KR102590770B1 - Combine - Google Patents

Abstract

[Problem] To provide a combine in which deviation between the harvesting position corresponding to the quantity of grains and the position where the grain stem is actually harvested is unlikely to occur even when the conveyance speed in the conveyance device changes.
[Solution means] A conveyance device configured to convey the harvested grain stem along a conveyance path and to be able to change the conveyance speed of the harvested grain stem, a conveyance speed detection unit H that detects the conveyance speed, and a device that measures the quantity of grains per unit time. A measurement unit M, a position detection unit capable of detecting the first gas position, which is the position of the gas when the harvested grain stem passes the first point, and the second gas position, which is the position of the gas when the harvested grain stem passed the second point ( 20), a conveyance distance calculation unit 71 that calculates the conveyance distance of the harvested grain stalk for each unit time, a conveyance distance, a separation distance between the first point and the second point, a first body position, and a second body It is provided with a measurement position calculation unit 72 that calculates a measurement position for matching the quantity based on the position.

Description

Combine {COMBINE}

This invention relates to a combine provided with a conveyance device for conveying harvested grain stems.

As a combine that measures the quantity of grains over time and can generate a quantity map by correlating the quantity of grains with the harvesting position in packaging, the one described in Patent Document 1, for example, is already known.

According to this combine, a quantity map can be created. And, the operator can know the distribution of quantity in packaging by looking at the generated quantity map.

Japanese Patent Publication No. 2008-212102

In the combine described in Patent Document 1, as a specific configuration for matching the quantity of grains and the harvesting position, it is conceivable to have a configuration that corresponds the quantity of grains with the position of the combine at the timing at which the quantity was measured. .

However, generally, in the harvesting operation of the combine, the harvested grain stem is conveyed by a conveyance device. And this grain culm is threshed during or after conveyance by a conveyance apparatus. After this threshing process, the quantity of grains obtained from this grain stem is measured.

That is, there is a time difference between the timing at which the planted grain stem in packaging is harvested and the timing at which the quantity of grains obtained from the harvested grain stem is measured. And, between these time differences, the position of the combine changes.

Therefore, the position where the planted grain stem was harvested and the position of the combine at the timing when the quantity of grains obtained from the harvested grain stem were measured are different. That is, in a configuration that matches the quantity of grains with the position of the combine at the timing at which the quantity was measured, the harvesting position associated with the quantity of grains and the position where the grain stem was actually harvested deviate.

Here, when the time difference between the timing at which the planted grain stem in packaging is harvested and the timing at which the quantity of grains obtained from the harvested grain stem is measured is constant, and the configuration is such that the position of the combine is always detected, the quantity of grains is measured. From the timing, the position of the combine in the previous timing can be calculated by the time difference.

And, if the position calculated in this way is configured to correspond to the quantity of grains, it can be avoided that the harvest position corresponding to the quantity of grains and the position where the grain stem is actually harvested deviate.

However, even in this configuration, when the conveyance speed in the conveyance device can be changed, the harvest position corresponding to the quantity of grains and the position where the grain stem was actually harvested deviate. This is because, as the conveyance speed in the conveyance device changes, the time difference between the timing at which the planted grain stem in packaging is harvested and the timing at which the quantity of grains obtained from the harvested grain stem is measured changes.

The purpose of the present invention is to provide a combine in which deviation between the harvesting position corresponding to the quantity of grains and the position where the grain stem is actually harvested is unlikely to occur even when the conveyance speed in the conveyance device changes.

The features of the present invention are,

A conveyance device configured to convey the harvested grain stems along a conveyance path and to change the conveyance speed of the harvested grain stems,

A conveyance speed detection unit that detects the conveyance speed,

A measuring unit installed below the conveying device in the conveying direction and measuring the quantity of grains per unit time,

A first base position, which is the position of the base when the harvested grain stem passes the first point in the conveyance path, and a second point where the harvested grain stem is located below the conveyance direction than the first point in the conveyance path. a position detection unit capable of detecting the position of the second aircraft, which is the position of the aircraft when it passed through;

A conveyance distance calculation unit that calculates the conveyance distance between harvested grains for each unit time based on the conveyance speed and the unit time;

Based on the conveyance distance calculated by the conveyance distance calculation unit, the separation distance between the first point and the second point, the first aircraft position, and the second aircraft position, to correspond to the quantity It is provided with a measurement position calculation unit that calculates the measurement position.

According to the present invention, the conveyance distance is calculated based on the conveyance speed in the conveyance device. And, the ratio of the conveyance distance to the separation distance between the first point and the second point and the ratio of the distance from the first aircraft position to the actual measurement position to the distance from the first aircraft position to the second aircraft position are correlated. It is done. Therefore, the measurement position can be calculated with high precision by calculating the measurement position based on the conveyance 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 matched to the quantity of grains, even when the transport speed in the transport device changes, a deviation between the harvest position corresponding to the quantity of grains and the position where the grain stem is actually harvested is unlikely to occur.

