m) reaches more than 80% of the grain tank height H(m) , the light-emitting diode controlled by the single-chip microcomputer begins to flash at a frequency of 500ms; when the grain accumulation height i(m) reaches more than 90% of the grain tank height H(m), the single-chip microcomputer controls the buzzer to give an alarm through the alarm circuit. The single-chip computer further calculates the remaining space of the grain tank in combination with the cross-sectional area S (m2 ) of the grain tank. Before working, input the three parameters of local grain yield per square meter q (kg), grain bulk density γ (kg/m3 ) and combine harvester cutting width B (m) into the control panel, and the control panel sends these parameters to the control panel. The single-chip microcomputer can estimate the remaining distance L (m) that the combine harvester can travel before the grain tank is full according to the program and send it to the display. The display is connected to the combine harvester cab console, and it displays the remaining grain tank Data such as capacity E (%) and remaining travel distance L (m) of the combine harvester.
如图2所示，所述单片机的输入端通过一传感器电路与所述ToF深度传感器输出端相连，即单片机的P30RXD引脚和P31TXD引脚接受来自ToF深度传感器所测得的粮箱内籽粒堆积表面离粮箱顶部的平均距离h(m)。单片机随后将来自这两个引脚的数据与所设定的阈值进行逻辑比较，若h值小于20％×H，即籽粒堆积高度高于80％粮箱高度，则单片机通过控制P21引脚，使发光二极管以500ms的频率闪烁；若h值小于10％×H，即籽粒堆积高度高于90％粮箱高度，则单片机通过控制P20引脚，使蜂鸣器发出警报，从而提醒机手及时卸粮，避免堵塞和籽粒泄漏的情况发生。As shown in Figure 2, the input end of the microcontroller is connected to the output end of the ToF depth sensor through a sensor circuit, that is, the P30RXD pin and the P31TXD pin of the microcontroller receive the grain accumulation in the grain tank measured by the ToF depth sensor. The average distance h(m) of the surface from the top of the grain tank. The MCU then logically compares the data from these two pins with the set threshold. If the h value is less than 20%×H, that is, the height of the grain accumulation is higher than 80% of the grain tank height, the MCU controls the P21 pin, Make the light-emitting diode flash at a frequency of 500ms; if the h value is less than 10% × H, that is, the height of the grain accumulation is higher than 90% of the grain tank height, the microcontroller will control the P20 pin to make the buzzer sound an alarm, thus reminding the operator to timely Unload grain to avoid blockage and grain leakage.
实施例2Example 2
一种根据实施例1所述的联合收获机粮箱剩余容量及剩余行走距离监测装置的监测方法，结合图1和图2，包括以下步骤：A method for monitoring the remaining capacity of the grain tank of the combine harvester and the monitoring device for remaining traveling distance according to Embodiment 1, in conjunction with FIG. 1 and FIG. 2 , includes the following steps:
收割工作开始前，事先根据机器结构和实际工作情况，所述控制面板输入粮箱横截面积S(m2)、粮箱高度H(m)、联合收获机割幅B(m)、每平方米籽粒产量q(kg)和谷物颗粒容重γ(kg/m3)的信息，并传递给控制单元；Before the harvesting work starts, according to the machine structure and actual working conditions, the control panel inputs the grain tank cross-sectional area S (m2 ), grain tank height H (m), combine harvester cutting width B (m), per square The information of rice grain yield q (kg) and grain bulk density γ (kg/m3 ) is transmitted to the control unit;
所述检测装置检测粮箱内籽粒堆积表面离粮箱顶部的平均距离h(m)的信息，并传递给控制单元；具体的，所述检测装置为ToF深度传感器，ToF深度传感器安装在粮箱顶面，以每秒30～60次的频率对粮箱内籽粒堆积面进行扫描，获取深度信息，得出粮箱内籽粒堆积表面离粮箱顶部的平均距离h(m)，并将此数据输入到单片机；The detection device detects the information of the average distance h (m) between the grain accumulation surface in the grain tank and the top of the grain tank, and transmits it to the control unit; specifically, the detection device is a ToF depth sensor, and the ToF depth sensor is installed in the grain tank On the top surface, the grain accumulation surface in the grain tank is scanned at a frequency of 30 to 60 times per second to obtain depth information, and the average distance h (m) between the grain accumulation surface in the grain tank and the top of the grain tank is obtained, and this data is calculated. input to the microcontroller;
所述控制单元分别与检测装置、控制面板和报警装置连接，控制单元根据检测装置和控制面板的信息计算粮箱剩余容量和联合收获机剩余行走距离，当计算的粮箱剩余容量大于预设值时，控制单元控制报警装置发出警报。The control unit is respectively connected with the detection device, the control panel and the alarm device. The control unit calculates the remaining capacity of the grain tank and the remaining walking distance of the combine harvester according to the information of the detection device and the control panel. When the calculated remaining capacity of the grain tank is greater than the preset value When the control unit controls the alarm device to issue an alarm.
