JP6566856B2 - Grain quantity measuring device - Google Patents

Description

  The present invention relates to a grain amount measuring apparatus including a calculation unit that calculates a grain amount for each cutting position in a combine.

  In the grain amount measuring apparatus as described above, the calculation unit acquires the harvesting position information of the combine by a position detection unit having a GPS receiver, a vehicle speed sensor, or the like that recognizes the position of the combine, and stores it by the grain amount detection unit. The grain amount information in the department is acquired. The calculation part calculates the grain amount for each cutting position from each of the acquired information, and creates a grain amount map based on the calculation result (see, for example, Patent Document 1).

  On the other hand, in the combine, the control of the selection unit includes not only control for performing selection in the selection unit under normal selection conditions but also control for selection in the selection unit under non-normal selection conditions different from the normal selection conditions. (For example, refer to Patent Document 2).

  The normal sorting conditions are conditions for adjusting the chaff sheave opening in the sorting unit according to, for example, the amount of waste and the amount of processed material on the swing sorting device in the sorting unit. The non-normal selection condition is a condition in which the chaff sheave opening is set to an opening on the increase side with respect to the normal selection condition. For example, at the end of cutting, etc., the amount of slaughter is reduced due to the reduction of cereals harvested by the harvesting unit.At this time, if the chaff sheave opening is adjusted to the opening on the decreasing side, the sorting unit As a result, the third loss discharged outside the machine without being sorted increases. Therefore, at the end of cutting, etc., the sorting unit performs sorting under non-normal sorting conditions, thereby increasing the amount of grains stored in the storing unit and reducing the third loss.

JP 2000-354416 A Japanese Patent No. 3607457

  In the combine, the grains contained in the cereals harvested by the harvesting unit are transported to the storage unit through the threshing in the threshing unit and the sorting in the sorting unit, and the grain amount in the grain amount detection unit Since it is detected, there is a time delay from the time when the position detection unit detects the cutting position to the time when the grain amount detection unit detects the grain amount. Therefore, it is necessary to take this time delay into consideration when obtaining the grain amount for each cutting position.

  However, as described in Patent Document 2, the combine not only performs sorting in the sorting unit under normal sorting conditions, but also performs sorting in the sorting unit under non-normal sorting conditions. Therefore, the time required for sorting in the sorting unit differs depending on whether the sorting is performed under normal sorting conditions or non-normal sorting conditions. In the above-mentioned Patent Document 1, although what kind of time delay is taken into consideration when obtaining the grain amount for each cutting position is not clearly described, for example, simply considering a certain time delay The amount of grain for each cutting position cannot be determined appropriately.

  In view of this situation, a main problem of the present invention is to provide a grain amount measuring device capable of appropriately obtaining the grain amount for each cutting position.

The first characteristic configuration of the present invention is a combine that sorts the cereals harvested by the reaping part into grains and unnecessary substances at the sorting part, conveys the selected grains and stores them in the storage part, Calculation for calculating the grain amount for each cutting position based on the harvesting position information of the combine detected by the position detection unit and the grain amount information in the storage unit detected by the grain amount detection unit In the grain amount measuring device provided with a section,
The calculation unit is configured to associate the cutting position information with the grain amount information according to a normal association condition for the cutting position where the combine has been selected by the selecting unit under a normal selection condition. The harvesting position obtained by obtaining the grain amount and the combine that has been sorted by the sorting unit under a non-normal sorting condition different from the normal sorting condition is determined by the non-normal association condition different from the normal association condition. The information is configured to correlate the grain amount information with each other to obtain the grain amount for each cutting position ,
The normal association condition depends on a normal processing time required from the time when the cereal is cut by the reaping part to the time when the grain amount detection part is reached through the selection by the selection part according to the normal selection condition. Is set to a condition for allocating the grain amount information to the cutting position information,
The non-normal association condition is the normal processing time and the time point when the grain amount detection unit reaches the grain amount detection unit through the selection by the selection unit according to the non-normal selection condition from the time when the cereal is cut by the reaping unit. The grain amount information is set as a condition for allocating the grain position information to the cutting position information in accordance with the ratio of the non-normal processing time required until the time .