That is, according to the present invention, even when the conveyance speed in the conveyance device changes, a deviation between the harvest position corresponding to the quantity of grains and the position where the grain stem is actually harvested is unlikely to occur.

Additionally, in the present invention,

It is suitable for the measurement position calculation unit to calculate the measurement position by proportionally dividing the position coordinates between the first body position and the second body position according to the ratio of the conveyance distance to the separation distance.

As described above, the ratio of the conveyance distance to the separation distance of the first point and the second point and the distance from the first aircraft position to the actual measurement position to the distance from the first aircraft position to the second aircraft position The ratios are correlated.

Therefore, as in the above-described configuration, if the measurement position is calculated by proportionally dividing the position coordinates between the first body position and the second body position according to the ratio of the conveyance distance to the separation distance, the measurement position is calculated with high accuracy. can do.

Therefore, according to the above-described configuration, it is difficult for a discrepancy between the harvesting position corresponding to the quantity of grains and the position where the grain stem is actually harvested to occur.

Additionally, in the present invention,

The said conveyance device is a harvesting conveyance device which a harvesting part has,

The said harvesting and conveyance device is suitable if it is comprised so that the said conveyance speed can be changed.

In the harvesting operation of the combine, the amount of harvested grain stalks that the harvesting and conveying device needs to convey per unit time changes depending on the state of the combine.

For example, the higher the traveling speed of the combine, the greater the amount of grain harvested per unit time tends to increase. And the larger the amount of grain stalks harvested per unit time, the greater the amount of harvested grain stalks that the harvesting and conveyance device needs to convey per unit time.

That is, the higher the traveling speed of the combine, the tendency is for the amount of harvested grain stalks that the harvesting and conveying device needs to convey per unit time to increase.

Here, according to the above-mentioned structure, the structure in which the conveyance speed in a harvesting conveyance apparatus changes according to the state of a combine can be implement|achieved. Therefore, a configuration capable of transporting harvested grain stems at a transport speed suitable for the state of the combine can be realized.

Additionally, in the present invention,

The reaping unit has a cutting device for cutting the planted grain stem,

The first point is set near the cutting device,

It is suitable if a first point passing sensor is provided to detect that the harvested grain stem has passed the first point.

When the first point is set at a position relatively far from the cutting device, the time difference between the timing at which the planted grain stem is harvested and the timing at which the grain stem passes the first point becomes relatively large. As a result, the discrepancy between the position of the base and the position of the first base at the timing when the planted grain stem was harvested becomes relatively large.

And as mentioned above, the measurement position for matching the quantity of grains is calculated based on the 1st body position. Therefore, when the first point is set in a position relatively far away from the cutting device, the precision of the measurement position for matching the quantity of grains becomes relatively low.

Here, according to the above-described configuration, the time difference between the timing at which the planted grain stem is harvested and the timing at which the grain stem passes the first point becomes relatively small. Thereby, the difference between the position of the base and the position of the first base at the timing when the planted grain stem is harvested becomes relatively small.

That is, according to the above-mentioned structure, the precision of the measurement position for matching the quantity of grains becomes good.

Additionally, in the present invention,

A grain stem sensor that detects the presence or absence of grain stems is installed at the front end of the harvesting and conveyance device,

The said first point passing sensor is suitable if it is the said grain stem sensor.

According to this configuration, manufacturing costs can be suppressed compared to the case where the first point passing sensor is installed separately from the grain stem sensor.

Additionally, in the present invention,

The second point is suitable if it is set at the entrance of the threshing device.

When the first point and the second point are set at positions close to each other, the first aircraft position and the second aircraft position become positions close to each other. And, the closer the first gas position and the second gas position are to each other, the larger the relative error in the distance from the first gas position to the second gas position becomes.

Here, according to the above-mentioned structure, compared with the case where the 2nd point is set above the conveyance direction rather than the entrance of a threshing apparatus, the 1st point and the 2nd point separate from each other. Accordingly, the relative error in the distance from the first aircraft position to the second aircraft position becomes small.

Additionally, in the present invention,

It is suitable if the grain obtained from the harvested grain stem that passed through the entrance of the said threshing device is configured to become a measurement object of the measurement unit after a certain period of time has elapsed from the point of time that it has passed the entrance of the said threshing device.

According to this structure, the grain obtained from the grain stem which started cutting becomes the measurement object of the measurement unit after a certain period of time has elapsed after the grain stem reaches the second point. Therefore, measurement in the measuring unit starts after a certain period of time has elapsed after the grain stem reaches the second point, and the water quantity is measured for each unit time, and the measured quantity is sequentially mapped to each calculated measurement position. As a result, it becomes possible to appropriately correspond the quantity to each measurement position.

