JP5780642B2 - Combine - Google Patents

Description

  The present invention relates to a combine that threshs the harvested cereal and determines the state of the threshed grain.

  Grain harvesting operations such as straw and soybeans are generally performed by a combine, and the harvested grain is shipped to the market through an inspection for confirming its quality. In the inspection, grains or foreign matters (for example, leaves or stems) in which cracks or cracks have occurred are detected, and the quality of the harvest is assessed. Patent Document 1 discloses a detection device that irradiates a grain with inspection light, detects the intensity of reflected light with two detectors, and detects cracks and cracks in the grain based on each detection result. It is disclosed.

  The detection device calculates the ratio of the intensity detected by each detector and differentiates the calculated ratio. The intensity detected by each detector is added. And when a differential value and an addition value each exceed a predetermined threshold value, it is determined that the grain has cracks or cracks.

Japanese Examined Patent Publication No. 6-63799

  It is desirable that the inspection result after harvesting is good because it affects the price at the time of shipment. However, there was a problem that the state of the grain could not be grasped unless inspection after harvesting.

  This invention is made | formed in view of such a situation, and it aims at providing the combine which can test | inspect the state of a grain, or mixing of a foreign material, etc. during a harvest.

The combine which concerns on this invention is arrange | positioned in the said storage part in the combine provided with the threshing apparatus which threshs the grain mash harvested during driving | running | working, and the storage part which stores the grain threshed by this threshing apparatus. There are light-transmitting and placing plates on which the grains are placed, two light sources that are respectively arranged on both sides of the placing plate and irradiate light on the placing plate, and the placing plate described above An imaging unit that images the grains placed on the placement surface, and image processing means that processes an image captured by the imaging unit, and the placement surface of the placement plate is a smooth surface , non-mounting surface is characterized rough der Rukoto.

In this invention, the grain stored in a storage part is mounted in a mounting board, light is irradiated from the both surfaces side of a mounting board, respectively, and a grain is imaged. The captured image is processed to inspect the state of grains (for example, the presence or absence of cracks or cracks) and the presence of foreign matter.
In addition, the surface on which the grain is placed is smoothed to minimize the influence of water on the image. Further, by making the non-mounting surface rough, the mounting plate functions as a diffuser and suppresses the occurrence of halation due to light irradiated from the mounting surface side.

The combine which concerns on this invention is arrange | positioned in the said storage part in the combine provided with the threshing apparatus which threshs the grain mash harvested during driving | running | working, and the storage part which stores the grain threshed by this threshing apparatus. There are light-transmitting and placing plates on which the grains are placed, two light sources that are respectively arranged on both sides of the placing plate and irradiate light on the placing plate, and the placing plate described above An imaging unit that images the grains placed on the placement surface, an image processing unit that processes an image captured by the imaging unit, and a non-placement surface side of the placement plate, and a light absorbing portion which absorbs light of a light source disposed on the mounting surface side, characterized in Rukoto.

In the present invention, by arranging a light absorption part (for example, black cloth) on the non-mounting surface side of the mounting plate, when light is irradiated from a light source disposed on the mounting surface side, The background turns black.
In the combine according to the present invention, the light source disposed on the non-mounting surface side has one surface facing the non-mounting surface, and a light guide plate that emits incident light toward the non-mounting surface; A light emitting portion disposed around the light guide plate, and the light absorbing portion is disposed to face the other surface of the light guide plate.
In the present invention, by arranging the light absorption part on the back side of the light guide plate, when light is emitted from the light source arranged on the placement surface side of the placement plate, the background becomes black and the placement plate is not placed When light is emitted from a light source arranged on the surface side, the background is whitened.

  The combine according to the present invention is characterized in that a polarizing filter is provided for each of the light source arranged on the imaging unit and the placement surface side.

  In the present invention, the polarization filter reliably prevents the occurrence of halation due to the light irradiated from the mounting surface side.

  The combine according to the present invention is characterized in that the light source disposed on the mounting surface side has an annular shape, and the imaging unit is disposed coaxially with respect to the light source.

  In this invention, an imaging part is located in the center of the cyclic | annular light source arrange | positioned at the mounting surface side, and an imaging part, a to-be-photographed object (grain), and a light source are arrange | positioned coaxially.

  The combine according to the present invention is characterized in that the grain moves on the mounting plate described above, and a plurality of the imaging units are arranged in parallel along the moving direction of the grain.

  In the present invention, an image for the purpose of finding a foreign object for the same grain (subject), and a crack, by making the timing of imaging of each imaging unit and the irradiation timing of each light source correspond to the moving speed of the grain. -Acquire both images for the purpose of finding cracks.

  The combine which concerns on this invention is equipped with the cleaning part which cleans the said mounting surface, It is characterized by the above-mentioned.

  In the present invention, the mounting surface of the mounting plate is cleaned by a cleaning unit (for example, a scraper or air).

  The combine according to the present invention includes an adjusting unit that adjusts the amount of grain discharged from the threshing device, a selecting unit that selects the grain separated from the culm by the threshing device, and a process performed by the image processing unit. And a control means for controlling the operation of the adjusting means or the sorting means based on the result.

  In the present invention, the operation of the chaff sheave or the dust feed valve is controlled based on the result of the image processing.

  The combine which concerns on this invention is provided with the alerting | reporting means which alert | reports abnormality of a grain, and the means to operate | move the said alerting | reporting means based on the processing result in the said image processing means, It is characterized by the above-mentioned.

  In the present invention, the abnormality of the grain is notified based on the result of the image processing.

  In the combine which concerns on this invention, the grain stored in a storage part is mounted in a mounting board, light is irradiated from the both surfaces side of a mounting board, respectively, and a grain is imaged. And since the imaged image is processed and the state of the grain (for example, the presence or absence of cracks or cracks) and the contamination of foreign matters are inspected, the state of the grain can be grasped during harvesting.

  In the combine which concerns on this invention, the mounting surface of the mounting plate in which a grain is mounted is smoothed, and the influence on the image imaged by an imaging part by water adhesion is stopped to the minimum. Even if water adheres to a smooth surface, the state of the irradiation light from each light source hardly changes compared to the case where the water adheres to a rough surface, so that the influence on the image captured by the camera is small. Further, by making the non-mounting surface of the mounting plate rough, the mounting plate functions as a diffuser and suppresses the occurrence of halation due to light irradiated from the mounting surface side. Therefore, the reliability of the processing result of the image processing can be ensured. Moreover, since a grain is mounted on a smooth surface, even if water or dirt adheres, it can be easily cleaned.

  In the combine according to the present invention, the polarization filter can reliably prevent the occurrence of halation due to the light irradiated from the mounting surface side, and can ensure the reliability of the processing result of the image processing.

  In the combine which concerns on this invention, an imaging part is located in the center of a cyclic | annular light source, an imaging part, a to-be-photographed object (grain), and a light source are arrange | positioned coaxially, and size reduction can be achieved.

  In the combine which concerns on this invention, when the light-absorbing part (for example, black cloth) was arrange | positioned at the non-mounting surface side, it imaged, when light was irradiated from the light source arrange | positioned at the mounting surface side. The background of the image becomes black, and the image recognition accuracy can be improved.

  In the combine according to the present invention, by arranging the light absorption part on the back side of the light guide plate, the background is blackened when light is emitted from the light source arranged on the placement surface side, and on the non-mounting surface side. When light is emitted from the arranged light source, the background is whitened. Therefore, it is possible to acquire both an image for the purpose of finding foreign matter and an image for the purpose of finding cracks and cracks, and two images can be acquired by one inspection device.

  In the combine which concerns on this invention, even if a grain moves by making the imaging timing of each image pick-up part and the irradiation timing of each light source correspond to the moving speed of the grain, the same grain (subject) On the other hand, it is possible to acquire both an image aimed at finding foreign matter and an image aimed at finding cracks and cracks.

  In the combine according to the present invention, the placement surface of the placement plate can be cleaned by a cleaning unit (for example, a scraper or air), and the image recognition accuracy can be prevented from being lowered.

