JP2836151B2 - Vegetable position detection device in head vegetable harvester - Google Patents
Vegetable position detection device in head vegetable harvesterInfo
- Publication number
- JP2836151B2 JP2836151B2 JP34165389A JP34165389A JP2836151B2 JP 2836151 B2 JP2836151 B2 JP 2836151B2 JP 34165389 A JP34165389 A JP 34165389A JP 34165389 A JP34165389 A JP 34165389A JP 2836151 B2 JP2836151 B2 JP 2836151B2
- Authority
- JP
- Japan
- Prior art keywords
- vegetable
- head
- cabbage
- harvesting
- detector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Harvesting Machines For Specific Crops (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 この発明は、結球野菜収穫機における野菜位置検出装
置に関する。Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vegetable position detecting device in a head vegetable harvester.
従来、この結球野菜の収穫機は、例えば、特開昭63−
283514号公報に示されているように、結球野菜を、損傷
させないで保持できる構成に欠けていた。Conventionally, this head vegetable harvester is disclosed in, for example,
As disclosed in Japanese Patent No. 283514, the head vegetables lack a structure capable of being held without damage.
すなわち、野菜は、確実な保持がされておらず、茎部
が切断されるとき不安定な状態となるばかりでなく、切
断後の搬送にあっても揺れ動き、保持が不十分である欠
陥があった。That is, the vegetables are not held securely, and not only are unstable when the stem is cut, but also sway even during transportation after cutting, and there is a defect that the holding is insufficient. Was.
また、収穫に先立ち、キャベツの位置や大きさの検出
ができず、車速とキャベツまでの距離を予測して的確な
収穫を行なうことができないものであった。In addition, prior to harvesting, the position and size of the cabbage cannot be detected, so that accurate harvesting cannot be performed by predicting the vehicle speed and the distance to the cabbage.
結球野菜を機械的に収穫する場合、野菜は、まず、茎
部が切断された後、収納箱、コンベア又は圃場面まで搬
送される。When mechanically harvesting head vegetables, the vegetables are first transported to a storage box, a conveyor, or a field scene after the stem is cut.
このような一連の作業中において、野菜は、不安定な
状態にあって揺動すると、一定の位置を確実に切断する
ことができず、切断位置が高くなったり、斜めになった
り、まちまちになる問題点がある。During such a series of work, if the vegetables are in an unstable state and swing, it is not possible to reliably cut a certain position, and the cutting position becomes high, becomes skewed, There is a problem.
また、結球野菜の位置や大きさが検出できないため
に、自動収穫の機械を作ることができなかった。In addition, since the position and size of the head vegetables could not be detected, an automatic harvesting machine could not be made.
この発明は、上述の課題を解決するために、つぎの如
き技術的手段を用いる。The present invention uses the following technical means to solve the above-mentioned problems.
すなわち、走行装置１を有する車台２に、圃場で成育
した結球野菜に上方から接近する収穫具３を設け、該収
穫具３に結球野菜の外側に臨み空気の圧入で拡張されて
結球野菜を保持する柔軟保持具４を設け、前記車台２の
前部には圃場の結球野菜の位置を検出する検出器５を設
け、前記走行装置１又はその伝動装置６に走行距離を測
定できる測定器７を設け、該測定器７および前記検出器
５からの信号に基づき、作動各部を一連のタイミングの
もとに作動制御する制御装置８を設けてなる結球野菜収
穫機における野菜位置検出装置である。That is, a harvesting tool 3 is provided on the undercarriage 2 having the traveling device 1 so as to approach the head vegetable grown in the field from above, and the harvest tool 3 faces the outside of the head vegetable and is expanded by press-in of air to hold the head vegetable. A flexible holder 4 is provided, and a detector 5 for detecting a position of a head vegetable on a field is provided at a front portion of the undercarriage 2. This is a vegetable position detecting device in a head vegetable harvesting machine provided with a control device 8 provided for controlling the operation of each part based on a signal from the measuring device 7 and the detector 5 at a series of timings.
まず、走行装置１を駆動して車台２を前進させながら
キャベツの収穫作業を行なう。First, the cabbage is harvested while driving the traveling device 1 to move the chassis 2 forward.
すると、検出器５は、キャベツの上方に達すると、キ
ャベツの位置を検出して制御装置８に信号を送る。一
方、測定器７は、走行距離を測定してその信号を制御装
置８に信号を送る。Then, when the detector 5 reaches above the cabbage, the detector 5 detects the position of the cabbage and sends a signal to the control device 8. On the other hand, the measuring device 7 measures the traveling distance and sends the signal to the control device 8.
そこで、制御装置８は、キャベツの収穫位置までの距
離を算出した結果に基づいて出力し、各部を所定のタイ
ミングのもとに作動させる。Therefore, the control device 8 outputs based on the result of calculating the distance to the harvest position of the cabbage, and operates each unit at a predetermined timing.
