JP2019004796A - Combine - Google Patents

Abstract

To provide a combine that is hard to cause deviation between a harvesting position associated with the grain yield and a position where the grain culm is harvested actually, even if a transport speed in a transport device changes.SOLUTION: A combine includes: a transport device for transporting a reaped grain culm along a transport path and configured to change a transport speed of the reaped grain culm; a transport speed detection unit H for detecting the transport speed; a measuring unit M for measuring the grain yield every unit of time; a detection unit 20 capable of detecting a first machine body position being the position of the machine body when the reaped grain culm passes a first point, and a second machine body position being the position of the machine body when the reaped grain culm passes a second point; a transport distance calculation unit 71 for calculating a transport distance of the reaped grain culm every unit of time; and a measurement position calculation unit 72 for calculating the measurement position to be associated with the yield, based on the transport distance, the separation distance between the first point and the second point, the first machine body position and the second machine body position.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a combine provided with a transport device for transporting a harvested cereal meal.

  As a combine capable of generating a yield map by measuring the yield of a grain over time and associating the yield of the grain with a harvest position in a field, for example, the one described in Patent Document 1 is already known. Yes.

  According to this combine, a yield map can be generated. Then, the operator can know the distribution of yield in the field by looking at the generated yield map.

JP 2008-212102 A

  In the combine described in Patent Document 1, as a specific configuration for associating the grain yield with the harvest position, a configuration for associating the grain yield with the position of the combine at the timing at which the yield was measured; It is possible to do.

  However, in general, in the harvesting operation of the combine, the harvested corn straw is transported by the transport device. The cereal husk is threshed during or after being transported by the transport device. After this threshing process, the grain yield obtained from this cereal meal is measured.

  That is, there is a time difference between the timing at which the planted culm in the field is cut and the timing at which the yield of the grain obtained from the cut culm is measured. And the position of the combine changes during this time difference.

  Therefore, the position where the planted culm is cut and the position of the combine at the timing when the yield of the grain obtained from the cut culm is measured are different. That is, in the configuration that associates the yield of the grain with the position of the combine at the timing when the yield is measured, the harvest position that is associated with the yield of the grain, and the position where the grain is actually cut, Will shift.

  Here, if the time difference between the timing at which the planted culm in the field is harvested and the timing at which the grain yield obtained from the harvested culm is measured is constant, the position of the combine is If it is the structure which always detects, the position of the combine in the timing before the timing difference from the timing when the yield of the grain was measured can be calculated.

  And if it is the structure which matches the position calculated in this way with the yield of a grain, it will shift that the harvest position matched with the yield of a grain and the position where the grain straw was actually cut off will shift. Can be avoided.

  However, even in this configuration, when the transport speed in the transport device can be changed, the harvesting position associated with the grain yield and the position where the grain is actually cut are misaligned. End up. This is between the timing at which the planted culm in the field is cut and the timing at which the yield of the grain obtained from the harvested culm is measured as the transport speed in the transport device changes. This is because the time difference changes.

  An object of the present invention is to combine a harvesting position that is associated with a grain yield and a position where the grain is actually cut off, even when the transporting speed in the transporting device is changed. Is to provide.

The feature of the present invention is that
While conveying the harvested cereal rice cake along the conveyance path, and a conveying device configured to be able to change the conveyance speed of the harvested rice cake meal cake,
A transport speed detector for detecting the transport speed;
It is provided on the lower side in the conveying direction than the conveying device, and a measuring unit that measures the yield of the grain per unit time,
The first machine position, which is the position of the machine body when the harvested cereal meal passes the first point in the transport path, and the second where the harvested grain meal is located on the lower side in the transport direction than the first point in the transport path. A position detection unit capable of detecting a second aircraft position that is a position of the aircraft when passing the point;
Based on the transport speed and the unit time, a transport distance calculation unit that calculates the transport distance of the harvested cereal per unit time,
The yield is associated with the yield based on the transport distance calculated by the transport distance calculation unit, the separation distance between the first point and the second point, the first body position, and the second body position. And a measurement position calculation unit that calculates a measurement position for the purpose.

  According to the present invention, the transport distance is calculated based on the transport speed in the transport device. The ratio of the transport distance to the separation distance between the first point and the second point is correlated with the ratio of the distance from the first body position to the actual measurement position with respect to the distance from the first body position to the second body position. doing. Therefore, the measurement position can be accurately calculated by calculating the measurement position based on the transport distance, the separation distance between the first point and the second point, the first body position, and the second body position.

  And if the measurement position calculated in this way is associated with the yield of the grain, the harvest position associated with the yield of the grain and the actual grain even if the transport speed in the transport device changes. Deviation from the position where the cocoon is cut is unlikely to occur.

  That is, according to the present invention, even when the transport speed in the transport device is changed, there is a difference between the harvest position associated with the grain yield and the position where the grain is actually cut. hard.