  In the combine according to the present invention, based on the image processing result, the operation of the chaff sheave or the dust feeding valve is controlled, and the inspection result obtained during harvesting is quickly reflected in the threshing or selection process. The quality of goods can be improved.

  In the combine according to the present invention, when an abnormality in the grain (for example, contamination of the grain) is detected as a result of the image processing, the notification means (for example, a lamp or a buzzer) is operated to cause the operator to combine. Can prompt the inspection.

1 is an external perspective view of a combine according to Embodiment 1. FIG. It is side surface sectional drawing which outlines the internal structure of a threshing apparatus. It is a partial expanded sectional view which briefly shows a grain tank. It is a longitudinal cross-sectional view which outlines an inspection apparatus. It is an external appearance perspective view which outlines the structure of an inspection apparatus vicinity. It is a perspective view which briefly shows a wiper. It is a figure which shows an example of the image of the koji (grain) imaged with the camera. It is a transmission mechanism figure which shows the transmission path of the driving force of an engine schematically. It is a schematic plan view which shows a dust feeding valve, a process cylinder valve, and these transmission mechanisms. It is a side view which shows the principal part structure of a chaff sheave and a shutter. It is a block diagram which shows the structure of a control part. It is a flowchart explaining the operation | movement process of the chaff sheave based on a 1st image and a 2nd image, a dust feeding valve, and a process cylinder valve. 6 is a longitudinal sectional view schematically showing a combine inspection apparatus according to Embodiment 2. FIG. It is a side view of the combine which concerns on Embodiment 3. FIG. It is a figure which shows an example of the process image which processed the image of the soybean (grain) imaged with the camera, and this image. It is a figure which shows other examples of the 1st image imaged by irradiating light from a 1st light source, without irradiating light from a 2nd light source. It is a flowchart explaining the operation | movement process of a chaff sheave based on a 1st image and a 2nd image, and a dust delivery valve.

(Embodiment 1)
Hereinafter, the present invention will be described in detail based on the drawings showing the combine according to the first embodiment. FIG. 1 is an external perspective view of a combine.

  The combine includes an airframe 9, and a traveling crawler 1 is provided below the airframe 9. A threshing device 2 is provided above the body 9. On the front side of the threshing device 2, there is provided a cutting unit 3 including a weed plate 3a for discriminating between a harvested cereal and a non-reached cereal, a cutting blade 3b for reaping the cereal, and a raising device 3c for causing the cereal. It is. On the right side of the threshing device 2, a grain tank (storage unit) 4 for storing the grain is provided, and on the left part of the threshing device 2, a long feed chain 5 is provided before and after conveying the cereal. is there. On the upper side of the feed chain 5, there is provided a clamping member 6 for clamping the cereal cake, and the clamping member 6 and the feed chain 5 face each other. In the vicinity of the front end portion of the feed chain 5, a vertical conveying device 7 is disposed. The grain tank 4 is provided with a cylindrical discharge auger 4 a for discharging the grain from the grain tank 4. A cabin 8 is provided on the front side of the grain tank 4.

  The vehicle body 9 travels by driving the travel crawler 1. As the machine body 9 travels, the cereals are taken into the mowing unit 3 and mowed. The harvested corn straw is conveyed to the threshing device 2 via the vertical conveying device 7, the feed chain 5 and the clamping member 6, and threshed in the threshing device 2.

FIG. 2 is a side sectional view schematically showing the internal configuration of the threshing apparatus 2.
As shown in FIG. 2, a handling room 10 for threshing cereals is provided at the front upper part of the threshing device 2. A cylindrical handling cylinder 11 whose axial direction is the longitudinal direction is mounted in the handling chamber 10, and the handling cylinder 11 is rotatable about the axis. A large number of teeth 12, 12,... 12 are arranged in a spiral on the peripheral surface of the barrel 11. On the lower side of the handling cylinder 11, a crimp net 15 is disposed for coping with the handling teeth 12, 12,. The said handling cylinder 11 rotates with the drive force of the engine mentioned later, and threshs the cereal.

  Four dust feed valves (adjusting means) 10 a, 10 a, 10 a, 10 a are juxtaposed in the front-rear direction on the upper wall of the handling chamber 10. Adjust the amount of grains.

  A processing chamber 13 is connected to the rear of the handling chamber 10. A cylindrical processing cylinder 13b whose axial direction is the longitudinal direction is mounted in the processing chamber 13, and the processing cylinder 13b is rotatable around the axis. A large number of teeth 13c, 13c,..., 13c are arranged in a spiral on the peripheral surface of the processing cylinder 13b. A treatment net 13d that disperses the ridges in cooperation with the teeth 13c, 13c,..., 13c is disposed below the treatment cylinder 13b. The processing cylinder 13b is rotated by the driving force of the engine 40, and performs a process of separating the grain from the straw and the grain delivered from the handling chamber 10. A discharge port 13 e is opened below the rear end of the processing chamber 13.

  Four processing cylinder valves (adjusting means) 13a, 13a, 13a, 13a are arranged in parallel in the front-rear direction on the upper wall of the processing chamber 13, and the processing cylinder valves 13a, 13a, 13a, 13a are arranged in the processing chamber. 13 Adjust the amount of straw and grains to be delivered to the rear.

  Below the crimp net 15 is provided a swinging sorter 16 for sorting grains and straws. The rocking sorter 16 is provided on the back side of the rocking sorter 17 for making the grains and straws uniform and selecting the specific gravity, and for rough sorting of the grains and straws. A chaff sheave 18 to be performed, and a stroller rack 19 provided on the rear side of the chaff sheave 18 for dropping the grains mixed in the straw. The Strollac 19 has a plurality of through holes (not shown). A swing arm 21 is connected to the front portion of the swing sorter 17. The swing arm 21 is configured to swing back and forth. By the swinging of the swinging arm 21, the swing sorting device 16 swings, and selection of straw and grains is performed.

  The swing sorting device 16 is provided below the chaff sheave 18 and further includes a grain sheave 20 that performs fine sorting of grains and straw. A first grain plate 22 whose front side is inclined downward is provided below the grain sieve 20, and a first screw conveyor 23 is provided on the front side of the first grain plate 22. The screw conveyor 23 extends upward and reaches the spout 4 b of the grain tank 4.

  The grain that has fallen onto the grain plate 22 from the grain sieve 20 slides down toward the first screw conveyor 23. The slipped grain is transported by the first screw conveyor 23 and is fed into the grain tank 4 from the spout 4b.

  At the rear part of the first grain plate 22, an inclined plate 24 inclined downward is provided continuously. A second grain plate 25 inclined downward and forward is connected to the rear end portion of the inclined plate 24. A second screw conveyor 26 is provided on the upper side of the connecting portion between the second grain plate 25 and the inclined plate 24 to convey straw and grains.

  Falling objects that have fallen onto the inclined plate 24 or the second grain plate 25 from the through holes of the Strollac 19 slide down toward the second screw conveyor 26. The fallen fallen object is conveyed to the processing rotor 14 provided on the left side of the handling cylinder 11 by the second screw conveyor 26 and is threshed by the processing rotor 14.

  A tang 27 that performs a wind-up operation is provided in front of the first screw conveyor 23 and below the swing sorter 17. The wind generated by the wind-up operation of the tang tang 27 advances backward. A rectifying plate 28 for sending the wind upward is disposed between the tang 27 and the first screw conveyor 23.

  A passage plate 36 is connected to the rear end portion of the second grain plate 25. A lower suction cover 30 is provided above the passage plate 36. Between the lower suction cover 30 and the passage plate 36 is an exhaust passage 37 through which dust is discharged.

  An upper suction cover 31 is provided above the lower suction cover 30. Between the upper suction cover 31 and the lower suction cover 30, an axial fan 32 for sucking and discharging soot is disposed. A dust exhaust port 33 is provided behind the axial flow fan 32. The airflow generated by the operation of the tang 27 is rectified by the rectifying plate 28, then passes through the swing sorting device 16 and reaches the dust outlet 33 and the exhaust passage 37.