Figure 1 is a side view of the combine.
Figure 2 is a top view of the combine.
Figure 3 is a block diagram showing the configuration of the control unit.
Figure 4 is a diagram showing the harvesting operation of the combine in packaging.
Figure 5 is a diagram showing an example of a linear portion of the travel path of a combine in paving.
FIG. 6 is a diagram showing an example of the transition of the conveyance distance and the quantity per unit time.

The form for carrying out the present invention will be described based on the drawings. In addition, in the following description, the direction of arrow F shown in Figs. 1 and 2 is referred to as “front”, the direction of arrow B shown in Fig. 2 is referred to as “rear”, and the direction of arrow L shown in Fig. 2 is referred to as “left”. The direction of arrow R is called “right”. Additionally, the direction of arrow U shown in FIG. 1 is referred to as “up” and the direction of arrow D is referred to as “down.”

〔Overall composition of the combine〕

As shown in FIGS. 1 and 2 , a harvesting unit 1 is installed in the front portion of the body of the self-removing type combine A. The reaping unit 1 reaps the planted grain stems of the field.

More specifically, the harvesting unit 1 has a harvesting and conveyance device 10 (equivalent to the "conveyance device" according to the present invention). And the harvesting and conveyance device 10 has a cutting device 10a. The cutting device 10a is configured to cut the planted grain stem.

In this way, the harvesting unit 1 in the combine A has a cutting device 10a that cuts the planted grain stem.

In addition, as shown in FIG. 1, a grain stem sensor S (corresponding to the "first point passage sensor" according to the present invention) that detects the presence or absence of a grain stem is installed at the front end of the harvesting and conveyance device 10. there is.

As shown in FIG. 1, the operation unit 2 is installed above the harvesting unit 1. An operator can board the operating unit 2. Moreover, as shown in FIG. 2, the grain tank 3 is installed behind the operation part 2. A threshing device 4 is installed on the left side of the grain tank 3. As shown in FIG. 1 and FIG. 2, the unloader 5 is installed above the grain tank 3 and the threshing apparatus 4.

Additionally, a crawler-type traveling device 6 is installed in the lower part of the body of combine A. Combine A is often enabled by the traveling device 6.

The grain stalk harvested by the reaping unit 1 is conveyed to the threshing device 4 along the conveyance path T by the harvesting conveyance device 10.

Here, combine A is equipped with an engine (not shown). The power of the engine is transmitted to the transmission (not shown) and the harvesting HST (not shown), respectively. And power is transmitted from the transmission to the traveling device 6, and power is transmitted from the harvesting HST to the harvesting and conveyance device 10. Thereby, the conveyance speed of the reaping grain stem in the harvesting conveyance apparatus 10 changes substantially in conjunction with the traveling speed of combine A. That is, the harvesting and conveyance device 10 is configured so that the conveyance speed can be changed.

In this way, the combine A is equipped with a conveyance device configured to enable the conveyance speed of the harvested grain stalks to be changed while conveying the harvested grain stalks along the conveyance path T. And in this embodiment, the conveyance device is the harvesting conveyance device 10 which the harvesting part 1 has.

In the threshing device 4, the harvested grain stem is subjected to threshing treatment. The grains obtained by the threshing process are 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 needed.

Additionally, as shown in FIGS. 1 and 2, a position detection unit 20 is installed at the upper part of the operation unit 2. The position detection unit 20 is configured to detect the position of the body of combine A over time.

[Configuration regarding the first and second points]

As shown in FIG. 1, in the conveyance path T, the first point PA1 and the second point PA2 are set. The second point PA2 is located below the first point PA1 in the conveyance direction.

More specifically, the first point PA1 is set near the cutting device 10a. Moreover, 2nd point PA2 is set at the entrance of the threshing apparatus 4. And the grain stem sensor S can detect that the harvested grain stem passed the 1st point PA1.

In this way, combine A is provided with the 1st point passage sensor which detects that the reaping grain stem passed 1st point PA1. And in this embodiment, the 1st point passing sensor is the grain stem sensor S.

[Configuration of the measuring unit]

As shown in FIG. 2, the horizontal screw 41 is installed in the threshing apparatus 4. The horizontal screw 41 extends in the left and right directions of the 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 grain grain harvesting apparatus 9 is installed between the grain tank 3 and the threshing apparatus 4. The grain grain equipment 9 has a vertical screw 91.

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

A measurement unit M is installed near the upper end of the vertical screw 91. The measurement part M measures the quantity of the grain discharged into the grain tank 3 for every unit time tu. That is, the measurement part M measures the quantity of grains every unit time tu.

To explain in detail, the measurement part M is configured to receive a pressing force due to grains emitted from the upper end of the vertical screw 91. And the measurement unit M detects this pressing force. The measurement unit M calculates the quantity of grains based on the detected compression force. Thereby, measurement part M measures the quantity of grains.

Moreover, the measurement part M is installed below the harvesting and conveyance device 10 in the conveyance direction.

Thus, the combine A is installed below the conveyance direction rather than the harvesting and conveyance apparatus 10, and is equipped with the measurement part M which measures the quantity of grain every unit time tu.