Furthermore, in the present invention,
Preferably, the measurement position calculation unit calculates the measurement position by proportionally dividing the position coordinates between the first machine body position and the second machine body position according to a ratio of the transport distance to the separation distance. is there.

  As described above, the ratio of the transport distance to the separation distance of the first point and the second point, the ratio of the distance from the first body position to the actual measurement position to the distance from the first body position to the second body position, Are correlated.

  Therefore, if the measurement position is calculated by proportionally dividing the position coordinates between the first body position and the second body position by the ratio of the transport distance to the separation distance as in the above configuration, the measurement position is calculated. It can be calculated with high accuracy.

  Therefore, according to said structure, the shift | offset | difference with the harvest position matched with the yield of the grain and the position where the grain cocoon was actually cut off hardly arises.

Furthermore, in the present invention,
The transfer device is a cutting and conveying device that a cutting unit has,
It is preferable that the cutting and conveying device is configured to be able to change the conveying speed.

  In the harvesting operation of the combine, the amount of the harvested cereal rice cake that the harvesting and conveying device needs to convey per unit time varies depending on the state of the combine.

  For example, the higher the traveling speed of the combine, the greater the amount of cereal that is harvested per unit time. As the amount of cereals harvested per unit time increases, the amount of harvested cereals that the reaping and transporting apparatus needs to transport per unit time increases.

  That is, the higher the traveling speed of the combine, the greater the amount of harvested cereal rice cake that the harvesting and conveying device needs to convey per unit time.

  Here, according to said structure, the structure from which the conveyance speed in a cutting and conveying apparatus changes according to the state of a combine is realizable. Therefore, the structure which can convey the harvested cereal meal with the conveyance speed suitable for the state of a combine is realizable.

Furthermore, in the present invention,
The harvesting unit has a cutting device for cutting the planted cereals,
The first point is set in the vicinity of the cutting device,
It is preferable to provide a first point passage sensor that detects that the harvested cereal meal has passed the first point.

  If the first point is set at a position relatively far from the cutting device, the time difference between the timing at which the planted culm is cut and the timing at which the culm passes the first point is relatively growing. Thereby, the shift | offset | difference of the position of the body in the timing when the planted grain husk was cut and the 1st body position becomes comparatively large.

  And as above-mentioned, the measurement position for matching with the yield of a grain is calculated based on a 1st body position. Therefore, when the 1st point is set in the position comparatively far from the cutting device, the precision of the measurement position for making it correspond to the yield of a grain will become comparatively low.

  Here, according to said structure, the time difference between the timing at which the planted culm is cut and the timing at which the culm passes the first point becomes relatively small. Thereby, the shift | offset | difference of the position of the body in the timing at which the planted culm was cut and the 1st body position becomes comparatively small.

  That is, according to said structure, the precision of the measurement position for matching with the yield of a grain becomes favorable.

Furthermore, in the present invention,
The front end of the cutting and conveying device is provided with a culm sensor that detects the presence or absence of cereals,
It is preferable that the first point passing sensor is the cereal sensor.

  According to this structure, compared with the case where a 1st point passage sensor is provided separately from a grain straw sensor, manufacturing cost can be held down.

Furthermore, in the present invention,
The second point is preferably set at the entrance of the threshing apparatus.

  When the first point and the second point are set at positions close to each other, the first body position and the second body position are close to each other. And the relative error of the distance from a 1st body position to a 2nd body position becomes large, so that a 1st body position and a 2nd body position are near mutually.

  Here, according to said structure, compared with the case where the 2nd point is set to the conveyance direction upper side rather than the entrance of a threshing apparatus, a 1st point and a 2nd point are mutually separated. Accordingly, the relative error of the distance from the first body position to the second body position is reduced.

Furthermore, in the present invention,
It is preferable that the grain obtained from the harvested cereal rice cake that has passed through the entrance of the threshing device is configured to be a measurement target of the measurement unit after a certain period of time has elapsed from the time that it has passed through the entrance of the threshing device. It is.

  According to this configuration, the grain obtained from the cereal at the beginning of cutting becomes a measurement target of the measurement unit after a certain time has elapsed since the cereal reached the second point. Therefore, after the cereal reaches the second point, the measurement unit starts measuring after a certain time has elapsed, measures the yield every unit time, and sequentially associates the measured yield with each calculated measurement position. Thus, the yield can be appropriately associated with each measurement position.

It is a side view of a combine. It is a top view of a combine. It is a block diagram which shows the structure regarding a control part. It is a figure which shows the harvest work driving | running | working of the combine in an agricultural field. It is a figure which shows an example of a linear part among the driving | running routes of the combine in an agricultural field. It is a figure which shows an example of the transition of a conveyance distance, and the yield per unit time.

  EMBODIMENT OF THE INVENTION The form for implementing this invention is demonstrated based on drawing. In the following description, the direction of the arrow F shown in FIGS. 1 and 2 is “front”, the direction of the arrow B is “back”, the direction of the arrow L shown in FIG. The direction is “right”. Further, the direction of the arrow U shown in FIG. 1 is “up” and the direction of the arrow D is “down”.