  On the upper side of the upper suction cover 31, below the processing chamber 13, there is provided a sluice 35 inclined downward and forward. The discharged material discharged from the discharge port 13e of the processing chamber 13 slides down the downflow rod 35 and falls onto the Strolack 19.

FIG. 3 is a partially enlarged sectional view schematically showing the grain tank 4.
The spout 4b is formed in the side part 4c of the grain tank 4 extended in the up-down direction. The grain tank 4 includes a bottom surface portion 4f extending in the left-right direction. The bottom surface portion 4f and the side surface portion 4c are connected via an inclined surface portion 4d inclined downward toward the bottom surface portion 4f. Inside the grain tank 4, a concave portion 4e is formed in the inclined surface portion 4d.

  A mounting plate 76 (see FIG. 4), which will be described later, is disposed in the concave portion 4e so as to be flush with the inclined surface portion 4d. A guide passage 4g that guides the grain introduced from the spout 4b to an inspection device 70 (see FIG. 4), which will be described later, is provided integrally with the side surface portion 4c below the spout 4b. The guide passage 4g has a box shape elongated vertically along the side surface portion 4c and the inclined surface portion 4d. The cross section perpendicular to the longitudinal direction is rectangular. The guide passage 4g is located on the side surface portion 4c and the inclined surface portion 4d. A sampling port 4h is provided on the side surface of the upper end portion so as to face the throwing port 4b. The opening area of the sampling port 4h is smaller than the throwing port 4b. The lower end surface of the guide passage 4g is open, and the lower end surface is adjacent to the inspection device 70. The grain put into the sampling port 4h falls in the guide passage 4g and passes through the inspection device 70. The guide passage 4g may be integrated with the inspection device 70. Further, as long as the grains are guided from the guide passage 4g to the inspection device 70, the guide passage 4g may be separated from the inspection device 70.

In the grain tank 4, an inspection device 70 for inspecting the state of the grain is arranged. 4 is a longitudinal sectional view schematically showing the inspection apparatus 70, and FIG. 5 is an external perspective view schematically showing a configuration in the vicinity of the inspection apparatus 70. As shown in FIG.
The inspection device 70 includes a camera 73 that captures a color image and a support frame 71 that supports the first light source 72, which are positioned above the recess 4e. The support frame 71 is provided on both sides of the recess 4e, and includes two side surface portions 71a and 71a facing each other and a top surface portion 71b that connects the upper portions of the side surface portions 71a and 71a. Both side surface parts 71a and 71a are parallel to the direction in which the grain sliding down the inclined surface part 4d moves. The top surface portion 71b is substantially parallel to the inclined surface portion 4d.

  In the cross section perpendicular to the longitudinal direction, the lateral width of the lower end portion of the guide passage 4g is substantially the same as the dimension between the side surface portions 71a and 71a. The vertical width of the lower end portion of the guide passage 4g is substantially the same as the dimension between the inclined surface portion 4d and the top surface portion 71b. The lower end portion of the guide passage 4g is adjacent to the side surface portions 71a and 71a and the top surface portion 71b. The grain that has fallen through the guide passage 4g passes between both side surfaces 71a and 71a.

  A first light source 72 that irradiates light toward the concave portion 4e is disposed between the side surface portions 71a and 71a, and is supported by the side surface portions 71a and 71a. The first light source 72 includes an annular frame having a through hole 72b in the center and a number of LEDs (Light Emitting Diodes) provided on one surface of the frame. The LED faces the recess 4e. On one surface of the frame, a polarizing filter 72a through which light oscillated in a predetermined direction passes is provided. Instead of the LED, another light emitting element such as a fluorescent tube or an LD (Laser Diode) may be used.

  A camera (imaging unit) 73 that captures a color image is fixed to the top surface 71b with the lens facing the recess 4e. A polarizing filter 73a through which light oscillated in a predetermined direction passes is attached to the surface of the lens. The camera 73 is arranged coaxially with respect to the through hole 72b and is located on the radially inner side of the through hole 72b. The camera 73 includes a shutter switch that adjusts an exposure time, which will be described later, and a storage unit (for example, a flash memory) that stores an image.

  A black cloth (light-absorbing part) 74 is placed inside the recess 4e. A second light source 75 that irradiates light toward the camera 73 is provided on the black cloth 74. The second light source 75 includes an annular frame 75a, and a light guide plate 75b for irradiating incident light to the camera 73 side is provided inside the frame 75a in the radial direction. A large number of LEDs (light emitting units) 75c, 75c,..., 75c are arranged between the peripheral surface of the light guide plate 75b and the inner peripheral surface of the frame 75a. The LED 75c is supported by the frame 75a and irradiates light toward the peripheral surface of the light guide plate 75b.

  On the light guide plate 75b, a mounting plate 76 made of acrylic or glass and having translucency is provided. One surface of the mounting plate 76 facing the light guide plate 75b is a rough surface 76a having a large number of small irregularities, and the other surface opposite to the rough surface 76a is a smooth surface 76b. The smooth surface 76b is flush with the inclined surface portion 4b. The dimension of the mounting plate 76 corresponds to the recess 4e, and there is almost no gap between the mounting plate 76 and the recess 4e.

FIG. 6 is a perspective view schematically showing the wiper.
The inspection device 70 is disposed in the support frame 71 and includes a wiper (cleaning unit) 77 that cleans the smooth surface 76b. The wiper 77 is made of an elastic member such as rubber or urethane, and includes a blade 77a for removing dirt. The pointed portion of the blade 77a faces the smooth surface 76b. The blade 77a is fixed to one end of the handle 77b, and the other end of the handle 77b is connected to the drive unit 77c. The drive unit 77c includes a motor, a gear, and the like, and swings the handle 77b in the lateral direction by driving the motor. Dirt adhered to the smooth surface 76b is removed by the blade 77a. A later-described control unit drives the wiper 77 at an appropriate timing to clean the smooth surface 76b. A scraper may be used in place of the blade 77a. Further, instead of the wiper 77, a cleaning unit using air may be provided.

  FIG. 7 is a diagram illustrating an example of an image of cocoons (grains) captured by the camera 73. FIG. 7A shows a captured first image when light is emitted from the first light source 72 and light is not emitted from the second light source 75. FIG. 7B shows a captured second image when light is not emitted from the first light source 72 and light is emitted from the second light source 75.

  As shown in FIG. 7A, when imaging is performed by irradiating light from the first light source 72, the background becomes black by the black cloth 74, and the color image can be clearly recognized. Therefore, a foreign object 300 such as a green leaf, a chopped piece (stalk strip), or a weed can be extracted from the captured image based on the color, size, shape, and the like.

  As shown in FIG. 7B, when the second light source 75 irradiates and picks up an image, the background becomes white, and the outline and translucency of the harvest can be clearly recognized. Therefore, based on the degree of translucency, it is possible to extract rice cakes 301 that have been damaged during threshing (for example, peeled rice peeled from rice cakes and broken rice cakes 301), and based on size and shape. Branch branch (branch connecting the stem and the heel) 302 can be extracted.

  When light is emitted from the first light source 72, the emitted light is reflected by the smooth surface 76 b of the mounting plate 76 and enters the camera 73. The first light source 72 is provided with a polarizing filter 72a, and the polarizing filter 73a is also attached to the lens of the camera 73. Therefore, it is difficult for excessive reflected light to be generated, and excessive reflected light is not incident on the camera 73, so that halation during imaging can be suppressed.

  The light emitted from the first light source 72 may pass through the inside of the mounting plate 76 and reach the rough surface 76a. The light is diffused by the unevenness of the rough surface 76a, and combined with the effects of the polarization filters 72a and 73a, is difficult to enter the camera 73. Therefore, the halation at the time of imaging can be further suppressed.

  FIG. 8 is a transmission mechanism diagram schematically showing the transmission path of the driving force of the engine.

  As shown in FIG. 8, the combine is equipped with an engine 40, and the engine 40 is connected to a traveling mission 42 via an HST (Hydro Static Transmission) 41.

