JP2008000089A - Combine harvester - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a combine harvester with easy steering operation in rearward traveling and forward traveling by improving visibility of forward ridge by using a display for rear viewing. <P>SOLUTION: The combine harvester is provided with a rear side photographing means 9 for photographing rear side of the traveling machine body, a right forward photographing means 11 for photographing right forward of the traveling machine body and set to alternatively switch and display the photographed information of these photographing means on a monitor screen of a display device 10 installed on the steering section, and installing the right forward photographing means 11 on a fixed position of the traveling machine body on the rear side than the raising and reaping device 30. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a combine that includes an imaging unit that captures an image of the rear side of the fuselage, and that is configured to display imaging information obtained by the imaging unit on a monitor screen of a display device disposed in a control unit.

In the combine, a glen tank, a threshing device, a waste straw processing device, etc. are mounted on the traveling aircraft on the rear side of the control unit where the driver is located, and it is not possible to directly look directly behind the aircraft from the control unit Impossible.
Further, on the front side of the machine body, it is desired to cause the shoots to be trimmed while performing appropriate weeds and shoots by causing the weeds to steer through the streak.
For this reason, the conventional combine is known to employ the techniques shown in the following [1] and [2] for monitoring the rear side of the combiner when the combine is moving backward and visualizing the forward direction when moving forward. It has been.
[1] A display device in which a surveillance camera as an imaging means for photographing the rear part of the fuselage is arranged at the rear part of the fuselage, and imaging information obtained by the surveillance camera is arranged on the operation panel on the upper surface of the control tower provided with operation levers For the front side of the fuselage, a monitoring camera is provided on the upper cutting part of the left front weed body so that the state in which the weed body sinks into the striations can be seen (Patent Document 1) reference).
[2] A surveillance camera as an imaging means for photographing the rear part of the fuselage is arranged at the rear part of the fuselage, and imaging information by the surveillance camera is configured to be displayed by a display device provided in the control part. Is provided with a monitoring camera in the middle part in the vertical direction of the weed guide plate at the left front part or the right front part so that the weed body can be seen in the space (see Patent Document 2).

Japanese Patent Laid-Open No. 2002-293121 (paragraph numbers [0022] and [0028] and FIGS. 1 and 2) JP 2005-137260 A (paragraph numbers [0022], [0023], [0034], [0036] and FIGS. 1, 2, 10, 11, 12, and 13)

If the techniques disclosed in Patent Documents 1 and 2 above are adopted, it is possible to visually recognize the rear side of the aircraft by observing the display device of the control unit. Since it is possible to monitor the position, it is excellent in that the airframe can be easily moved backward and the direction of the airframe can be monitored.
However, even the techniques described in Patent Documents 1 and 2 have the following problems.
That is, as described in Patent Documents 1 and 2, in the case where the surveillance camera is provided in the part of the weed body (the weed guide), the weed body (the weed guide) located between the streaks does not come off from the streak. If the steering operation is to be monitored, the response of the steering operation must be very quick, and it is necessary to continue monitoring while concentrating on the situation where there is a lot of disturbance due to weeds. .
In other words, since the herbaceous body itself advances by pushing the shoots that are the detection target, the position of the surveillance camera placed at the location of the herbage body is inevitably very far from the detection target shoots and shoots. Get closer. For this reason, there is no time lag from the recognition of the change in the situation being detected to the actual operation, and there is also a lot of disturbance due to weeds etc. The work which is easy to get tired of being done is required.
Therefore, in the case of the structure in which the monitoring camera is provided in the part of the weed body (the weed guide) as described above, in reality, the monitoring provided at the position of the weed body at the time of alignment at the start of the cutting operation. In general, a steering operation using a camera is performed, and a steering operation in a normal forward movement of the aircraft is performed by directly viewing the front side of the aircraft regardless of the monitoring camera.

  The present invention improves the visibility of the front row by using a display device for visually recognizing backwards, thereby making it easy to perform operations for moving the aircraft backward and steering operations during forward work traveling. The purpose is to provide.

