JP6233638B2 - Root crop harvesting machine - Google Patents

Description

  The present invention relates to a root crop harvester that extracts a crop from a field and cuts and harvests a foliage part.

  Patent Document 1 discloses that a root vegetable harvesting machine that does not delay the harvesting work by bringing a crop root vegetable part into contact with the lower part of the starting end side of the shoulder aligner regardless of the size of the diameter, pulls out the crop from the field with a pulling and conveying device. This crop is shoulder-aligned with a shoulder aligner, the foliage portion is cut with a foliage cutting device, and the remaining leaf portion remaining on the falling crop is processed and transported with a residual leaf processing transport device. Discloses a root crop harvesting machine configured to collect crops with a flexible container bag provided at the end of the transporting process, and discharge the cut leaves to the outside by a leaf transporting apparatus.

JP2013-27352A

  Since carrots have a relatively low germination rate, it is usual to plant the ginseng seeds close to the field so that the germinated ginsengs are arranged vertically on the cocoon. In the early stage, adjacent carrots often stick together, become bifurcated or trifurcated, and the shape may become abnormal, and the harvested carrots are scratched or the color of the harvested carrots May be abnormal or the harvested carrots may be corrupted.

  Therefore, in the flexible container bag of the root vegetable harvesting machine described in Patent Document 1, all the crops that have not been removed while passing through the sorting and conveying device are input. There are a variety of crops that are not suitable for harvesting and selling, such as those with abnormal shapes that have been overlooked, those that have scratches or decay, and those that have abnormal colors. Although it is necessary to remove it during the boxing operation, there is a problem in that it takes extra work time and labor.

In addition, if an operator tries to remove these crops while they are being transported by the sorting and transporting device, there is a problem that the labor of the worker is greatly increased. Depending on the work speed, the sorting can only be done by one sorting worker. There is a problem of disappearing.

  Therefore, the present invention excludes crops that are not suitable for harvesting or selling, such as crops with abnormal shapes, crops with abnormal pigments, crops with significant scratches or spoiled crops, during harvesting operations or during subsequent sorting operations. It is an object of the present invention to provide a root crop harvesting machine that can improve work efficiency and save labor without having to perform work to be performed.

The object of the present invention as defined in claim 1
A pulling and conveying device (24) for pulling out root crops from the field;
A shoulder alignment device (54L, 54R) that takes over the root vegetables from the pulling / conveying device (24) and aligns the shoulder position of the root vegetable crops, and a foliage cutting device that cuts the stems and leaves of the root vegetable crops aligned with the shoulder alignment devices. (61), a leaflet conveying device (65) that is arranged downstream of the foliage cutting device, grips the foliage part of the root vegetable crop and conveys it outside the machine, and a root vegetable crop that falls after the foliage is cut Root crop harvesting machine equipped with a remaining leaf processing device (E) for receiving and transporting the remaining leaves of root vegetable crops and a sorting and transporting device (F) for taking over the root vegetable crops from the residual leaf processing device and transporting them to the storage unit Further, the imaging device (110) which is located below the shoulder alignment devices (54L, 54R), images the root crops and generates image data, and the root crops generated by the imaging device (110). Based on the image data of Root vegetables that determine whether or not a product is suitable for harvesting and selling, and that the root crops are not suitable for harvesting and selling are controlled so that the foliage cutting device (61) is not operated. This is achieved by a root vegetable harvester characterized by including a harvest control judgment device (120).

  In the present specification, the root vegetable crop refers to a vegetable edible such as carrots, radishes, beef meal, etc.

  Here, as the imaging device (110), a CCD camera can be preferably used.

  According to the present invention, a root vegetable crop is imaged by the imaging device (110), image data of the root vegetable crop is generated, and the root vegetable crop control determination device (120) is based on the obtained image data of the root vegetable crop. However, when it is determined whether the root vegetable crop is suitable for harvesting and selling, and it is determined that the root vegetable crop is not suitable for harvesting and selling, control is performed so that the foliage cutting device (61) is not operated. Therefore, root crops that are not suitable for harvesting and selling, such as root crops with abnormal shapes, root crops with abnormal colors, root crops that are severely damaged, and spoiled root crops, are produced in the processes after the shoulder aligner (54L, 54R). This eliminates the need for sorting and collecting the materials, greatly improving the work efficiency and saving labor.

  In addition, according to the present invention, the root vegetable crop determined by the root vegetable harvest control determination device (120) as not suitable for harvesting and sales is not cut off in its stem and leaves, and the leaf transport device. (65) Since it is transported outside the machine, it is not necessary to separately provide a transport path for transporting root vegetable crops that are not suitable for harvesting and selling, while preventing the configuration from becoming complicated and increasing the number of parts, Work efficiency can be greatly improved, and significant labor savings can be achieved.

In a preferred embodiment of the present invention as set forth in claim 2, the root vegetable harvesting machine further detects a travel operation member (13) for operating the travel speed of the airframe and an operation amount of the travel operation member (13). And an operation interval of the shutter (113) of the imaging device (110) according to a detection value of the operation detection member (125). Is configured to change.

  According to such a preferred embodiment of the present invention, since the operation interval of the shutter (113) of the imaging device (110) can be changed according to the traveling speed of the aircraft, the traveling speed of the aircraft. Even if the value changes, an image of the root vegetable crop can be reliably generated, and it can be accurately determined whether or not the root vegetable crop is suitable for harvesting and sales.

  In a preferred embodiment of the present invention as set forth in claim 3, the imaging device (110) is located below the shoulder aligning device (54L, 54R), and a root crop harvesting machine further includes the shoulder aligning device ( 54L, 54R) is provided with a rotary conveying device (100) that conveys while rotating the stem and leaf portion of the root vegetable crops with the left and right endless belts (103L, 103R), and rotating the left and right endless belts (103L, 103R). The peripheral speeds of the left and right drive pulleys (101L, 101R) that drive the motor 103R) are different.

  According to a preferred embodiment of the present invention, since the imaging device (110) is provided below the shoulder alignment devices (54L, 54R), the root crops whose shoulders are aligned by the imaging device (110) are selected. There is no need to provide a mechanism for adjusting the position of the image pickup device (110) in order to pick up an image of a desired part of the main body of the root vegetable crop. Is pinched and rotated, the imaging device (110) can generate an image of the peripheral surface of the root vegetable crop, so that the root vegetable crop can be harvested without complicating the mechanism of the root vegetable harvester. It is possible to accurately determine whether the product is suitable for sale.

In a preferred embodiment of the present invention as set forth in claim 4, the left drive pulley (101L) and the right drive pulley (101R) have different diameters, and the left drive pulley (101L) and the right drive pulley (101R) are driven. The force is configured to be transmitted from the transmission shaft of the leaflet conveyance device (65).

  According to such a preferred embodiment of the present invention, the rotary conveying device (100) is simply a root vegetable with a very simple configuration in which the left driving pulley (101L) and the right driving pulley (101R) are different in diameter. It can be transported while sandwiching and rotating the foliage part of the crop, and the driving force of the drive pulley (101L) and the drive pulley (101R) is transmitted from the transmission shaft of the leaf discharge transport device (65). Therefore, it is possible to reliably prevent the configuration from becoming complicated and the number of parts from increasing.

  In a preferred embodiment of the present invention as set forth in claim 5, the foliage cutting device (61) comprises a pair of left and right foliage cutting blades (60a), (60b), and the pair of left and right foliage cutting blades (60a), The actuator (146) is attached to one foliage cutting blade (60a) of (60b), the other foliage cutting blade (60b) is not driven, and the rotation sensor (145) is attached, The actuator (146) rotates the one foliage cutting blade (60a) at the same rotation speed as that of the other foliage cutting blade (60b) detected by the rotation sensor (145), thereby controlling root crop harvesting. When the determination device (120) determines that the root vegetable crop is not suitable for harvesting and selling, the actuator (146) is controlled not to be driven. It is.

  According to this preferred embodiment of the present invention, the actuator (146) has one of the foliage cutting blades (60a) at the same rotation speed as that of the other foliage cutting blade (60b) detected by the rotation sensor (145). Only when cutting the foliage part, one foliage cutting blade (60a) and the other foliage cutting blade (60b) rotate at the same rotational speed, so that one foliage cutting blade (60a ) And the other foliage cutting blade (60b) rotate at an excessive number of revolutions, and even if the actuator (146) is stopped, one foliage cutting blade (60a) and the other foliage cutting blade (60b) rotate by inertia. And cutting the stems and leaves of root crops that are not suitable for harvesting and selling, and preventing root crops that are not suitable for harvesting and selling together with root crops suitable for harvesting and selling. It can be.

  According to such a preferred embodiment of the present invention, even if a root vegetable crop that is not suitable for harvesting and selling contacts the pair of left and right foliage cutting blades (60a), (60b) after the shoulder alignment, the actuator (146) Therefore, the roots of the root vegetable crops are cut only at the extended portions that contact the pair of left and right stem cutting blades (60a), (60b). The foliage can be transported by pinching it with an endless belt.

