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Experiment and parameter optimization of an automatic row following system for the traction beet combine harvester

International Journal of Agricultural and Biological Engineering 2023年第1期16卷 145-152页

作者： Shenying Wang Xuemei Gao Zhaoyan You Baoliang Peng Huichang Wu Zhichao Hu Yongwei Wang Nanjing Institute of Agricultural Mechanization Ministry of Agriculture and Rural AffairsNanjing 210014China College of Biosystems Engineering and Food Science Zhejiang UniversityHangzhou 310058China Key Laboratory of Intelligent Equipment and Robotics for Agriculture of Zhejiang Province Hangzhou 310058China

To improve the automation level and operation quality of China's beet harvester and reduce the loss due to damaged and missed excavation,this study used a self-developed sugar beet combine harvester and field simulation experiment platform,based on the single-factor bench test of the automatic row following system in the early stage,taking hydraulic flow A,spring preload B,and forward speed C which have significant influence on performance indices as test factors,and taking the missed excavation rate,breakage rate and reaction time as performance indices,the orthogonal experimental study on the parameter optimization of the three-factor and three-level automatic row following system with the first-order interaction of various factors was carried *** results of the orthogonal experiments were analyzed using range analysis and variance *** results showed that there were differences in the influence degree,factor priority order and first-order interaction,and the optimal parameter combination on each performance index.A weighted comprehensive scoring method was used to optimize and analyze each *** optimal parameter combination of the overall operating performance of the automatic row following system was A 2B 2C 1,that is,the hydraulic flow was 25 L/min,the forward speed was 0.8 m/s,and the spring preload was 198 *** this combination,the response time was 0.496 s,the missed excavation rate was 2.35%,the breakage rate was 3.65%,and the operation quality was relatively good,which can meet the harvest *** comprehensive optimization results were verified by field experiments with different ridge shapes and different planting *** results showed that the mean values of the missed excavation rate of different planting patterns of conventional straight ridges and extremely large"S"ridges were 2.23%and 2.69%,respectively,and the maximum values were 2.39%and 2.98%,respectively;the average damage rates were 3.38%and 4.14%,and the maxi

关键词： beet combine harvester traction type parameter optimization automatic row following

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Effects of working parameters on the performance of cyclone separator for rapeseed combine harvester based on CFD

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International Journal of Agricultural and Biological Engineering 2023年第1期16卷 128-135,F0004页

作者： Xingyu Wan Jiacheng Yuan Jia Yang Yitao Liao Qingxi Liao College of Engineering Huazhong Agricultural UniversityWuhan 430070China Key Laboratory of Agricultural Equipment in Mid-lower Reaches of the Yangtze River Ministry of Agriculture and Rural AffairsWuhan 430070China

Existing development for cyclone separation cleaning components of the rapeseed combine harvester,which employs the suspending airflow to separate the rapeseeds from the materials other than grain(MOG),has the challenge to figure out the optimal working parameters,highlighting a need for exploration of the invisible airflow based on Computational Fluid Dynamics(CFD).The airflow status was mainly affected by the air velocities of the inlet,and the outlet for the *** single factor and response surface experiments were carried *** could be found that the inlet and MOG outlet velocities affected the air velocities through the change in the air ***,the mathematical model of the relationship between the air velocities inside the cyclone and the working parameters was built,and the optimal combination of working parameters was obtained by multi-objective *** inlet and outlet velocities of the optimal combination were 4.25 m/s and 29.87 m/s,*** this condition,the cleaning ratio and loss ratio of the cleaning device was 94.62%and 5.39%,respectively,as validated by the field *** findings provide references for the improvement of cleaning systems for rapeseed combine harvesters.