[Overall structure of the combine]
As shown in FIG.1 and FIG.2, the cutting part 1 is provided in the body front part of the self-detaching combine A. As shown in FIG. The harvesting unit 1 harvests the planted cereals in the field.

  More specifically, the cutting unit 1 includes a cutting and conveying device 10 (corresponding to a “conveying device” according to the present invention). And the cutting and conveying apparatus 10 has the cutting device 10a. The cutting device 10a is configured to cut the planted culm.

  Thus, the cutting part 1 in the combine A has the cutting device 10a which cut | disconnects the planted grain culm.

  Further, as shown in FIG. 1, a culm sensor S (corresponding to a “first point passage sensor” according to the present invention) for detecting the presence or absence of cereal is provided at the front end of the cutting and conveying apparatus 10.

  As shown in FIG. 1, an operation unit 2 is provided on the upper side of the cutting unit 1. An operator can board the driving unit 2. As shown in FIG. 2, a grain tank 3 is provided behind the operation unit 2. On the left side of the grain tank 3, a threshing device 4 is provided. As shown in FIGS. 1 and 2, an unloader 5 is provided above the grain tank 3 and the threshing device 4.

  Further, a crawler type traveling device 6 is provided at the lower part of the body of the combine A. The combine A can be self-propelled by the traveling device 6.

  The cereals harvested by the reaping unit 1 are conveyed to the threshing device 4 along the conveying path T by the reaping and conveying device 10.

  Here, the combine A is provided with an engine (not shown). Engine power is transmitted to a transmission (not shown) and a cutting HST (not shown). Then, power is transmitted from the transmission to the traveling device 6, and power is transmitted from the cutting HST to the cutting conveyance device 10. Thereby, the conveyance speed of the harvested cereal meal in the harvesting conveyance apparatus 10 will change in general interlocking with the traveling speed of the combine A. That is, the cutting and conveying apparatus 10 is configured to be able to change the conveying speed.

  Thus, the combine A is provided with the conveying apparatus comprised so that change of the conveyance speed of the harvested corn straw was possible while conveying the harvested corn straw along the conveyance path | route T. FIG. And in this embodiment, a conveying apparatus is the cutting and conveying apparatus 10 which the cutting part 1 has.

  In the threshing apparatus 4, the harvested cereal meal is threshed. The grain obtained by the threshing process is stored in the grain tank 3. The grain stored in the grain tank 3 is discharged out of the machine by the unloader 5 as necessary.

  Further, as shown in FIGS. 1 and 2, a position detection unit 20 is installed on the upper portion of the operation unit 2. The position detector 20 is configured to detect the position of the combine A machine over time.

[Configuration for the first point and the second point]
As shown in FIG. 1, a first point PA1 and a second point PA2 are set on the transport path T. The second point PA2 is located on the lower side in the transport direction than the first point PA1.

  More specifically, the first point PA1 is set in the vicinity of the cutting device 10a. The second point PA2 is set at the entrance of the threshing device 4. Then, the cereal sensor S can detect that the harvested cereal has passed the first point PA1.

  Thus, combine A is provided with the 1st point passage sensor which detects that the harvested cereal meal passed 1st point PA1. In the present embodiment, the first point passage sensor is a cereal sensor S.

[Configuration related to measurement unit]
As shown in FIG. 2, the threshing device 4 is provided with a horizontal screw 41. The lateral screw 41 extends in the left-right direction of the machine body. And the horizontal screw 41 conveys the grain obtained by the threshing process in the threshing apparatus 4 toward the grain tank 3.

  Moreover, as shown in FIG.1 and FIG.2, the cerealing apparatus 9 is provided between the grain tank 3 and the threshing apparatus 4. FIG. The cerealing device 9 has a vertical screw 91.

  The grain conveyed by the horizontal screw 41 is conveyed upward by the vertical screw 91. The grain conveyed to the upper end of the vertical screw 91 is discharged into the grain tank 3.

  A measuring unit M is provided in the vicinity of the upper end of the vertical screw 91. The measuring unit M measures the amount of the grain released into the grain tank 3 every unit time tu. That is, the measuring unit M measures the grain yield every unit time tu.

  More specifically, the measuring unit M is configured to receive a pressing force by the grains released from the upper end portion of the vertical screw 91. And the measurement part M detects this pressing force. The measuring unit M calculates the grain yield based on the detected pressing force. Thereby, the measurement part M measures the yield of a grain.

  The measuring unit M is provided on the lower side in the transport direction than the cutting transport device 10.

  As described above, the combine A is provided on the lower side in the transport direction than the harvesting and transporting device 10, and includes the measuring unit M that measures the yield of the grain every unit time tu.

[Configuration of control unit]
As shown in FIG. 3, the combine A includes a conveyance speed detection unit H and a control unit 7. In addition, the control unit 7 includes a transport distance calculation unit 71, a measurement position calculation unit 72, a yield allocation unit 73, and a yield distribution data storage unit 74.

