Design and experiment of STM32-based monitoring system for garlic combine harvester

doi:10.12398/j.issn.2096-7217.2025.01.002

Abstract

Abstract:

The garlic combine harvester has essentially realized the mechanized harvesting of garlic. However， its intelligence level is relatively low. During the operation， problems such as yaw， overflow and blockage are prone to occur， which affect the operation quality and harvesting efficiency of the whole machine. To address these issues， this paper presents an STM32-Based real-time monitoring system for garlic combine harvesters， which can monitor the yawing， overflow， and blockage failure problems in real-time with high accuracy， and can also provide voice broadcast reminders. The system comprised a row assist modules， a yield monitoring module， a fault diagnosis module and an STM32 microcontroller. The row assist modules utilized an MPU6050 gyroscope to ascertain the direction of the harvester， which was then compared with the set direction angle warning and alarm threshold to determine whether the harvester had deviated from the normal operational route. The yield monitoring module multiplied the weight of a single garlic by the total number of garlic counts to calculate the total weight of the harvested garlic， and compared it with the set threshold of the full bin to ascertain whether the collection bin was indeed full. Fault diagnosis was performed by the Hall sensor， which collected the rotational speed of the follower wheel of the clamping and conveying mechanism and compared it with the set threshold to judge whether a blockage occurrs. The maximum error value of the row assist module， as determined through indoor commissioning， was 1.3°. The minimum error value was 0.2°. The yield detection module monitoring count accuracy was 96.7%. The fault diagnosis module identified the average error value of rotational speed as 0.8 r/min， with an error rate of 0.4%. This enabled the module to accurately monitor the follower wheel rotational speed changes when the clamping device was blocked. The results of the field test demonstrate that the designed monitoring system is feasible， accurate and stable. The findings of this study indicate that the proposed monitoring system can operate reliably over an extended period， issuing timely alerts when the garlic harvester is exhibiting signs of yawing， overflowing， and blocking issues. This could markedly enhance the operational quality and efficiency of traditional garlic harvesters.

Key words: garlic, harvester, row assist, real-time monitoring, threshold

CLC Number:

WANG Yongjian, DING Xiang, LI Hua, SAMUEL Mbugua Nyambura, LI Yuqing, GE Yanyan, QIU Shilong, FENG Xuebin. Design and experiment of STM32-based monitoring system for garlic combine harvester[J]. Journal of Intelligent Agricultural Mechanization, 2025, 6(1): 15-24.

Figures/Tables 18

References 23

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取样区域	最大值/g	最小值/g	平均值/g	标准差/g
DS.NO.1	201.35	81.46	130.47	3.83
DS.NO.2	198.87	90.43	138.36	4.04
DS.NO.3	188.62	97.66	132.88	2.16
DS.NO.4	203.64	84.72	133.45	3.14
DS.NO.5	192.57	94.44	134.03	1.57

取样区域	最大值/g	最小值/g	平均值/g	标准差/g
DS.NO.1	201.35	81.46	130.47	3.83
DS.NO.2	198.87	90.43	138.36	4.04
DS.NO.3	188.62	97.66	132.88	2.16
DS.NO.4	203.64	84.72	133.45	3.14
DS.NO.5	192.57	94.44	134.03	1.57

硬件选择	核心器件	安装位置	作用
控制器	STM32F103RCT6	收获机隔板背面	处理各模块信号，与设定参数阈值对比判断相关工作部件是否发生故障
对行辅助模块	MPU6050传感器	收获机前端	实时采集收获机前进过程中的航向信息
产量监测模块	E18-D80NK型光电传感器	收获机夹持输送装置	对收获的大蒜个数进行计数
故障诊断模块	NJK-5001C型霍尔传感器	夹持输送装置的从动轮上方0~10 mm处	监测从动轮转速
语音模块	WT588D-U	收获机隔板背面	语音播报故障情况

硬件选择	核心器件	安装位置	作用
控制器	STM32F103RCT6	收获机隔板背面	处理各模块信号，与设定参数阈值对比判断相关工作部件是否发生故障
对行辅助模块	MPU6050传感器	收获机前端	实时采集收获机前进过程中的航向信息
产量监测模块	E18-D80NK型光电传感器	收获机夹持输送装置	对收获的大蒜个数进行计数
故障诊断模块	NJK-5001C型霍尔传感器	夹持输送装置的从动轮上方0~10 mm处	监测从动轮转速
语音模块	WT588D-U	收获机隔板背面	语音播报故障情况

编号	度量角度 /（°）	实测角度 /（°）	误差值 /（°）
1	5.0	4.7	0.3
2	15.0	14.4	0.6
3	30.0	28.8	0.2
4	45.0	44.7	0.3
5	60.0	59.8	0.2
6	90.0	88.7	1.3
7	115.0	114.7	0.3
8	135.0	134.1	0.9
9	150.0	149.7	0.3
10	175.0	174.8	0.2