  The technical means of the combine according to the present invention taken to achieve the above object has structural features and operational effects in the following points.

[Solution 1]
According to one of the technical means of the present invention, as described in claim 1, a cutting-triggering device is provided at the foremost part of the traveling aircraft, and a control unit is provided on the right side of the aircraft at the rear of the cutting-triggering device. In the combine where a vertical conveying device that conveys the cutting stalk ridge backward is arranged on the left lateral side of the part,
A rear imaging unit that captures the rear side of the traveling aircraft and a right front imaging unit that captures the right front of the traveling aircraft are selected on a monitor screen of a display device in which imaging information by these imaging units is arranged in the control unit. And the right front imaging means is provided at a fixed position on the side of the traveling vehicle on the rear side of the reaping trigger device.

[Operation and effect of invention according to Solution 1]
According to the above configuration, it is possible to display the imaging information on the front side of the traveling machine body using the display device that displays the imaging information by the rear imaging unit that captures the rear side of the traveling machine body. In the present invention, the imaging means for photographing the front is a right front imaging means for photographing the right front of the traveling aircraft body, and the right front imaging means is at a fixed position on the traveling aircraft body side behind the cutting and triggering device. Since it is provided, it is possible to provide the operator with visible information effective for the aircraft steering operation.
That is, the right front imaging means is provided in the rear body fixing part that is some distance away from the target pedicle, and is arranged so as to photograph the right front. It can be photographed so that the pedicles at the right front end and the pedicle row at the right end, and the cutting traces of the pedicles can be recognized as a row in the pedicle group at the right front end and the rear side (front side in the aircraft traveling direction) .
In other words, as in the prior art described above, when the imaging means is arranged so as to detect the streak that the weed body enters, the two left and right stalk buds immediately before the weed body, or the nearest stalk bud strain However, according to the present invention, by recognizing the pedicles and the cut traces as the rows, the aircraft traveling direction is in the direction of the pedicle rows. It is possible to perform an effective steering operation by checking whether or not it is along.
And, by arranging the image pickup means at the fixed part of the traveling machine body behind the device, the arrangement position of the image pickup means can be set relatively high on the ground, so that mud adherence during work is avoided. It is also effective, and since stems and weeds are cut ahead of the imaging means, it is also effective to suppress the occurrence of disturbance due to mud and dust adhering to the imaging means by contact with these.

[Solution 2]
According to the present invention, in the combine described in claim 1, as shown in claim 2, it is preferable to employ a configuration in which a driving cabin is provided in the control section, and a right front imaging means is disposed on the right side of the driving cabin. .

[Operation and effect of invention according to Solution 2]
According to the said structure, in addition to the effect of the invention concerning Claim 1, there exists the following effect.
That is, when the image pickup means is disposed on the traveling machine body side, the position is inevitably high to some extent in order to avoid interference with the traveling device. For this reason, for example, when an imaging means is provided so as to photograph the front from the center of the left and right direction on the front side of the aircraft, the shoots can be photographed immediately before the herb body, It is difficult to photograph so that it can be recognized as a line in the front-rear direction.
On the other hand, in the present invention, the right front imaging means is arranged on the right lateral side of the driving cabin, so that the driver who is seated in the driving seat arranged at the right front portion of the traveling body is visually observed. It is possible to visually recognize the front pedicle row in a state where the viewpoint is placed closer to the right side than in the case of visual observation.
Therefore, for example, even if the stem is tilted to the right side and it is difficult for the operator sitting on the driver's seat to see the stem stock, the stem from the right front imaging means installed on the right side. It is possible to perform the cutting operation under the condition that it is easy to visually recognize the row of stocks of the cocoon and the row of cut marks adjacent thereto.

[Solution 3]
Further, in the present invention, in the combine according to claim 1 or 2, as shown in claim 3, the right front imaging means may be integrally attached to the attaching portion of the direction indicator.