  The conveyance speed detection unit H is configured to detect the conveyance speed of the harvested cereal meal in the harvesting conveyance apparatus 10 over time. The conveyance speed detected by the conveyance speed detection unit H is sent to the conveyance distance calculation unit 71.

  Thus, combine A is provided with conveyance speed detection part H which detects conveyance speed.

  The conveyance distance calculation unit 71 is configured to calculate the conveyance distance of the harvested cereal per unit time tu based on the conveyance speed received from the conveyance speed detection unit H and the unit time tu.

  More specifically, the transport distance calculation unit 71 calculates the transport distance based on the transport speed received from the transport speed detection unit H. The conveyance distance is a distance by which the harvested cereal meal is conveyed from the first point PA1 in the conveyance path T.

  In the present embodiment, the maximum value of the transport distance is the separation distance LM between the first point PA1 and the second point PA2. The transport distance and the separation distance LM are both distances along the transport path T.

  The conveyance distance calculation unit 71 starts calculation of the conveyance distance from the point in time when the harvested cereal at the beginning of cutting has passed the first point PA1. When the transport distance reaches the separation distance LM, the transport distance is reset and increases from zero again. Thereafter, every time the transport distance reaches the separation distance LM, the transport distance is reset.

  FIG. 6 shows an example of the transition of the transport distance. Hereinafter, a case where the conveyance distance changes as shown in FIG. 6 will be described.

  First, the calculation of the transport distance is started at time t00. When the calculation of the transport distance is started, the calculated transport distance increases with time. At time t35, the transport distance reaches the separation distance LM.

  At time t35, the conveyance distance is reset and increases from zero again. Thereafter, the conveyance distance reaches the separation distance LM between time t50 and time t60. At this point, the transport distance is reset and increases from zero again.

  Further, the transport distances at eight time points from time t10 to time t80 are L1 to L8, respectively. These transport distances are calculated by the transport distance calculation unit 71 and sent to the measurement position calculation unit 72 based on the transport speed received from the transport speed detection unit H and the unit time tu.

  Here, as shown in FIG. 6, the time intervals between the eight time points from time t10 to time t80 are unit time tu. That is, L1 to L8 shown in FIG. 6 are transport distances of the harvested cereal per unit time tu. The time interval between time t80 and time t90 is also a unit time tu.

  The transport distance of the harvested cereal meal per unit time tu is calculated, for example, by accumulating the product of the transport speed and the unit time tu.

  Thus, the combine A is provided with the conveyance distance calculation part 71 which calculates the conveyance distance of the harvested grain per unit time tu based on conveyance speed and unit time tu.

  As shown in FIG. 3, the conveyance distance calculated by the conveyance distance calculation unit 71 is sent to the measurement position calculation unit 72.

  In addition, as shown in FIG. 3, the position detection unit 20 sends the position information of the combine A machine to the measurement position calculation unit 72.

  More specifically, the position detection unit 20 detects the position of the combine A machine over time. The positions detected by the position detection unit 20 include the first body position and the second body position.

  The first machine position is the position of the machine when the harvested cereal passes through the first point PA1 in the transport path T. The second machine body position is the position of the machine body when the harvested cereals pass the second point PA2 in the transport path T.

  Then, the position detected by the position detection unit 20 is sent to the measurement position calculation unit 72 as position information. That is, the position information sent to the measurement position calculation unit 72 includes position information indicating the first body position and position information indicating the second body position.

  In this way, the combine A has a first machine position that is the position of the machine body when the harvested cereal passes the first point PA1 in the transport path T, and the harvested cereal meal is more than the first point PA1 in the transport path T. A position detection unit 20 capable of detecting the second machine body position that is the position of the machine body when passing the second point PA2 located on the lower side in the transport direction is provided.

  Further, as described above, the cereal sensor S detects that the reaped cereal has passed the first point PA1. Then, as shown in FIG. 3, the detection result in the culm sensor S is sent to the measurement position calculation unit 72.

  The measurement position calculation unit 72 calculates the first body position from the position information received from the position detection unit 20 based on the conveyance distance received from the conveyance distance calculation unit 71 and the detection result received from the culm sensor S. The position information indicating and the position information indicating the second body position are extracted.

  More specifically, the measurement position calculation unit 72 extracts position information at the time when the harvested culm has been detected to have passed the first point PA1 by the culm sensor S as position information indicating the first body position. . Moreover, the measurement position calculation part 72 extracts the positional information when the conveyance distance of the harvested cereal reaches the separation distance LM as the positional information indicating the second body position.

  And the measurement position calculation part 72 for matching with the yield of a grain based on the conveyance distance received from the conveyance distance calculation part 71, the separation distance LM, the 1st body position, and the 2nd body position. The measurement position is calculated.

  As described above, the combine A is based on the transport distance calculated by the transport distance calculation unit 71, the separation distance LM between the first point PA1 and the second point PA2, the first body position, and the second body position. And a measurement position calculation unit 72 for calculating a measurement position to be associated with the yield.