[Configuration of the control unit]

As shown in FIG. 3, combine A is equipped with a conveyance speed detection part H and the control part 7. Additionally, the control unit 7 has a conveyance distance calculation unit 71, a measurement position calculation unit 72, a quantity allocation unit 73, and a quantity distribution data storage unit 74.

The conveyance speed detection unit H is configured to detect the conveyance speed of the harvested grain stalk in the harvesting and conveyance device 10 over time. The conveyance speed detected by the conveyance speed detection unit H is transferred to the conveyance distance calculation unit 71.

In this way, the combine A is equipped with a conveyance speed detection unit H that detects the conveyance speed.

The conveyance distance calculation unit 71 is configured to calculate the harvested grain conveyance distance for each unit time tu based on the conveyance speed received from the conveyance speed detection unit H and the unit time tu.

To explain in detail, the conveyance distance calculation unit 71 calculates the conveyance distance based on the conveyance speed received from the conveyance speed detection section H. The conveyance distance is the distance at which the harvested grain stem was conveyed from the first point PA1 in the conveyance path T.

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

The conveyance distance calculation part 71 starts calculation of the conveyance distance from the time when the reaping grain stem which started to be cut passed the 1st point PA1. Then, when the conveyance distance reaches the separation distance LM, the conveyance distance is reset and increases again from zero. After that, whenever the conveyance distance reaches the separation distance LM, the conveyance distance is reset.

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

First, at time t00, calculation of the conveyance distance is started. Once calculation of the conveyance distance is started, the calculated conveyance distance increases with time. Then, at time t35, the conveyance distance reaches the separation distance LM.

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

Additionally, the conveyance distances at eight viewpoints from time t10 to time t80 are L1 to L8, respectively. Then, these conveyance distances are calculated by the conveyance distance calculation unit 71 based on the conveyance speed and unit time tu received from the conveyance speed detection unit H, and are transferred to the measurement position calculation unit 72.

Here, as shown in FIG. 6, the time interval between the eight viewpoints from time t10 to time t80 is the unit time tu. That is, L1 to L8 shown in FIG. 6 are the harvested grain conveyance distance for each unit time tu. Additionally, the time interval between time t80 and time t90 is also the unit time tu.

The conveyance distance between reaping grains for each unit time tu is calculated, for example, by accumulating the product of the conveyance speed and the unit time tu.

In this way, combine A is provided with the conveyance distance calculation part 71 which calculates the conveyance distance of the harvested grain stem for each unit time tu based on the conveyance speed and unit time tu.

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

Moreover, as shown in FIG. 3, the position detection part 20 transfers the positional information of the body of combine A to the measurement position calculation part 72.

More specifically, the position detection part 20 detects the position of the body of combine A over time. And the position detected by the position detection unit 20 includes the first body position and the second body position.

The 1st base position is the base position when the reaping grain stem passed 1st point PA1 in the conveyance path T. In addition, the 2nd body position is a body position when the reaping grain stem passed 2nd point PA2 in the conveyance path T.

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

In this way, combine A is conveyed more than the 1st body position which is the position of the body when the reaping grain stem passed the 1st point PA1 in the conveyance path T, and the 1st point PA1 in the conveyance path T It is provided with a position detection unit 20 that can detect the second body position, which is the position of the body when it passes the second point PA2 located in the downward direction.

Moreover, as mentioned above, the grain stem sensor S detects that the harvested grain stem passed the 1st point PA1. And as shown in FIG. 3, the detection result in grain stem sensor S is transferred to the measurement position calculation part 72.

The measurement position calculation unit 72 determines the first gas from the position information received from the position detection unit 20, based on the transport distance received from the transport distance calculation unit 71 and the detection result received from the grain stem sensor S. Position information indicating the position and position information indicating the position of the second aircraft are extracted.

If explained in detail, the measurement position calculation unit 72 extracts the positional information at the time when it is detected that the harvested grain stem has passed the first point PA1 by the grain stem sensor S as positional information indicating the first body position. . Moreover, the measurement position calculation part 72 extracts the positional information at the time when the conveyance distance of the harvested grain stem reached the separation distance LM as positional information indicating the 2nd body position.

And the measurement position calculation part 72 corresponds to the quantity of 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. Calculate the measurement position for

In this way, combine A is based on the conveyance distance calculated by the conveyance distance calculation unit 71, the separation distance LM of 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 that calculates a measurement position to correspond to the quantity.

As shown in FIG. 3, the measurement position calculated by the measurement position calculation unit 72 is transferred to the quantity allocation unit 73. Additionally, the quantity measured per unit time tu by the measurement unit M is transferred to the quantity allocation unit 73.

The quantity allocation unit 73 matches the measurement position received from the measurement position calculation unit 72 to each quantity per unit time tu received from the measurement unit M. Thereby, quantity distribution data is generated. Quantity distribution data is data showing the quantity distribution of grains in packaging.