  The HST 41 has a hydraulic pump (not shown), a mechanism (not shown) that adjusts the flow rate of hydraulic oil supplied to the hydraulic pump and the pressure of the hydraulic pump, and a transmission circuit 41a that controls the mechanism. ing.

  The traveling mission 42 has a gear (not shown) that transmits driving force to the traveling crawler 1. The traveling mission 42 is provided with a vehicle speed sensor 43 having a hall element. The vehicle speed sensor 43 detects the rotational speed of the gear and outputs a signal indicating the vehicle speed of the airframe corresponding to the rotational speed of the gear.

  The engine 40 is connected to the handling cylinder 11 and the processing cylinder 13b through an electromagnetic threshing clutch 44, and is also connected to a transmission mechanism 50. The transmission mechanism 50 is connected to the first screw conveyor 23.

  The engine 40 is connected to an eccentric crank 45 through a threshing clutch 44. The eccentric crank 45 is connected to the swing arm 21. As the eccentric crank 45 is driven, the swing sorting device 16 swings. The engine 40 is connected to the tang 27 through a threshing clutch 44. The engine 40 is connected to the reaping portion 3 via a threshing clutch 44 and an electromagnetic reaping clutch 46.

  The driving force of the engine 40 is transmitted to the traveling crawler 1 via the traveling mission 42, and the aircraft travels. Further, the driving force of the engine 40 is transmitted to the cutting unit 3 via the cutting clutch 46, and the cereal is harvested by the cutting unit 3.

  The driving force of the engine 40 is transmitted to the handling cylinder 11 via the threshing clutch 44, and the cereal is threshed by the handling cylinder 11. Further, the driving force of the engine 40 is transmitted to the processing cylinder 13b via the threshing clutch 44. The processing cylinder 13b separates the grain from the processed product threshed by the handling cylinder 11.

  In addition, the driving force of the engine 40 is transmitted to the swing sorting device 16 via the threshing clutch 44 and the eccentric crank 45, and discharged from the straw and grains leaked from the handling cylinder 11 and the discharge port 13e of the processing chamber 13. Sorting of the finished straw and grains is performed. Further, the driving force of the engine 40 is transmitted to the Kara 27 through the threshing clutch 44, and the soot selected by the swing sorting device 16 is discharged from the dust outlet 33 and the exhaust passage 37 by the wind action of the Kara 27. The

  FIG. 9 is a schematic plan view showing the dust delivery valves 10a, 10a, 10a, 10a and the processing cylinder valves 13a, 13a, 13a, 13a and their transmission mechanisms. The configuration of the transmission mechanism of the processing cylinder valve 13a is the same as that of the transmission mechanism of the dust delivery valve 10a, and the dust transmission valve 10a and the dust transmission valve corresponding to the configuration of the transmission mechanism of the processing cylinder valve 13a and the processing cylinder valve 13a. A name or a code | symbol is attached | subjected to the structure of the transmission mechanism of 10a with a parenthesis, and the detailed description is abbreviate | omitted.

  The plurality of dust feeding valves 10a, 10a, 10a, and 10a (processing cylinder valves 13a, 13a, 13a, and 13a) are disposed between the processing cylinder 11 (processing cylinder 13b) and the upper wall of the processing chamber 10 (processing chamber 13). They are juxtaposed along the front-rear direction and face each other. As shown in FIG. 9, four dust feeding valve shafts 65, 65, 65, 65 (processing cylinder valve shafts 65 ', 65', 65 ', 65') are provided on the upper wall of the handling chamber 10 (processing chamber 13). The dust supply valve shaft 65 (processing cylinder valve shaft 65 ') protrudes inside the processing chamber 10 (processing chamber 13) along the radial direction of the cylindrical processing cylinder 11 (processing cylinder 13b). . The dust feed valves 10a, 10a, 10a, 10a (processing cylinder valves 13a, 13a, 13a, 13a) are provided with dust feeding valve shafts 65, 65, 65, 65 (processing cylinder valve shafts 65 ', 65', 65 ', 65). ') Is pivotally attached to each.

  As shown in FIG. 9, a casing 64 (64 ') extending in the front-rear direction is vertically disposed on one side of each of the dust feeding valves 10a, 10a, 10a, 10a (processing cylinder valves 13a, 13a, 13a, 13a). It is connected via four pivots 66, 66, 66, 66 (66 ', 66', 66 ', 66') whose direction is the axial length direction.

  A transmission rod 63 (63 ') that is substantially perpendicular to the dust delivery valve 10a (processing cylinder valve 13a) is provided near the dust delivery valve shaft 65 (processing cylinder valve axis 65') of the dust delivery valve 10a (processing cylinder valve 13a). It is extended. One end of a crank rod 61 (61 ') is connected to the extending end of the transmission rod 63 (63') via a pivot 62 (62 ') extending in the vertical direction. The other end of the crank rod 61 (61 ′) is connected to the crank 60 (60 ′). The crank 60 (60 ') is connected to a servo motor M1 (M2) via a speed reducer 67 (67').

  When the servo motor M1 (M2) rotates forward, the crank 60 (60 ') rotates in one direction and the crank rod 61 (61') in one direction, as indicated by the solid line arrow in FIG. Moving. The transmission rod 63 (63 ') rotates in one direction around the pivot 62 (62') by the movement of the crank rod 61 (61 '), and the transmission rod 63 (63') is connected to the dust feed. The valve 10a (processing cylinder valve 13a) rotates in one direction around the dust feeding valve shaft 65 (processing cylinder valve shaft 65 '). The housing 64 (64 ') moves forward by the rotation of the dust delivery valve 10a (processing cylinder valve 13a), and as shown by the solid line arrows in FIG. 9, the other dust delivery valves 10a, 10a, 10a ( The processing cylinder valves 13a, 13a, 13a) are also interlocked to rotate in one direction around the dust feeding valve shafts 65, 65, 65 (processing cylinder valve shafts 65 ', 65', 65 ').

  The straws and grains moving spirally toward the rear along the peripheral surface of the handling cylinder 11 (processing cylinder 13b) are dust-feeding valves 10a, 10a, 10a, 10a (processing cylinder valves 13a, 13a, 13a, 13a), by rotating in one direction, as shown by solid line arrows in FIG. 9, abuts on the dust feed valves 10a, 10a, 10a, 10a (processing cylinder valves 13a, 13a, 13a, 13a) and moves forward. The amount of reeds and grains that are rebounded in the handling chamber 10 (processing chamber 13) decreases.

  When the servo motor M1 (M2) rotates in the reverse direction, the crank 60 (60 ') rotates in the other direction and the crank rod 61 (61') moves in the other direction, as indicated by the broken arrow in FIG. Moving. The transmission rod 63 (63 ') rotates in the other direction around the pivot shaft 62 (62') by the movement of the crank rod 61 (61 '), and the transmission rod 63 (63') is connected to the dust feed. The valve 10a (processing cylinder valve 13a) rotates in the other direction around the dust feeding valve shaft 65 (processing cylinder valve shaft 65 '). The housing 64 (64 ') is moved rearward by the rotation of the dust delivery valve 10a (processing cylinder valve 13a), and as shown by the broken arrow in FIG. 9, the other dust delivery valves 10a, 10a, 10a ( The processing cylinder valves 13a, 13a, 13a) are also interlocked to rotate in the other direction around the dust feeding valve shafts 65, 65, 65 (processing cylinder valve shafts 65 ', 65', 65 ').

  The dust feed valves 10a, 10a, 10a, and 10a (processing cylinder valves 13a, 13a, 13a, and 13a) move in a spiral manner along the circumferential surface of the handling cylinder 11 (processing cylinder 13b) by rotating in the other direction. As shown by broken line arrows in FIG. 9, the straw and the grain come into contact with the dust feeding valves 10 a, 10 a, 10 a, and 10 a (processing cylinder valves 13 a, 13 a, 13 a, and 13 a) and bounce backward to handle the handling chamber 10. The amount of straw and grain delivered in (processing chamber 13) increases.