  As shown in FIG. 3, the measurement position calculated by the measurement position calculation unit 72 is sent to the yield allocation unit 73. The yield measured by the measuring unit M every unit time tu is sent to the yield allocating unit 73.

  The yield allocation unit 73 associates the measurement position received from the measurement position calculation unit 72 with each of the yields per unit time tu received from the measurement unit M. Thereby, yield distribution data is generated. Yield distribution data is data indicating the distribution of grain yield in a field.

  The yield distribution data generated by the yield allocation unit 73 is stored in the yield distribution data storage unit 74. The worker can use the yield distribution data by accessing the yield distribution data storage unit 74 via an operation terminal (not shown) or the like.

[Calculation of measurement position]
Hereinafter, calculation of the measurement position by the measurement position calculator 72 will be described in detail.

  As shown in FIG. 4, the combine A travels linearly in the field and turns. Thereafter, the planted cereals in the field are harvested while repeating the straight running and turning.

  In FIG. 5, an example of a linear part is shown among the driving | running routes of the combine A in an agricultural field. In the harvesting operation of the combine A, the grain yield is measured by the measuring unit M every unit time tu as described above. And the measurement position calculation part 72 calculates the measurement position for matching with each yield in such a linear driving | running route.

  In FIG. 6, when the combine A travels the travel route shown in FIG. 5, the transition of the transport distance of the harvested cereals calculated by the transport distance calculation unit 71 and the unit time tu measured by the measurement unit M. Yield is shown.

  Hereinafter, calculation of the measurement position by the measurement position calculation unit 72 will be described with reference to FIGS. 5 and 6. In the following, the combine A travels as shown in FIG. 5, the transport distance of the harvested cereals changes as shown in FIG. 6, and the yield per unit time tu becomes as shown in FIG. explain.

  First, during the harvesting operation of the combine A, the cereal at the beginning of cutting passes through the first point PA1. At this time, it is detected by the culm sensor S that the harvested culm has passed the first point PA1. In response to this, the position information of the combine A at this time is extracted by the measurement position calculation unit 72 as position information indicating the first body position. In FIG. 5, the first body position at this time is shown as a position G1.

  From this point, calculation of the transport distance by the transport distance calculation unit 71 is started. In FIG. 6, this time is indicated as time t00.

  When calculation of the transport distance is started at time t00, the calculated transport distance increases as time passes as described above. At time t10, the transport distance reaches L1. Thereafter, at time t20, the transport distance reaches L2. Thereafter, at time t30, the conveyance distance reaches L3. As described above, the time intervals between the eight time points from time t10 to time t80 are the unit time tu.

  At time t35, the transport distance reaches the separation distance LM. At this time, the measurement position calculation unit 72 extracts the position information of the combine A when the transport distance reaches the separation distance LM as position information indicating the second body position. In FIG. 5, the second body position at this time is shown as a position G2.

  Here, in the present embodiment, after the harvested cereal passes through the entrance of the threshing device 4, the threshing processing is performed by the threshing device 4, and the obtained grain is conveyed by the horizontal screw 41 and the vertical screw 91, The time until the yield of the grain is measured by the measuring unit M is a certain time tp.

  That is, the combine A is a measurement target of the measuring unit M after a lapse of a certain time tp from the time when the grain obtained from the harvested cereal rice cake that has passed through the entrance of the threshing device 4 passes through the entrance of the threshing device 4. It is configured.

  Then, based on this fixed time tp, the measurement start time in the measurement unit M is determined. More specifically, the measurement of the grain yield in the measurement unit M is started after a certain time tp from the time when the transport distance reaches the separation distance LM. And after the measurement of the yield of the grain in the measurement part M is started, a yield is measured for every unit time tu.

  As shown in FIG. 6, at time t35, the transport distance reaches the separation distance LM. And the measurement of the yield of the grain in the measurement part M is started at the time t85 after the fixed time tp from this time t35. After time t85, the grain yield is measured every unit time tu.

  As shown in FIG. 6, the yields measured at times t85, t95, and t105 are W1, W2, and W3, respectively.

  In the present embodiment, the grain yield obtained from the cereal harvested in the unit time tu from time t00 to time t10 is regarded as the yield W1 measured at time t85. Then, the measurement position calculation unit 72 calculates the position of the combine A at time t10 as a measurement position for associating with the yield W1.

  In addition, the grain yield obtained from the culm harvested in the unit time tu from time t10 to time t20 is regarded as the yield W2 measured at time t95. Then, the position of the combine A at time t20 is calculated by the measurement position calculation unit 72 as a measurement position for associating with the yield W2.

  In addition, the grain yield obtained from the culm harvested in unit time tu from time t20 to time t30 is regarded as the yield W3 measured at time t105. Then, the measurement position calculation unit 72 calculates the position of the combine A at time t30 as a measurement position for associating with the yield W3.