关键词： rapeseed combine harvester cyclone separation cleaning optimal working parameters CFD

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Development of the automatic navigation system for combine harvester based on GNSS

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International Journal of Agricultural and Biological Engineering 2021年第5期14卷 163-171页

作者： Shichao Li Man Zhang Ruyue Cao Yuhan Ji Zhenqian Zhang Han Li Yanxin Yin Key Lab of Modern Precision Agriculture System Integration Research Ministry of EducationChina Agricultural UniversityBeijing 100083China National Research Center of Intelligent Equipment for Agriculture Beijing 100097China

An automatic navigation system was developed to realize automatic driving for combine harvester,including the mechanical design,control method and software *** of all,for the harvester modified with the automatic navigation system,a dynamic calibration method of the rear wheel center position was *** control part included the navigation controller and the steering controller.A variable universe fuzzy controller was designed to the navigation controller,which used fuzzy control to change the fuzzy universe of input and output dynamically,that means,under the condition that the fuzzy rules remain unchanged,the fuzzy universe changes with the change of input,which is an adaptive fuzzy control method and can modify the control strategy in *** realize the automatic navigation of the harvester,the decision result of the navigation controller based on the variable universe fuzzy control was input into the steering controller,and then the electric steering wheel was controlled to *** test the performance of the designed automatic navigation system,the field experiment was carried *** the combine harvester was navigating linearly at a speed of 0.8 m/s,the overall root mean square error(RMSE)of the lateral deviation was 5.87 *** test results showed that the system was designed could make the combine track the preset path smoothly and stably,and the tracking accuracy was at the centimeter level.

关键词： automatic navigation system combine harvester GNSS development dynamic calibration variable universe adaptive fuzzy control

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Proportional distribution method for estimating actual grain flow under combine harvester dynamics

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International Journal of Agricultural and Biological Engineering 2017年第4期10卷 158-164页

作者： Wang He Bai Xiaoping Liang Hongbin School of Mechanical Engineering and Automation University of Science and Technology LiaoningAnshan 114051China Shenyang Institute of Automation Chinese Academy of SciencesShenyang 110016China

The yield monitors use a constant delay time to match the grain flow with ***,mixing and smoothing effects on the grain flow are *** constant time delay compensates for time mismatch,actual grain flow at a combine harvester head is not equal to the grain flow measured by a sensor due to the dynamics *** order to eliminate the dynamics effects,a new method for estimating actual grain flow,called proportional distribution(PD),is *** method assumes that actual grain flow is directly proportional to the *** on this assumption,the actual grain flow results from redistributing accumulated grain mass over a certain time according to the profile of the *** PD can avoid the dynamics effects because the feedrate is measured at a combine harvester’s *** with constant time delay,the proposed method can effectively estimate actual grain flow and be applied to improve the accuracy of yield maps.

关键词： grain flow combine harvester estimation method proportional distribution time delay yield map yield monitoring sensor

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Development of a measurement system for noise and vibration of combine harvester

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International Journal of Agricultural and Biological Engineering 2020年第6期13卷 104-108页

作者： Deniz Yilmaz Mehmet Emin Gökduman Department of Agricultural Machinery&Technology Engineering Faculty of AgricultureIsparta University of Applied SciencesIspartaTurkey

combine harvesters are important in that grain and legumes directly affect the production *** the other hand,it forms an important branch of the agricultural machinery *** are many unknown constraints on machines when harvesting with a combine harvester,including the noise and vibration that occur in the combine harvester *** study aims to analyze noise and vibration in conventional combine harvesters using *** accelerometers were installed on each side of the concave and two microphones were used to register the noise of the threshing *** result showed that effects of machine speeds(3.5 km/h,4.5 km/h and 5.5 km/h)and rotor speeds(950 r/min,850 r/min and 950 r/min)were significantly important for the mean range values of the left and right accelerometer in the X,Y and Z *** machine’s speed and rotor speed were not significantly important for the mean range values of the left and right microphones.