  In a further preferred embodiment of the present invention as set forth in claim 6, the root vegetable harvesting machine is further provided in the pulling and conveying device (24) and is operated in the front-rear direction, the drive solenoid (147), and the drive solenoid ( 147) and a link arm that connects one of the pair of left and right foliage cutting blades (60a), (60b), and the root vegetable harvest control judging device (120) is for harvesting and selling. When it is determined that the root vegetable crop is not suitable, the drive solenoid (147) is energized to extend the drive solenoid (147), and the left and right foliage cutting blades (60a), (60b) One side is moved to the outside of the machine body, and the actuator (146) is stopped. After a predetermined time has passed, the energization to the drive solenoid (147) is stopped, Contract the driving solenoid (147), said pair of stems and leaves cutting blades (60a), and is configured so as to return to one of the original position of (60b).

  According to this preferred embodiment of the present invention, when a root crop that is not suitable for harvesting and selling passes through the foliage cutting device (61), one foliage of the left and right pair of foliage cutting blades (60a) and (60b). Since the cutting blade is moved outside the machine body, it is possible to prevent the foliage part of the root vegetable crop that is not suitable for harvesting and selling from being cut by the foliage cutting device (61), and therefore not suitable for harvesting and selling. By cutting the roots and crops of the root vegetable crops with the stem and leaf cutting device (61), the root vegetable crops that are not suitable for harvesting and selling are collected together with the root vegetable crops that are suitable for harvesting and selling. This reduces the labor of workers to collect them separately from root crops suitable for harvesting and selling.

  Further, according to such a preferred embodiment of the present invention, the actuator (146) is not operated while one of the pair of left and right foliage cutting blades (60a), (60b) is retracted to the outside of the aircraft, The stem and leaf part of the root vegetable crop is prevented from being cut by touching the foliage cutting blade (60a) and (60b), and the stem and leaf part of the root vegetable crop that is not suitable for harvesting and selling is cut by the foliage cutting device (61), Root crops that are not suitable for harvesting and selling can be further prevented from being collected together with root crops that are suitable for harvesting and selling.

  Furthermore, according to such a preferred embodiment of the present invention, when energization to the drive solenoid (147) is stopped, the actuator (146) becomes operable and the pair of left and right foliage cutting blades retracted outside the machine body. Since one of (60a) and (60b) begins to rotate while returning to its original position, the stem and leaf portion of the root vegetable crop suitable for harvesting and selling can be cut, and the operator can manually There is no need to remove the remaining foliage.

In a further preferred embodiment of the present invention as set forth in claim 7, a root crop that is provided below the conveying end of the leaf transporting device (65) and is not suitable for harvesting and selling, and a foliage portion separated from the root vegetable crop. A rotatable discharge shooter (71) for receiving and discharging, an urging member (71c) for urging the discharge shooter (71) upward, and a lower portion of the discharge shooter (71) for harvesting, A collecting member for collecting root vegetable crops unsuitable for sale; and a placing member on which the collecting member is placed, and the weight of the root vegetable crop discharged into the discharge shooter (71) is attached to the biasing member. When the power is exceeded, the discharge shooter (71) is rotated so that the root crop that is not suitable for harvesting and selling is collected by the collecting member.

  According to such a preferred embodiment of the present invention, the discharge shooter (71) is configured to be rotatable, and the urging member (71c) is urged upward so that only the foliage part separated from the root vegetable crop is When discharged from the leaf transport apparatus (65), the foliage can be moved to a position where the crop is not vegetated, so that the foliage can be prevented from being entangled during the harvesting operation.

Further, according to such a preferred embodiment of the present invention, when the weight of the root vegetable crop discharged into the discharge shooter (71) exceeds a predetermined weight, that is, the urging force of the urging member (71c), the discharge shooter (71). Rotate downward to allow root crops to fall into the collection member, preventing root crops that are not suitable for harvesting and selling in the field from being sprinkled, eliminating the need for collection and planting operations Can be.

In a further preferred embodiment of the present invention as set forth in claim 8, the recovery member is disposed laterally on the side of the mounting member, and a space is formed between the adjacent recovery members, A space sensor is located below the discharge end of the discharge shooter (71), and a storage amount sensor is provided for detecting a storage amount of root vegetable crops that are not suitable for harvesting and sales collected by the recovery member, and the storage amount The sensor includes notifying means for issuing an alarm when the amount of root vegetable crops that are not suitable for harvesting and selling collected in the collecting member is greater than or equal to a predetermined amount.

According to such a preferred embodiment of the present invention, by placing the accommodating member in the left-right direction on the side of the mounting member, the next recovery member full of root crops that are not suitable for harvesting and selling is loaded on the aircraft. it is possible keep a predetermined amount or more of harvest collecting member, each time the root crops unsuitable for sale is recovered, it is not necessary to offload collecting member from the fuselage, to improve work efficiency, labor of the worker Can be reduced.

In addition, according to such a preferred embodiment of the present invention, when a root crop that is not suitable for harvesting or selling is recovered to a collection member, a warning is issued from the notification device, so that the worker can accommodate the crop. It is possible to know that a root crop that is not suitable for harvesting or selling a predetermined amount or more has been collected on the member, and it is possible to prevent the crop from overflowing from the storage member.

  According to the present invention, crops that are not suitable for harvesting or selling, such as crops with abnormal shapes, crops with abnormal pigments, crops with significant scratches or spoiled crops, are excluded during harvesting operations and subsequent sorting operations. Therefore, it is possible to provide a root vegetable harvesting machine that can improve work efficiency and save labor.

FIG. 1 is a schematic side view of a carrot harvester according to a preferred embodiment of the present invention. FIG. 2 is a schematic plan view of the carrot harvester shown in FIG. FIG. 3 is a schematic rear view of the carrot harvester shown in FIG. 4 is a schematic side view of the main part of the carrot harvester shown in FIG. FIG. 5 is a schematic plan view seen from the lower side of the shoulder aligner of the carrot harvester shown in FIG. FIG. 6 is a schematic plan view of the carrot harvester rotating and conveying apparatus shown in FIG. 1. FIG. 7 is a schematic plan view of the sorting and conveying unit of the carrot harvester shown in FIG. FIG. 8 is a block diagram of a control system, a detection system, and a drive system of the carrot stem cutting control system of the carrot harvester shown in FIG. FIG. 9 is a block diagram of a control system, a detection system, and a drive system of a carrot stem cutting control system of a carrot harvester according to another preferred embodiment of the present invention. FIG. 10 is a block diagram of a control system, a detection system, and a display system of a carrot discharge mechanism of a carrot harvester according to another embodiment of the present invention. FIG. 11 is a detailed view of the vicinity of a vertical pulling device of a carrot harvester according to another embodiment of the present invention.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

  1 is a schematic side view of a carrot harvester according to a preferred embodiment of the present invention, FIG. 2 is a schematic plan view, and FIG. 3 is a schematic rear view thereof.

  As shown in FIG. 1 to FIG. 3, the carrot harvester has a carrot from a farm field on one side with respect to the left and right direction of the aircraft, a traveling unit A that travels the aircraft, a control unit B on which a pilot rides. Harvesting part C that pulls out and transports to the upper rear side of the machine, carrots from the harvesting part C, the carrots that fall from the foliage cutting part D In response, the remaining leaf processing part E that transports the stem and leaves remaining on the main body side of the carrot to the left and right sides of the machine, and the carrot from the remaining leaf processing part E, the carrot is transferred to the rear side of the machine. The sorting and conveying unit F for sorting the carrots being conveyed by the auxiliary worker and the accommodating unit G for arranging the accommodating members for the carrots discharged from the sorting and conveying unit F are configured.

  In this specification, it is referred to as “left”, “right”, “front”, and “rear” based on the forward direction of the carrot harvester.

  The traveling part A of the carrot harvester is configured as follows.

  As shown in FIG. 1, the left and right drive sprockets 2 and 2 on the front side of the fuselage, the left and right driven wheels 3 and 3 on the rear side of the fuselage, and the left and right drive sprockets 2 and 2 are Left and right endless belts 5 and 5 are wound around a plurality of wheels 4, 4... Mounted between the driven wheels 3 and 3 to form left and right crawlers 6L and 6R. . The left and right drive sprockets 2, 2 of the left and right crawlers 6L, 6R are attached to left and right drive shafts 9, 9 extending from the transmission case 8 to which the power of the engine (not shown) is transmitted, The left and right crawlers 6 </ b> L and 6 </ b> R are attached to the body frame 1 with a certain left and right interval.

  Moreover, the structure of the control part B of the carrot harvester is as follows.

  As shown in FIGS. 1 and 2, a control unit frame 10 is attached to the upper right side of the body frame 1, a control seat 11 is attached to the control unit frame 10, and a control panel 12 is provided on the front side of the body. ing. The control panel 12 is provided with a speed change operation lever 13 for switching the forward / backward travel and traveling speed of the aircraft, and a lifting operation lever 14 for operating the left / right turning operation of the aircraft and the working height of the harvesting section C.