  The servo motor M1 (M2) is provided with a rotary encoder E1 (E2). The servo motor M1 (M2) is driven in accordance with an operation command given from a control unit which will be described later, and the rotational speed and rotational direction of the servo motor M1 (M2) are detected by the rotary encoder E1 (E2).

FIG. 10 is a side view showing the main configuration of the chaff sheave and shutter.
In the vicinity of the handling cylinder 11, there is provided a draining wall chain 80 for conveying the waste threshed by the handling cylinder 11 toward a cutter (not shown) arranged on the rear side of the threshing apparatus 2. An exhaust wall guide rod 81 is provided so as to face the exhaust wall chain 80. The waste is moved between the waste wall guide rod 81 and the waste wall chain 80 together with the movement of the waste wall chain 80.

  As shown in FIG. 10, an L-shaped rotation lever 82 is provided on the lower side of the waste straw guide rod 81. The pivot lever 82 includes a longitudinal shaft 82a that is long in the longitudinal direction, and a vertical shaft 82b that protrudes upward from the front end of the longitudinal shaft 82a. A pivot shaft 82c having the left-right direction as the axial direction is provided at the corner portion between the vertical shaft 82b and the front-rear shaft 82a.

  The waste wall guide rod 81 and the rear end portion of the front / rear shaft 82 a are connected via a connecting rod 83. A spring body 84 is fixed around the connecting rod 83. As the waste moving between the waste wall guide rod 81 and the waste wall chain 80 increases, the waste wall guide rod 81 is pressed and moved downward, and the pivot lever 82 rotates backward with the pivot 82c as a fulcrum. (See the solid arrow in FIG. 10). At this time, the spring body 84 is compressed. On the other hand, as the evacuation decreases, the evacuation guide rod 81 moves upward due to the restoring force of the compressed spring body 84, and the pivot lever 82 pivots forward with the pivot 82c as a fulcrum (see the broken line arrow in FIG. 10). .

  Next, the configuration of the chaff sheave 18 will be described. The chaff sheave 18 has a frame (not shown) framed in a rectangular shape. A plurality of fins 18a, 18a,..., 18a extending in the left-right direction are juxtaposed in the front-rear direction between the left and right frame members extending in the front-rear direction. Each upper part of the fins 18a, 18a, ..., 18a is pivotally supported by a frame member. Each lower portion of the fins 18a, 18a, ..., 18a is pivotally supported by a single connecting rod 18b extending in the front-rear direction. A midway portion of a rectangular rotating plate 18c is connected to the front portion of the connecting rod 18b. One end of the rotating plate 18c is pivotally supported around the shaft 18i above the connecting rod 18b. One end of a chaff wire 18e is connected to the other end of the rotating plate 18c. The other end of the chaff wire 18e is connected to the vertical shaft 82b.

  The shaft 18i is provided with a potentiometer type fin sensor 18j for detecting the position of the rotating plate 18c. Based on the output of the fin sensor 18j, a fin angle (an angle formed between the fins 18a, 18a, ..., 18a and the connecting rod 18b) r is detected.

  One end of an L-shaped manual plate 18h operated by a manual lever (not shown) is connected to the shaft body 18i. The other end portion of the manual plate 18h is connected to the middle portion of the chaff wire 18e and one end portion of the manual wire 18g. The other end of the manual wire 18g is connected to the manual lever.

  The manual plate 18h and the rotary plate 18c are connected to one end of the rotary plate 18c and the other end of the manual plate 18h via a spring body 18d. One end of a spring body 18f is connected to the middle portion of the manual plate 18h, and the other end of the spring body 18f is fixed at an appropriate position of the threshing device 2.

  When the pivot lever 82 pivots backward, the chaff wire 18e is pulled, and the pivot plate 18c pivots counterclockwise. The connecting rod 18b moves rearward, and the fins 18a, 18a, ..., 18a stand up. The fin angle r is increased, and the interval between the fins 18a, 18a,. At this time, the spring body 18f is compressed (see the solid line arrow in FIG. 10). On the other hand, when the rotation lever 82 is rotated forward, the rotation plate 18c is rotated clockwise by the restoring force of the spring body 18f. The connecting rod 18b moves forward, and the fins 18a, 18a, ..., 18a tilt. The fin angle r becomes small, and the interval between the fins 18a, 18a,..., 18a becomes narrow (see the broken line arrow in FIG. 10).

  The manual wire 18g can be pulled or relaxed by operating a manual lever. By operating the manual lever, the manual plate 18h and the rotating plate 18c are rotated, and the intervals between the fins 18a, 18a,. The manual lever can be fixed at an appropriate position.

  Next, the configuration near the air inlet 55 of the tang 27 is described. A rectangular air inlet 55 through which air sucked into the carp 27 flows is provided on one side of the carp 27. A rectangular fixing plate 56 that is long in the front-rear direction and covers a part of the intake port 55 is provided at the center of the intake port 55. A rectangular plate-like shutter 57 is adjacent along the upper side of the fixed plate 56. One end of the shutter 57 is pivotally supported by the threshing device 2. When the shutter 57 is rotated upward, the shutter 57 is separated from the fixed plate 56 and the opening area of the intake port 55 is enlarged. When the shutter 57 rotates downward, the shutter 57 approaches the fixed plate 56 and the opening area of the intake port 55 is reduced.

  An upper end portion of a tension spring 58 is connected to the front end portion of the shutter 57. The lower end of the tension spring 58 is locked in place on the threshing device 2. A shaft body 59 projects forward from the front end of the shutter 57. One end of a shutter wire 85 is connected to the protruding end of the shaft body 59. The other end of the shutter wire 85 is connected to the vertical shaft 82b.

  When the pivot lever 82 pivots backward, the shutter wire 85 is pulled, and the shutter 57 pivots upward. The opening area of the intake port 55 is enlarged, and the tension spring 58 is extended (see the solid line arrow in FIG. 10). On the other hand, when the rotation lever 82 is rotated forward, the shutter 57 is rotated downward by the restoring force of the tension spring 58, and the opening area of the intake port 55 is reduced (see the broken line arrow in FIG. 10).

  A servo motor M3 is disposed below the rotating lever 82. The servo motor M3 is provided with an electromagnetic brake (not shown) that brakes the rotation shaft of the servo motor M3. The electromagnetic brake is released simultaneously with the start of rotation of the servo motor M3, and the electromagnetic brake is activated simultaneously with the end of the rotation. The rotation shaft of the servo motor M3 is connected to one of the electromagnetic motor clutches 110 via a reduction gear box (not shown). The other of the motor clutch 110 is connected to the pivot 82c. The servo motor M3 is connected to a chaff sheave drive circuit described later.

  The servo motor M3 is provided with a rotary encoder E3. The servo motor M3 is driven in accordance with an operation command given from a control unit described later. The rotational speed and rotational direction of the servo motor M3 are detected by the rotary encoder E3.

  When the motor clutch 110 is engaged and the rotation lever 82 is rotated rearward by the rotation of the servo motor M3, the exhaust wall guide rod 81 moves downward and the spring body 84 is compressed (solid line in FIG. 10). See arrow). When the motor clutch 110 is disconnected, due to the restoring force of the spring body 84, the exhaust wall guide rod 81 moves upward and the turning lever 82 turns forward (see the broken line arrow in FIG. 10).

  A dashboard panel (not shown) is provided in the cabin 8. The dashboard panel includes a cutting switch 90 for cutting cereals, a threshing switch 91 for executing threshing, and a liquid crystal panel. A display unit 92 having the above is provided. The cabin 8 is provided with a plurality of warning lamps (notification means) 93 for notifying the abnormality of the device or the abnormality of the grain. In response to the on / off of the cutting switch 90, the cutting clutch 46 and the threshing clutch 44 are connected. Further, the threshing clutch 44 is disconnected in response to the on / off of the threshing switch 91.

FIG. 11 is a block diagram showing the configuration of the control unit.
A control unit (image processing means, control means) 100 includes a CPU (Central Processing Unit) 100a, a ROM (Read Only Memory) 100b, a RAM (Random Access Memory) 100c, and an EEPROM (Electrically Erasable and) connected to each other via an internal bus 100g. Progrmmable Read Only Memory) 100d. The CPU 100a reads a control program stored in the ROM 100b into the RAM 100c, and controls operations of the dust feeding valve 10a, the processing cylinder valve 13a, and the like according to the control program.