  According to this configuration, the normal association condition can be set to a condition suitable for the normal sorting condition in consideration of the time required for sorting when the sorting unit performs sorting under the normal sorting condition. The non-normally related condition can also be set to a condition suitable for the non-normal selection condition in consideration of the time required for the selection when the selection unit performs the selection under the non-normal selection condition.

The calculation unit associates with the normal cutting condition suitable for the normal sorting condition to the cutting position that was sorted by the sorting unit under the normal sorting condition, and in the sorting unit under the non-normal sorting condition. It is possible to associate the cut position with the selection using an abnormal association condition suitable for the abnormal selection condition. As a result, an appropriate grain amount is obtained both for the cutting position selected by the selection unit under the normal selection condition and for the cutting position selected by the selection unit under the non-normal selection condition. And the amount of grain for each cutting position can be determined appropriately.
When the sorting unit performs sorting under the normal sorting conditions, the time required from the time when the cereal is cut by the harvesting unit to the time when it reaches the grain amount detection unit is the normal processing time. As a result, when the sorting unit performs sorting under normal sorting conditions, when the amount of grain is detected, the grain corresponding to the culm harvested at the cutting position at the time point that is the normal processing time from that point in time. The amount of grains will be detected. Therefore, in the normal association condition, using the normal processing time, for example, it is possible to assign the detected grain amount information to the cutting position information at a time point that is back from the detection time by the normal processing time.
On the other hand, when the sorting unit performs sorting under non-normal sorting conditions, the time required from the time when the cereal is cut by the cutting unit to the time when it reaches the grain amount detection unit is the normal processing time. Different non-normal processing times. For example, as in the second feature configuration described above, if the non-normal selection condition is set to a condition that increases the amount of passing grain in the selection unit than the normal selection condition, the non-normal processing time is shorter than the normal processing time. . Therefore, when moving from the sorting at the sorting unit based on the normal sorting conditions to the sorting at the sorting unit based on the non-normal sorting conditions, at the time of transition, the grain at the cutting position at the point of time that is normal processing time from the transition point. Not only the amount but also the amount of grain at the subsequent cutting position is detected, and the detected amount of grain increases. And the state in which the detected grain amount increased is continued by performing the sorting in the sorting unit based on the non-normal sorting conditions from the transition time.
Here, the cutting positions that have been selected by the selection unit under the non-normal selection conditions are a plurality of cutting positions corresponding to the period from the transition point to the point that is back by the normal processing time. And the some cutting position which performed the selection in the selection part on the non-normal selection conditions has the time width of normal processing time as the time width which detects these cutting position information. In addition, when the sorting unit performs sorting under non-normal sorting conditions, the time required from the time when the cereal is cut by the mowing unit to the time when it reaches the grain amount detection unit is the non-normal processing time. Therefore, the grain amount is detected from the end of cutting (transition time) until the non-normal processing time elapses. As a result, the grain amount at the cutting position having the time width of the normal processing time immediately before the transition time is aggregated into the time width of the non-normal processing time immediately after the transition time, with the end point of the cutting (transition time) as a reference. Will be detected.
Therefore, the abnormal association condition is set as a condition for allocating the grain amount information to the cutting position information in accordance with the ratio between the normal processing time and the abnormal processing time. As a result, based on the transition time point, the grain amount information detected by aggregation in the time width of the non-normal processing time immediately after the transition time point is distributed according to the ratio of the normal processing time and the non-normal processing time. Thus, it can be assigned to the cutting position information having the time width of the normal processing time immediately before the transition point. Therefore, it is possible to appropriately allocate the grain amount information to the cutting position information and appropriately associate the cutting position with the non-normal selection control.
From the above, the calculation unit can appropriately associate the grain amount information and the cutting position information with the normal association condition and the non-normal association condition, respectively, and more accurately determine the grain amount for each cutting position. Can be sought.

  According to a second characteristic configuration of the present invention, the normal selection condition is set to a condition corresponding to a cutting operation, and the non-normal selection condition is a condition corresponding to the end of cutting, and the selection is more than the normal selection condition. It is in the point set to the conditions which increase the passing grain amount in a section.