[Operation and effect of invention according to Solution 3]
According to the said structure, in addition to the effect of the invention concerning Claim 1 and 2, there exists the following effect.
That is, by providing the right front imaging means integrally with the direction indicator provided at the rightmost position of the traveling aircraft and provided at the front of the aircraft, the mounting structure of the direction indicator is changed to the mounting structure of the right front imaging means. There is an advantage that the configuration can be simplified by making effective use.

[Overall structure of the combine]
Hereinafter, an example of an embodiment of the present invention will be described based on the drawings.
As shown in FIG. 1 and FIG. 2, the combine can be swung up and down around the horizontal axis X by a cutting lift cylinder C at the front part of the machine body 2 provided on the upper part of the pair of left and right crawler travel devices 1R and 1L. In this state, the pre-cutting processing unit 3 is provided, and the machine body 2 includes an operating cabin 4 as a control unit, a threshing unit 5 for threshing and selecting the chopped cereals, and a grain storing grains supplied from the threshing unit 5 Grain storage tank 6, grain discharge auger 7 for discharging the grains stored in tank 6, and waste straw processing apparatus for binding and cutting the waste straw processed by the threshing unit 5. 8 etc. are comprised.

The pre-cutting processing unit 3 includes a plurality of weeding tools 32 attached to the tip part, a plurality of raising frames 33 that cause the fallen cereals to stand upright, and a cutting blade 34 that cuts the stock of the caused cereals. The reaping-triggering device 30 is provided, and a vertical conveying device 31 that receives the chopped cereal meal at the tip side and delivers it to the feed chain 52 of the threshing unit 5.
The cutting pre-processing unit 3 is configured to be swingable up and down around the horizontal axis X by the cutting lifting cylinder C as described above, and also in the horizontal direction as shown in FIG. The position of the cutting blade 34 is configured to be freely changeable between a first action position for rotating mowing indicated by a solid line and a second action position for intermediate cutting indicated by an imaginary line. A specific structure for changing the left and right positions of the raising frame 33 and the cutting blade 34 is already known, and the description of the specific structure is omitted here.

  As shown in FIGS. 1 and 2, the threshing unit 5 includes a handling cylinder 51 that handles and processes the harvested cereal, and includes a feed chain 52 that conveys the cereal supplied from the pre-cutting processing unit 3. ing. Then, although not shown in the figure, the processed material processed in the chamber is leaked from the receiving net provided in the lower portion of the chamber to the sorting device, and after being sorted, is transferred to the grain tank 6. The waste straw after the handling is sent to the waste straw treatment device 8 from the rear end of the feed chain 52, and is discharged from the rear end of the machine body after being bound or cut.

[Driving cabin]
As shown in FIGS. 1 to 5, a driving cabin 4 as a control unit is mounted on the right front portion of the airframe 2.
As shown in FIGS. 4 and 5, the driving cabin 4 includes a right side wall 40 provided with a door 40 </ b> A for getting on and off, and a front wall 41 on the front side of the control panel 4 </ b> A disposed inside the driving cabin 4. The rear wall 43 behind the seat and the left side wall 42 form a cabin interior space that is rectangular in plan view, and the driver who is seated in the driver seat 44 installed in the center of the cabin interior Glass windows 40a, 41a, 42a, 43a, and 44a are provided on the respective wall surfaces 40 to 44 so that they can be seen.
The inner surface of the ceiling portion 45 is set to be slightly higher than the top of the operator's head mounted on the driver's seat 44, and an air conditioner 46 is provided between the inner wall 45a of the ceiling wall 45 and the roof wall 45b. .