  The cutting switch 90, the threshing switch 91, and the camera 73 are incorporated in the storage unit 73c for storing images and the output signals of the rotary encoders E1 to E3 are input to the control unit 100 via the input interface 100e.

  The control unit 100 outputs a disconnection signal to the reaping clutch 46 and the threshing clutch 44 via the output interface 100f. Further, the control unit 100 outputs a display signal indicating that a predetermined image is displayed on the display unit 92 via the output interface 100f. In addition, the control unit 100 outputs a turn-on / off signal to the first light source 72, the second light source 75, and the warning lamp 93 via the output interface 100f. In addition, an operation signal is output to a shutter switch 73 b built in the camera 73. The shutter switch 73b performs exposure for a preset time based on the operation signal.

  The output interface 100f is connected to a dust feed valve drive circuit 101, a processing cylinder valve drive circuit 102, and a chaff sheave drive circuit 103 that drive the servo motors M1 to M3. The control unit 100 outputs drive signals to the dust feed valve drive circuit 101, the processing cylinder valve drive circuit 102, and the chaff sheave drive circuit 103, and drives the servo motors M1 to M3.

FIG. 12 is a flowchart for explaining the operation process of the chaff sheave 18, the dust feed valve 10a, and the processing cylinder valve 13a based on the first image and the second image.
The CPU 100a waits until the cutting switch 90 is turned on (step S1). When the reaping switch 90 is turned on, it is considered that the reaping and threshing of the culm are being performed.

  When the cutting switch 90 is on (step S1: YES), the CPU 100a outputs a lighting signal to the first light source 72 (step S2), and outputs an on signal to the shutter switch 73b (step S3). At this time, the first light source 72 is lit for a predetermined time, and the shutter switch 73b operates during lighting. The camera 73 captures the first image and stores it in the storage unit 73c.

  Next, the CPU 100a outputs a lighting signal to the second light source 75 (step S4), and outputs an ON signal to the shutter switch 73b (step S5). At this time, the second light source 75 is lit for a predetermined time, and the shutter switch 73b operates during lighting. The camera 73 captures the second image and stores it in the storage unit 73c. The first light source 72 is turned off before the second light source 75 is turned on.

  CPU100a acquires a 1st image from the memory | storage part 73c, and determines whether there are many foreign materials 300, such as a green leaf, a hull, or a weed, based on the acquired 1st image (step S6). The CPU 100a extracts an image showing the foreign object 300 from the first image based on the color, size, shape, and the like, and calculates the quantity of the foreign object 300. For example, an LUT (Look Up Table) indicating a relationship between the number of pixels of the image indicating the foreign object 300 and the number of foreign objects and a threshold value are stored in the EEPROM 100d, and the number of foreign objects is obtained from the number of pixels of the extracted image. When the obtained quantity of the foreign material 300 exceeds the threshold value, it is determined that a large amount of the foreign material 300 exists.

  If it is determined that there is a large amount of foreign matter (step S6: YES), the CPU 100a outputs a drive signal to the chaff sheave drive circuit 103, closes the chaff sheave 18 (step S7), and returns the process to step S1. At this time, the motor clutch 110 is engaged, the servo motor M3 rotates a predetermined number of times, and the chaff sheave 18 is closed by a predetermined angle.

  If it is determined that there is not a large amount of foreign matter (step S6: NO), the CPU 100a acquires the second image from the storage unit 73c, and whether there is a large amount of damaged folds 301 based on the acquired second image. It is determined whether or not (step S8). The CPU 100a calculates the number of damaged ridges 301 based on the degree of translucency. For example, a pixel group having a luminance of a predetermined value or more is recognized as one damaged ridge 301, and the number of pixel groups is set as the number of damaged ridges 301. A threshold value is stored in the EEPROM 100d, and when the number of damaged hooks 301 exceeds the threshold value, it is determined that a large number of damaged hooks 301 are present.

  If it is determined that there is a large amount of damaged soot 301 (step S8: YES), the CPU 100a outputs a drive signal to the dust feed valve drive circuit 101 and the process barrel valve drive circuit 102, and the dust feed valve 10a and the process barrel valve. 13a is opened (step S9). The dust feeding valve 10a and the processing cylinder valve 13a rotate in the other direction, and the amount of straw and grain delivered in the handling chamber 10 and the processing chamber 13 increases.

  The CPU 100a outputs a drive signal to the chaff sheave drive circuit 103, opens the chaff sheave 18 (step S10), and returns the process to step S1. The motor clutch 110 is engaged, the servo motor M3 rotates by a predetermined number, and the chaff sheave 18 opens by a predetermined angle.

  When it is determined that a large amount of damaged ridges 301 are not present (step S8: NO), the second image is acquired from the storage unit 73c, and whether or not a large amount of branch rachis 302 exists based on the acquired second image. Is determined (step S11). CPU100a extracts the image which shows the branch branch 302 from a 2nd image based on a magnitude | size, a shape, etc., and calculates the quantity of the branch branch 302. FIG. For example, an LUT and a threshold value indicating the relationship between the number of pixels of the image indicating branch branch 302 and the number of branches are stored in the EEPROM 100d, and the number of branches is obtained from the number of pixels of the extracted image. When the obtained quantity exceeds the threshold, it is determined that there are a large number of branch rachis 302.

  If it is determined that there are a large number of branch rachis 302 (step S11: YES), the CPU 100a outputs a drive signal to the dust feed valve drive circuit 101 and the process barrel valve drive circuit 102, and the dust feed valve 10a and the process barrel valve 13a. Is closed (step S12). The dust feeding valve 10a and the processing cylinder valve 13a rotate in one direction, and the amount of straw and grain delivered in the handling chamber 10 and the processing chamber 13 decreases.

  The CPU 100a outputs a drive signal to the chaff sheave drive circuit 103, closes the chaff sheave 18 (step S13), and returns the process to step S1. The motor clutch 110 is engaged, the servo motor M3 rotates a predetermined number of times, and the chaff sheave 18 is closed by a predetermined angle. If it is determined that there is not a large amount of branch rachis 302 (step S11: NO), the CPU 100a returns the process to step S1.

  When the foreign material 300 is present in a large amount, the chaff sheave 18 is closed, so that the foreign material 300 can be prevented from being mixed into the grain tank 4. When a large amount of damaged ridges 301 are present, the dust feeding valve 10a and the processing cylinder valve 13a are opened and the chaff sheave 18 is opened, so that excessive threshing can be suppressed and the generation of damaged ridges 301 can be prevented. When the branch raft 302 is present in a large amount, the dust feeding valve 10a and the processing cylinder valve 13a are closed, and the chaff sheave 18 is closed. In addition, when the foreign material 300 exists in large quantities, the discharge | emission of a foreign material may be accelerated | stimulated by increasing the air volume of the tang 27. FIG.

  The combine which concerns on Embodiment 1 mounts the grain stored in the grain tank 4 on the mounting board 76, irradiates light from the both surfaces side of the mounting board 76, respectively, and images a grain. And since the imaged image is processed and the state of the grain (for example, the presence or absence of cracks or cracks) and the contamination of foreign matters are inspected, the state of the grain can be grasped during harvesting.

  In addition, one surface of the placing plate 76 on which the grain is placed is smoothed, and the influence on the image captured by the camera 73 due to the adhesion of water is minimized. Even if water adheres to the smooth surface 76b, the state of the irradiation light from the first light source 72 or the second light source 75 hardly changes compared to the case where the water adheres to the rough surface 76a. There is little influence on the image. Further, by setting the other surface to the rough surface 76a, the mounting plate 76 functions as a diffuser, and suppresses the occurrence of halation due to light irradiated from the smooth surface 76b side. Therefore, the reliability of the processing result of the image processing can be ensured. Moreover, since a grain is mounted on the smooth surface 76b, even if water or dirt adheres, it can be easily cleaned.