したがって、車台２が、キャベツの位置に近づくと、
収穫具３は、回転装置９、回転腕杆10を介して圃場のキ
ャベツに対して上方から挿入された状態でかぶせる。Therefore, when the undercarriage 2 approaches the cabbage position,
The harvesting tool 3 is put on the cabbage in the field via the rotating device 9 and the rotating arm 10 while being inserted from above.
つぎに、柔軟保持具４は、コンプレッサー11からパイ
プ12を介して空気が圧入され、第１図の状態から第２図
の状態に達し、キャベツを保持する。Next, air is press-fitted into the flexible holder 4 from the compressor 11 via the pipe 12, and the flexible holder 4 reaches the state of FIG. 2 from the state of FIG. 1 and holds the cabbage.
そして、キャベツは、回転して来たナイフ13によって
茎部が切断される。Then, the stem portion of the cabbage is cut by the rotating knife 13.
そして、収穫具３は、回転装置９、回転腕10ととも
に、更に回転を続けキャベツが箱14の上方に達すると、
切換バルブ15が切り替わり空気が抜ける。Then, the harvesting tool 3 continues to rotate further with the rotating device 9 and the rotating arm 10, and when the cabbage reaches above the box 14,
The switching valve 15 switches, and the air escapes.
したがって、柔軟保持具４は、収縮することによって
保持しているキャベツを開放して収納箱14に収集され
る。Accordingly, the flexible holder 4 is collected in the storage box 14 by opening the cabbage which is held by contracting.
以上のように、この発明は、収穫しようとするキャベ
ツの位置を、予め検出しておいて、車台の走行距離から
算出して車台がキャベツの位置に達したときに収穫具を
作動させる構成であるから、空収穫をするようなことが
なく、キャベツを確実に収穫できる特徴がある。As described above, the present invention has a configuration in which the position of the cabbage to be harvested is detected in advance, and the harvesting tool is operated when the vehicle reaches the position of the cabbage calculated from the traveling distance of the vehicle. Because of this, there is a feature that cabbage can be reliably harvested without empty harvesting.
この柔軟保持具は、素材を弾性体とし空気の圧入と排
出で拡縮しているから、キャベツに無理を与えず損傷を
未然に防止できる特徴がある。Since this flexible holder is made of an elastic material and expanded and contracted by pressurizing and discharging air, it has a feature that cabbage can be prevented from being damaged without exerting excessive force.
まず、第１図に示す構成を説明すると、収穫具３は、
筒状に形成し、パイプ12を介してコンプレッサー11に連
通させている。First, the configuration shown in FIG. 1 will be described.
It is formed in a tubular shape and communicates with the compressor 11 via a pipe 12.
柔軟保持具４は、ゴム材によってバッグ状に形成し、
前記収穫具３に取付け、前記コンプレサー11から送られ
る空気によって、拡張できる構成としている。The flexible holder 4 is formed in a bag shape with a rubber material,
It is configured to be attached to the harvesting tool 3 and expandable by air sent from the compressor 11.
そして、この柔軟保持具４は、その断面の肉厚を、キ
ャベツの結球部に接当する上部を、茎部に接当する下部
より厚く構成している。The flexible holder 4 is configured such that the thickness of the cross section is thicker at the upper portion that contacts the head portion of the cabbage than at the lower portion that contacts the stem portion.
したがって、この柔軟保持具４は、空気を圧入して拡
張するとき上下で拡張の度合が違い、第２図に示すよう
に確実にキャベツを保持できる構成となっている。Therefore, the degree of expansion of the flexible holder 4 when it is expanded by press-fitting air is different between the upper and lower parts, so that the cabbage can be reliably held as shown in FIG.
ナイフ13は、収穫具３の側部にあってモーター16によ
って駆動されキャベツの茎の基部を切断する構成として
いる。The knife 13 is arranged on the side of the harvesting tool 3 and is driven by the motor 16 to cut the base of the cabbage stalk.
第４図に示す実施例は、柔軟保持具４とコンプレッサ
ー11との連通状態を示し、切換えバルブ15、空気量測定
器17、変圧弁18を介して連通する構成としている。The embodiment shown in FIG. 4 shows the state of communication between the flexible holder 4 and the compressor 11, and is configured to communicate via the switching valve 15, the air amount measuring device 17, and the variable pressure valve 18.
そして、これら各装置は、制御装置８によって作動制
御される構成としている。These devices are configured to be operated and controlled by the control device 8.
したがって、空気量測定器17は、柔軟保持具４への圧
入空気量を測定して野菜の結球度合いを判断する構成と
している。Therefore, the air amount measuring device 17 is configured to measure the pressurized air amount into the flexible holder 4 to determine the degree of head of vegetables.
つぎに、第５図において、収納箱14は、大Ｌ、中Ｍ、
小Ｓに選別したキャベツをそれぞれ収集できるように区
分して構成している。そして、収穫具３は、前述の第４
図の制御装置８によって収穫時に選別してそれぞれの当
該位置に落下供給できる構成になっている。Next, in FIG. 5, the storage box 14 is large L, medium M,
The cabbage sorted into the small S is divided so as to be collected. And the harvesting tool 3 is the fourth
The apparatus is configured so that it can be sorted at the time of harvest by the control device 8 shown in FIG.