  When the combine performs work on the field, it not only travels while mowing, but also when, for example, turning or retreating is performed to adjust the position of the combine, when the harvesting is not performed. It becomes. At the end of this cutting, the harvesting unit does not cut the cereal, so that the amount of processed material that is input to the sorting unit is reduced. Therefore, by setting the non-normal sorting condition as a condition for increasing the amount of passing grain in the sorting unit as compared with the normal sorting condition, it is possible to pass the grain actively in the sorting unit and reduce the third loss. Can be achieved. Thereby, it is possible to appropriately obtain the grain amount for each cutting position while making the normal selection condition and the non-normal selection condition a condition suitable for actual work and a condition for reducing the third loss. .

According to a third characteristic configuration of the present invention, the grain amount detection unit is configured to output the grain amount information based on a collision impact force larger than a set value among the collision impact forces of the grains conveyed to the storage unit. It is in the point where it is constituted to ask for.

  The grain amount detection unit detects the collision impact force of the grain conveyed to the storage unit, but may detect the influence of disturbance as a small collision impact force. Therefore, the grain amount detection unit obtains the grain amount information from the collision impact force larger than the set value by excluding the impact impact force smaller than the set value from the impact impact force of the kernel. Thereby, the grain amount detection part can obtain | acquire accurate grain amount information except the influence of disturbance.

  In addition, for example, as in the second feature configuration described above, when the non-normal selection condition is set to a condition that increases the passing grain amount in the selection unit as compared with the normal selection condition, the selection unit under the non-normal selection condition When the control is performed, the grain amount detected by the grain amount detection unit increases. In such a case, unless the influence of the disturbance is excluded, the influence of the disturbance becomes large, and it becomes difficult to obtain accurate grain amount information. Therefore, as described above, the grain amount detection unit obtains the grain amount information by excluding the influence of disturbance. Thereby, even when control by the sorting unit is performed under non-normal sorting conditions, the calculation unit can acquire accurate grain amount information and can accurately obtain the grain amount for each cutting position.

Left side view showing the entire combine Side sectional view showing the threshing part and the sorting part Block diagram showing combine control structure Vertical section of reservoir Plan sectional view of the reservoir Graph showing the relationship between the detection value of the input amount detection sensor and the detection value of the pickup sensor Schematic showing the route of the combine in the field The graph which shows the relationship between the detection value of a grain amount detection part, and the detection value of a position detection part Schematic diagram showing association under normal association conditions and association under non-normal association conditions The figure which shows the yield map in the field

Embodiments of a grain amount measuring apparatus according to the present invention and a combine to which the grain quantity measuring apparatus is applied will be described with reference to the drawings.
As shown in FIG. 1, the combine 1000 is provided with a pair of left and right crawler type traveling units 2 below the traveling machine body 1, and a cutting unit 3 is provided at the front portion of the traveling machine body 1 so as to be swingable up and down. . The traveling machine body 1 is provided with a cabin 4 having a driver's seat, a control unit, and the like on the right side, and a threshing unit 5 and a storage unit 6 are provided side by side. The threshing unit 5 is provided on the left side of the traveling machine body 1, the storage unit 6 is provided on the right side of the traveling machine body 1, and the sorting unit 7 is provided on the lower side of the threshing unit 5. In the rear part of the traveling machine body 1, there are provided a swivelable discharge auger 8 that discharges the grains stored in the storage unit 6, and a waste processing unit 9 that processes the waste after threshing.

  The combine 1000 transmits the power from the engine (not shown) to each part, thereby causing the traveling machine body 1 to travel by the traveling unit 2, and harvesting the grain culm in the field by the reaping unit 3. After the threshing unit 5 threshed, the sorting unit 7 sorts the grains into unnecessary grains and conveys the sorted grains and stores them in the storage unit 6.

  As shown in FIG. 2, the threshing unit 5 includes a feed chain 21, a handling cylinder 22, and a receiving net 23. The feed chain 21 is arranged on the outer side on the left side of the handling cylinder 22 so as to extend in the longitudinal direction of the machine body. The handling cylinder 22 is provided in the handling chamber 24 so as to be rotatable around an axis along the longitudinal direction of the machine body. The receiving net 23 is disposed along the outer peripheral surface of the handling cylinder 22 so as to cover the handling cylinder 22 from below.