  Since the control unit B is configured as described above and a control member that can perform a plurality of operations such as the speed change operation lever 13 and the lifting operation lever 14 is provided, it is easy to control the aircraft. Work of the person can be reduced.

  The harvesting part C of the carrot harvester is configured as follows.

  As shown in FIGS. 1 and 2, left and right driven pulleys 16 and 16 are rotatably mounted on the front side of the left and right pull-out frames 15 and 15, and on the rear side of the left and right pull-out frames 15 and 15, respectively. Left and right drive pulleys 17, 17 are mounted. Between the left and right driven pulleys 16 and 16 and the left and right drive pulleys 17 and 17, left and right nipping and conveying belts 18 and 18 for pulling out carrots and conveying them to the rear of the machine body are wound, and a plurality of tension rollers 19. Thus, the left and right nipping and conveying belts 18 and 18 are tensioned to bring the side surfaces of the left and right nipping and conveying belts 18 and 18 into pressure contact with each other, thereby forming a carrot pulling and conveying path.

  Further, a rotating frame 20 that is rotatable in the vertical direction is mounted on the horizontal axis 21 as a rotation fulcrum above the body frame 1, and left and right drive pulleys 17, 17 are attached to the rear end portion of the rotating frame 20. A transmission case 22 for transmitting a driving force is attached so as to be rotatable up and down around the rotation fulcrum X. Further, the body frame 1 and the rotating frame 20 are connected by an elevating cylinder 23, and the elevating cylinder 23 is operably attached to the control unit B to constitute a pulling and conveying device 24.

  Further, in front of the pulling and conveying device 24, a vertical pulling device 25 that causes the carrot foliage, a horizontal pulling device 26 that scoops up the foliage caused by the vertical pulling device 25, and a horizontal pulling device. A rotating gauge that prevents the pulling / conveying device 24 provided at the lower end portion of the telescopic rod 30 that expands and contracts in the vertical direction when the handle 29 provided at the front portion of the device 26 and the handle 29 are turned, from being lowered too much. There are provided wheels 31 and left and right vibration solitaries 34 and 34 that loosen the left and right soils of the carrots by vibrations attached to a vibration frame 33 that vibrates by rotation of a shaft 32 that is rotated by the driving force of the engine.

  Further, a tail-cutting device 35 for cutting the carrot root of the carrot being transported by the pulling and transporting device 24 is attached below the pulling and transporting passage, and the harvesting section C is configured.

  The harvesting section C is configured in this way, and the horizontal pulling device 26 provided with the weed pod 27 and the vertical pulling device 25 are provided on the front side of the machine body, and the stems and leaves of the ginseng that has fallen on the field are being scraped up. Since the harvesting operation can be performed and the visibility of the carrots to be harvested is improved, the extraction position can be easily adjusted, and the amount of undrawn crops is reduced, so that the work efficiency can be improved. Moreover, since it can prevent that the left and right vibration soilers 34, 34, etc. contact the carrot and the carrot is damaged, the product value of the carrot can be improved.

  Further, when the handle 29 is turned, the gauge wheel 31 is provided at the lower end of the telescopic rod 30 that expands and contracts in the vertical direction. Therefore, it is possible to prevent the lower end portion of the pulling and conveying device 24 from coming into contact with the field scene and being damaged due to an operator's operation mistake or unexpected ground irregularities.

In addition, the body frame 1 and a pivot frame 20 that is pivotable in the vertical direction with the horizontal axis 21 as a pivot point are connected by a lift cylinder 23, and the lift cylinder 23 is connected to the lift control lever 14 of the control unit B. Since it is configured to be expanded and contracted by operation, the vertical height of the entire harvesting section C can be adjusted by operating the elevating operation lever 14, and therefore the position of the pulling and conveying start end of the harvesting section C is set in the vertical direction. In addition to the adjustment, the position of the pulling conveyance start end can be adjusted in accordance with the appropriate pulling height of the carrot to be vegetated on the field, and the uncarried portion of the carrot is prevented, so that the work efficiency is improved.

Furthermore, if the harvesting part C is raised at the time of turning, the lower end part of the harvesting part C becomes difficult to contact the field, so that the turning operation is performed smoothly and the work efficiency is improved.

  The foliage cutting part D of the carrot harvester according to this embodiment includes a pair of left and right shoulder aligning devices 54L and 54R for aligning the root vertical position of the carrot foliage and a pair of left and right foliage cutting for cutting the foliage part. The apparatus 61, 61, and the leaf discharge transport device 65 and the remaining leaf transport device 70 for transporting the cut leaf leaves to the remaining leaf processing section E are configured as follows.

  FIG. 4 is a side view of a substantial part of the vicinity of the waste leaf transport device 65 and the remaining leaf transport device 70 of the carrot harvester shown in FIG.

  As shown in FIG. 4, left and right transmission shafts 36, 36 that transmit driving force are attached to the transmission case 22, and left and right transmission cases 37, 37 are attached to the upper portions of the left and right transmission shafts 36, 36. Yes. In the left and right transmission cases 37, 37, left and right first gear units 38, 38 configured by meshing a plurality of gears are attached toward the front side of the machine body. Also, left and right second gear units 39, 39 are attached to the left and right transmission shafts 36, 36 inside the transmission case 22 toward the rear side of the machine body, and the rear ends of the left and right second gear units 39, 39. The left and right first output shafts 40, 40 are pivotally attached to the upper part of the machine body.

  In addition, left and right second output shafts 41 and 41 are attached to the front end portions of the left and right first gear units 38 and 38 toward the lower side of the fuselage, and the left and right second output shafts 41 and 41 include Left and right shoulder alignment drive sprockets 42, 42 are attached to the shaft.

  As shown in FIG. 4, left and right shoulder alignment frames 43, 43 are attached to the front lower portions of the left and right transmission cases 37, 37.

  FIG. 5 is a schematic plan view of the carrot harvester shown in FIG. 1 as viewed from below the shoulder aligning devices 54L and 54R.

  As shown in FIG. 5, left and right rotating shafts 45 a and 45 a around which left and right shoulder aligned driven sprockets 45 and 45 are attached are attached to the shoulder aligning frames 43 and 43.

  In addition, the left and right shoulder alignment tension sprockets 47 and 47 are rotatable between the front and rear of the shoulder alignment driven sprockets 45 and 45 and the shoulder alignment drive sprockets 42 and 42 and on the inner side of the body relative to the shoulder alignment drive sprockets 42 and 42. It is attached. Further, left and right shoulder alignment chains 48 and 48 are wound endlessly around the shoulder alignment tension sprockets 47 and 47, the shoulder alignment drive sprockets 42 and 42, and the shoulder alignment driven sprockets 45 and 45, respectively.

  A plurality of components constituting the left and right shoulder alignment chains 48, 48 are provided with a U-shaped U-shaped guide cover that covers the contact surfaces of the upper and lower portions of the left and right shoulder alignment chains 48, 48 and the carrot foliage. Covering members 51 are attached.

  The shoulder alignment drive sprockets 42, 42 may be smaller in diameter than the shoulder alignment driven sprockets 45, 45 and the shoulder alignment tension sprockets 47, 47.

  As shown in FIGS. 3 and 4, the pair of left and right foliage cutting devices 61 and 61 constituting the foliage cutting part D includes a pair of left and right first foliage cutting blades 60 a and a second foliage cutting blade 60 b. Of the pair of left and right foliage cutting blades 60a and 60b, an actuator (not shown) such as an electric motor is attached to the first foliage cutting blade 60a provided outside the machine body, and the other second foliage cutting blade. Reference numeral 60b is non-driven, and a rotation sensor (not shown) is attached. The actuator is configured to rotate the first foliage cutting blade 60a provided on the outside of the machine body at the same rotation speed as that of the second foliage cutting blade 60b detected by the rotation sensor.

  When a carrot that is not suitable for harvesting or selling comes into contact with the first foliage cutting blade 60a, the actuator does not operate even if the rotation sensor detects that the second foliage cutting blade 60b is rotated. It is configured.

  By configuring in this way, the actuator always rotates the first foliage cutting blade 60a at a rotation number equal to the rotation number of the second foliage cutting blade 60b detected by the rotation sensor. The ginseng cutting blade 60a is rotated at an excessive number of revolutions, and as a result, the inertial rotation cuts the ginseng foliage portion that is not suitable for harvesting and sales, and is not suitable for harvesting and sales. It is possible to effectively prevent the portion from being dropped onto a remaining leaf processing conveyor 76, which will be described later, from which a main part of carrot suitable for harvesting and sales is collected.

  As shown in FIG. 4, left and right first and second output shafts 40 and 40 are fitted with left and right foliage transport drive pulleys 62 and 62, respectively, on the front side of the aircraft with respect to the left and right first gear units 38 and 38. And the left and right foliage conveyance driven pulleys 63 and 63 are rotatably attached above the shoulder aligning devices 54L and 54R. The left and right leaf and leaf conveyance belts 64 and 64 are wound endlessly around the left and right leaf and leaf conveyance driving pulleys 62 and 62 and the left and right leaf and leaf conveyance driven pulleys 63 and 63, thereby being delivered from the drawing and conveying device 24. Exhaust leaf transport devices 65 and 65 for discharging carrot foliage to the rear of the machine are configured. The leaflet conveyance devices 65 and 65 are located on the outer periphery of the upper portions of the left and right transmission cases 37 and 37 and below the conveyance termination portion side of the drawing conveyance device 24.

  Further, left and right remaining leaf conveyance drive pulleys 66 and 66 are pivotally attached to the upper ends of the left and right first output shafts 40 and 40, and the left and right remaining leaf conveyance followers are disposed above the left and right transmission cases 37 and 37. Pulleys 67 and 67 are rotatably attached, and a plurality of left and right remaining leaf conveyance tension pulleys 68, between the left and right remaining leaf conveyance drive pulleys 66 and 66 and the left and right remaining leaf conveyance driven pulleys 67 and 67, 68 ... are attached. Further, left and right residual leaf conveyance belts 69 and 69 are wound endlessly around left and right residual leaf conveyance driving pulleys 66 and 66, left and right residual leaf conveyance driven pulleys 67 and 67, and left and right residual leaf conveyance tension pulleys 68, 68. The remaining leaf conveyance device 70 that sandwiches the upper part of the ginseng foliage and conveys it to the rear of the machine body by being rotated is configured above the defoliation conveyance device 65.

  Thus, since the left and right shoulder alignment drive sprockets 42 and 42 are disposed at positions separated from the left and right spacing portions of the shoulder alignment devices 54L and 54R through which the carrot foliage passes, the shoulder alignment drive sprockets 42 and 42 are provided. And the second output shafts 41, 41 can prevent the stems and leaves of the carrot from being entangled and stop the shoulder aligning devices 54L, 54R, so that the harvesting operation is prevented from being interrupted and the work efficiency is improved. Can be improved.

  As shown in FIGS. 1, 2, and 3, a leaf removal shooter 71 that discharges the leaves cut by the leaf cutting device 61 from the end portions of the leaf removal conveyance device 65 and the remaining leaf conveyance device 70 to the field. The foliage cutting part D is comprised as mentioned above.

  The bottom surface of the leaflet shooter 71 is provided with a waste plate 71a configured to be rotatable about a shaft 71b (see FIG. 3) attached to the airframe in the vertical plane. The waste plate 71a includes a weight, a wire, and a spring. The urging member 71c is urged upward. The waste leaf shooter 71 is formed with a notch (not shown) having the same shape as the waste plate 71a so that the carrot falls downward when the waste plate 71a rotates downward. As shown in FIG. 3, a conveyor belt 172 extending in the left-right direction is provided below the leaf discharging shooter 71, and a plurality of collection members 170 such as containers are arranged on the conveyor belt 172. A space portion 171 formed between the adjacent collection members 170 and 170 is located below the discharge end portion of the leaf discharge shooter 71, and the foliage portion separated from the carrot body portion is located in this space portion. The ginseng that falls and is determined to be unsuitable for harvesting and selling by a ginseng stalk-cutting control system, which will be described later, falls into the collecting member 170 and is collected.

  That is, a predetermined number of ginseng determined to be unsuitable for harvesting and selling by a ginseng stem and leaf cutting control system, which will be described later, is sent to the waste leaf shooter 71 and rides on the waste plate 71a and gets on the waste plate 71a. When the weight of the carrot exceeds the upward urging force of the urging member 71c, the waste plate 71a is rotated clockwise in FIG. 3 by its own weight, and the container is located below the leaf shooter 71. The ginseng that is not suitable for harvesting and selling is collected in the collecting member 170.

  As shown in FIGS. 1 and 4, above the shoulder aligning devices 54L and 54R, there is provided a rotary conveyance device 100 that holds the ginseng foliage, rotates the ginseng, and conveys the ginseng foliage. ing.

  FIG. 6 is a schematic plan view of the rotary conveyance device 100.

  As shown in FIG. 6, the rotary conveyance device 100 includes a drive pulley 101L provided on the front left side of the machine body and a driven pulley 102L provided on the rear side of the machine body with a smaller diameter than the drive pulley 101L. An endless belt 103L wound around the drive pulley 101L and the driven pulley 102L, a drive pulley 101R provided on the front right side of the machine body, a smaller diameter than the drive pulley 101R, and provided on the rear side of the machine body with respect to the drive pulley 101R. The driven pulley 102R and the endless belt 103R wound around the driven pulley 101R and the driven pulley 102R are provided, and the driving pulley 101L has a diameter larger than the diameter of the driving pulley 101R.

The drive pulley 101L is driven counterclockwise, and the drive pulley 101R is driven clockwise.

  Here, the rotational force of the left and right drive shafts 9 and 9 to which the power of the engine (not shown) is transmitted is transmitted to the drive pulley 101L and the drive pulley 101R via the transmission shaft of the leaflet conveyance device 65. The drive pulley 101L and the drive pulley 101R are configured to rotate at a rotational speed corresponding to the traveling speed of the carrot harvester. Therefore, when the carrot harvester is traveling, the drive pulley 101L and the drive pulley 101R are also rotated at the corresponding rotational speed.

  As shown in FIG. 6, a first sensor 105 that detects ginseng foliage is provided on the upstream side (front side of the machine body) of the rotary transport device 100, and the downstream side of the rotary transport device 100 (after the base body). The second sensor 106 is provided on the side).

  As shown in FIGS. 1 and 5, an imaging device 110 that captures the carrots sandwiched between the endless belts 103 </ b> L and 103 </ b> R is provided on the opposite side of the rotary conveying device 100 with respect to the shoulder alignment devices 54 </ b> L and 54 </ b> R. ing. The imaging apparatus 110 includes a CCD camera 111, a carrot sandwiched between endless belts 103L and 103R, and a dark box 112 formed of the CCD camera 111 with a black cloth.

  The rotary conveyance device 100 and the imaging device 110 are used to detect ginseng stems and leaves, which will be described later, for detecting ginseng that is not suitable for harvesting and sales, such as ginseng having an abnormal shape, ginseng having an abnormal color, ginseng with significant scratches, and corrupt ginseng. Configures the control system.

  As shown in FIG. 1, a take-up guide 58 is provided between the pull-out conveying device 24 and the shoulder start devices 54 </ b> L and 54 </ b> R at the conveyance start end side. Is bent in the left-right direction and toward the outside of the fuselage.

  Moreover, the remaining leaf processing part E which conveys the foliage part of the carrot which was not cut | disconnected, and is conveyed to the left-right other side of a body is comprised as follows.

  As shown in FIG. 1 and FIG. 2, left and right residual leaf processing frames 72, 72 are provided below the foliage cutting devices 61, 61. A first remaining leaf processing roller (not shown) is rotatably mounted between the front and rear sides of one of the side portions. In addition, the second remaining leaf processing roller is located between the left and right sides of the left and right sides of the body of the remaining leaf processing frames 72, 72 on both sides of the front and rear sides, and below the first remaining leaf processing roller. 73b is rotatably attached. A remaining leaf processing belt 74 made of an elastic material such as rubber or urethane is wound endlessly around the first remaining leaf processing roller and the second remaining leaf processing roller 73b. Furthermore, a remaining leaf processing roller 75 is attached to the upper portion of the remaining leaf processing belt 74, and the remaining leaf processing roller 75 for cutting and cutting the ginseng stem and leaf portion that has not been cut together with the remaining leaf belt 74 is attached. The remaining leaf processing section E is configured by configuring the remaining leaf processing conveyor 76 that conveys the remaining leaves of the carrot from the outer side of the machine body to the left and right inner direction.

  The remaining leaf processing conveyor 76 is inclined by about 2 to 5 degrees from one side of the left and right sides of the machine body to the other side. As a result, the carrots that have fallen are moved by driving and tilting the remaining leaf processing belt 74, so that the movement of the carrots does not stop on the remaining leaf processing conveyor 76, and it is not necessary to move the carrots that have been stopped manually. , Work efficiency can be improved. In addition, since the remaining leaf processing conveyor 76 is inclined by about 2 to 5 degrees, the remaining leaf processing conveyor 76 is grounded even if the aircraft is inclined to one of the left and right sides of the aircraft depending on the state of the field. Therefore, the carrot does not stagnate on the remaining leaf processing conveyor 76 and does not move in the direction opposite to the conveying direction of the remaining leaf processing conveyor 76. Since it is not necessary to return to the conveyance path by work, work efficiency can be improved.

  The sorting and conveying unit F that takes over the carrot from the remaining leaf processing unit E, conveys the carrot to the rear side of the machine, and the auxiliary worker sorts the carrot being conveyed is configured as follows.

  As shown in FIG. 1 to FIG. 3, the sorting and conveying section F is arranged on the right side of the machine body with the crop handed over from the pulling and conveying device 24 located on the left side of the machine body at a position in front of and lower than the remaining leaf processing conveyor 76. A transport device 87 for transporting the container G to the position is provided.

  FIG. 7 is a plan view of the sorting and conveying unit of the carrot harvester shown in FIG.

  As shown in FIG. 7, the transfer device 87 is provided on the lower transfer side of the rotation support shaft 150 and the first transfer portion 87 a located on the upper transfer side of the rotation support shaft 150 provided in the transfer path. A second transport unit 87b is provided. The second transport unit 87b is configured to rotate up and down around the rotation support shaft 150. In the first transport part 87a, first transport frames 77, 77 on both front and rear sides are arranged at a predetermined interval in the front-rear direction. Second transport frames 78, 78 on both front and rear sides are arranged at a predetermined interval in the front-rear direction in the second transport unit 87b, and the inner ends of the first transport frames 77, 77 (in the left-right direction of the body). The other side end portion) is disposed outside. Drive rotary bodies 79 and 79, which are sprockets on both the front and rear sides, are rotatably attached to one side end of the first transport frames 77 and 77 in the left-right direction of the machine body. Intermediate rotating bodies 80 and 80, which are sprockets on both the front and rear sides, are rotatably attached to the other side end in the left-right direction of the machine body and are positioned above the driving rotating bodies 79 and 79, respectively. Driven rotating bodies 81 and 81, which are sprockets on both the front and rear sides, are rotatably attached to the other side ends of the second transport frames 78 and 78 in the left-right direction of the machine body.

  Further, transmission endless belts 82 and 82 that are front and rear side chains are endlessly formed on the front and rear drive rotating bodies 79 and 79, the front and rear intermediate rotating bodies 80 and 80, and the front and rear both driven rotating bodies 81 and 81, respectively. A tension rotating body (not shown) which is a sprocket on both the front and rear sides for tensioning the transmission endless belts 82 and 82 is wound on the upper part of the rotating bodies 80 and 80 between the middle and front and rear sides. The frame 77, 77 is rotatably mounted at a position in contact with the transmission endless belts 82, 82.

  Further, a plurality of transport bars 84 made of synthetic resin such as plastic or rubber for transporting carrots on the transmission endless belts 82, 82 are rotatably attached.

  Then, a support plate 86 is attached between the left and right of the second transport frames 78, 78, and the lift is moved up and down to move the transport terminal end side of the second transport section 87 b of the transport device 87 between the support plate 86 and the body frame 1. A cylinder 88 is attached so as to be extendable and retractable to constitute a transport device 87 that transports carrots from one side to the other side. Further, a discharge shooter 89 made of a soft member such as a rubber plate or a vinyl chloride plate that slides and moves the carrot discharged from the transfer terminal end of the transfer device 87 to the lower part of the transfer terminal end of the transfer device 87 is an end. Attach the unit so that it hangs downward.

  In addition, an auxiliary worker who performs the sorting operation of the carrot being transported by the transport device 87 and the operation of the transport device 87 is performed on the rear side of the other side of the body frame 1 in the left-right direction of the body frame 1 and behind the transport device 87. A boarding step 90 for boarding is arranged, and a sorting work seat 91 is attached on the boarding step 90 and in the vicinity of the position where the intermediate rotating bodies 80 and 80 of the transport device 87 are arranged.

  Further, an ascending / descending pedal 92 a that moves the lifting cylinder 88 up and down to move the conveying terminal end side of the conveying device 87 up and down and a lowering pedal 92 b are disposed below the conveying path of the conveying device 87. In this way, the lifting and lowering pedal 92a and the lowering and lowering pedal 92b are arranged at a position where an auxiliary worker who is seated on the sorting work seat 91 can operate with his / her foot to configure the sorting and conveying unit F.

  The accommodating part G which accommodates the carrot discharged | emitted from the sorting conveyance part F is comprised as follows.

  As shown in FIGS. 2 and 7, the rotation shaft 93 extends in the longitudinal direction of the machine body on the lower side in the conveyance direction (the other side portion in the horizontal direction) of the second conveyance frames 78, 78 on both sides of the conveyance device 87. Friction resistors 94 and 94 are pivotally attached to both the front and rear sides of the rotation shaft 93 and outside the second transport frames 78 and 78, respectively. As long as the frictional resistors 94 and 94 are members having strong frictional resistance, such as a disc spring, a spring washer, and a rubber ring, any members may be used.

  Further, the base sides of the front and rear hanger arms 95, 95 are provided at the front and rear ends of the rotating shaft 93 on the outer side in the front-rear direction than the friction resistors 94, 94, and the second transport frames 78, 78 and the hanger arm 95, The hanger arms 95, 95 are configured to be movable upward or downward only when the hanger arms 95, 95 are moved upward or downward due to the frictional resistance of the frictional resistors 94, 94 sandwiched between them. Yes.

  A hanger frame 96 that protrudes in the front-rear direction from the front-rear end of the body of the transport device 87 is attached to the end of the hanger arm 95, 95 across the front-rear direction. A pair of front and rear hanging hangers 98, 98 for hanging and supporting a container (flexible container bag) not to be hung at four points on the front, rear, left and right are attached so as to be rotatable in the left-right direction. Further, an upside-down inverted U-shaped (saddle-shaped) outer suspended body is welded to the outer ends of the hanging hangers 98, 98, respectively, and the inner end of the body is downwardly U-shaped. A suspension hook that is welded to the inner suspension body and suspends the storage container is attached to the outer suspension body and the inner suspension body so as to be vertically movable.

  The hanging hangers 98, 98 are hung at the four corners of the storage container by the front and rear outer suspension bodies and the front and rear inner suspension bodies so that the upper opening of the storage container is substantially rectangular in plan view. It is configured as follows.

  Fig. 8 detects carrots that are not suitable for harvesting and sales, such as carrots with abnormal shapes, carrots with abnormal colors, carrots with significant scratches, and corrupt carrots, and can be collected separately from carrots that are suitable for harvesting and sales. It is a block diagram of a control system, a detection system, and a drive system of a configured carrot and leaf cutting control system.

  As shown in FIG. 8, the control system of the ginseng foliage cutting control system 140 stores a control unit 120 that controls the entire operation of the ginseng foliage cutting control system 130, an operation program of the control unit 120, and various reference data. ROM 121 and RAM 122 storing various data.

  The detection system of the carrot foliage cutting control system includes a first sensor 105 provided immediately upstream of the rotary conveyance device 100, a second sensor 106 provided immediately downstream of the rotary conveyance device 100, and a speed change operation. A lever operation amount detection means 125 for detecting the operation amount of the lever 13, a rotation sensor 145 attached to the second foliage cutting blade 60 b, and a CCD camera 111 are provided.

  As shown in FIG. 8, the driving system of the carrot and foliage cutting control system includes a driving unit 103 that drives the left and right driving pulleys 101L and 101R, a shutter driving unit 114 that operates the shutter 113 of the CCD camera 111, and a first drive unit. And an actuator 146 such as an electric motor attached to the foliage cutting blade 60a, and a conveyor belt motor 142 for driving the conveyor belt 172.

  Here, the operation amount of the speed change lever 13 corresponds to the traveling speed of the carrot harvester, and the driving pulley 101L and the driving pulley 101R of the rotary conveyance device 100 are rotated at a speed corresponding to the traveling speed of the carrot harvester. Therefore, the carrots sandwiched between the endless belt 103L and the endless belt 103R of the rotary conveyance device 100 are rotated at a speed corresponding to the traveling speed of the carrot harvester, and therefore, a desired number of carrot body parts. In order to generate the image, it is necessary to operate the shutter (not shown) of the CCD camera 111 at shorter time intervals as the operation amount of the speed change operation lever 13 is larger.

  Therefore, in this embodiment, the relationship between the operation amount of the speed change operation lever 13 indicating the traveling speed of the carrot harvester and the shutter operation speed of the CCD camera 111 is obtained in advance and stored in the ROM 121 in the form of a table. . The ROM 121 further stores a table indicating the relationship between the operation amount of the speed change operation lever 13 indicating the traveling speed of the carrot harvester and the moving speed of the endless belts 64 and 64.

  The ginseng harvesting machine configured as described above pulls out the ginseng from the field, sends it to the foliage cutting part D of the carrot harvesting machine, cuts the ginseng foliage, cuts the carrots and leaves, and leaves and leaves conveying devices 65 and 65 The cut stems and leaves are conveyed from the terminal end of 70 to the defoliation shooter 71.

  The ginseng pulled out from the field is gripped by the left and right holding and conveying belts 18 and 18 of the pulling and conveying device 24 and conveyed in the pulling and conveying path, and the shoulder of the carrot body is left and right by the takeover guide 58. Are guided along the shoulder alignment chains 48, 48 and sent to the foliage cutting part D of the carrot harvester. The carrots conveyed to the foliage cutting part D of the carrot harvester are sent into a dark box 112 made of black cloth, and are blocked from external light such as sunlight.

  The carrot sent to the foliage cutting part D is conveyed toward the pair of left and right foliage cutting devices 61 and 61 with its foliage part being sandwiched between endless left and right draining and conveying belts 64 and 64. Here, the endless left and right defoliation conveyor belts 64 and 64 are configured to be clamped with a weak force that allows the carrots being clamped to rotate.

  When the carrot approaches the rotary transport device 100, the first sensor 105 provided immediately upstream of the rotary transport device 100 detects the carrot foliage and outputs a detection signal to the control unit 120.

  Next, the carrot foliage is sandwiched between the endless belt 103L on the left side and the endless belt 103R on the right side of the rotary conveyance device 100.

  As described above, the driving pulley 101L and the driving pulley 101R receive the rotational force of the left and right drive shafts 9 and 9 to which the power of the engine (not shown) is transmitted, and the driving pulley 101L and the driving pulley 101R are The left driving pulley 101L is rotated at a rotational speed corresponding to the traveling speed of the carrot harvester, and the left endless belt 103L of the rotary conveyance device 100 is wound around the diameter of the driven pulley 82L. In addition, since the right driving pulley 101R has a diameter larger than the diameter of the right driving pulley 101R around which the right endless belt 103R is wound, and the right driving pulley 101R has a diameter larger than that of the driven pulley 102R. As the driving pulley 101L and the right driving pulley 101R rotate, the endless belt 103L and the endless belt 103R While foliage of ginseng is held is rotated, it is conveyed toward the pair of stems cutting device 61, 61.

  Thus, since the driving pulley 101L and the driving pulley 101R are rotated at a rotational speed corresponding to the traveling speed of the carrot harvester, the faster the traveling speed of the carrot harvester is, the faster the carrot rotated by the rotary conveyance device 100 is. The rotation speed of becomes faster. Therefore, when the traveling speed of the carrot harvester is fast and the rotational speed of the carrot rotated by the rotary conveyance device 100 is fast, an image of a desired number of carrot body parts is captured unless the operation interval of the shutter 113 is shortened. On the other hand, when the traveling speed of the carrot harvester is slow and the rotational speed of the carrot rotated by the rotary conveyance device 100 is slow, if the operation interval of the shutter 113 is not lengthened, the necessary number of carrot bodies is exceeded. A partial image is captured, resulting in unnecessary time for image analysis.

  Therefore, in this embodiment, the operation speed of the shutter 113 of the CCD camera 111 is set according to the traveling speed of the carrot harvester, and a desired number of carrot bodies are always obtained even if the traveling speed of the carrot harvester changes. An image of the part can be generated.

  In other words, in the present embodiment, the control unit 120 receives an operation amount detection signal indicating the operation amount of the speed change operation lever 13 from the lever operation amount detection means 125 that detects the operation amount of the speed change operation lever 13. When receiving the detection signal from the first sensor 105, the control unit 120 accesses the ROM 121, and shows a relationship between the operation amount of the shift operation lever 13 stored in the ROM 121 and the shutter operation speed of the CCD camera 111. From the detection of the operation speed at which the shutter 113 is to be operated and the detection by the first sensor 105 based on a table indicating the relationship between the operation amount of the speed change operation lever 13 and the moving speed of the endless belts 64, 64. , Calculate the time until the carrot reaches the shooting range of the CCD camera 111 When it is determined that the carrot has reached the shootable range of the CCD camera 111, a shutter drive signal is output to the shutter drive means 114 of the CCD camera 111, and the amount of operation of the shift operation lever 13 and the shutter operation speed of the CCD camera 111 are determined. The shutter 113 is operated at time intervals read from the relationship table.

  As a result, the image of the main part of the carrot being conveyed toward the rear of the machine while being rotated by the rotary conveyance device 100 is captured by the CCD camera 111 at a time interval corresponding to the traveling speed of the carrot harvester. Image data is generated. The carrot image data generated in this way is successively output to the control unit 120 and stored in the RAM 122.

  In this way, when the carrot is rotated and the necessary number of image data of the peripheral surface of the carrot body portion is stored in the RAM 122, the control unit 120 can control the reference image of the peripheral surface of the carrot stored in the ROM 121. In addition to reading out data, the image data of the carrot body part stored in the RAM 122 is read out, and the carrots in which the peripheral surface image data is generated by comparing the two are the carrots having an abnormal shape, the carrots having an abnormal color, It is determined whether the carrots are not suitable for harvesting and selling carrots with significant wounds or spoiled carrots.

  As a result, when it is determined that the carrot from which the image data of the peripheral surface is generated is not suitable for harvesting and sales, the control unit 120 records that fact in a predetermined memory area of the RAM 122. Thereafter, when the second sensor 106 provided immediately downstream of the rotary conveyance device 100 detects carrots, a carrot detection signal is input to the control unit 120.

  Next, when the rotational speed detection signal from the rotational sensor 145 that detects the rotational speed of the non-driven second foliage cutting blade 60b is input to the control unit 120 and receives the rotational speed detection signal from the rotational sensor 145, The control unit 120 outputs a drive signal to the actuator 146, and rotates the first foliage cutting blade 60a at the same rotation speed as the rotation speed of the second foliage cutting blade 60b detected by the rotation speed sensor 145.

  As a result, the first foliage cutting blade 60a and the second foliage cutting blade 60b of the foliage cutting device 61 cut the ginseng foliage at the base (root), and the ginseng is processed by the remaining foliage processing unit E. While falling on the conveyor 76 and receiving the remaining leaves, the remaining leaves are conveyed from the outer side of the machine body to the left and right sides by the remaining leaf processing conveyor 76 and are then sold.

  On the other hand, the carrot body image data is read from the RAM 122 and the carrot body image data is generated. The carrot has an abnormal shape, a carrot having an abnormal color, or a carrot having a significant flaw. When it is determined whether or not the carrot is not suitable for harvesting or selling, such as the carrot, the control unit 120 determines that the carrot is not suitable for harvesting or selling. The carrot is transported by the left and right defoliation transport belts 64 and 64, and the pair of right and left is not cut without cutting its foliage. Are passed through the shoot cutting device 61, 61 and sent into the defoliation shooter 71 with the foliage attached.

  On the other hand, the ginseng foliage cut by the foliage cutting devices 61 and 61 is sandwiched between the left and right defoliation transport belts 64 and 64, collected in the defoliation shooter 71, and discharged to the field.

  In this embodiment, the leaflet shooter 71 is provided with a waste plate 71a that rotates about a shaft 71b attached to the airframe in the vertical plane on the bottom surface, and the rotation base side of the waste plate 71a, that is, the outside of the airframe is attached. By urging upward with the urging member 71c, the ginseng stalk and leaf cutting control system determines that it is not suitable for harvesting and selling, and the weight of the carrot stored on the leaf discharging shooter 71 is determined by the urging force of the urging member 71c. The waste plate 71a is rotated by its own weight, and the carrot stored on the leaf shooter 71 falls into the recovery member 170 such as a container disposed on the conveyor belt 172 and is recovered.

  According to the present embodiment, the CCD camera 111 of the imaging device 110 captures the peripheral surface of the main part of the carrot to generate image data, and the control unit 120 forms the shape based on the image data thus generated. Carrots with unusual color, carrots with abnormal colors, carrots with significant scratches, corrupt carrots, etc. are judged whether they are not suitable for sale, carrots with abnormal shapes, carrots with abnormal colors, Carrots that are determined to be unsuitable for harvesting or selling carrots with significant wounds, spoiled carrots, etc. are sandwiched between the left and right defoliation conveyor belts 64, 64, and a pair of left and right foliage cutting devices 61, 61. The carrots that are determined to be unsuitable for harvesting and selling are collected on the leaflet shooter 71 with the stems and leaves attached to them. The stems and leaves are cut by 61 and 61, fall on the remaining leaf processing conveyor 76 of the remaining leaf processing section E, and receive the processing of the remaining leaves. It is configured to be transported to the market for sale, so that during the sorting operation and the boxing operation before shipment, the worker has an abnormally shaped carrot, an abnormally colored carrot, and a carrot that has significant scratches. Therefore, it is not necessary to select and remove carrots that are not suitable for harvesting and selling such as rotten carrots, so that it is possible to greatly improve work efficiency and save labor.

  In addition, according to this embodiment, ginseng having an abnormal shape, ginseng having an abnormal color, ginseng having a severe wound, ginseng that has been spoiled, carrots determined to be unsuitable for sale, such as ginseng It is conveyed by the left and right defoliation conveyor belts 64 and 64 without being cut, and is collected on the defoliation shooter 71 with the foliage attached, so that the carrots that are not suitable for harvesting and sales are conveyed. Therefore, it is not necessary to provide a separate conveyance path for the operation, and it is possible to greatly improve the work efficiency and greatly reduce the labor while preventing the configuration from becoming complicated and increasing the number of parts.

  Furthermore, according to this embodiment, since the imaging device 110 is provided below the shoulder alignment devices 54L and 54R, the imaging device 110 can image the carrots whose shoulder positions are aligned, and the carrot body. It is not necessary to provide a mechanism for adjusting the position of the image pickup device 110 in order to take an image of a desired portion of the camera. Also, since the carrot is sandwiched and rotated by the rotary conveyance device 100, the image pickup device 110 takes care of the carrot. Since an image of the peripheral surface can be generated, it is possible to accurately determine whether or not the carrot is suitable for harvesting and selling without complicating the mechanism.

  Moreover, according to this embodiment, since it is comprised so that the shutter operation speed of the CCD camera 111 can be changed according to the running speed of the carrot harvester, when driving at the high speed of the carrot harvester. In addition, it is possible to reliably generate an image of carrots and accurately determine whether the carrots are suitable for harvesting and sales.

  Furthermore, according to the present embodiment, the rotary transport device 100 simply sandwiches the carrot foliage with a very simple configuration in which the left drive pulley 101L and the right drive pulley 101R have different diameters. The rotational force of the left and right drive shafts 9, 9 that can be transported while rotating, and the power of the engine (not shown) is transmitted to the drive pulley 101L and the drive pulley 101R is the leaf discharge transport device 65. Therefore, it is possible to reliably prevent the configuration from becoming complicated and the number of parts from increasing.

  FIG. 9 is a block diagram of a control system, a detection system, and a drive system of a ginseng foliage cutting control system according to another embodiment of the present invention.

  As shown in FIG. 9, the control system of the ginseng foliage cutting control system 160 according to the present embodiment includes a control unit 120 that controls the entire operation of the ginseng foliage cutting control system 160, operation programs of the control unit 120, A ROM 121 storing reference data and a RAM 122 storing various data are provided.

  The detection system of the carrot and foliage cutting control system 160 includes a first sensor 105 provided immediately upstream of the rotary conveyance device 100, a second sensor 106 provided immediately downstream of the rotary conveyance device 100, and a speed change. A lever operation amount detection means 125 for detecting the operation amount of the operation lever 13, a rotation sensor 145 attached to the second foliage cutting blade 60 b, and a CCD camera 111 are provided.

  As shown in FIG. 9, the drive system of the ginseng foliage cutting control system includes shutter driving means 114 for operating the shutter 113 of the CCD camera 111, and an actuator 146 such as an electric motor attached to the first foliage cutting blade 60a. And a drive solenoid 147 that is provided in the pulling and conveying device 24 and operates in the front-rear direction, a driving means 140 that rotates the driving pulleys 101L and 101R of the rotary conveying device 100, and a conveyor belt motor 142 that drives the conveyor belt 172. ing.

  In this embodiment, the pulling and conveying device 24 is provided with a drive solenoid 147 that operates in the front-rear direction, and the drive solenoid 147 and the first foliage cutting blade 60a of the foliage cutting device 61 are connected by a link arm (not shown). Has been. When it is determined that the carrot is not suitable for harvesting or selling, the control unit 120 energizes the drive solenoid 147 to extend the drive solenoid 147 and move the first foliage cutting blade 60a to the outside of the machine body. After a predetermined time, the energization to the drive solenoid 147 is stopped, the drive solenoid 147 is contracted, and the first foliage cutting blade 60a that has been moved to the outside of the machine body is returned to the original position. ing. Here, the actuator 146 is configured not to be operated when the drive solenoid 147 is energized.

  If the ginseng foliage cutting control system 130 is determined to be unsuitable for harvesting and selling, the first foliage cutting blade 60a is retracted to the outside of the fuselage. When passing between the one foliage cutting blade 60a and the second foliage cutting blade 60b, the foliage portion can be effectively prevented from being cut and dropped, and the first foliage cutting blade 60a. Since the actuator (not shown) is not driven while the vehicle is retracted to the outside of the machine body, it is possible to more reliably prevent the foliage portion from being cut and dropped.

Further, when the energization to the drive solenoid 147 is stopped, the actuator is immediately driven, so that the first foliage cutting blade 60a is returned to its original position while being rotated, and therefore, it is not suitable for harvesting and sales. Because it can cut the foliage of carrots that have not been determined to be,
Ginseng that has not been determined to be unsuitable for harvesting or selling by the ginseng stalk-cutting control system 130 is sent to the downstream side without cutting the foliage, and the foliage that is manually separated from the ginseng by the operator. The work of removing the part is not necessary.

  FIG. 10 is a block diagram of a control system, a detection system, and a display system of a carrot discharge mechanism of a carrot harvester according to another embodiment of the present invention.

  The control system of the carrot discharge mechanism of the carrot harvester according to the present embodiment stores the second control unit 180 that controls the entire operation of the carrot discharge mechanism, the operation program of the second control unit 180, and various reference data. A ROM 171 for storing data and a RAM 182 for storing various data.

  The detection system of the carrot discharge mechanism of the carrot harvester according to this embodiment includes a carrot weight sensor 183 that detects the weight of the carrot collected in the collection member 170 such as a container.

  As shown in FIG. 10, the display system of the carrot discharge mechanism of the carrot harvester according to this embodiment includes a notification unit 184 that issues an alarm.

  Although not shown in the drawings, in this embodiment, a collection member 170 such as a plurality of containers is disposed on the side of the conveyor belt 172 and behind the fuselage, and between the collection member 170 and the conveyor belt 172. A space portion communicating with the farm field is formed with such a width that the collection member 170 does not fall, and a discharge end portion of the leaf shooter 71 is formed above the space portion.

  In this embodiment, the foliage part from which the main body part of the carrot was cut off by the foliage cutting devices 61, 61 was formed between the collection member 170 and the conveyor belt 172 through the discharge end part of the foliage shooter 71. It is discharged into the space and discharged into the field.

  On the other hand, when the carrot weight sensor 183 determines that the ginseng stem and leaf cutting control system 130 determines that the carrot is not suitable for harvesting and sales, and that the weight of the carrot sent to the defoliation shooter 71 exceeds the predetermined weight. The carrot weight sensor 183 outputs an alarm signal to the control unit 180. When an alarm signal is input from the carrot weight sensor 183, the control unit 180 outputs an alarm signal to the notification unit 184 and causes the notification unit 184 to issue an alarm.

  According to this embodiment, the foliage part cut off from the main part of the carrot suitable for harvesting and selling by the foliage cutting devices 61, 61 is passed through the space part formed between the recovery member 170 and the conveyor belt 172. When the ginseng that is not suitable for harvesting and selling is stored in the collection member 170 such as a container, an alarm is issued from the notification means 184. It becomes possible to arrange a new recovery member 170 at a desired position.

  FIG. 11 is a detailed view of the vicinity of the vertical pulling device 25 of the carrot harvester according to another embodiment of the present invention.

  As shown in FIG. 11, left and right additional driven pulleys 16 b and 16 b are attached to the left and right driven pulleys 16 and 16 around which the left and right nipping and conveying belts 18 and 18 are wound via universal joints 16 a and 16 a. The left and right additional driven pulleys 16b and 16b and the left and right additional drive pulleys 16c and 16c are wound with additional left and right sandwiching and conveying belts 18a and 18a. In FIG. 10, what is indicated by reference numeral 175 is a guide rail.

  According to this embodiment, the carrot pulled out from the field is sandwiched by the additional sandwiching and transporting belts 18a and 18a and guided by the guide rail 175, so that the carrot is smoothly delivered to the sandwiching and transporting belts 18 and 18. Guaranteed. Although not shown in FIG. 10, the left and right nipping and conveying belts 18 and 18 are covered with an exterior cover. Therefore, when pulling out the ginseng with a short foliage part, it is possible to reliably prevent the sandwiching conveyor belts 18 and 18 from biting soil or stone, so that the ginseng with a short foliage part is pulled out as desired. It becomes possible to do.

  The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the invention described in the claims, and these are also included in the scope of the present invention. Needless to say.

  For example, in the said embodiment, although the description was added about the carrot harvester, this invention is not limited to the carrot harvester, It can apply to the harvester of root vegetables, such as a radish and beef bowl. .

  Moreover, in the said embodiment, although the shutter speed of CCD camera 111 is changed continuously according to the running speed of the carrot harvester, the shutter speed of CCD camera 111 is changed according to the running speed of the carrot harvester. Is not always necessary. For example, when the traveling speed of the carrot harvester exceeds V1, the shutter operating speed is set at an interval of X1 seconds, and the traveling speed of the carrot harvester is V1 or less. , When V2 or more, the shutter operating speed is set to an interval of X2 seconds, and when the traveling speed of the carrot harvester is less than V2, the shutter operating speed is set to an interval of X3 seconds, the traveling speed of the carrot harvester. Depending on the, the operation speed of the shutter may be set stepwise. Here, V2 ≦ V1, X2> X1, and X3> X2.

  Furthermore, in the said embodiment, although the carrot harvester is provided with the residual leaf conveyance apparatus 70, it is not necessarily required that the carrot harvester is provided with the residual leaf conveyance apparatus 70, and the residual leaf conveyance apparatus 70 is abbreviate | omitted. You can also

  Further, in the embodiment shown in FIG. 10, the notification means that issues an alarm is used as the notification means, but a notification means that lights a lamp may be used instead of the notification means that issues an alarm.

A Carrot harvester traveling part B Ginseng harvester control part C Ginseng harvester harvesting part D Ginseng harvester stalk and leaf cutting part E Ginseng harvester residual leaf processing part F Ginseng harvester sorting and conveying part G Ginseng harvester 1 Housing frame 1 Drive frame 2 Drive sprocket 3 Driven wheel 4 Rolling wheel 5 Endless belt 6L, 6R Left and right crawlers 8 Mission case 9 Drive shaft 10 Steering part frame 11 Steering seat 12 Steering panel 13 Shifting operation lever 14 Elevating operation lever 15 Pulling out Frame 16 Driven pulley 17 Drive pulley 18 Nipping and conveying belt 19 Tension roller 20 Rotating frame 21 Horizontal shaft 22 Transmission case 23 Lifting cylinder 24 Pulling and conveying device 25 Vertical pulling device 26 Horizontal pulling device 27 Weeding rod 29 Handle 30 Telescopic rod 31 Gauge wheel 32 Shaft 33 Vibration frame 3 4 Vibrating Soiler 35 Tail Cutting Device 36 Transmission Shaft 37 Transmission Case 38 First Gear Unit 39 Second Gear Unit 40 First Output Shaft 41 Second Output Shaft 42 Shoulder Alignment Drive Sprocket 43 Shoulder Alignment Frame 45 Shoulder Alignment Follow Sprocket 45a Rotating shaft 47 Shoulder alignment tension sprocket 48 Shoulder alignment chain 51 Cover member 54L, 54R Left and right shoulder alignment device 56 Cutting blade rotation shaft 57 Bearing 58 Takeover guide 59 Support plate 60 Stem and leaf cutting device 61 Stem and leaf cutting device 62 Stem and leaf transport drive pulley 63 Leaf-and-leaf conveyance driven pulley 64 Leaf-leaved conveyance belt 65 Leaf-leaved conveyance device 66 Residual leaf-conveying drive pulley 67 Residual leaf-conveyed driven pulley 68 Residual leaf-conveying tension pulley 69 Remaining leaf-conveying belt 70 71b shaft 71 Energizing member 72 Residual leaf processing frame 73b Second residual leaf processing roller 74 Residual leaf processing belt 75 Residual leaf processing roller 76 Residual leaf processing conveyor 77 First transport frame 78 Second transport frame 79 Drive rotating body 80 Intermediate rotation Body 81 driven rotating body 82 transmission endless belt 84 transport bar 86 support plate 87 transport device 87a first transport unit 87b second transport unit 88 lifting cylinder 89 discharge shooter 90 boarding step 91 sorting work seat 92a ascending step pedal 92b descending step Pedal 93 Rotating shaft 94 Friction resistor 95 Hanger arm 96 Hanger frame 98 Hanging hanger 100 Rotating conveyor 101L, 101R Left and right drive pulley 102L, 102R Left and right driven pulley 103L, 103R Left and right endless belt 105 First sensor 106 Second sensor 110 imaging device 111 CCD camera 112 dark box 113 shutter 114 shutter driver 120 control unit 121 ROM
122 RAM
125 Lever operation amount detection means 130 Ginseng foliage cutting control system 140 Driving means 142 Conveyor belt motor 145 Rotation sensor 146 Actuator 147 Drive solenoid 150 Rotating spindle 160 Ginseng foliage cutting control system 170 Recovery member 171 Space 172 Conveyor belt 175 Guide rail 180 Control unit 181 ROM
182 RAM
183 Carrot weight sensor 184 reporting means

Claims (8)

A pulling and conveying device (24) for pulling out root crops from the field;
Shoulder alignment devices (54L, 54R) that take over root vegetables from the pulling and conveying device (24) and align the shoulder positions of the root vegetable crops;
A foliage cutting device (61) for cutting the foliage part of the root vegetable crop that has been shoulder-aligned by the shoulder alignment device;
A leaf discharge transport device (65) that is disposed downstream of the foliage cutting device, grips the foliage portion of the root vegetable crop, and transports it outside the machine;
Remaining leaf processing device (E) that receives a root vegetable crop that has been cut and dropped, and conveys the remaining leaf of the root vegetable crop,
Sorting and conveying device (F) that takes over root vegetable crops from the remaining leaf processing device and conveys them to the storage
An image pickup device (110) that is located below the shoulder aligning devices (54L, 54R), picks up root vegetable crops, and generates image data;
Based on the image data of the root vegetable crop generated by the imaging device (110), it is determined whether the root vegetable crop is suitable for harvesting and selling, and it is determined that the root vegetable crop is not suitable for harvesting and selling. A root vegetable harvesting machine comprising a root vegetable harvesting control judging device (120) for controlling the stem and leaf cutting device (61) so as not to operate. Furthermore, a travel operation member (13) for operating the travel speed of the aircraft, and an operation detection member (125) for detecting the operation amount of the travel operation member (13),
The root vegetable harvest control determination device (120) is configured to change the operation interval of the shutter (113) of the imaging device (110) according to the detection value of the operation detection member (125). The root vegetable harvester according to claim 1, wherein The imaging device (110) is located below the shoulder alignment devices (54L, 54R);
Furthermore, a rotating and conveying device (100) is provided above the shoulder aligning devices (54L and 54R) to convey the root vegetable crops with the endless belts (103L and 103R) sandwiched and rotated.
The root vegetable harvester according to claim 1 or 2, wherein peripheral speeds of left and right drive pulleys (101L, 101R) for driving the left and right endless belts (103L, 103R) are different. The left and right drive pulleys (101L, 101R) have different diameters of the left drive pulley (101L) and the right drive pulley (101R),
Driving force of the left drive pulley (101L) and the right driving pulleys (101R) is, in claim 3, characterized in that it is configured to be transmitted from the transmission shaft of the Hai Ha conveying device (65) The root vegetable harvester described. The foliage cutting device (61) includes a pair of left and right foliage cutting blades (60a) and (60b), and one foliage cutting blade (60a) of the pair of left and right foliage cutting blades (60a) and (60b). The actuator (146) is attached, the other foliage cutting blade (60b) is not driven, and the rotation sensor (145) is attached. The actuator (146) is detected by the rotation sensor (145). The one foliage cutting blade (60a) is rotated at the same rotation speed as that of the other foliage cutting blade (60b),
The root vegetable harvest control judgment device (120) controls the actuator (146) not to be driven when it is judged that the root vegetable crop is not suitable for harvesting and selling. 5. The root vegetable harvester according to any one of 4 above. Furthermore, a drive solenoid (147) provided in the pulling and conveying device (24) and operating in the front-rear direction;
A link arm that connects the drive solenoid (147) and one of the pair of left and right foliage cutting blades (60a) and (60b);
When the root vegetable harvest control determination device (120) determines that the root vegetable crop is not suitable for harvesting and selling, the drive solenoid (147) is energized to extend the drive solenoid (147), and One of the pair of left and right foliage cutting blades (60a) and (60b) is moved to the outside of the machine body and the operation of the actuator (146) is stopped. After a predetermined time has passed, the drive solenoid (147) is energized. And the drive solenoid (147) is contracted to return one of the left and right pair of foliage cutting blades (60a), (60b) to the original position. The root vegetable harvester according to claim 5 . A rotating discharge shooter (71) that is provided below the conveying terminal end of the defoliation conveying device (65) and receives and discharges the shoot and leaf portion separated from the root vegetable crop and the root vegetable crop that is not suitable for harvesting and selling;
A biasing member (71c) for biasing the discharge shooter (71) upward;
A recovery member provided below the discharge shooter (71) for recovering root crops that are not suitable for harvesting and selling;
A mounting member on which the recovery member is mounted;
When the weight of the root vegetable crop discharged into the discharge shooter (71) exceeds the urging force of the urging member (71c), the discharge shooter rotates, and the root vegetable crop unsuitable for harvesting and selling becomes the recovery member. The root vegetable harvesting machine according to any one of claims 1 to 5, wherein the root vegetable harvesting machine is configured to be collected at a time. The collection member is arranged laterally on the side of the mounting member,
A space portion is formed between the adjacent collection members, and the space portion is located below the discharge end portion of the discharge chute (71),
A collection amount sensor that detects the amount of root vegetable crops that are not suitable for harvesting and selling collected in the collection member is provided,
The storage amount sensor, wherein is collected in the collection member harvest, when capacity of root crops unsuitable for sale of a predetermined amount or more, in claim 7, further comprising a notification means for issuing an alarm The root vegetable harvester described.

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