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

[About calculation of measurement position]

Hereinafter, calculation of the measurement position by the measurement position calculation unit 72 will be described in detail.

As shown in FIG. 4, combine A travels linearly and turns on pavement. After that, the planted grain stems in the field are harvested while repeating linear running and turning.

In Figure 5, an example of a straight portion of the travel path of combine A in paving is shown. In the harvesting work run of the combine A, the quantity of grain is measured by the measuring part M every unit time tu as mentioned above. Then, the measurement position calculation unit 72 calculates the measurement position to correspond to each quantity in this linear travel path.

In FIG. 6, the transition of the conveyance distance of the harvested grain stalk calculated by the conveyance distance calculation part 71 when combine A ran the travel path shown in FIG. 5, and for each unit time tu measured by the measurement part M The quantity is shown.

Below, with reference to FIGS. 5 and 6 , calculation of the measurement position by the measurement position calculation unit 72 will be described. In addition, below, when combine A travels as shown in FIG. 5 and the conveyance distance of harvested grain changes as shown in FIG. 6 and the quantity of water per unit time tu becomes as shown in FIG. 6 Explain.

First, during the harvesting operation of combine A, the grain stem that has begun to be cut passes the first point PA1. At this time, it is detected by the grain stem sensor S that the harvested grain stem has passed the first point PA1. According to this, the positional information of combine A at this point is extracted by the measurement position calculation part 72 as positional information indicating the 1st body position. In Figure 5, the first aircraft position at this time is shown as position G1.

And at this point, calculation of the conveyance distance by the conveyance distance calculation unit 71 starts. In Figure 6, this point is shown as time t00.

When calculation of the conveyance distance starts at time t00, the calculated conveyance distance increases with time, as described above. And at time t10, the conveyance distance reaches L1. Afterwards, at time t20, the conveyance distance reaches L2. Afterwards, at time t30, the conveyance distance reaches L3. Additionally, as described above, the time interval between the eight viewpoints from time t10 to time t80 is the unit time tu.

Then, at time t35, the conveyance distance reaches the separation distance LM. At this time, the measurement position calculation part 72 extracts the positional information of combine A at the time when the conveyance distance reached the separation distance LM as positional information indicating the 2nd body position. In Figure 5, the second aircraft position at this time is shown as position G2.

Here, in this embodiment, after the reaping grain stem passes through the inlet of the threshing apparatus 4, the threshing process is carried out with the threshing apparatus 4, and the obtained grain is conveyed by the horizontal screw 41 and the vertical screw 91. And the time until the quantity of the grain is measured by the measurement unit M becomes a certain time tp.

That is, the combine A is configured so that the grain obtained from the reaping grain stem that passed through the entrance of the threshing device 4 becomes the measurement object of the measurement unit M after a certain period of time tp has elapsed from the time of passing the entrance of the threshing device 4. It is done.

Then, based on this constant time tp, the starting point of measurement in the measurement unit M is determined. More specifically, the quantity measurement of grains in the measurement unit M is started after a certain period of time tp from the point in time when the conveyance distance reaches the separation distance LM. And after the water quantity measurement of the grain in the measurement part M is started, the water quantity is measured for every unit time tu.

As shown in Fig. 6, at time t35, the conveyance distance reaches the separation distance LM. And the quantity measurement of the grain in the measurement part M is started at time t85, which is a certain time tp after this time t35. And after time t85, the quantity of grain is measured for every unit time tu.

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

In this embodiment, the quantity of grains obtained from the harvested grain stem in unit time tu from time t00 to time t10 is regarded as the quantity W1 measured at time t85. And the position of combine A at time t10 is calculated by the measurement position calculation part 72 as a measurement position for matching with the quantity W1.

In addition, the quantity of grains obtained from the harvested grain stem in unit time tu from time t10 to time t20 is regarded as the quantity W2 measured at time t95. And the position of combine A at time t20 is calculated by the measurement position calculation part 72 as a measurement position for matching with quantity W2.

In addition, the quantity of grains obtained from the harvested grain stem in unit time tu from time t20 to time t30 is regarded as the quantity W3 measured at time t105. And the position of combine A at time t30 is calculated by the measurement position calculation part 72 as a measurement position for matching with quantity W3.

Here, the position of the combine A in each of time 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 conveyance 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 conveyance distance L1 to the separation distance LM.

In other words, as shown in Figure 5, the distance between the position G1 and the position G2 is the distance D1. And the measurement position for matching the quantity W1 is a position at a distance di1 from the position G1. This distance di1 is calculated by multiplying D1 and the ratio of the conveyance distance L1 at time t10 to the separation distance LM.

in other words,

di1=D1×(L1/LM)

This happens.

Here, the position coordinates in the packaging are expressed in the form of (X, Y) as a combination of It is called ,y2).

At this time, the X coordinate of the measurement position to correspond to quantity W1 is,

x1+(x2-x1)×(di1/D1)

This happens.