An opening / closing door 40A for getting on and off provided on the right side wall 40 of the operation cabin 4 is configured such that the front side can be swingably opened and closed by a hinge 4B on the rear side. A handrail 4C, a direction indicator 4D, and a right front imaging means 11 to be described later are provided on the outer surface side of the right side wall 40 in front of the open / close door 40A.
The front glass window 41a constituting the upper side of the front wall 41 of the driving cabin 4 is disposed in a forward tilted posture, and as shown in FIGS. A wiper drive mechanism 47b is provided on each side. The wiper drive mechanism 47b is arranged to move to the left side of the operator's head seated on the driver's seat 44 so as to be out of the field of view immediately before the operator, and the stop position of the arm portion 47b of the wiper 47 is As shown in FIG. 5, it is configured to stop above the line of sight of the driver looking forward.

[Rear monitoring device]
As shown in FIGS. 1, 2, and 6, a rear imaging means 9 including a monitoring camera for photographing the rear lower side of the aircraft is disposed at the rear upper end position of the waste wall processing apparatus 8 at the rear of the aircraft, A display device 10 is disposed in the cabin 4 as shown in FIGS.
A microcomputer is used to output the rear imaging means 9, the display device 10, and imaging information photographed by the rear imaging means 9 as image data displayed on the display device 10 in the driving cabin 4. The rear monitoring device is configured with the control device 12 configured as described above.

As shown in FIG. 6, the rear imaging means 9 is composed of a surveillance camera 90 mounted on a cover member 80 above the rear end of the waste brazing device 8 at the rear of the machine body via a mounting bracket 80a. The rear side of the machine body including the rear surface of the cutter chute 84 provided on the rear end side of the exhaust wall shredding device 83 on the upper side of the apparatus 81 near the exhaust wall discharge port 82 and on the lower side thereof. An imaging range is determined and arranged so that an image can be taken.
Therefore, in the image pickup means, during the harvesting and threshing operation by the combine, an image that is information such as the discharge status of the waste straw discharged from the waste straw discharge port 82 and the fall position of the waste straw bundle after the release is taken. When the aircraft moves backward without cutting and threshing, an image serving as information on obstacles and topography on the rear side of the aircraft is taken.
The upper side of the surveillance camera 90 constituting the rear imaging means 9 is covered with a sunshade cover 91, and is devised so as not to be affected by strong sunlight.

The display device 10 displays the imaging information photographed by the imaging means. As shown in FIGS. 4 and 5, the display device 10 has a monitor screen portion that displays the imaging information photographed by the rear imaging means 9. These are embedded in the ceiling wall 45 of the driving cabin 4.
In this case, the monitor screen of the display device 10 is arranged with a gentle forward-tilting posture in order not to make the thickness of the ceiling wall 45 unnecessarily thick and to ensure a screen display area that is easy to see. Good. Thus, when the display device 10 is embedded and arranged on the ceiling side, there is an advantage that the indoor space of the driving cabin 4 can be used more widely.

[Right front imaging means]
As shown in FIGS. 2 to 5, a right front imaging unit 11 configured with a camera for photographing the front side in the aircraft traveling direction is provided on the right side portion of the driving cabin 4.
The position where the right front imaging unit 11 is provided is an arbitrary position over a wide range from a position where the interference with the traveling device is avoided in the vertical direction to a position of the viewpoint of the driver sitting on the driver seat 44. However, preferably, as shown in FIGS. 3, 4, and 5, a certain height above the floor surface of the operation cabin 4 and below the lower edge of the front glass window 41 a. It is good to set to. Setting such a height is suitable for avoiding the attachment of other objects such as mud to the right front imaging means 11, and the viewpoint height of the camera is relatively low, which is higher than when viewed from above. It is easy to visually check the fall state of the row.
Further, as described above, the direction indicator 4D is attached to the height position in this range. In the present invention, the direction indicator 4D is integrated with the direction indicator 4D using the mounting structure of the direction indicator 4D. A right front imaging means 11 is attached.