  Here, the position of the combine A at each of the times t10, t20, and t30 is calculated by proportionally dividing the position coordinates between the position G1 and the position G2 by the ratio of the transport distance to the separation distance LM.

  More specifically, the position of the combine A at time t10 is calculated by proportionally dividing the position coordinates between the position G1 and the position G2 by the ratio of the transport distance L1 to the separation distance LM.

  In other words, as shown in FIG. 5, the distance between the position G1 and the position G2 is a distance D1. The measurement position to be associated with the yield W1 is a position at a distance di1 from the position G1. This distance di1 is calculated by the product of D1 and the ratio of the transport distance L1 at time t10 to the separation distance LM.

That is,
di1 = D1 × (L1 / LM)
It becomes.

  Here, the position coordinates in the field are expressed in the form of (X, Y) as a set of X and Y coordinates, the position coordinates of the position G1 are (x1, y1), and the position coordinates of the position G2 are (x2, y2). ).

At this time, the X coordinate of the measurement position to be associated with the yield W1 is
x1 + (x2-x1) × (di1 / D1)
It becomes.

That is, the X coordinate of the measurement position to be associated with the yield W1 is
x1 + (x2-x1) × (L1 / LM)
It becomes.

Similarly, the Y coordinate of the measurement position to be associated with the yield W1 is
y1 + (y2-y1) × (L1 / LM)
It becomes.

  Moreover, the measurement position for associating with the yield W2 is a position at a distance di2 from the position G1. This distance di2 is calculated by the product of D1 and the ratio of the transport distance L2 at time t20 to the separation distance LM.

That is,
di2 = D1 × (L2 / LM)
It becomes.

And the X coordinate of the measurement position for associating with the yield W2 is
x1 + (x2-x1) × (di2 / D1)
It becomes.

That is, the X coordinate of the measurement position to be associated with the yield W2 is
x1 + (x2-x1) × (L2 / LM)
It becomes.

Similarly, the Y coordinate of the measurement position to be associated with the yield W2 is
y1 + (y2-y1) × (L2 / LM)
It becomes.

  Moreover, the measurement position for associating with the yield W3 is a position at a distance di3 from the position G1. This distance di3 is calculated by the product of D1 and the ratio of the transport distance L3 at time t30 to the separation distance LM.

That is,
di3 = D1 × (L3 / LM)
It becomes.

And the X coordinate of the measurement position for associating with the yield W3 is
x1 + (x2-x1) × (di3 / D1)
It becomes.

That is, the X coordinate of the measurement position to be associated with the yield W3 is
x1 + (x2-x1) × (L3 / LM)
It becomes.

Similarly, the Y coordinate of the measurement position to be associated with the yield W3 is
y1 + (y2-y1) × (L3 / LM)
It becomes.

  As described above, the measurement position calculation unit 72 calculates the measurement position by proportionally dividing the position coordinates between the first body position and the second body position based on the ratio of the transport distance to the separation distance LM.

  When the transport distance reaches the separation distance LM at time t35, the transport distance is reset. Furthermore, after time t35, the position G2 is treated as the first body position.

  After time t35, the transport distance increases again from zero with time. At time t40, the transport distance reaches L4. Thereafter, at time t50, the transport distance reaches L5.

  Then, the conveyance distance reaches the separation distance LM between time t50 and time t60. At this time, the measurement position calculation unit 72 extracts the position information of the combine A when the transport distance reaches the separation distance LM as position information indicating the second body position. In FIG. 5, the second body position at this time is shown as a position G3.

  As shown in FIG. 6, the yields measured at times t115 and t125 are W4 and W5, respectively.

  In the present embodiment, the yield of the grain obtained from the culm harvested in the unit time tu from time t30 to time t40 is regarded as the yield W4 measured at time t115. Then, the measurement position calculation unit 72 calculates the position of the combine A at time t40 as a measurement position for associating with the yield W4.

  Moreover, the yield of the grain obtained from the culm harvested in the unit time tu from time t40 to time t50 is regarded as the yield W5 measured at time t125. Then, the measurement position calculation unit 72 calculates the position of the combine A at time t50 as the measurement position for associating with the yield W5.

  Here, the position of the combine A at each of the times t40 and t50 is calculated by proportionally dividing the position coordinates between the position G2 and the position G3 by the ratio of the transport distance to the separation distance LM.

  More specifically, the position of the combine A at time t40 is calculated by proportionally dividing the position coordinates between the position G2 and the position G3 by the ratio of the transport distance L4 to the separation distance LM.

  In other words, as shown in FIG. 5, the distance between the position G2 and the position G3 is a distance D2. The measurement position to be associated with the yield W4 is a position at a distance di4 from the position G2. This distance di4 is calculated by the product of D2 and the ratio of the transport distance L4 at time t40 to the separation distance LM.

That is,
di4 = D2 × (L4 / LM)
It becomes.

  Here, the position coordinate of the position G3 is (x3, y3).