  The sorting unit 7 includes a swing sorting device 31, a wind sorting device 32, and a grain transport device 33. The swing sorting device 31 is disposed below the handling cylinder 22 and the receiving net 23 of the threshing unit 5. The swing sorting device 31 includes a front feed pan 41, a rear feed pan 42, a chaff sheave 43, a Glen sheave 44, and a Strollac 45.

  The wind sorting device 32 includes a tang fan 51, a pre-fan 52, a second fan 53, and a suction fan 54. On the lower side of the swing sorting device 31, the pre-fan 52, the tang fan 51, and the second fan 53 are arranged in this order from the front side of the machine body. The suction fan 54 is disposed on the upper rear side of the swing sorting device 31.

  The grain conveying device 33 includes a first conveying device 61, a second conveying device 62, a first whipping device 63, and a second reducing device 64. The first conveying device 61 and the second conveying device 62 are arranged below the swing sorting device 31, and the first cerealing device 63 and the second reducing device 64 are arranged on the right side of the swing sorting device 31. It is installed.

The threshing in the threshing unit 5 and the sorting in the sorting unit 7 will be described.
In the threshing unit 5, the harvested culm that is conveyed from the reaping unit 3 is inherited by the feed chain 21 at its stock and is conveyed rearward toward the scouring processing unit 9. During this conveyance, the tip of the cereal husk is threshed by the handling cylinder 22, and the processed material including the cereal grains and unnecessary materials (such as sawdust and dust) leaks from the receiving net 23 and falls to the sorting unit 7. To do.

  In the sorting section 7, the swing sorting device 31 is swung by a swing mechanism so that the processed material is leveled by the front and rear feed pans 41 and 42 and sorted by specific gravity. After the sorting by the front feed pan 41, the chaff sheave 43 is roughly sorted. The product after sorting by the rear feed pan 42 is sorted by the Glen sieve 44. After being sorted by the chaff sheave 43, it is finely sorted by the grain sieve 44 and the sorting wind from the tang fan 51, the pre-fan 52 and the second fan 53.

  Grains, swarf, and the like falling from the chaff sheave 43 and the grain sheave 44 are finely sorted by the sorting wind from the tang fan 51 and prefan 52. At this time, the grains having a large specific gravity fall as the first thing against the sorting wind and are supplied to the first transport device 61. The lighter specific gravity is lighter than the second conveying device 62 by the sorting air from the tang fan 51 and the pre-fan 52, and further by the sorting air from the second fan 53.

  Among the skipped ones, a relatively heavy one, for example, a grain with a branch branch, drops as a second item and is supplied to the second conveying device 62. Those except for this are further blown toward the Strollac 45 by the sorting air from the Kara fan 51, the pre-fan 52 and the second fan 53. Among them, the sawdust is loosened by the stroller 45, and the grains in the sawdust fall as a second product and are supplied to the second transport device 62. Other dust and the like are sucked and discharged by the suction fan 54.

  The first thing is transported to the first cerealing device 63 by the first transporting device 61 and is transported to the storage unit 6 by the first cerealing device 63 and stored. The second thing is conveyed to the second reduction device 64 by the second conveyance device 62, and is conveyed to the upper space of the handling room 24 of the threshing unit 5 or the swing sorting device 31 by the second reduction device 64 and threshed. Alternatively, re-sorting is performed by the swing sorting device 31 and the wind sorting device 32 without threshing.

  As shown in FIG. 3, the combine 1000 includes a control unit 10 having a first calculation unit 11 and a second calculation unit 12, and the control unit 10 receives the cutting position information of the combine 1000 from the position detection unit 81. Further, various other information such as the grain amount information in the storage unit 6 from the grain amount detection unit 82 is acquired, and processing such as displaying these various types of information on the display unit 93 is performed.

  The position detection unit 81 includes, for example, a GPS receiver that can detect the position of the combine 1000, a vehicle speed sensor that detects the vehicle speed of the combine 1000, a gyro sensor that detects the turning angle of the combine 1000, and the like. It is detected in time series.

  The grain amount detection unit 82 is a pickup sensor 79 that detects the rotation period around the axis of the first cerealing device 63 (screw conveyor), and the grain amount that is put into the storage unit 6 by the first cerealing device 63. And a first calculation unit 11 for obtaining the grain amount in the storage unit 6 from the detection information of the pickup sensor 79 and the detection information of the input amount detection sensor 80. In the grain amount detection part 82, the grain quantity in the storage part 6 for every predetermined time is calculated | required in time series.