Further, in the left-right direction, as shown in FIGS. 2 and 3, the left-right side portion of the driving cabin 4 is disposed, but the left-right direction position is not necessarily limited to this position. As illustrated by the lines, the front wall 41 of the operation cabin 4 may be disposed at a site that slightly enters the inward side of the aircraft.
That is, if it is arranged closer to the right side than the position of the operator's viewpoint seated on the driver's seat 44, it may be possible to achieve the temporary purpose of recognizing pedicles as a row than when visually observed. More preferably, as shown in FIG. 3, in the state in which the pre-cutting processing device 3 is in the rotational cutting work position indicated by the solid line, an intermediate position of the rightmost pedicle-causing path 33a (of the line segment y in the figure) It is preferable to provide it on the right side of the position corresponding to (position). If the right front image pickup means 11 is disposed at this position, the right front image pickup means 11 is likely to be always located on the right side of the pedicle row during the turn-cutting operation, so that the right end shoot is easily recognized as a row. Become.

For reference, FIG. 2 shows an example of the imaging range when the right front imaging means 11 is arranged on the right lateral side portion of the driving cabin 4.
The circles in the figure are rows of uncut stem stock, and the rows with crosses indicate the stocks that have already been cut. In the drawing, the angle range indicated by the two-dot chain line indicates the imaging range of the right front imaging unit 11 in plan view, and the center line 11c of the right front imaging unit 11 may be directed in the same direction as the aircraft traveling direction. In this example, it is slightly toward the aircraft center. In this way, since the right front imaging means 11 as a viewpoint is photographed at a position just before the most uncut stalk row or slightly to the right side, stocks of uncut shoots are lined up. It is possible to shoot in a state where it can be easily recognized.

[Discharge location imaging means]
As shown in FIGS. 1 and 2, the tip of a grain discharge auger 7 that discharges the grains stored in the grain storage tank 6 is configured with a camera that captures the grain discharge location. Discharge location imaging means 70 is provided, and imaging information of the grain discharge target location by the discharge location imaging means 70 can also be displayed on the display device 10 in the driving cabin 4.

[Related configuration]
As shown in FIG. 7, imaging information captured by each of the rear imaging unit 9, the right front imaging unit 11, and the ejection point imaging unit 70 is input to the control device 12 configured by a microcomputer, and any imaging is performed. Information by the means is selected, output to the display device 10 as image data, and displayed on the display device 10.
The input portion of the control device 12 determines whether the operation position of the hydrostatic continuously variable transmission (not shown) incorporated in the travel transmission system is the forward operation region or the reverse operation region. The detection signal from the forward / reverse detection sensor 13 </ b> A detected based on the operation position 13, the operation signal from the lifting operation switch 14 for performing the lifting operation of the pre-cutting device 3, and the grain conveyance by the auger operation switch 15 The operation command signals such as ON / OFF of the driving of the auger for driving, the raising / lowering operation, and the left / right turning operation are input. Further, the control device 12 is connected to a display state changeover switch 16 for switching the display form of the display device 10 by human operation. As shown in FIG. 7, the display state changeover switch 16 is configured to be switchable to four positions of “automatic”, “rear”, “auger”, and “OFF” by a dial type switch. As shown in the flowchart, the switching signal is output.
Further, the control device 12 includes a cylinder lifting / lowering operation means 120 that outputs a lifting / lowering command to the cutting / lifting cylinder driving device C1 that operates the cutting lifting / lowering cylinder C of the cutting pretreatment device 3, and an operation command to the auger driving device 150. Is stored and stored as a control program. The auger control means 121 for outputting the control information and the display switching means 122 for outputting a control command to the display device 10 are stored.

The cylinder lifting / lowering operation means 120 is configured to output a control command to a cutting / lifting cylinder driving device C1 that drives the cutting lifting / lowering cylinder C based on an operation signal input from the lifting / lowering operation switch 14.
The auger control means 121 is configured to output a control command to the auger drive device 150 based on the up / down operation signal and the left / right turning operation signal input from the auger operation switch 15.
The display switching means 122 is configured to select imaging information to be output to the display device 10 based on detection signals from the elevation operation switch 14 and the forward / reverse detection sensor 13A.