At this time, the X coordinate of the measurement position to be associated with the yield W4 is
x2 + (x3-x2) × (di4 / D2)
It becomes.

That is, the X coordinate of the measurement position to be associated with the yield W4 is
x2 + (x3-x2) × (L4 / LM)
It becomes.

Similarly, the Y coordinate of the measurement position to be associated with the yield W4 is
y2 + (y3-y2) × (L4 / LM)
It becomes.

  Further, the measurement position to be associated with the yield W5 is a position at a distance di5 from the position G2. This distance di5 is calculated by the product of D2 and the ratio of the transport distance L5 at time t50 to the separation distance LM.

That is,
di5 = D2 × (L5 / LM)
It becomes.

And the X coordinate of the measurement position for associating with the yield W5 is
x2 + (x3-x2) × (di5 / D2)
It becomes.

That is, the X coordinate of the measurement position to be associated with the yield W5 is
x2 + (x3-x2) × (L5 / LM)
It becomes.

Similarly, the Y coordinate of the measurement position to be associated with the yield W5 is
y2 + (y3-y2) × (L5 / LM)
It becomes.

  Then, when the transport distance reaches the separation distance LM between time t50 and time t60, the transport distance is reset. Further, after this time, the position G3 is treated as the first body position.

  After this time, the transport distance increases again from zero with time. At time t60, the transport distance reaches L6. Thereafter, at time t70, the transport distance reaches L7. Thereafter, at time t80, the transport distance reaches L8.

  Then, the conveyance distance reaches the separation distance LM between time t80 and time t90. At this time, the measurement position calculation unit 72 extracts the position information of the combine A when the transport distance reaches the separation distance LM as position information indicating the second body position. In FIG. 5, the second body position at this time is shown as a position G4.

  As shown in FIG. 6, the yields measured at times t135, t145, and t155 are W6, W7, and W8, respectively.

  In the present embodiment, the yield of the grain obtained from the culm harvested in the unit time tu from time t50 to time t60 is regarded as the yield W6 measured at time t135. Then, the measurement position calculation unit 72 calculates the position of the combine A at time t60 as a measurement position for associating with the yield W6.

  In addition, the grain yield obtained from the culm harvested in unit time tu from time t60 to time t70 is regarded as the yield W7 measured at time t145. Then, the measurement position calculation unit 72 calculates the position of the combine A at time t70 as a measurement position for associating with the yield W7.

  In addition, the grain yield obtained from the culm harvested in unit time tu from time t70 to time t80 is regarded as the yield W8 measured at time t155. Then, the measurement position calculation unit 72 calculates the position of the combine A at time t80 as a measurement position for associating with the yield W8.

  Here, the position of the combine A at each of the times t60, t70, and t80 is calculated by proportionally dividing the position coordinates between the position G3 and the position G4 by the ratio of the transport distance to the separation distance LM.

  More specifically, the position of the combine A at time t60 is calculated by proportionally dividing the position coordinates between the position G3 and the position G4 by the ratio of the transport distance L6 to the separation distance LM.

  In other words, as shown in FIG. 5, the distance between the position G3 and the position G4 is a distance D3. The measurement position to be associated with the yield W6 is a position at a distance di6 from the position G3. This distance di6 is calculated by the product of D3 and the ratio of the transport distance L6 at time t60 to the separation distance LM.

That is,
di6 = D3 × (L6 / LM)
It becomes.

  Here, the position coordinate of the position G4 is (x4, y4).

At this time, the X coordinate of the measurement position to be associated with the yield W6 is
x3 + (x4-x3) × (di6 / D3)
It becomes.

That is, the X coordinate of the measurement position to be associated with the yield W6 is
x3 + (x4-x3) × (L6 / LM)
It becomes.

Similarly, the Y coordinate of the measurement position to be associated with the yield W6 is
y3 + (y4-y3) × (L6 / LM)
It becomes.

  In addition, the measurement position to be associated with the yield W7 is a position at a distance di7 from the position G3. This distance di7 is calculated by the product of D3 and the ratio of the transport distance L7 at time t70 to the separation distance LM.

That is,
di7 = D3 × (L7 / LM)
It becomes.

And the X coordinate of the measurement position for associating with the yield W7 is
x3 + (x4-x3) × (di7 / D3)
It becomes.

That is, the X coordinate of the measurement position to be associated with the yield W7 is
x3 + (x4-x3) × (L7 / LM)
It becomes.

Similarly, the Y coordinate of the measurement position to be associated with the yield W7 is
y3 + (y4-y3) × (L7 / LM)
It becomes.

  Further, the measurement position to be associated with the yield W8 is a position at a distance di8 from the position G3. This distance di8 is calculated by the product of D3 and the ratio of the transport distance L8 at time t80 to the separation distance LM.

That is,
di8 = D3 × (L8 / LM)
It becomes.

And the X coordinate of the measurement position for associating with the yield W8 is
x3 + (x4-x3) × (di8 / D3)
It becomes.