In other words, the X coordinate of the measurement position to correspond to quantity W1 is,

x1+(x2-x1)×(L1/LM)

This happens.

Likewise, the Y coordinate of the measurement position to correspond to quantity W1 is,

y1+(y2-y1)×(L1/LM)

This happens.

Additionally, the measurement position for matching the quantity W2 is a position at a distance di2 from the position G1. This distance di2 is calculated by multiplying D1 by the ratio of the conveyance distance L2 at time t20 to the separation distance LM.

in other words,

di2=D1×(L2/LM)

This happens.

And, the X coordinate of the measurement position to correspond to the quantity W2 is,

x1+(x2-x1)×(di2/D1)

This happens.

In other words, the X coordinate of the measurement position to correspond to quantity W2 is,

x1+(x2-x1)×(L2/LM)

This happens.

Likewise, the Y coordinate of the measurement position to correspond to quantity W2 is,

y1+(y2-y1)×(L2/LM)

This happens.

Additionally, the measurement position for matching the quantity W3 is a position at a distance di3 from the position G1. This distance di3 is calculated by multiplying D1 by the ratio of the conveyance distance L3 at time t30 to the separation distance LM.

in other words,

di3=D1×(L3/LM)

This happens.

And, the X coordinate of the measurement position to correspond to quantity W3 is,

x1+(x2-x1)×(di3/D1)

This happens.

In other words, the X coordinate of the measurement position to correspond to quantity W3 is,

x1+(x2-x1)×(L3/LM)

This happens.

Likewise, the Y coordinate of the measurement position to correspond to quantity W3 is,

y1+(y2-y1)×(L3/LM)

This happens.

In this way, 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 according to the ratio of the conveyance distance to the separation distance LM.

Then, at time t35, when the conveyance distance reaches the separation distance LM, the conveyance distance is reset. Additionally, after time t35, the position G2 is treated as the first aircraft position.

After time t35, the conveyance distance starts from zero again and increases with time. And at time t40, the conveyance distance reaches L4. Afterwards, at time t50, the conveyance distance reaches L5.

And between time t50 and time t60, the conveyance distance reaches the separation distance LM. At this time, the measurement position calculation part 72 extracts the positional information of combine A at the time when the conveyance distance reached the separation distance LM as positional information indicating the 2nd body position. In Figure 5, the second aircraft position at this time is shown as position G3.

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

In this embodiment, the quantity of grains obtained from the harvested grain stem in unit time tu from time t30 to time t40 is regarded as the quantity W4 measured at time t115. And the position of combine A at time t40 is calculated by the measurement position calculation part 72 as a measurement position for matching with quantity W4.

In addition, the quantity of grains obtained from the harvested grain stem in the unit time tu from time t40 to time t50 is regarded as the quantity W5 measured at time t125. And the position of combine A at time t50 is calculated by the measurement position calculation part 72 as a measurement position for matching with quantity W5.

Here, the position of the combine A in each of time t40 and t50 is calculated by proportionally distributing the position coordinates between the position G2 and the position G3 by the ratio of the conveyance 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 conveyance distance L4 to the separation distance LM.

In other words, as shown in Figure 5, the distance between the positions G2 and G3 is the distance D2. And the measurement position for matching the quantity W4 is the position at a distance di4 from the position G2. This distance di4 is calculated by multiplying D2 and the ratio of the conveyance distance L4 at time t40 to the separation distance LM.

in other words,

di4=D2×(L4/LM)

This happens.

Here, the position coordinates of position G3 are called (x3,y3).

At this time, the X coordinate of the measurement position to correspond to quantity W4 is,

x2+(x3-x2)×(di4/D2)

It becomes.

In other words, the X coordinate of the measurement position to correspond to quantity W4 is,

x2+(x3-x2)×(L4/LM)

This happens.

Likewise, the Y coordinate of the measurement position to correspond to quantity W4 is,

y2+(y3-y2)×(L4/LM)

This happens.

Additionally, the measurement position for matching the quantity W5 is a position at a distance di5 from the position G2. This distance di5 is calculated by multiplying D2 and the ratio of the conveyance distance L5 at time t50 to the separation distance LM.

in other words,

di5=D2×(L5/LM)

This happens.

And, the X coordinate of the measurement position to correspond to quantity W5 is,

x2+(x3-x2)×(di5/D2)

It becomes.

In other words, the X coordinate of the measurement position to correspond to quantity W5 is,

x2+(x3-x2)×(L5/LM)

This happens.

Likewise, the Y coordinate of the measurement position to correspond to quantity W5 is,

y2+(y3-y2)×(L5/LM)

This happens.

Then, between time t50 and time t60, when the conveyance distance reaches the separation distance LM, the conveyance distance is reset. Additionally, from this point on, position G3 is treated as the first aircraft position.

After this point, the conveyance distance goes from zero again and increases with time. And at time t60, the conveyance distance reaches L6. Afterwards, at time t70, the conveyance distance reaches L7. Afterwards, at time t80, the conveyance distance reaches L8.