The display device 10 is configured to select imaging information captured by each of the rear imaging unit 9, the right front imaging unit 11, and the discharge location imaging unit 70 as shown in the flowchart of FIG. ing.
[1] When the display state changeover switch 16 capable of switching four positions is in the “automatic” position (step # 1), the lifting operation switch 14 of the pre-cutting processing device 3 is in the “lowering” work position (step # 1). 4) When the forward / backward detection sensor 13A detects “forward” (step # 5), the display device 10 displays the imaging information of the right front imaging means 11 (step # 6).
[2] When the forward / reverse detection sensor 13A detects “reverse” from the state of step # 5, the display device 10 displays the imaging information of the rear imaging means 9 (step # 7).
[3] The display state change-over switch 16 capable of four-position switching is in the “automatic” position (step # 1), and the lifting operation switch 14 of the pre-cutting processing device 3 is in the “up” non-working position (step # 4). The display device 10 displays the imaging information of the rear imaging means 9 regardless of the detection state of the forward / reverse detection sensor 13A (step # 7).
[4] When the display state changeover switch 16 capable of four-position switching is in the “rear” position (step # 2), regardless of the operation position of the elevating operation switch 14 or the detection state of the forward / reverse detection sensor 13A. The display device 10 displays the imaging information of the rear imaging means 9 (step # 7).
[5] When the display state changeover switch 16 capable of four-position switching is at the “auger” position (step # 3), regardless of the operation position of the elevating operation switch 14 or the detection state of the forward / reverse detection sensor 13A. The display device 10 displays the imaging information of the discharge location imaging means 70 (step # 8).
[6] When the four-position switchable display state changeover switch 16 is in the “OFF” position, the display device 10 is not turned on regardless of the operation position of the elevating operation switch 14 or the detection state of the forward / reverse detection sensor 13A. Display is made (step # 9).

[Other Embodiments]
In the best mode for carrying out the invention described above, the structure including the driving cabin 4 as the steering section is shown. However, the present invention is not limited to this, and the driving cabin 4 is not provided. For example, the imaging means 11 may be provided, and the display device 10 may be provided on the control panel portion.
Also in this case, the arrangement position of the right front imaging means 11 is in a range corresponding to the lower side of the control panel or the seating surface of the driver seat 44 and the upper side of the control unit floor in the vertical direction. In the left-right direction, it is desirable to set the same as in the best mode for carrying out the invention described above.

Side view of the entire combine Top view of the entire combine Front view of the entire combine Front view of driving cabin Right side view of driving cabin Side view showing the mounting location of the rear imaging means Block diagram showing the control system Flow chart showing switching mode of display device

Explanation of symbols

DESCRIPTION OF SYMBOLS 3 Processing part before cutting 4 Driving | running | working cabin 8 Waste wall processing apparatus 9 Back imaging means 10 Display apparatus 11 Right front imaging means 12 Control apparatus 16 Display state changeover switch 30 Cutting trigger apparatus 31 Vertical conveyance apparatus 40 Right side wall 41 Front wall 42 Left side wall 43 Rear wall 44 Driver's seat 45 Ceiling

Claims (3)

A cutting and lifting device is installed at the foremost part of the traveling aircraft, a control unit is provided on the right side of the aircraft at the rear of the cutting and triggering device, and a vertical transfer device is installed on the left side of the control unit to convey the cutting stems backward. It ’s a combine,
A rear imaging unit that captures the rear side of the traveling aircraft and a right front imaging unit that captures the right front of the traveling aircraft are selected on a monitor screen of a display device in which imaging information by these imaging units is arranged in the control unit. A combine that is configured to automatically switch and display, and the right front imaging means is provided at a fixed position on the traveling vehicle side rearward of the reaping trigger device.   The combine according to claim 1, wherein the control unit is provided with a driving cabin, and the right front imaging means is arranged on the right side of the driving cabin.   The combine according to claim 1 or 2, wherein the right front imaging means is integrally attached to the attaching portion of the direction indicator.

Images