The input amount detection sensor 80 will be described based on FIGS.
As shown in FIG. 4, the first cerealing device 63 includes a cerealing cylinder 63 a that extends to the storage unit 6 in the vertical direction, a cerealing shaft 63 b that is rotationally driven by the rotational driving force of the engine, and a cerealing shaft 63 b. And a release wing 63d that jumps off the grains sent by the whipped carrier 63c. The discharge blade 63d is provided at the upper end of the cerealing shaft 63b so as to face the insertion port 63e to the storage unit 6.

  The whipping cylinder 63a includes a first cylinder part 101 that covers the cereal carrier 63c, and a second cylinder part 102 that covers the discharge blade 63d while being connected to the insertion port 63e. As shown in FIG. 5, the second cylinder portion 102 includes a side surface portion 102a that covers the periphery of the discharge blade 63d in a state of protruding in a curved shape on the opposite side of the input port 63e with the discharge blade 63d interposed therebetween. . The side surface portion 102a is upstream of the rotational direction of the discharge blade 63d (counterclockwise in FIG. 5), upstream region 102b connected to one end of the inlet 63e, and downstream of the rotational direction of the discharge blade 63d. And a downstream region 102c connected to the other end of the insertion port 63e. The downstream region 102c is inclined so as to be separated from the rotation locus of the discharge blade 63d toward the downstream side in the rotation direction of the discharge blade 63d, and is configured to guide the grain.

  In the storage unit 6, the first blade 113 is sandwiched between the first virtual line 111 and the second virtual wire 112 and the discharge blade 63 d is more than the first virtual wire 111 as the region into which the grain is input by the discharge blade 63 d. And a second region 114 located on the downstream side in the rotation direction. The first imaginary line 111 is an imaginary line that passes through the boundary point 115 between the upstream region 102b and the downstream region 102c and touches the rotation locus of the discharge blade 63d. The second virtual line 112 is a virtual line along the extending direction of the downstream region 102c. Most of the grains thrown in by the discharge vanes 63d are thrown into the first region 113 in the form of a continuous band extending laterally, and the remaining part is thrown discretely in the second region 114. ing.

  The input amount detection sensor 80 is configured to detect the magnitude of the collision impact force of the grains input to the storage unit 6 such as a strain gauge or a piezoelectric element. The input amount detection sensor 80 is disposed in the second region 114, and the position of the input amount detection sensor 80 is set to a position where the grains input into the storage unit 6 collide intermittently. .

Based on FIG. 6, a description will be given of how the grain amount detection unit 82 calculates the grain amount.
FIG. 6A shows the change of the detection value of the input amount detection sensor 80 with time, with the detection value of the input amount detection sensor 80 as the vertical axis and the time as the horizontal axis. FIG. 6B shows a change with time of the detection value of the pickup sensor 79, where the vertical axis is the detection value of the pickup sensor 79 and the horizontal axis is time.

  The grain amount detection unit 82 does not simply add the detection values of the input amount detection sensor 80 when calculating the amount of grain in a predetermined time, but adds the detection value of the input amount detection sensor 80 while taking into account the influence of disturbance. The detected values are integrated.

  As described above, as shown in FIG. 5, by disposing the input amount detection sensor 80 in the second region 114, the section where the grain collides with the input amount detection sensor 80 while the discharge blade 63 d makes one rotation. The section where the grain does not collide occurs. In FIG. 6B, each of Q1 to Q5 corresponds to a cycle of one rotation of the discharge blade 63d, and the cycle of one rotation is divided into a plurality of sections (for example, four sections of S1, S2, S3, and S4). It is divided. And the grain amount detection part 82 grasps | ascertains the area | region where the grain is colliding as a section where a grain collides the area which detected the big impact force with the input amount detection sensor 80. FIG. In the case shown in FIG. 6A, since a large impact force is detected in the sections S2 and S3 in the periods Q1, Q2, and Q5, the sections S2 and S3 are sections where the grains collide. The section S1 and the section S4 are sections in which the grains do not collide. Therefore, the section S1 and the section S4 in which the grains do not collide are considered to be the influence of disturbance in the input amount detection sensor 80. Accordingly, the grain amount detection unit 82 uses the integrated value of the detection values of the input amount detection sensor 80 in the sections S2 and S3 where the grains collide (the hatched portion in the figure) as the sections S1 where the grains do not collide. The influence of disturbance is excluded by correcting (for example, subtracting) the integrated value of the detection value of the input amount detection sensor 80 in the section S4 (solid hatched portion in the figure).