And between time t80 and time t90, the conveyance distance reaches the separation distance LM. At this time, the measurement position calculation part 72 extracts the positional information of combine A at the time when the conveyance distance reached the separation distance LM as positional information indicating the 2nd body position. In Figure 5, the second aircraft position at this time is shown as position G4.

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

In this embodiment, the quantity of grains obtained from the harvested grain stem in unit time tu from time t50 to time t60 is regarded as the quantity W6 measured at time t135. And the position of combine A at time t60 is calculated by the measurement position calculation part 72 as a measurement position for matching with quantity W6.

In addition, the quantity of grains obtained from the harvested grain stem in the unit time tu from time t60 to time t70 is regarded as the quantity W7 measured at time t145. And the position of combine A at time t70 is calculated by the measurement position calculation part 72 as a measurement position for matching with the quantity W7.

In addition, the quantity of grains obtained from the harvested grain stem in the unit time tu from time t70 to time t80 is regarded as the quantity W8 measured at time t155. And the position of combine A at time t80 is calculated by the measurement position calculation part 72 as a measurement position for matching with quantity W8.

Here, the position of combine A in each of time t60, t70, and t80 is calculated by proportionally dividing the position coordinate between position G3 and position G4 by the ratio of the conveyance distance with respect to 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 conveyance distance L6 to the separation distance LM.

In other words, as shown in Fig. 5, the distance between the positions G3 and G4 is the distance D3. And the measurement position for matching the quantity W6 is the position at a distance di6 from the position G3. This distance di6 is calculated by multiplying D3 and the ratio of the conveyance distance L6 at time t60 to the separation distance LM.

in other words,

di6=D3×(L6/LM)

This happens.

Here, the position coordinates of position G4 are called (x4,y4).

At this time, the X coordinate of the measurement position to correspond to quantity W6 is,

x3+(x4-x3)×(di6/D3)

This happens.

In other words, the X coordinate of the measurement position to correspond to quantity W6 is,

x3+(x4-x3)×(L6/LM)

This happens.

Likewise, the Y coordinate of the measurement position to correspond to quantity W6 is,

y3+(y4-y3)×(L6/LM)

This happens.

Additionally, the measurement position for matching the quantity W7 is the position at a distance di7 from the position G3. This distance di7 is calculated by multiplying D3 and the ratio of the conveyance distance L7 at time t70 to the separation distance LM.

in other words,

di7=D3×(L7/LM)

This happens.

And, the X coordinate of the measurement position to correspond to quantity W7 is,

x3+(x4-x3)×(di7/D3)

This happens.

In other words, the X coordinate of the measurement position to correspond to quantity W7 is,

x3+(x4-x3)×(L7/LM)

This happens.

Likewise, the Y coordinate of the measurement position to correspond to quantity W7 is,

y3+(y4-y3)×(L7/LM)

This happens.

Additionally, the measurement position for matching the quantity W8 is a position at a distance di8 from the position G3. This distance di8 is calculated by multiplying D3 by the ratio of the conveyance distance L8 at time t80 to the separation distance LM.

in other words,

di8=D3×(L8/LM)

This happens.

And, the X coordinate of the measurement position to correspond to quantity W8 is,

x3+(x4-x3)×(di8/D3)

This happens.

In other words, the X coordinate of the measurement position to correspond to quantity W8 is,

x3+(x4-x3)×(L8/LM)

This happens.

Likewise, the Y coordinate of the measurement position to correspond to quantity W8 is,

y3+(y4-y3)×(L8/LM)

This happens.

As demonstrated above, the position of the combine A in time t10 - t80 is calculated as a measurement position for matching with quantity W1 - W8, respectively. And the position of combine A from time t10 to t80 is matched according to the measured order in order from quantity W1.

According to the structure demonstrated above, the conveyance distance is calculated based on the conveyance speed in the harvesting and conveyance apparatus 10. And, the ratio of the conveyance distance to the separation distance LM of the first point PA1 and the second point PA2 and the distance from the first aircraft position to the actual measurement position to the distance from the first aircraft position to the second aircraft position. The ratios are correlated. Therefore, by calculating the measurement position based on the conveyance distance, the separation distance LM of the first point PA1 and the second point PA2, the first body position, and the second body position, the measurement position can be calculated with high accuracy. .

And, if the measurement position calculated in this way is correlated with the quantity of grains, even when the conveyance speed in the harvesting and conveyance device 10 changes, there will be a discrepancy between the harvesting position corresponding to the quantity of grains and the position where the grain stem was actually harvested. It is difficult to occur.

That is, with the configuration described above, even when the conveyance speed in the harvesting and conveyance device 10 changes, a deviation between the harvesting position corresponding to the quantity of grains and the position where the grain stem is actually harvested is unlikely to occur.

[Other embodiments]

(1) The period from when the grain obtained from the reaping grain stem that passed through the entrance of the threshing device 4 passes the entrance of the threshing device 4 until it becomes the measurement target of the measurement unit M does not need to be constant.