  Further, the polarization filters 72a and 73a can reliably prevent the occurrence of halation due to the light irradiated from the smooth surface 76b side, and ensure the reliability of the processing result of the image processing. Further, the camera 73 is positioned at the center of the annular first light source 72, and the camera 73, the first light source 72, the subject (grain), and the second light source 75 are arranged coaxially, so that the size can be reduced. .

  In addition, by arranging the black cloth 74 on the smooth surface 76b side, when light is emitted from the first light source 72, the background of the captured image becomes black, and the recognition accuracy of the image can be improved. Further, by arranging the black cloth 74 on the back side of the light guide plate 75b, the background becomes black when light is emitted from the first light source 72, and the background becomes white when light is emitted from the second light source 75. Therefore, it is possible to acquire both an image for the purpose of finding foreign matter and an image for the purpose of finding cracks and cracks, and two images can be acquired by one inspection device.

  Moreover, the smooth surface 76b can be cleaned by the wiper 77, and a reduction in image recognition accuracy can be prevented. Moreover, based on the result of image processing, the operation of the chaff sheave 18 or the dust delivery valve 10a is controlled, and the inspection result obtained during harvesting is quickly reflected in the threshing or selection process to improve the quality of the harvest. Can do.

In the first embodiment, the grain passes through the inspection apparatus 70 by natural fall, but the grain may pass through the inspection apparatus 70 by power. For example, the grain may be supplied on a substantially horizontal diaphragm, and the grain may be moved by the vibration of the diaphragm so that the grain passes through the inspection device 70. Further, the grain may be moved by an air supply device using compressed air so that the grain passes through the inspection device 70.
The guide passage 4g is disposed in the grain tank 4, but the guide passage is disposed adjacent to the outside of the grain tank 4, and a part of the grain thrown in from the spout 4b passes through the guide passage. However, it may be configured to return to the grain tank 4.

(Embodiment 2)
Hereinafter, the present invention will be described in detail with reference to the drawings showing the combine according to the second embodiment. FIG. 13 is a longitudinal sectional view schematically showing the inspection apparatus 70.
The inspection apparatus 70 includes a first camera 731 and a second camera 732 that capture a color image. The first camera 731 and the second camera 732 are supported by the top surface portion 71 b with the lens facing the mounting plate 76. Polarizing filters 731a and 732a through which light that vibrates in a predetermined direction passes are attached to the surface of each lens.

  The 1st camera 731 and the 2nd camera 732 are arrange | positioned at the radial inside of the through-hole 72b. The first camera 731 and the second camera 732 are arranged along the moving direction of the grains that slide down on the mounting plate 76, and the first camera 731 is located on the upstream side of the second camera 732. The first camera 731 and the second camera 732 include a shutter switch and a storage unit that stores an image.

  The control unit 100 turns on the first light source 72 and turns on the shutter switch of the first camera 731 to capture the first image. Further, the second light source 75 is turned on, the shutter switch of the second camera 732 is turned on, and a second image is captured. The same moving time by making the lighting time of the first light source 72 and the second light source 75, the angle of view of the first camera 731 and the second camera 732, and the timing of turning on each shutter switch correspond to the moving speed of the grain. Can be captured as a first image and a second image, respectively.

  Among the configurations of the combine according to the second embodiment, the same reference numerals are given to the same configurations as those in the first embodiment, and detailed description thereof is omitted.

(Embodiment 3)
Hereinafter, the present invention will be described in detail with reference to the drawings showing a combine according to a third embodiment. FIG. 14 is a side view of the combine.

  The combine according to the third embodiment is an all-throw-in type combine that throws all cereal grains such as soybeans and wheat into the threshing apparatus 2 and threshes.

  As shown in FIG. 14, the combine includes a machine body 9, and the machine body 9 includes a traveling crawler 1, a mowing unit 130, a threshing device 2, a grain tank 4, and a waste straw processing unit (not shown). The engine 40 and the cabin 8 are provided. The pair of left and right traveling crawlers 1 are disposed below the body 9. The engine 40 is provided at the right rear portion of the fuselage 9. The cabin 8 is provided at the front right side of the machine body 9 and is disposed in front of the grain tank 4.

  The cutting unit 130 is provided at the front end of the machine body 9 so as to be movable up and down. The cutting unit 130 includes a weeding tool 131 for weeding the cereal, a scraping reel 132 for scraping the cereal, a cutting device 133 for cutting the cereal stock, and a transporting device 134 for conveying the cereal. During the traveling, the combine divides the culm in the field with the weeding tool 131 and scrapes the culm after weeding with the take-up reel 132. The cutting device 133 cuts the stock of the cereal rice cake after being scraped. After the cereals after cutting are positioned at the substantially right and left centers by the transport device 134, they are transported to the threshing device 2.

  The threshing device 2 is disposed on the left side of the machine body 9 on the rear side of the cutting unit 130. The threshing apparatus 2 has the same configuration as that of the first embodiment, and includes, for example, a handling cylinder 11 and a handling valve 10a. The handling cylinder 11 threshs the cereals conveyed from the cutting unit 130 while feeding it backward, and the threshed grains are allowed to leak.

  The threshing apparatus 2 is configured to thresh the grain as in the first embodiment. For example, a handling cylinder, a swing sorting device, and a first screw conveyor are provided.

  The grain that has leaked from the handling cylinder is sorted by the swing sorting device and sent to the grain tank 4 through the first screw conveyor. The grain tank 4 has the same configuration as that of the first embodiment, and includes, for example, a spout 4b, a side surface portion 4c, an inclined surface portion 4d, a concave portion 4e, a bottom surface portion 4f, and a guide passage 4g. In the grain tank 4, as in the first embodiment, an inspection device 70 is provided.

  FIG. 15 is a diagram illustrating an example of a soybean (grain) image captured by the camera 73 and a processed image obtained by processing the image. FIG. 15A shows a first image captured by irradiating light from the first light source 72 without irradiating light from the second light source 75. FIG. 15A1 is an image showing normal soybean 501 obtained by processing the first image. FIG. 15B shows a captured second image when light is not emitted from the first light source 72 and light is emitted from the second light source 75. FIG. 15B1 is an image showing broken or crushed soybean 502 obtained by processing the second image. FIG. 15B2 is an image showing the stem / pod 503 and poorly grown soybean 504 obtained by processing the second image.

  As shown in FIG. 15A, when imaging is performed by irradiating light from the first light source 72, the background becomes black by the black cloth 74, and the color image can be clearly recognized. Therefore, normal soybean 501 can be extracted from the captured image based on the color, size, shape, and the like (see FIG. 15A1).

  As shown in FIG. 15B, when the second light source 75 is used to irradiate and image, the background becomes white, and the outline and translucency of the harvest can be clearly recognized. Therefore, cracked or crushed soybean 502 can be extracted based on the degree of translucency (see FIG. 15B1), and based on the degree of translucency, size and shape, stem / pod 503 And soybean 504 of poor growth can be extracted (refer FIG. 15B2).

  FIG. 16 is a diagram illustrating another example of a first image captured by irradiating light from the first light source 72 without irradiating light from the second light source 75. As shown in FIG. 16, according to the first image, it is possible to recognize the soybean 505 with dirt attached based on the color, size, shape, and the like.

FIG. 17 is a flowchart for explaining the operation process of the chaff sheave 18 and the dust delivery valve 10a based on the first image and the second image.
The CPU 100a waits until the cutting switch 90 is turned on (step S21). When the reaping switch 90 is turned on, it is considered that the reaping and threshing of the culm are being performed.

  When the cutting switch 90 is on (step S21: YES), the CPU 100a outputs a lighting signal to the first light source 72 (step S22) and outputs an on signal to the shutter switch 73b (step S23). At this time, the first light source 72 is lit for a predetermined time, and the shutter switch 73b operates during lighting. The camera 73 captures the first image and stores it in the storage unit 73c.