  As described above, the grain amount detection unit 82 integrates the corrected detection values of the input amount detection sensor 80 in a state in which the influence of the disturbance in the input amount detection sensor 80 is excluded, so that the integrated value in a single cycle is obtained. Furthermore, the integrated value in a single period is integrated for a plurality of periods corresponding to a predetermined time period, and the grain amount per predetermined time is determined. When integrating the integrated values in this single cycle, instead of simply integrating the integrated values of all the cycles, select the target cycle to be integrated according to the magnitude of the impact impact force of the grain. ing.

  In FIG. 6A, when the detection value of the input amount detection sensor 80 is compared with the set value α, the impact impact force of the grains on the input amount detection sensor 80 is greater than the set value α in the periods Q1, Q2, and Q5. In the periods Q3 and Q4, the impact impact force of the grains on the input amount detection sensor 80 is smaller than the set value α. Therefore, when integrating the integrated value in a single period, only the periods Q1, Q2, and Q5 in which the impact impact force of the grain is larger than the set value α are targeted for integration, and the impact impact force of the grain is set to the set value α. The smaller cycles Q3 and Q4 are excluded from integration targets. As described above, the grain amount detection unit 82 determines the grain in the storage unit 6 every predetermined time based on the collision impact force larger than the set value α among the collision impact forces of the grains conveyed to the storage unit 6. By determining the amount of grains, the influence of disturbance is excluded.

  Returning to FIG. 3, in order to control the sorting unit 7, the combine 1000 can adjust the chaff sheave opening adjustment unit 91, which can adjust the chaff sheave opening of the chaff sheave 43, and the tang fan fan air volume of the tang fan 51. A Chinese fan air volume adjusting unit 92 is provided. The chaff sheave opening adjustment unit 91 includes, for example, an actuator such as an electric motor, and a linkage mechanism that adjusts the chaff sheave opening according to the driving of the actuator. The tang fan fan air volume adjustment unit 92 includes, for example, an actuator such as an electric motor and a linkage mechanism that adjusts the kara fan air volume according to the driving of the actuator.

  In order to control the chaff sheave opening adjustment unit 91 and the tang fan fan air volume adjustment unit 92, the control unit 10 includes operation information on the chaff sheave opening operation tool 71, operation information on the tang fan fan air volume operation tool 72, and a discharge amount detection unit. 73 detection information, detection information of the processing amount detection unit 74, detection information of the chaff sheave opening detection unit 75, detection information of the Kara fan air volume detection unit 76, detection information of the cutting switch 77, detection information of the threshing switch 78, etc. Each of these is configured to be freely input.

  The chaff sheave opening operation tool 71 artificially sets the chaff sheave opening. For example, the chaff sheave opening is configured to be freely set by rotating the dial type operation tool by an operator. The tang fan fan air volume operation tool 72 artificially sets the tang fan fan air volume. For example, the tang fan fan air volume is configured to be freely set by rotating the dial type operation tool by the operator.

  The waste amount detection unit 73 detects the amount of waste transported by the transport device in the waste processing unit 9. For example, when holding the waste in the up-down direction by the transport device and transporting the waste, the holding width of the holding body is changed according to the amount of the waste. The amount of evacuation is detected by how much the clamping width has been changed. The processed material amount detection unit 74 detects the amount of processed material on the chaff sheave 43 of the swing sorting device 31 in the sorting unit 7. The processed material amount detection unit 74 includes, for example, a moving body that moves in contact with the processed material on the chaff sheave 43, and detects the amount of processed material based on how much the moving body has moved according to the amount of processed material.

  The chaff sheave opening degree detection unit 75 detects an actual chaff sheave opening degree in accordance with the swinging state of the chaff sheave 43, for example. The tang fan fan air volume detector 76 detects the tang fan fan air volume according to the rotational speed of the tang fan 51, for example.