(2) 2nd point PA2 may be set above the inlet of the threshing apparatus 4 in the conveyance direction, and may be set below the inlet of the threshing apparatus 4 in the conveyance direction.

(3) The first point passing sensor may be installed separately from the grain stem sensor S.

(4) The grain stem sensor S does not need to be installed.

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

(6) The “conveyance device” according to the present invention may be comprised of the harvesting and conveyance device 10 and the threshing device 4.

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

(8) The measurement position calculation unit 72 is not limited to a straight travel path, but is configured to calculate a measurement position to correspond to the quantity of grains in a travel path including a straight part and a curved part. You can stay.

<Industrial applicability>

The present invention can be used not only for self-removing type combines but also for normal type combines.

1: Harvest Department
4: Threshing device
10: Reaping transfer device (transfer device)
10a: cutting device
20: Position detection unit
71: Conveyance distance calculation unit
72: Measurement position calculation unit
A: Combine
H: conveyance speed detection unit
LM: Separation distance
M: Measurement section
PA1: 1st point
PA2: 2nd point
S: Grain stem sensor (first point passing sensor)
T: return path
tp: constant time
tu: unit time

Claims (13)

It is a combine that performs harvesting work in the field.
A transport device configured to transport the harvested grain stems along a transport path and to change the transport speed of the harvested grain stems,
The transfer device is configured so that the transfer speed is linked to the traveling speed of the aircraft,
A conveyance speed detection unit that detects the conveyance speed,
A measuring unit installed below the conveying device in the conveying direction and measuring the quantity of grain per unit time for each unit time,
A first base position, which is the position of the base when the harvested grain stem passes the first point in the conveyance path, and a second point where the harvested grain stem is located below the conveyance direction than the first point in the conveyance path. a position detection unit capable of detecting the position of the second aircraft, which is the position of the aircraft when it passed through;
Based on the conveyance speed and the unit time, a conveyance distance calculation unit that calculates a conveyance distance, which is the distance at which the harvested grain stem is conveyed from the first point, for each unit time;
Based on the conveyance distance calculated by the conveyance distance calculation unit, the separation distance between the first point and the second point, the first aircraft position, and the second aircraft position, the measured value is measured for each unit time. A combine provided with a position calculation unit that calculates the position of the gas in the packaging to correspond to the quantity per unit time. The method of claim 1, wherein the position calculation unit proportionally distributes the position coordinates between the first gas position and the second gas position by the ratio of the conveyance distance to the separation distance through the equation below, Calculate the position of the gas in the packaging to correspond to the quantity per unit time measured per unit time,
X coordinate of the measurement position corresponding to the quantity of grains harvested in unit time = x1 + (x2 - x1) * (L1/LM),
Y coordinate of the measurement position corresponding to the quantity of grains harvested in unit time = y1 + (y2 - y1) * (L1/LM),
However, here L1 is the separation distance, LM is the conveyance distance, x1 is the X coordinate of the first aircraft position, x2 is the Combine, which is the Y coordinate of the second gas position. The method according to claim 1 or 2, wherein the conveying device is a harvesting and conveying device included in the harvesting unit,
The harvesting and conveying device is a combine configured to change the conveying speed. The method of claim 3, wherein the reaping unit has a cutting device for cutting the planted grain stem,
The first point is set near the cutting device,
A combine provided with a first point passage sensor that detects that the reaping grain stem has passed the said first point. The method of claim 4, wherein a grain stem sensor for detecting the presence or absence of grain stems is installed at the front end of the harvesting and conveyance device,
The first point passing sensor is the grain stem sensor, the combine. The combine according to claim 1 or 2, wherein the second point is set at the entrance of the threshing device. The combine according to claim 3, wherein the second point is set at the entrance of the threshing device. The combine according to claim 4, wherein the second point is set at the entrance of the threshing device. The combine according to claim 5, wherein the second point is set at the entrance of the threshing device. The combine of Claim 6 which is comprised so that the grain obtained from the reaping grain culm which passed the entrance of the said threshing apparatus becomes a measurement object of the said measurement part after a certain period of time passes from the time of passing the entrance of the said threshing apparatus. The combine of Claim 7 which is comprised so that the grain obtained from the reaping grain culm which passed the entrance of the said threshing apparatus becomes a measurement object of the said measurement part after a certain period of time passes from the time of passing the entrance of the said threshing apparatus. The combine according to claim 8, which is configured so that the grain obtained from the reaping grain stem that passed through the entrance of the said threshing device becomes a measurement object of the said measurement unit after a certain period of time has elapsed from the time of passing the entrance of the said threshing device. The combine according to claim 9, which is configured so that the grain obtained from the reaping grain stem that passed through the entrance of the said threshing device becomes a measurement object of the said measurement unit after a certain period of time has elapsed from the time of passing the entrance of the said threshing device.