关键词： measurement combine harvester sensors noise vibration

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combine harvester: Small Machine Solves Big Rice Harvesting Problem of Bangladesh

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Agricultural Sciences 2022年第2期13卷 201-220页

作者： Bidhan Chandra Nath Subrata Paul Md Durrul Huda Md Anwar Hossen MGK Bhuiyan AKM Saiful Islam Bangladesh Rice Research Institute Gazipur Bangladesh

Bangladesh, a country with 87% of rural households that depend on agriculture and rice dominated diets (70%), engages the country’s food security. Therefore, there is strong advocacy for a mechanized paddy harvesting system for food security in South Asia, mainly Bangladesh. Some harvesting machinery is available;however, the precise roles of a combine harvester during this process are little. This study attempts to understand the consequences of combining harvesters for paddy harvesting and compare them with hand harvesting. For comparison of field performance of combine harvester with traditional harvesting, the experiment was conducted at Gazipur District, Bangladesh, in 2016. Results showed that the labor required for harvesting unit area 283, 15 and 9.87 man-h∙ha−1 for T1 (Sickle + Head carry + Beating + Kula), T2 (Reaper + Trolley carry + Close drum thresher + winnower), T3 (combine harvester) system, respectively. Likewise, the harvesting costs were 1.84 (T2) and 2.5 (T1) times higher than the combine harvester (T3). Also, the postharvest loss can be saved 1.84%, to use combine harvester over manual harvesting of paddy. The above result revealed that the semi-mechanized and mechanized harvesting system is a time, labor and cost-saving system;however, the manual reaping system is concerned with more postharvest losses (3.09%). This study highlights the importance of combine harvester;however, further research is required in other places with large and mini-combine harvesters under diverse cropping areas and to test a combine harvester’s detailed potentiality.

关键词： combine harvester Harvesting Labor Paddy Postharvest Losses

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Modeling of working environment and coverage path planning method of combine harvesters

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International Journal of Agricultural and Biological Engineering 2020年第2期13卷 132-137页

作者： En Lu Lizhang Xu Yaoming Li Zhong Tang Zheng Ma School of Agricultural Equipment Engineering Jiangsu UniversityZhenjiang 212013China World Precise Machinery(China)Co. LtdWorld Industrial ParkPicheng TownDanyang 212311China

This paper mainly studied the working environment modeling and coverage path planning of combine *** boundaries of the farmland to be harvested were extracted through the farmland satellite imagery and canny *** polygon approximation method was used to fit the extracted boundaries as *** edge offset of the farmland and obstacles was realized based on the principle of straight *** to the structure data of the split points which were obtained through the improved scan line algorithm,the coverage path planning of the combine harvester was ***,the circular arc transition algorithm was used to optimize the harvesting paths to achieve the smooth turning of the combine harvester at the edge of farmland and when encountering *** simulation results show that the proposed the proposed polygon approximation method can accurately depict the boundaries of the farmland to be harvested,and reduce the amount of data to be ***,the designed path planning method can realize the coverage path planning of the combine harvester in irregular and internal obstacle farmland.

关键词： combine harvester environmental modeling path planning farmland turning

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Development of uncut crop edge detection system based on laser rangefinder for combine harvesters

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International Journal of Agricultural and Biological Engineering 2016年第2期9卷 21-28页

作者： Zhao Teng Noboru Noguchi Yang Liangliang Kazunobu Ishii Chen Jun College of Mechanical and Electronic Engineering Northwest A&F UniversityYangling 712100China Vehicle Robotics Laboratory Graduate School of AgricultureHokkaido UniversitySapporoJapan

The objective of this research was to develop an uncut crop edge detection system for a combine harvester.A laser rangefinder(LF)was selected as a primary sensor,combined with a pan-tilt unit(PTU)and an inertial measurement unit(IMU).Three-dimensional field information can be obtained when the PTU rotates the laser rangefinder in the vertical plane.A field profile was modeled by analyzing range ***’s method was used to detect the crop edge position on each scanning profile,and the least squares method was applied to fit the uncut crop *** performance of the system was first evaluated under laboratory ***,validation experiments were conducted under both static and dynamic conditions in a wheat field during harvesting *** verify the error of the detection system,the real position of the edge was measured by GPS for accuracy *** results showed an average lateral error of±12 cm,with a Root-Mean-Square Error(RMSE)of 3.01 cm for the static test,and an average lateral error of±25 cm,with an RMSE of 10.15 cm for the dynamic *** proposed laser rangefinder-based uncut crop edge detection system exhibited a satisfactory performance for edge detection under different conditions in the field,and can provide reliable information for further study.