検出器５は、車台２の前部に取付け、次工程で収穫し
ようとするキャベツの位置を検出して制御装置８に検出
信号を送る構成にしている。The detector 5 is attached to the front of the chassis 2 to detect the position of the cabbage to be harvested in the next process and to send a detection signal to the control device 8.
なお、検出器５は、例えば超音波発信機と受信機から
構成し、第６図に示すグラフのような結果を得るものに
しても良い。The detector 5 may be constituted by, for example, an ultrasonic transmitter and a receiver to obtain a result as shown in the graph of FIG.
すなわち、グラフに示す検出結果は、地面からの高さ
を検出してキャベツの中心位置が判るようにする。この
ようにすれば、キャベツの大きさ（熟度）も同時に検出
することができる。That is, the detection result shown in the graph detects the height of the cabbage from the ground to determine the center position of the cabbage. In this way, the size (maturity) of the cabbage can be detected at the same time.
そして、測定器７は、走行装置１の車軸部分に取付
け、測定結果を制御装置８に信号として送信できる構成
としている。The measuring device 7 is attached to the axle portion of the traveling device 1 so that the measurement result can be transmitted to the control device 8 as a signal.
したがって、制御装置８は、測定器７の測定結果と、
検出器５の測定結果から次の収穫予定のキャベツ位置を
算出して、車台２の走行距離に応じて出力信号を出して
タイミング良く収穫作業を連続することが出来る。Therefore, the control device 8 obtains the measurement result of the measuring device 7 and
The cabbage position to be harvested next is calculated from the measurement result of the detector 5, and an output signal is output according to the traveling distance of the chassis 2, so that the harvesting operation can be continued with good timing.
図面はこの発明の実施例を示すものであって、第１図は
断面図、第２図は断面図、第３図は平面図、第４図はブ
ロック図、第５図は全体の斜面図第６図は検出結果を表
示するグラフである。 符号の説明 １……走行装置、２……車台 ３……収穫具、４……柔軟保持具 ５……検出器、６……伝動装置 ７……車速測定器、８……制御装置 ９……回転装置、10……回転腕杆 11……コンプレッサ、12……パイプ 13……ナイフ、14……収納箱 15……切換バルブ、16……モーター 17……空気量測定器、18……変圧弁1 is a sectional view, FIG. 2 is a sectional view, FIG. 3 is a plan view, FIG. 4 is a block diagram, and FIG. 5 is an overall oblique view. FIG. 6 is a graph showing the detection results. DESCRIPTION OF SYMBOLS 1... Running device 2... Undercarriage 3... Harvesting tool 4... Flexible holder 5... Detector 6... Transmission device 7. ... Rotating device, 10 ... Rotating arm rod 11 ... Compressor, 12 ... Pipe 13 ... Knife, 14 ... Storage box 15 ... Switching valve, 16 ... Motor 17 ... Air flow meter, 18 ... Transformer valve
Claims (1)
結球野菜に上方から接近する収穫具を設け、該収穫具
に、結球野菜の外側に臨み空気の圧入で拡張されて結球
野菜を保持する柔軟保持具を設け、前記車台の前部には
圃場の結球野菜の位置を検出する検出器を設け、前記走
行装置又はその伝動装置に走行距離を測定できる測定器
を設け、該測定器および前記検出器からの信号に基づ
き、作動各部を一連のタイミングのもとに作動制御する
制御装置を設けてなる結球野菜収穫機における野菜位置
検出装置A harvesting tool is provided on a chassis having a traveling device to approach a head vegetable grown in a field from above, and the harvest tool is extended by pressurizing air facing the outside of the head vegetable to hold the head vegetable. Provide a flexible holding tool to provide, a detector for detecting the position of head vegetables in the field at the front of the undercarriage, provided a measuring device capable of measuring the traveling distance to the traveling device or its transmission device, the measuring device and Vegetable position detecting device in a head vegetable harvesting machine provided with a control device for controlling the operation of each part based on a signal from the detector based on a series of timings
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP34165389A JP2836151B2 (en) | 1989-12-27 | 1989-12-27 | Vegetable position detection device in head vegetable harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP34165389A JP2836151B2 (en) | 1989-12-27 | 1989-12-27 | Vegetable position detection device in head vegetable harvester |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH03198714A JPH03198714A (en) | 1991-08-29 |
| JP2836151B2 true JP2836151B2 (en) | 1998-12-14 |
Family
ID=18347758
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP34165389A Expired - Fee Related JP2836151B2 (en) | 1989-12-27 | 1989-12-27 | Vegetable position detection device in head vegetable harvester |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2836151B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB201609914D0 (en) * | 2016-06-07 | 2016-07-20 | Kms Projects Ltd | Harvesting of crops |
-
1989
- 1989-12-27 JP JP34165389A patent/JP2836151B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH03198714A (en) | 1991-08-29 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |