JP6385101B2 - Combine - Google Patents

Description

  The present invention relates to a combine for threshing cereals harvested by a reaping unit by conveying them to a threshing apparatus using a cereal conveyor.

  In such a combine, normally, as a mowing and threshing operation, cereals harvested by the mowing unit while running are sent to the threshing device by the transport device and threshed. However, since the cereals planted in the corner of the field cannot be harvested by the combine, the worker manually harvests. Then, the threshing device for the combined combine that has been stopped is driven, and the threshing is performed by placing the cereal husks that have been cut by hand first on the culm transporting device and feeding them to the threshing device. Such a threshing operation involving manual work is called pillow handling work or manual handling work.

  Various proposals have been made to improve the convenience of this pillow handling operation. For example, in Patent Document 1, a pillow handling cereal mash that is fed to the threshing feed chain by increasing the conveying speed of the threshing feed chain when the amount of the cereal mashing for the pillow handling supplied to the threshing feed chain (an example of the cereal transporting device) is large. A switch for lowering the conveying speed of the threshing feed chain when the amount of the rice is small is provided at a place where the pillow handling work is performed. Further, Patent Document 1 includes a voice recognition device, and when both hands are occupied when a pillow handling operation is started, a configuration in which an operator starts a threshing feed chain by making a start voice is also provided. Proposed. The amount of cereal that is transported in pillow handling is less than that in mowing and threshing.Therefore, the transfer speed of the threshing feed chain is increased when shifting from mowing and threshing to pillow handling and when shifting from pillow handling to mowing and threshing. Although there is a need to change, the amount of cereals thrown in in the pillow handling operation is almost constant, and it is not so often that the conveying speed of the threshing feed chain is adjusted during the pillow handling operation. The switch operation during the pillow handling operation using both hands is a troublesome operation for the operator, and the voice recognition in the noise of the threshing device is difficult, and a special voice recognition technique is required.

  Moreover, in order to improve the safety of the pillow handling work, in Patent Document 2, a camera that can detect an operator in the vicinity of the pre-cutting processing apparatus is equipped, and when the pillow handling switch is in the ON state, When a person is identified, a combine has been proposed in which the transmission between the reaping device and the take-up reel is interrupted and the take-up reel is raised. In this configuration, when the pillow handle switch is turned ON in advance and the worker comes to a position close enough to supply the grain auger for the pillow handling work, the reaping device, the take-up reel, Safety is ensured by stopping the rotation. However, this problem can be solved by stopping the harvesting device and the take-up reel by turning on the pillow handle switch, so that the person detection using the camera only for stopping the harvesting device and the take-up reel is performed. Is inefficient.

JP 2004-267029 A JP 2005-245324 A

  In view of the above circumstances, there is a need for a combine in which a pillow handling operation is performed under more appropriate control.

The combine according to the present invention includes a threshing device driven by the rotational power of the engine, and a culm transporting device that is driven by the rotational power of the engine and transports the culm harvested by the cutting unit to the threshing device . a combine, by changing the rotational speed of said engine, said a threshing control unit for controlling the rotational speed of the conveying speed and the threshing apparatus culms conveying device, the operator manually during pillow ironing working culms A pillow handling cereal supply unit for supplying to the cereal conveying device, an operating state detecting unit for detecting the operating state of the combine, and the operator located near the pillow handling cereal supply unit A data processing unit that signals voice or behavior representing the work intention or both as work intention information; and the worker's work intention from the work intention information signaled by the data processing unit. Condition information evaluation unit that evaluates, that drive is detected of the by the operating state detecting unit and the stop of the reaper and body stop of the combine the threshing apparatus and the culms conveying device, wherein the information evaluated A control command output unit that outputs a control command for changing the rotational speed of the engine to the threshing control unit based on the evaluation result of the unit.

  According to this configuration, the control command related to the pillow handling work is generated and output based on the operation state of the combine detected by the operation state detection unit and the work intention of the worker evaluated by the information evaluation unit. The Examples of the operation state of the combine include, for example, the aircraft's traveling state (stop, low-speed traveling, high-speed traveling), engine drive state (stop, low-speed rotation, high-speed rotation), cutting state driving state (stop, driving), threshing device The drive state (stop, low speed drive, high speed drive) and the like are included. Also, supporting the work intention of the worker evaluated by the information evaluation unit is the voice and behavior of the worker signaled by the data processing unit. As shown in the prior art, it is difficult and expensive to evaluate an operator's exact work intention based solely on the worker's voice and behavior. However, even if the operator's work intention is not evaluated so accurately, control matching the worker's work intention can be performed by combining the evaluation result and the combine operating state. In particular, the pillow handling operation involves driving conditions such as stopping the combine and stopping the harvesting unit, so the control commands related to the pillow handling operation based on the detection result of the driving state detection unit and the evaluation result of the information evaluation unit are accurate. Thus, appropriate control is realized.

If the pillow handling work starts, it can be assumed that the subsequent operator's work intention is related to the pillow handling work, and the accuracy of the evaluation of the work intention increases. However, the evaluation of the start of the pillow handling operation is prone to error. For this reason, in one of the preferred embodiments according to the present invention, there is provided a pillow handling start operation tool that outputs a pillow handling start command for commanding the start of pillow handling control to the threshing control unit, and is based on the pillow handling start command. the pillow squeezing control, the control command output section is waited until outputs a control command to allow the pillow ironing working. Based on the detection result of the driving state detection unit and the evaluation result of the information evaluation unit, it is possible to generate a control command for permitting the pillow handling work, but this pillow handling work permission control command is started based on the operator's operation. By waiting until an instruction is issued, an error based on an erroneous evaluation by the information evaluation unit can be avoided.

  In one preferred embodiment of the present invention, the data processing unit is configured as a voice processing unit that generates the work intention information from a voice uttered by the worker. In this configuration, the data processing unit converts the worker's voice into data and sends it as work intention information to the information evaluation unit. The conversion of voice into character data necessary for the final evaluation of work intention may be performed by a data processing unit that is a voice processing unit or an information evaluation unit. In any case, the words uttered by the operator are output from the control command output unit as highly reliable pillow handling control commands by referring to the detection result of the driving state detection unit. Speech recognition processing is relatively simple because the words that are issued by the operator during pillow handling work and become pillow handling control commands are limited to “accelerate”, “decelerate”, “stop”, etc. It is convenient. In addition, since the noise of a combine, especially the noise of a threshing apparatus is a loud volume at the time of pillow handling work, it is preferable to provide the voice processing unit with a filter processing function for reducing this noise. In such a filtering process, a frequency component that is separated from the main speech frequency component of a person among the noise frequency components of the combine, particularly the threshing device, is removed from the detected speech signal.

In order to satisfactorily detect and signal the voice and behavior representing the work intention of the worker, the data processing unit is preferably located near the worker and not obstructed by any object. For this reason, the data processing unit is required to be freely arranged and to be able to easily exchange information (data transmission) with the information evaluation unit. In order to satisfy this requirement, in one of the preferred embodiments of the present invention, the data processing unit outputs voice and / or behavior indicating the work intention of the worker located near the pillow handling cereal supply unit. It is constructed in a data processing communication terminal that converts and transmits data as the work intention information, and the information evaluation unit analyzes the work intention of the worker from the work intention information received through data communication from the data processing communication terminal. It is configured. A typical data processing communication terminal is a tablet computer or a smartphone. In particular, since most smartphones are brought by operators and have a microphone function and a camera function, it is suitable as a data processing communication terminal here by installing an application that realizes a control function necessary for the smartphone. is there. For example, using a voice recognition function of a smartphone, voice generated by an operator can be converted into character data and transmitted to the information evaluation unit by data communication. At that time, if the worker wears a smartphone, the distance between the microphone and the mouth is reduced, and the influence of noise from the threshing device or the like is reduced. In addition, if the camera function of the smartphone is used to convert the captured image obtained by photographing at least a part of the worker into data and send it to the information evaluation unit by data communication, it is not necessary to prepare a separate camera on the combine side. It is advantageous.

  If an operator cannot wear a data processing communication terminal such as a smartphone, or if an appropriate position cannot be secured by wearing it, data processing communication is performed at an appropriate location on the combine component near the pillow handling unit. A terminal will be placed. For this reason, in one of the preferred embodiments of the present invention, a holder for holding the data processing communication terminal is provided around the pillow handling cereal supply unit. Employing such a holder is particularly advantageous in that the camera position can be fixed when a photographed image obtained by photographing a worker's behavior using the camera function of the data processing communication terminal is used as work intention information. At this time, if the holder is configured as a cradle that relays data communication between the data processing communication terminal and the information evaluation unit, stable data communication between the data processing communication terminal and the information evaluation unit is possible. can get. In addition, when the data processing communication terminal is a smartphone or a tablet computer, charging is possible through a cradle, which is convenient.

It is a schematic diagram explaining the flow of basic control at the time of the pillow handling operation | work in the combine of this invention. It is a side view which shows one of the specific embodiment of the combine by this invention. It is a top view which shows a reaping part, a corn straw conveyance apparatus, and a pillow handling corn straw supply part. It is a schematic diagram which shows a traveling system power transmission path and a work system power transmission path. It is a front view which shows the pillow handling cereal supply part. It is a side view which shows the pillow handling gate in a supply prohibition state. It is a side view which shows the pillow handling gate in the supply possible state. It is a functional block diagram which shows the specific structure of the function part which functions at the time of pillow handling work, and the flow of control based on the voice at the time of pillow handling work. It is a functional block diagram which shows the specific structure of the function part which functions at the time of pillow handling work, and the flow of control based on the picked-up image at the time of pillow handling work.

  Before describing a specific embodiment of a combine according to the present invention, a basic control flow during a pillow handling operation in the combine according to the present invention will be described with reference to FIG. Although only schematically shown in FIG. 1, the combine according to the present invention threshs the harvester 3 driven by the rotational power of the engine 40, the threshing device 7, and the cereals harvested by the harvester 3. The cereal conveyance apparatus FA conveyed to the apparatus 7 is provided. The rotational power of the engine 40 is simultaneously transmitted to the traveling system device 2A such as a speed change mechanism, and the combine travels by rotating a crawler and wheels not shown in FIG. The threshing control unit 51 controls the conveying speed of the cereal conveying device FA and the rotational speed of the threshing device 7.

  A pillow-handled cereal supply unit 8 for manually supplying cereals to the cereal-conveying device FA during the pillow handling operation is formed in an area between the reaping unit 3 and the threshing device 7. The pillow-handled cereal supply unit 8 is configured so as to easily load the hand-cut cereal into the cereal conveyance device FA configured by a chain conveyor or the like. A data processing unit 9 is located in the peripheral area of the pillow handling cereal supply unit 8. The data processing unit 9 has a function of signaling voice and / or behavior representing the work intention of an operator located near the pillow handling cereal supply unit 8 as work intention information. The data processing unit 9 converts voice (words) produced by the worker into voice data (signaling) and sends the voice data to the pillow handling management unit 60 that manages the pillow handling work as work intention information representing the worker's intention to work. Or a function of converting a worker's behavior (gesture, moving direction, etc.) into image data (signaling) and sending it to the pillow handling management unit 60 as work intention information representing the work intention of the worker, or both functions It is what you have. Here, it is assumed that the voice information of the worker is sent to the pillow handling management unit 60 for the time being. In addition, the data processing unit 9 may be a fixed processing unit attached to the combine or may be brought to the worker as a data processing communication terminal. In FIG. Is used as a data processing communication terminal. The smartphone includes a voice processing unit having a voice recognition function, and the worker's voice input from the smartphone's microphone is converted into character data and sent to the information evaluation unit 65 using WiFi communication.

  The pillow handling management unit 60 includes an information evaluation unit 65, a pillow handling work determination unit 61, and a control command output unit 63. The information evaluation unit 65 receives voice information (a kind of work intention information) converted into character data from a smartphone which is the data processing unit 9. The information evaluation unit 65 reads a word corresponding to the control command executed by this combine from the dictionary table based on the received character data, and sends it to the control command output unit 63 as an evaluation result. In the dictionary table, words corresponding to control commands executed in this combine are registered in advance.

  Combines are originally switches and sensors that detect the power transmission state (running / cutting state of various clutches, gear shifting position, etc.) in the traveling system power transmission path and work (cutting / threshing) system power transmission path, engine speed and machine speed. Detection that detects various operating states (such as the stop state of the fuselage, the drive state of the reaping unit 3, the drive state of the threshing device 7), such as a sensor that measures the level of the machine body and a sensor that detects the operation position of various operation levers. An operating state detection unit 70 comprising a vessel is provided. Therefore, various operating states of the combine can be determined from the detection result from the operating state detection unit 70. For example, when the harvesting / threshing operation is interrupted and the pillow handling operation is performed, the driver (operator) stops the combine and stops the harvesting unit 3, but the driving of the threshing device 7 is maintained as it is. Since the driving of the threshing device 7 is maintained as it is and the reaping unit 3 is stopped, the pillow handling operation determination unit 61 determines that the pillow handling operation from the reaping threshing operation is performed based on the detection result from the operation state detection unit 70 under such a situation. Transition to work can be determined. The pillow handling work determination unit 61 sends the determination result to the control command output unit 63.

  The control command output unit 63 is a control command to the threshing control unit 51 that controls the equipment related to the pillow handling work and the mowing threshing work based on the operator's words that are the evaluation results sent from the information evaluation unit 65. Is generated. At that time, the determination result of the pillow handling operation determination unit 61 is taken into consideration. For example, when the pillow handling work determination unit 61 has determined the transition from the mowing and threshing work to the pillow handling work, a control command limited to the pillow handling work is generated from the words of the operator. For example, when the word “deceleration” is evaluated at the time of shifting to the pillow handling operation, the conveyance speed of the cereal conveyance device FA is decelerated. When the word “acceleration” or “deceleration” is evaluated while the pillow handling operation determination unit 61 determines the pillow handling operation, the conveyance speed of the cereal conveyance device FA is increased or decreased. . Further, when the word “stop” is evaluated, the cereal conveyance device FA is immediately stopped.

  As schematically shown in FIG. 1, the corn straw transporting device FA is driven by the rotational power of the engine 40, so when the rotational speed of the engine 40 is increased or decreased, the transport speed of the corn straw transporting device FA is also increased or decreased. . Therefore, when the threshing control unit 51 is instructed as a pillow handling control command from the control command output unit 63 as “acceleration”, “deceleration”, and “stop”, the engine control unit 41 receives “ Requests "Increase speed", "Decelerate", and "Stop". Upon receiving the request, the engine control unit 41 gives a command (operation signal) according to the request to the engine 40 as an exception process of normal engine speed control.

  In addition, in FIG. 1, the pillow handling start operation tool 71 which outputs the pillow handling start command which commands the start of pillow handling control to the threshing control part 51 is also shown. This is operated by an operator, and the operator can clearly indicate the operator's intention to start the pillow handling operation by operating the pillow handling start operation tool 71. Accordingly, the pillow handling start operation tool 71 can be used as a substitute for the function of the pillow handling work determination unit 61, but both may be utilized. When shifting from the mowing threshing operation to the pillow handling threshing operation, by operating the pillow handling start operation tool 71 arranged in the operation control area, the threshing control unit 51 directly shifts from the mowing threshing control to the pillow handling threshing control. Transition is commanded. However, the threshing control unit 51 does not immediately switch to pillow handling control upon receiving this pillow handling start command, but the control command output unit 63 controls based on information from the information evaluation unit 65 and the pillow handling work determination unit 61. Wait until the command is output. When the pillow handling control command from the control command output unit 63 and the pillow handling start command based on the operation of the pillow handling start operation tool 71 are aligned, the control command to the threshing control unit 51 is output. Thereby, malfunction of pillow handling control is reduced.

  In the flow of control at the time of the pillow handling operation described with reference to FIG. 1, a voice processing unit having a voice analysis function of a smartphone is used as the data processing unit 9 that sends the work intention information to the information evaluation unit 65. Was character data meaning the words uttered by the worker. While using a smartphone in the same manner, an embodiment using an image communication function for transmitting a camera of a smartphone and a photographed image thereof to the outside as the data processing unit 9 is also possible. In this case, the work intention information is image data indicating the behavior of the worker (such as a gesture). The information evaluation unit 65 analyzes the image data to obtain the operator's intention. Of course, an image analysis function for obtaining the operator's intention may also be constructed on the smartphone side.

  Next, a self-removing combine that is one of the specific embodiments of the combine according to the present invention will be described with reference to the drawings. FIG. 2 shows an overall side view of the self-detaching combine. A cutting body 3 is provided on a traveling machine body 2 equipped with a crawler traveling device 1 so as to be movable up and down. Behind the reaping unit 3 are a threshing device 7 for threshing the harvested cereal from the reaping unit 3 and a grain tank 12 for temporarily storing the grains carried out of the threshing device 7 in the left-right direction. Is provided. The reaping unit 3 includes a pulling device 4 that raises the planted cereal cocoon, a reaping device 5, and a vertical conveying device 6 that conveys the reaped cereal cocoon to the threshing device 7. A driving control unit DA is formed on the lateral side of the vertical transfer device 6. On the laterally outer side of the threshing device 7, a threshing feed chain 10 is provided that receives the harvested cereal meal from the harvesting unit 3 and conveys it into the threshing device 7.

  As shown in FIG. 3, the vertical conveying device 6 includes a stock holding mechanism 6A that holds the harvested cereal rice cake in a vertical posture, and a stock holding mechanism that locks the tip of the head above the stock holding mechanism 6A. A tip locking conveyance mechanism 6 </ b> B that conveys in cooperation with 6 </ b> A and a supply conveyance device 6 </ b> C that guides the stock of the conveyed cereal toward the threshing feed chain 10 at a position immediately before the threshing device 7. As shown in FIG. 4, the rotational power from the engine 40 is transmitted to the supply / conveyance device 6 </ b> C via the lateral transmission shaft 13 and the vertical transmission shaft 14. Although not shown, the stock holding and conveying mechanism 6A and the tip locking and conveying mechanism 6B also transmit power from the longitudinal transmission shaft 14.

  The threshing feed chain 10 is guided by a guide plate from the conveyance start end side to the conveyance rear end side, and is driven by the drive sprocket 10A on the conveyance rear end side. For this reason, the rotational power of the engine 40 is transmitted to the drive sprocket 10 </ b> A of the threshing feed chain 10 through the gear mechanism 20 from the rotational shaft of the dust exhaust fan 19 which is transmitted via the red shaft 17 and the belt transmission mechanism. As a mechanism for arbitrarily switching between driving and stopping of the threshing feed chain 10, an electromagnetic clutch type transport clutch 28 is provided in the gear mechanism 20. That is, in this embodiment, the culm conveying device FA that is driven by the rotational power of the engine 40 and conveys the cereal harvested by the reaping unit 3 to the threshing device 7 includes the vertical conveying device 6 and the threshing feed chain 10. Has been.

  As is clear from FIG. 6, a holding rail 11 is provided above the threshing feed chain 10 shown in FIG. 5. The holding rail 11 includes a support body 11b and a guide rail portion 11a that is suspended from the support body 11b by a pin connection so as to be movable up and down. A spring is disposed between the guide rail portion 11a and the support main body 11b, and is biased downward by this spring, that is, so as to approach the threshing feed chain 10. The stocker of the cereal mash that has entered between the threshing feed chain 10 and the guide rail portion 11a is held by the threshing feed chain 10 and the guide rail portion 11a, so that the cereal shed is handled in the handling chamber of the threshing device 7. And is handled.

  On the lateral side of the threshing feed chain 10, a cover body 22 that covers the lateral sides is provided. Further, a bowl-shaped cover plate 22A projects laterally from the cover body 22 on the front side of the front end of the threshing feed chain 10 (see FIG. 5). Furthermore, although only schematically shown in FIGS. 3 to 7, the starter region of the threshing feed chain 10 is a pillow handling cereal supply unit for manually supplying the threshing cereal to the threshing feed chain 10. 8 is formed. In the area of the pillow handling cereal supply unit 8, the cereal is caught between the guide rail part 11 a and the threshing feed chain 10 by placing the cereals that the operator has hand-cut on the threshing feed chain 10. , Receive the handling effect. A protrusion 10a is formed on the link plate of the threshing feed chain 10 so as to easily carry and transport the cereal straw (see FIGS. 6 and 7).

  Pillow that can be selected between a supply enabled state that allows manual supply of pillow handled cereal meal in the pillow handling cereal supply unit 8 and a supply prohibited state that prohibits manual supply of pillow handled cereal meal The handling gate 80 is provided as a blocking bar mechanism having a swinging pillow handling blocking bar 81. FIG. 6 shows the posture of the pillow handling blocking bar 81 in the supply prohibited state, and FIG. 7 shows the posture of the pillow handling blocking bar 81 in the supply enabled state.

  The pillow handling blocking bar 81 is made of a round bar or a flat plate, and a pair of attachment portions 81a and 81b are provided on the upper surface of the bar. The support portion 82 fixed to the wall of the threshing device 7 to support the support body 11 b of the holding rail 11 is also used as a support member for the pillow handling blocking bar 81. A support arm 84 that functions as a swing arm of the blocking bar mechanism is supported by the support portion 82 via a swing shaft 83 so as to be swingable up and down. One mounting portion 81a of the pillow handling blocking bar 81 is swingably connected to the distal end side of the support arm 84, and the other mounting portion 81b is disposed at an intermediate portion of the support arm 84 so as to be reciprocally displaceable via the support rod 85. It is connected.

  As the support arm 84 swings around the swing shaft 83, the pillow handling blocking bar 81 moves up and down with respect to the conveyance start end of the threshing feed chain 10, and the lowered position shown in FIG. The state is switched between the prohibition state and the lift release position shown in FIG. In this embodiment, an electric motor type actuator 87 interlocked with the swing shaft 83 is employed for the swing of the pillow handling blocking bar 81 for this switching. The pillow handling bar 81 at the lowered position is in a state along the conveyance start end of the threshing feed chain 10. Even when the power supply to the actuator 87 is stopped at this lowered position and the static force is reduced (the static torque of the motor works), the spring 86 attached over the support arm 84 and the support portion 82 is used as a toggle spring. Since it is attached so as to function, the support arm 84 is held and biased to the lowered position. Further, the holding spring 85 a attached to the support rod 85 slidably biases the support rod 85 toward the threshing feed chain 10, so that the lower surface of the pillow handling bar 81 is the conveyance start end of the threshing feed chain 10. It becomes a state to be applied to the part and urged. This means the realization of two functions. One of them is that the conveyance start end region of the threshing feed chain 10 as the pillow handling cereal supply unit 8 is blocked by the pillow handling blocking bar 81, and the pillow handling cereal can be placed on the threshing feed chain 10 from above. First, it is impossible to handle pillows. The pillow handling blocking bar 81 at the lowered position functions as a pillow handling blocking bar. Another is to guide the threshing cereal from the reaping unit 3 to the threshing feed chain 10 at the time of the reaping and threshing operation. That is, the pillow handling bar 81 pushes the harvested cereal rice cake from the top while pushing the stock side of the harvested potato grain from the cutting part 3 to the lower side of the pillow handling bar 81 by the bending part 81c on the tip side. It guides toward the conveyance start end part of the threshing feed chain 10 so that the inheritance conveyance to the threshing feed chain 10 is performed reliably. The guided harvested cereal meal is further guided from the starting end of the threshing feed chain 10 between the threshing feed chain 10 and the guide rail portion 11a. The pillow handling bar 81 functions as a harvested culm guide bar.

  As shown in FIG. 7, the pillow handling blocking bar 81 in the lift release position is entirely spaced upward from the threshing feed chain 10, and the pillow handling cereal basket is placed above the conveyance start end region of the threshing feed chain 10. The upper part of the conveyance start end region of the threshing feed chain 10 is opened so that it can be artificially supplied. At this time, the spring 86 that functions as a toggle spring is switched to a state in which the support arm 84 is oscillated and oscillated to raise the support arm 84 so as to oscillate the support arm 84. 81 is held at the lift release position.

  When performing the work (reaping and threshing work) for automatically harvesting cereals by the reaping unit 3 and automatically supplying them to the threshing device 7, a control signal for switching the pillow handling bar 81 to the lowered position (supply disabled state) is received. It is given to the actuator 87. On the contrary, when performing the pillow handling operation, a control signal for switching the pillow handling blocking bar 81 to the raised position (supplyable state) is given to the actuator 87.

  When the swing of the pillow handling blocking bar 81 is manually operated instead of the actuator 87, the swinging shaft 83 or the like is instructed by a command from the threshing control unit 51 so as not to operate the pillow handling blocking bar 81 by mistake. It is preferable to provide an electromagnetic locking device for locking.

  FIG. 8 is a functional block diagram illustrating functional units related to pillow handling control executed during pillow handling work. In this embodiment, the operating devices controlled for pillow handling control are the engine 40 and the actuator 87 that operates the pillow handling blocking bar 81. On the other hand, the rotational power of the engine 40 is transmitted to the crawler type traveling device 1 through the traveling system power transmission path, so that the speed of the crawler type traveling device 1 is changed by controlling the rotational speed of the engine 40. Moreover, since the rotational power of the engine 40 is transmitted to the threshing feed chain 10 through the work system power transmission path on the other hand, when the rotational speed of the engine 40 is changed, the conveyance speed of the threshing feed chain 10 is also changed. . In addition, the threshing feed chain 10 can be stopped by closing the conveying clutch 28 (see FIG. 4). The rotational power of the engine 40 is also transmitted to the reaping unit 3 and the threshing device 7, but the reaping unit 3 is cut off even when the engine is driven by cutting off the power transmission by a reaping clutch or threshing clutch (not shown). And the threshing device 7 can be stopped.

  The pillow handling operation determination unit 61, the information evaluation unit 65, and the pillow handling operation determination unit 61 included in the pillow handling management unit 60 illustrated in FIG. 8 perform the pillow handling control described with reference to FIG. Since a function for executing the function is provided, a detailed description of the function is omitted here. In this embodiment, the threshing control unit 51 not only adjusts the engine speed through the engine control unit 41 (resulting in speed adjustment of the threshing feed chain 10), but also uses the actuator 87 for the pillow handling blocking bar 81. Attitude control is also performed. Here, since a smartphone is used as the data processing unit 9, the same drawing number 9 as the data processing unit 9 is assigned to the smartphone thereafter.

  First, the flow of control at the time of transition from mowing and threshing work to pillow handling work will be described. In order to perform the pillow handling work, the driver stops the combine at an appropriate position in the field and stops the cutting unit 3, but the driving of the threshing device 7 and the threshing feed chain 10 is left as it is (# 21). : Preparation for pillow handling work).

  Here, the operation state detection unit 70 stops the fuselage (combine) from a signal from a speed sensor (not shown), stops the cutting unit 3 from a state signal of a cutting clutch (not shown), and a status signal of a threshing clutch (not shown). To detect driving of the threshing device 7 and the threshing feed chain 10 (#a: detecting an event accompanying preparation of a pillow handling operation). The pillow handling operation determination unit 61 that has received such a detection result from the operation state detection unit 70 determines that the operation state of the combine is the preparation state of the pillow operation, and controls the determination result as a pillow operation determination flag. It outputs to the command output part 63 (#b: Pillow handling work determination).

  An operator goes to the pillow handling cereal supply unit 8 to perform the pillow handling operation. The worker who has reached the pillow handling cereal supply unit 8 activates a voice recognition application installed in the smartphone 9 he / she brings, and constructs a voice processing unit having a voice recognition function in the smartphone 9. That is, here, the smartphone 9 also functions as an audio processing unit. The worker utters “start” to start the pillow handling operation (# 22: utterance “start”). The voice recognition function of the smartphone 9 that has input voice from a microphone (not shown) converts this voice into character data (“start”) and sends it to the information evaluation unit 65 as work intention information (# 23: work intention “start”). Send). The information evaluation unit 65 evaluates that the operator's work intention is the start of the pillow handling work from the received character data indicating “start”, and controls the transition from the mowing threshing control to the pillow handling control as an evaluation result. This is given to the command output unit 63 (# 24: the evaluation result is shifted to pillow handling control).

  When the pillow handling control command output unit 64 receives the pillow handling work determination flag indicating the pillow handling status (including preparation) and the evaluation result indicating the shift to the pillow handling control, the pillow handling control from the harvesting / threshing control is performed. To shift to the threshing control unit 51 (# 25: pillow handling control transfer command).

  The threshing control unit 51 that has received the transition instruction to the pillow handling control activates the pillow handling control program in order to shift from the harvesting threshing control to the pillow handling control (# 26: start of the pillow handling control). This pillow handling control program requests, for example, the engine control unit 41 to set the engine speed to the pillow handling engine speed suitable for the pillow handling work (# 27: request the pillow handling engine speed). . The pillow handling engine speed is slightly higher than the idling speed and is lower than the engine speed used in normal mowing and threshing work. The number of revolutions of the pillow handling engine is set in advance so as to obtain a handling cylinder rotation speed of the threshing device 7 and a conveyance speed of the threshing feed chain 10 suitable for the pillow handling operation, but can be adjusted. Furthermore, the pillow handling control program gives a drive signal for swinging the pillow handling blocking bar 81 to the lift release position to the actuator 87 (# 28: release of blocking the pillow handling cereal). With the above procedure, formal pillow handling work can be started.

  In this pillow handling work, the worker gives various work intentions to the combine through the utterance of various words. For example, the operator utters “decelerate” in order to reduce the conveying speed of the threshing feed chain 10 to a speed suitable for the pillow handling operation (# 22a: utterance “decelerate”). The voice recognition function of the smartphone 9 that has input voice from a microphone (not shown) converts this voice into character data ("deceleration") and sends it to the information evaluation unit 65 as work intention information (# 23a: work intention "deceleration"). Send). The information evaluation unit 65 evaluates from the received character data indicating “deceleration” that the operator's intention to work reduces the conveying speed of the threshing feed chain 10, and sets the conveying speed to a speed suitable for pillow handling. An evaluation result indicating deceleration is given to the control command output unit 63 (# 24a: transport speed “deceleration”). The control command output unit 63 outputs a deceleration command to the threshing control unit 51 on the basis of the evaluation result and the detection result of the pillow handling work state from the operation state detection unit 70 (# 25a: deceleration command) ), The rotational speed of the engine 40 is lowered, and as a result, the conveying speed of the threshing feed chain 10 is lowered.

Further, when some emergency occurs or when it is desired to take a break, the worker utters “stop” in order to stop the threshing feed chain 10 (# 22b: utterance “stop”).
This is also sent to the information evaluation unit 65 as a work intention (# 23b: transmission of the work intention “stop”), and the information evaluation unit 65 evaluates that the intention of the worker is to stop the threshing feed chain 10. (# 24b: transport “stop”). Based on the result of this evaluation and the detection result that is the pillow handling work state from the operation state detection unit 70, the control command output unit 63 outputs an emergency stop command to the threshing control unit 51 (# 25b: emergency stop command) ). In response to this emergency stop command, the threshing control unit 51 stops at least the threshing feed chain 10 by disconnecting the transport clutch 28 (# 27b: output of the cutoff control signal), and in some cases stops the threshing device 7. In order to stop the threshing device 7, a threshing clutch (not shown) may be shut off, or the engine 40 may be stopped.

  The flow of control at the time of transition from the mowing and threshing operation to the pillow handling operation is as follows. Since the pillow handling operation is completed and the reaping and threshing operation is performed again, the operator utters “End” before leaving the pillow handling cereal supply unit 8 or on the way back to the driving control unit DA (# 22c: utterance). "End"). This is also sent to the information evaluation unit 65 as a work intention (# 23c: transmission of work intention “end”), and it is evaluated that the worker's intention is the end of the pillow handling work (# 24c: work “end”). ). Based on the evaluation result and the detection result that the pillow handling work state is from the operation state detection unit 70, the control command output unit 63 outputs a pillow handling control end command to the threshing control unit 51 (# 25c: Pillow handling control end command). The threshing control unit 51 that has received the pillow handling control end command ends the pillow handling control program (# 26c: end of the pillow handling control). At the end of this pillow handling control program, initial processing of mowing and threshing control is performed. In this initial process, the engine control unit 41 is required to set the engine speed to a normal mowing and threshing engine speed suitable for mowing and threshing work (# 27c: mowing and threshing speed request). The mowing and threshing engine rotational speed is the rated engine rotational speed for efficiently using the performance of the engine 40 or a rotational speed similar thereto, and is higher than the engine rotational speed used in the pillow handling operation. The cutting and threshing engine rotation speed is set in advance so that the handling cylinder rotation speed of the threshing device 7 and the conveyance speed of the threshing feed chain 10 suitable for the cutting and threshing operation are obtained. Further, the pillow handling control unit 52 gives a drive signal for swinging the pillow handling blocking bar 81 to the lowered position to the actuator 87 (# 28c: prohibition of supply of the pillow handling cereal). Thereby, formal mowing and threshing work can be started.

  FIG. 9 shows a flow of control when a pillow handling operation is performed while estimating a work intention based on a worker's behavior photographed by a camera instead of a voice. The basic configuration here is the same as that of FIG. 8, but is different by using an image processing function instead of the voice processing function of the smartphone 9. In this embodiment, the worker located in the pillow handling cereal supply unit 8 attaches the smartphone 9 brought to the cradle 9A provided on the outer wall panel of the combine. The cradle 9 </ b> A is positioned so that the camera of the attached smartphone 9 can catch the worker who performs the pillow handling work. The cradle 9A is connected to the information evaluation unit 65 so that data transmission is possible. The captured images acquired by capturing at a predetermined cycle are subjected to necessary image processing, and sent to the information evaluation unit 65 as work intention information via the communication unit and the cradle 9A. The cradle 9 </ b> A may be a simple holder. In this case, the smartphone 9 sends image data that is work intention information to the information evaluation unit 65 using the WiFi function. Of course, the camera used here may be a dedicated camera provided in the combine instead of the camera of the smartphone 9. In addition, if there is a peripheral monitoring camera installed as a back monitor or a side monitor, it can be used.

  In any case, since the image data with the worker as the subject is sent to the information evaluation unit 65, the posture and behavior (gesture) of the worker that can be read from the image data is sent to the information evaluation unit 65. Is provided with an image evaluation function for evaluating the operator's intention to work. For example, it is evaluated that there is an intention to decelerate from an image with the fingertip facing downward, and it is evaluated that there is an intention to stop work from an image that intersects both arms.

  When the preparation for the pillow handling work is performed (# 31), camera shooting is started. When the worker performs a behavior indicating “start” (# 32), the image data acquired at that timing is sent to the information evaluation unit 65 (# 33). The information evaluation unit 65 evaluates from the received image data that the operator's work intention is started. Similarly, when the worker performs a behavior indicating “deceleration” (# 32a), the image data acquired at that timing is sent to the information evaluation unit 65 (# 33). The information evaluation unit 65 evaluates from the received image data that the operator's intention to work is deceleration. When the worker performs a behavior indicating “stop” (# 32b), the image data acquired at that timing is sent to the information evaluation unit 65 (# 33). The information evaluation unit 65 evaluates from the received image data that the operator's intention to work is a hand. When the worker performs a behavior indicating “end” (# 32c), the image data acquired at that timing is sent to the information evaluation unit 65 (# 33). The information evaluation unit 65 evaluates from the received image data that the operator's work intention is complete. Since the same control flow as that in FIG. 8 is used for the control flow after the information evaluation unit 65, the description thereof is also used.