  The reaping switch 77 detects the on / off state of the reaping clutch that transmits and blocks power to the reaping unit 3. The threshing switch 78 detects the on / off state of a threshing clutch that transmits and blocks power to the threshing unit 5.

  As control of the selection unit 7, the control unit 10 controls the chaff sheave opening adjustment unit 91 and the tang fan air volume adjustment unit 92 under normal selection conditions, and the control unit 10 controls the chaff sheave opening under non-normal selection conditions. There is a non-normal selection control for controlling the adjusting unit 91 and the tang fan air volume adjusting unit 92.

  The normal sorting conditions are set so as to correspond during the mowing operation, and the non-normal sorting conditions are set so as to correspond at the end of the mowing. Here, the end of cutting is, for example, a period during which traveling such as turning and retreating is performed in order to align the position of the combine 1000, and when the harvesting of the cereal by the cutting unit 3 is completed, and A predetermined period including a period in which no cutting is performed by the cutting unit 3 from the end point is set.

  When the cutting switch 77 is ON and the threshing switch 78 is ON, and the amount of squeezing by the squeezing amount detection unit 73 is equal to or greater than the set amount, the control unit 10 determines that the reaping operation is being performed and performs normal sorting control. Do. Then, when the amount of waste by the waste amount detection unit 73 becomes less than the set amount, the control unit 10 determines that it is time for cutting, stops normal sorting control, and shifts to non-normal sorting control.

  For example, FIG. 7 shows a case where the combine 1000 travels along the travel route 121 in the farm field 120 and performs work by counterclockwise circumferential mowing. The combine 1000 travels while cutting the cereal at each of the cutting positions P1 to P10 of the straight line portion of the solid line in the enlarged view, and ends the cutting at the cutting position P10 that is the end of the straight line portion of the solid line in the enlarged view. The normal sorting control is stopped at the cutting position P10 and the routine is shifted to the non-normal sorting control. Then, in the curved portion indicated by the dotted line in the enlarged view, in order to align the position of the combine 1000 with the end of the next straight line portion, alignment traveling such as turning and retreating is performed. The combine 1000 continues the non-normal sorting control until the sorting by the sorting unit 7 for the finished cereal is completed. Incidentally, the travel route 121 in FIG. 7 is an example, and it is possible to appropriately change the travel route for harvesting cereals.

  The condition for shifting from the normal sorting control to the non-normal sorting control is not limited to the condition that the waste amount by the waste amount detection unit 73 is less than the set amount. For example, when the combine 1000 finishes cutting (positioning running) ), The cutting unit 3 stops driving and the cutting switch 77 is turned OFF, the feed chain 21 stops driving, and the harvesting unit 3 does not have cereals or is applied in combination with one or more. Can be changed as appropriate.

  Incidentally, various conditions can be applied to the conditions for restarting the normal sorting control, and when the restart condition is satisfied, the control unit 10 stops the non-normal sorting control and performs the normal sorting control. Has resumed. In addition, when resuming the normal sorting control, when the resumption condition is satisfied, the control unit 10 stops the non-normal sorting control and performs another sorting control for restarting, and then resumes the normal sorting control. You can also.

  In both the normal sorting control and the non-normal sorting control, the control unit 10 determines the target opening of the chaff sheave opening, and the target opening determined by the chaff sheave opening detected by the chaff sheave opening detecting unit 75. The chaff sheave opening adjustment unit 91 is controlled so that the target air volume of the Kara fan 51 is determined, and the Kara fan air volume detected by the Kara fan air volume detector 76 is set to the determined target air volume. The fan air volume adjusting unit 92 is controlled.

  In the normal sorting conditions, for example, for the target opening of the chaff sheave opening, each information of the operation information of the chaff sheave opening operation tool 71, the detection information of the evacuation amount detection unit 73, and the detection information of the processing amount detection unit 74 is obtained. The reference opening for the chaff sheave opening is corrected to determine the target opening for normal use. Moreover, in the normal selection conditions, for example, each information of the operation information of the Kara fan air volume operation tool 72, the detection information of the waste volume detection unit 73, and the detection information of the processed material amount detection unit 74 for the target air volume of the Kara fan air volume. Is used to correct the standard air volume of the air fan 51 and determine the target air volume for normal use.