That is, the X coordinate of the measurement position to be associated with the yield W8 is
x3 + (x4-x3) × (L8 / LM)
It becomes.

Similarly, the Y coordinate of the measurement position to be associated with the yield W8 is
y3 + (y4-y3) × (L8 / LM)
It becomes.

  As described above, the position of the combine A from time t10 to t80 is calculated as the measurement position for associating with the yields W1 to W8, respectively. And the position of the combine A in the time t10 to t80 is matched according to the measured order in an order from the yield W1.

  According to the configuration described above, the transport distance is calculated based on the transport speed in the cutting and transporting apparatus 10. The ratio of the transport distance to the separation distance LM between the first point PA1 and the second point PA2, and the ratio of the distance from the first body position to the actual measurement position with respect to the distance from the first body position to the second body position Are correlated. Therefore, the measurement position is calculated accurately by calculating the measurement position based on the transport distance, the separation distance LM between the first point PA1 and the second point PA2, the first body position, and the second body position. it can.

  And if the measurement position calculated in this way is associated with the yield of the grain, the harvesting position associated with the yield of the grain and the actual position even if the conveyance speed in the cutting and conveying apparatus 10 changes. The position where the cereals are cut off is not easily generated.

  That is, if it is a structure demonstrated above, even if it is a case where the conveyance speed in the harvesting conveyance apparatus 10 changes, the harvest position matched with the yield of the grain, and the position where the grain husk was actually harvested It is difficult for deviation to occur.

[Other Embodiments]
(1) The period from when the grain obtained from the harvested cereal that has passed through the entrance of the threshing device 4 passes through the entrance of the threshing device 4 until it becomes a measurement target of the measuring unit M is not constant. good.

  (2) The second point PA2 may be set on the upper side in the transport direction than the entrance of the threshing device 4, or may be set on the lower side in the transport direction than the entrance of the threshing device 4.

  (3) The first point passage sensor may be provided separately from the cereal sensor S.

  (4) The cereal sensor S may not be provided.

  (5) The first point PA1 may be set at a position relatively far from the cutting device 10a.

  (6) The “carrying device” according to the present invention may be configured by the cutting and conveying device 10 and the threshing device 4.

  (7) The traveling device 6 may be a wheel type or a semi-crawler type.

  (8) The measurement position calculation unit 72 is not limited to a linear travel route, and calculates a measurement position for associating with the grain yield in a travel route including a linear part and a curved part. It may be configured.

  The present invention can be used not only for self-decomposing combine but also for ordinary combine.

DESCRIPTION OF SYMBOLS 1 Mowing part 4 Threshing apparatus 10 Mowing conveyance apparatus (conveyance apparatus)
DESCRIPTION OF SYMBOLS 10a Cutting device 20 Position detection part 71 Conveyance distance calculation part 72 Measurement position calculation part A Combine H Conveyance speed detection part LM Separation distance M Measurement part PA1 1st point PA2 2nd point S Flour sensor (1st point passage sensor)
T transport route tp fixed time tu unit time

Claims (7)

While conveying the harvested cereal rice cake along the conveyance path, and a conveying device configured to be able to change the conveyance speed of the harvested rice cake meal cake,
A transport speed detector for detecting the transport speed;
It is provided on the lower side in the conveying direction than the conveying device, and a measuring unit that measures the yield of the grain per unit time,
The first machine position, which is the position of the machine body when the harvested cereal meal passes the first point in the transport path, and the second where the harvested grain meal is located on the lower side in the transport direction than the first point in the transport path. A position detection unit capable of detecting a second aircraft position that is a position of the aircraft when passing the point;
Based on the transport speed and the unit time, a transport distance calculation unit that calculates the transport distance of the harvested cereal per unit time,
The yield is associated with the yield based on the transport distance calculated by the transport distance calculation unit, the separation distance between the first point and the second point, the first body position, and the second body position. And a measurement position calculation unit for calculating a measurement position for the combine.   The measurement position calculation unit calculates the measurement position by proportionally apportioning a position coordinate between the first body position and the second body position according to a ratio of the transport distance to the separation distance. The combine according to 1. The transfer device is a cutting and conveying device that a cutting unit has,
The combine according to claim 1 or 2, wherein the cutting and conveying device is configured to be able to change the conveying speed. The harvesting unit has a cutting device for cutting the planted cereals,
The first point is set in the vicinity of the cutting device,
The combine of Claim 3 provided with the 1st point passage sensor which detects that the harvested cereal meal passed the said 1st point. The front end of the cutting and conveying device is provided with a culm sensor that detects the presence or absence of cereals,
The combine according to claim 4, wherein the first point passing sensor is the cereal sensor.   The combine according to any one of claims 1 to 5, wherein the second point is set at an entrance of a threshing apparatus.   The grain obtained from the harvested cereal culm that has passed through the entrance of the threshing device is configured to be a measurement target of the measurement unit after a predetermined time has elapsed from the time of passing through the entrance of the threshing device. 6. Combine according to 6.

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