所述粮箱剩余容量E的计算公式如下：The calculation formula of the remaining capacity E of the grain tank is as follows:
所述联合收获机剩余行走距离的计算公式如下：The formula for calculating the remaining walking distance of the combine harvester is as follows:
所述单片机计算出在全割幅工作状态下，粮箱积满之前，联合收获机剩余的行走距离L(m)为，并将该数据输出至显示器上。具体的，所述单片机的输入端通过所述控制面板相连接，即单片机的P12、P13和P14引脚分别接受来自控制面板的联合收割机割幅B(m)、谷物容重γ(kg/m3)和每平方米谷物籽粒产量q(kg)三个参数。单片机结合参数粮箱高度H(m)、粮箱横截面面积S(m2)以及ToF深度传感器所提供的粮箱内籽粒堆积表面距离粮箱顶部的平均距离h(m)，通过以下公式计算：The single-chip microcomputer calculates the remaining travel distance L (m) of the combine harvester before the grain tank is full under the working state of full cutting width, and outputs the data to the display. Specifically, the input end of the single-chip microcomputer is connected through the control panel, that is, the pins P12, P13 and P14 of the single-chip microcomputer respectively accept the combine harvester cutting width B (m) and grain bulk density γ (kg/m) from the control panel.3 ) and three parameters of grain yield q (kg) per square meter. Combining the parameters of grain tank height H (m), grain tank cross-sectional area S (m2 ), and the average distance h (m) of the grain accumulation surface in the grain tank from the top of the grain tank provided by the ToF depth sensor, the microcontroller is calculated by the following formula :
计算出在全割幅工作状态下，粮箱积满之前，联合收获机剩余的行走距离L(m)。Calculate the remaining travel distance L(m) of the combine harvester before the grain tank is full under the working condition of full cutting width.
所述控制单元控制报警装置发出警报的步骤具体为：The steps for the control unit to control the alarm device to issue an alarm are as follows:
所述发光二极管和单片机输出端相连，所述蜂鸣器通过报警电路与单片机输出端相连，当所述检测装置测得粮箱内籽粒堆积表面离粮箱顶部的平均距离h低于粮箱高度H的20％时，控制单元控制发光二极管开始闪烁；当粮箱内籽粒堆积表面离粮箱顶部的平均距离h低于粮箱高度H的10％时，控制单元控制蜂鸣器发出警报。The light-emitting diode is connected to the output end of the single-chip microcomputer, and the buzzer is connected to the output end of the single-chip microcomputer through an alarm circuit. When the detection device measures that the average distance h between the grain accumulation surface in the grain tank and the top of the grain tank is lower than the height of the grain tank When the height of H is 20%, the control unit controls the LED to start flashing; when the average distance h between the grain accumulation surface in the grain tank and the top of the grain tank is lower than 10% of the height H of the grain tank, the control unit controls the buzzer to give an alarm.
所述显示器上至少显示四组数据，分别为籽粒堆积平均高度i(m)、粮箱剩余容量E(％)、全割幅下联合收获机剩余工作距离L(m)、半割幅下联合收获机剩余工作距离l(m)。籽粒堆积高度i(m)、粮箱剩余容量E(％)和半割幅下联合收获机剩余工作距离l(m)由单片机通过给定程序计算得出并输出到显示器，At least four sets of data are displayed on the display, which are the average grain height i (m), the remaining capacity of the grain tank E (%), the remaining working distance L (m) of the combine harvester under the full cutting width, and the combined harvester under the half cutting width. The remaining working distance of the harvester is l(m). The grain stacking height i (m), the remaining capacity of the grain tank E (%) and the remaining working distance l (m) of the combine harvester under the half-cut width are calculated by the single-chip microcomputer through a given program and output to the display.
通过以下公式：by the following formula:
i＝H-hi=H-h
计算出粮箱内籽粒堆积高度i(m)。Calculate the grain stacking height i(m) in the grain tank.
通过以下公式：by the following formula:
计算出粮箱剩余容量E(％)。Calculate the remaining capacity E (%) of the grain tank.
通过以下公式：by the following formula:
计算出在半割幅工作状态下，联合收获机剩余工作距离l(m)。Calculate the remaining working distance l(m) of the combine harvester in the working state of half cutting width.
所属单片机通过控制引脚P00～P07以及P22～P26将以上数据传递给显示器，并在显示器LCD屏上进行显示，从而使机手实时掌握粮箱堆积情况，合理安排收割路线和卸粮路线。The MCU transmits the above data to the display through the control pins P00~P07 and P22~P26, and displays it on the LCD screen of the display, so that the operator can grasp the accumulation of the grain tank in real time, and reasonably arrange the harvesting route and grain unloading route.
实施例3Example 3
一种联合收获机，包括实施例1所述的联合收获机粮箱剩余容量及剩余行走距离监测装置，并采实施例2所述的监测方法进行联合收获机粮箱剩余容量及剩余行走距离的监测，具有实施例1和2的有益效果，此处不再赘述。A combine harvester, comprising the monitoring device for the remaining capacity of the grain tank of the combine harvester and the remaining walking distance described in Embodiment 1, and the monitoring method described in Embodiment 2 is used to measure the remaining capacity of the grain tank and the remaining walking distance of the combine harvester. Monitoring has the beneficial effects of Embodiments 1 and 2, and will not be repeated here.
应当理解，虽然本说明书是按照各个实施例描述的，但并非每个实施例仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。It should be understood that although this specification is described according to various embodiments, not each embodiment only includes an independent technical solution, and this description in the specification is only for the sake of clarity, and those skilled in the art should take the specification as a whole , the technical solutions in each embodiment can also be appropriately combined to form other implementations that can be understood by those skilled in the art.
上文所列出的一系列的详细说明仅仅是针对本发明的可行性实施例的具体说明，它们并非用以限制本发明的保护范围，凡未脱离本发明技艺精神所作的等效实施例或变更均应包含在本发明的保护范围之内。The series of detailed descriptions listed above are only specific descriptions for the feasible embodiments of the present invention, and they are not intended to limit the protection scope of the present invention. Changes should all be included within the protection scope of the present invention.
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