  Next, the CPU 100a outputs a lighting signal to the second light source 75 (step S24), and outputs an ON signal to the shutter switch 73b (step S25). At this time, the second light source 75 is lit for a predetermined time, and the shutter switch 73b operates during lighting. The camera 73 captures the second image and stores it in the storage unit 73c. The first light source 72 is turned off before the second light source 75 is turned on.

  The CPU 100a acquires the first image from the storage unit 73c, and determines whether there is a large amount of soiled soybean 505 based on the acquired first image (step S26). The determination is executed as follows, for example. The threshold value is stored in advance in the EEPROM 100d. CPU100a extracts the image which shows the normal soybean 501 from a 1st image based on a color, a magnitude | size, a shape, etc. Next, an image of a color indicating mud such as brown or black is extracted from an image indicating normal soybean 501, and the number of pixels of the image is calculated. And the ratio of the pixel number of the image which shows normal soybean 501 and the pixel number of the image which shows mud is calculated, and the calculated ratio and a threshold value are compared. For example, when the ratio exceeds a threshold value, it is determined that a large amount of soiled soybean 505 is present.

  If it is determined that there is a large amount of soiled soybean 505 (step S26: YES), the CPU 100a turns on one warning lamp 93 (step S27), and proceeds to step S28. One warning lamp 93 can prompt the operator to clean the inside of the combine.

  If it is determined that there is no large amount of soiled soybean 505 (step S26: NO), the second image is acquired from the storage unit 73c, and a large amount of stem / pod 503 is present based on the acquired second image. It is determined whether or not to perform (step S28). The determination is executed as follows, for example. The threshold value is stored in advance in the EEPROM 100d. The CPU 100a extracts an image showing the stem / sheath 503 from the second image based on the degree of translucency, the size, the shape, and the like, and calculates the number of pixels of the extracted image. When the calculated number of pixels exceeds the threshold, it is determined that a large amount of stem / sheath 503 exists.

  If it is determined that there is a large amount of stem / sheath 503 (step S28: YES), the CPU 100a outputs a drive signal to the chaff sheave drive circuit 103, closes the chaff sheave 18 (step S29), and returns the process to step S21. The motor clutch 110 is engaged, the servo motor M3 rotates a predetermined number of times, and the chaff sheave 18 is closed by a predetermined angle. The angle of the chaff sheave 18 is detected by a potentiometer (not shown), and when it is detected that the angle of the chaff sheave 18 is the minimum angle, the servo motor M3 is prevented from rotating.

  When it is determined that a large amount of stem / pod 503 is not present (step S28: NO), the CPU 100a determines whether a large amount of broken or crushed soybean 502 is present (step S30). The determination is executed as follows, for example. The threshold value is stored in advance in the EEPROM 100d. Based on the degree of translucency, the CPU 100a extracts an image showing the broken or crushed soybean 502 from the second image, and calculates the number of pixels of the extracted image. When the calculated number of pixels exceeds the threshold, it is determined that a large amount of broken or crushed soybean 502 exists.

  When it is determined that there is a large amount of broken or crushed soybean 502 (step S30: YES), the CPU 100a outputs a drive signal to the dust feed valve drive circuit 101 and opens the dust feed valve 10a (step S31). The dust delivery valve 10a rotates in the other direction, and the amount of straw and grain delivered in the handling chamber 10 increases.

  The CPU 100a outputs a drive signal to the chaff sheave drive circuit 103, opens the chaff sheave 18 (step S32), and returns the process to step S21. The motor clutch 110 is engaged, the servo motor M3 rotates by a predetermined number, and the chaff sheave 18 opens by a predetermined angle. When it is detected that the angle of the chaff sheave 18 is the maximum angle, the servo motor M3 is prevented from rotating.

  When it is determined that a large amount of broken or crushed soybean 502 is not present (step S30: NO), the CPU 100a determines whether a large amount of poorly grown soybean 504 is present (step S33). The determination is executed as follows, for example. The threshold value is stored in advance in the EEPROM 100d. The CPU 100a extracts an image showing the poorly grown soybean 504 from the second image based on the degree of translucency, the size and the shape, and calculates the number of pixels of the extracted image. When the calculated number of pixels exceeds the threshold value, it is determined that a large amount of poorly grown soybean 504 is present.

  When it is determined that there is a large amount of poorly grown soybean 504 (step S33: YES), the CPU 100a turns on another warning lamp 93 (step S34), and returns the process to step S21. By lighting the other warning lamp 93, it is possible to notify the operator that the cereal that is being cut is poorly grown. When it is determined that a large amount of poorly grown soybeans 504 is not present (step S33: NO), the CPU 100a returns the process to step S21.

  Although the combine which concerns on Embodiment 3 alert | reports the abnormality of an apparatus or the abnormality of a grain with the warning lamp 93, you may use a buzzer and other alerting | reporting means. Similarly to the second embodiment, the first image and the second image may be captured using two cameras 731 and 732.

  Of the configurations according to the third embodiment, configurations similar to those of the first or second embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  The embodiment described above is an exemplification of the present invention, and the present invention can be implemented in various modified forms within the scope defined by the matters described in the claims and the description of the claims. it can.

1 traveling crawler 2 threshing device 4 grain tank (storage part)
76 Mounting plate 72 First light source 73, 731, 732 Camera (imaging unit)
75 Second light source 100 Control unit (image processing means, control means)
76b Smooth surface (mounting surface)
76a Rough surface (non-mounting surface)
72a, 73a Polarizing filter 74 Black cloth (light absorption part)
75b Light guide plate 75c LED (light emitting part)
77 Wiper (cleaning part)
10a Dust delivery valve (adjustment means)
13a Processing cylinder valve (adjustment means)
18 Chaff sheave (sorting means)
93 Warning lamp (notification means)

Claims (9)

In a combine comprising a threshing device for threshing cereals harvested during traveling, and a storage unit for storing the threshed grains by the threshing device,
Placed in the reservoir, translucent, a mounting plate for mounting the grain,
Two light sources respectively arranged on both sides of the mounting plate and irradiating the mounting plate with light;
An imaging unit that images the grains placed on the placement surface of the placement plate;
Image processing means for processing an image captured by the imaging unit ,
Combine the mounting surface of the mounting plate are smooth surface, non-mounting surface, wherein a rough surface der Rukoto. In a combine comprising a threshing device for threshing cereals harvested during traveling, and a storage unit for storing the threshed grains by the threshing device,
Placed in the reservoir, translucent, a mounting plate for mounting the grain,
Two light sources respectively arranged on both sides of the mounting plate and irradiating the mounting plate with light;
An imaging unit that images the grains placed on the placement surface of the placement plate;
Image processing means for processing an image captured by the imaging unit;
A light-absorbing part that is disposed on the non-mounting surface side of the mounting plate and absorbs light from a light source disposed on the mounting surface side.
The combine characterized by comprising. The light source arranged on the non-mounting surface side is
A light guide plate having one surface facing the non-mounting surface and emitting incident light toward the non-mounting surface;
A light emitting part disposed around the light guide plate;
Have
The light absorption part is disposed so as to face the other surface of the light guide plate.
The combine according to claim 2. The combine according to any one of claims 1 to 3 , wherein a polarizing filter is provided for each of the image pickup unit and the light source disposed on the placement surface side. The light source arranged on the mounting surface side has an annular shape,
The combine according to any one of claims 1 to 4 , wherein the imaging unit is arranged coaxially with respect to the light source. The grain moves on the mounting plate described above,
The combine according to any one of claims 1 to 5 , wherein a plurality of the imaging units are arranged in parallel along a moving direction of the grain. The combine according to any one of claims 1 to 6 , further comprising a cleaning unit that cleans the placement surface. Adjusting means for adjusting the amount of grain discharged from the threshing device;
Sorting means for sorting the grains separated from the cereal meal by the threshing device;
The combine according to any one of claims 1 to 7 , further comprising: a control unit that controls an operation of the adjustment unit or the selection unit based on a processing result of the image processing unit. An informing means for informing the abnormality of the grain;
The combine according to any one of claims 1 to 8 , further comprising: means for operating the notification means based on a processing result of the image processing means.