关键词： laser rangefinder technology crop edge detection combine harvester navigation field profile modeling

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Simulation and analysis of the pneumatic recovery for side-cutting loss of combine harvesters with CFD-DEM coupling approach

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International Journal of Agricultural and Biological Engineering 2022年第2期15卷 117-126页

作者： Tao Jiang Min Zhang Zhuohuai Guan Senlin Mu Chongyou Wu Gang Wang Haitong Li Nanjing Institute of Agricultural Mechanization Ministry of Agriculture and Rural AffairsNanjing 210014China Synergistic Innovation Center of Jiangsu Modern Agricultural Equipment and Technology Zhenjiang 212013JiangsuChina

A novel pneumatic recovery method was proposed to curb the problem of high losses caused by side-cutting in a rapeseed combine harvester *** influence of recovery method and material status changes on the recovery effect was studied via the CFD-DEM(computational fluid dynamic-discrete element method)coupling *** effect of airflow action on the recovery effect was compared and analyzed,and the composite pneumatic recovery method was *** addition,the influence of material status changes and material feeding rate on the recovery effect was explored,and the critical condition of material blockage in the recovery device was *** such,the relationship model between air velocity and recovery rate was constructed and the air distribution ratio of the flow field in the device under this condition was optimized,had verified the rationality of this pneumatic recovery method was verified by a series of field *** average rapeseed recovery rate of 92.95%was achieved with the application of the recovery device,and the total loss rate of the header reduced by 52.26%,which is of great significance in reducing the total loss rate of the combine harvesters and improving the operation performance of *** research results can provide a reference for the design of the header structure of a rape combine harvester.

关键词： rapeseed combine harvester side-cutting loss coupled simulation pneumatic recovery

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Real-time grain breakage sensing for rice combine harvesters using machine vision technology

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International Journal of Agricultural and Biological Engineering 2020年第3期13卷 194-199页

作者： Jin Chen Yi Lian Rong Zou Shuai Zhang Xiaobo Ning Mengna Han College of Mechanical Engineering Jiangsu UniversityZhenjiang 212013JiangsuChina

Breakage rate is one of the most important indicators to evaluate the harvesting performance of a combine *** is affected by operating parameters of a combine such as feeding rate,the peripheral speed of the threshing cylinder and concave clearance,and shows complex non-linear ***-time acquisition of the breakage rate is an effective way to find the correlation of *** addition,real-time monitoring of the breakage rate can help the driver optimize and adjust the operating parameters of a combine harvester to avoid the breakage rate exceeding the *** this study,a real-time monitoring method for the grain breakage rate of the rice combine harvester based on machine vision was *** structure of the sampling device was designed to obtain rice kernel images of high quality in the harvesting *** to the working characteristics of the combine,the illumination and installation of the light source were optimized,and the lateral lighting system was constructed.A two-step method of“color training-verification”was applied to identify the whole and broken *** the first step,the local threshold algorithm was used to get the edge of kernel particles in a few training images with binary transformation,extract the color spectrum of each particle in color-space HSL and output the recognition model *** second step was to verify the recognition accuracy and the breakage rate monitoring accuracy through grabbing and processing images in the *** experiments of about 2300 particles showed that the recognition accuracy of 96%was attained,and the monitoring values of breakage rate and the true artificial monitoring values had good trend *** monitoring device of grain breakage rate based on machine vision can provide technical supports for the intellectualization of combine harvester.

关键词： combine harvester breakage rate monitoring sampling box structure machine vision color classification

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