[Another embodiment]
(1) In the above-described embodiment, as the data processing unit 9 that signals the voice or behavior representing the work intention of the worker located near the pillow handling cereal supply unit 8 or both as work intention information, A smartphone 9 representative of a portable data processing communication terminal has been adopted. Instead, a mobile phone, a tablet computer, a notebook computer, or a wearable information terminal may be used as the data processing communication terminal. Furthermore, a stationary information processing device attached to a combine may be employed as the data processing unit 9 instead of being carried by an operator.
(2) The division of the functional units shown in FIGS. 1, 8, and 9 is an example, and the integration of the functional units and the division of the functional units are arbitrary. As long as the control function of the present invention is realized, any functional unit configuration may be used, and these functions may be realized by hardware and / or software.
(3) In order to reduce the difficulty of hearing the utterance of the worker due to noise from the threshing device 7 or the cereal conveyance device FA, filter processing for cutting such noise components is performed at the voice processing stage. Is effective. In order to effectively perform this filtering process, it is preferable to set a noise filter based on noise collected by an actual combine instead of employing a general noise filter. Further, since the voice of the worker varies considerably from person to person, it is also preferable to register in advance a word representing the worker's representative work intention and use it for voice recognition.
(4) The pillow handling gate 80 can be realized in various forms such as a slide type and a rotary type in addition to the swing type pillow handling blocking bar 81 as in the above-described embodiment. Further, like the pillow handling blocking bar 81 described above, it is not essential to function as a harvested grain culm guide bar at the time of harvesting and threshing. The harvested cereal guide bar may be provided separately. Furthermore, a pillow handling culm guide body that guides the threshing feed chain 10 to a pillow handling cereal that changes its posture integrally or separately with the pillow handling blocking bar 81 may be provided.
(5) Although one condition for estimating the preparation for pillow handling work is the travel stop (stop) of the combine, the meaning of this travel stop (stop) is not strict. It includes ultra-low speeds that allow work.

  The present invention is applicable to a combine capable of handling a pillow.

1: Crawler type traveling device 3: Harvesting unit 6: Vertical conveying device 7: Threshing device 8: Pillow handling cereal supply unit 9: Data processing unit (data processing communication terminal, smartphone)
9A: Cradle (holder)
91: 1st receiver 92: 2nd receiver (magnetic substance detector)
10: Threshing feed chain 40: Engine 41: Engine control unit 51: Threshing control unit 60: Pillow handling management unit 61: Pillow handling operation determination unit 63: Control command output unit 65: Information evaluation unit 70: Operating state detection unit 71: Pillow handling start operation tool 80: Pillow handling gate 81: Pillow handling blocking bar FA: Grain feeder

Claims (7)

A threshing device driven by the rotational power of the engine;
A corn straw transporter that is driven by the rotational power of the engine and that transports the sorghum harvested by the reaping part to the threshing device ,
By changing the rotation speed of the engine, a threshing control unit that controls the conveyance speed of the cereal conveying apparatus and the rotation speed of the threshing apparatus;
Pillow handling cereal supply unit for an operator to manually supply cereals to the cereal conveying device during pillow handling work,
An operation state detection unit for detecting the operation state of the combine;
A data processing unit that signals voice or behavior or both representing work intention of the worker located near the pillow handling cereal supply unit, as work intention information;
An information evaluation unit for evaluating the work intention of the worker from the work intention information signaled by the data processing unit;
Based on the evaluation result of the information evaluation unit , provided that the operation state detection unit detects the combine machine stop, the mowing unit stop, and the drive of the threshing device and the cereal conveyance device , And a control command output unit that outputs a control command for changing the rotational speed of the engine to the threshing control unit with respect to the pillow handling operation. Pillow ironing pillow ironing start operation member for outputting a pillow ironing start command to the threshing control unit for commanding the start of the control is provided, the pillow ironing based on the pillow squeezing start instruction control, the control command output section is the pillow The combine according to claim 1, which is on standby until a control command for permitting handling work is output.   The combine according to claim 1 or 2, wherein the data processing unit is configured as a voice processing unit that generates the work intention information from a voice uttered by the worker.   The combine according to claim 3, wherein the voice processing unit has a filter processing function for reducing noise of the combine from the received voice. The data processing unit may be constructed speech or behavior, or both represent the work intention of the operator that is located near the pillow ironing culms supply unit to the data processing communication terminal and transmits the data as the work intention information And
The combine according to any one of claims 1 to 4, wherein the information evaluation unit analyzes the work intention of the worker from the work intention information received from the data processing communication terminal through data communication.   The combine according to claim 5, wherein a holder for holding the data processing communication terminal is provided around the pillow handling cereal supply unit.   The combine according to claim 6, wherein the holder is a cradle that relays data communication between the data processing communication terminal and the information evaluation unit.

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