  Here, the normal sorting condition is to change the target opening of the chaff sheave opening and the target air volume of the tang fan 51 in accordance with the detection information of the waste amount detection unit 73 and the detection information of the processed material amount detection unit 74. Various other conditions can be applied, such as conditions for For example, the target opening of the chaff sheave opening is set based on the operation information of the chaff sheave opening manipulator 71 using the detection information of the waste amount detection unit 73 and the detection information of the processing amount detection unit 74. The normal target opening can be determined by correcting the degree. At this time, with respect to the target air volume of the tang fan fan air volume, a predetermined preset air volume can be determined as the normal target air volume.

  The non-normal selection condition is set to a condition for increasing the passing grain amount in the selection unit 7 as compared with the normal selection condition. The non-normal selection condition is, for example, a setting opening from the reference opening so that the target opening of the chaff sheave opening is an opening on the increase side with respect to the normal target opening determined by the normal selection condition. Only the opening on the increase side is determined as the target opening for non-normal use. In the non-normal selection condition, a predetermined air volume set in advance is determined as the non-normal target air volume for the target air volume of the tang fan fan air volume. Further, under the non-normal selection condition, a state in which the chaff sheave opening is adjusted to the non-normal target opening and the air volume of the tang fan 51 is adjusted to the non-normal target air flow is maintained for a set time.

  Here, the non-normal sorting condition is at least one of adjusting the chaff sheave opening to the opening on the increase side compared to the normal sorting condition, or adjusting the air volume of the tang fan 51 to the decreasing air volume than the normal sorting condition. Various other conditions can be applied as long as the amount of passing grain in the sorting unit 7 is increased as compared with the normal sorting conditions, such as such adjustments.

  For example, with respect to the target opening of the chaff sheave opening, a normal target opening determined under normal selection conditions or a preset opening that is set in advance can be determined as the non-normal target opening. At this time, the preset air volume is determined as the non-normal target air volume so that the target air volume of the tang fan fan volume is a lower air volume than the normal target air volume determined under the normal selection conditions. can do.

The operation in normal sorting control and non-normal sorting control will be described.
In the normal sorting control, the amount of waste detected by the waste amount detection unit 73 is increased while reflecting the artificial operation by the chaff sheave opening operation tool 71, or the processing amount detection unit. When the amount of processed material detected at 74 increases, the chaff sheave opening is adjusted to an opening on the increasing side. The amount of waste detected by the waste amount detection unit 73 increases or the amount of waste detected by the treatment amount detection unit 74 is also reflected in the air amount of the Chinese fan 51 while reflecting the artificial operation by the Chinese fan air amount operation tool 72. As the amount of processed material detected increases, the air volume of the tang fan 51 is adjusted to an increased air volume. On the contrary, when the amount of waste detected by the waste amount detection unit 73 decreases or the amount of processed material detected by the processing amount detection unit 74 decreases, the chaff sheave opening decreases more in the normal sorting control. The opening amount on the side is adjusted, and the air volume of the tang fan 51 is adjusted to the air volume on the decreasing side.

  As described above, in the normal sorting control, the chaff sheave opening of the chaff sheave 43 and the amount of processed material detected by the processed material amount detecting unit 74 and the amount of processed material detected by the processed material amount detecting unit 74, and The air volume of the Chinese fan 51 is adjusted. On the other hand, in the non-normal sorting control, the sorting unit is more effective than the normal sorting control regardless of the waste amount detected by the waste amount detection unit 73 and the processed product amount detected by the processed product amount detection unit 74. 7, the chaff sheave opening of the chaff sheave 43 and the tang fan air volume of the tang fan 51 are adjusted. At the end of cutting, the amount of waste and the amount of processed material are reduced due to the reduction of the cereals harvested by the cutting unit 3, so that the amount of waste detected by the waste amount detecting unit 73, as in normal sorting control, and If the chaff sheave opening of the chaff sheave 43 and the tang fan fan air volume of the tang fan 51 are adjusted according to the amount of the process detected by the processing amount detector 74, the chaff sheave opening and the like are adjusted to the opening on the decrease side. The third loss will increase. Therefore, at the end of cutting, non-normal sorting control is performed, so that the grain is actively passed through the sorting unit 7 so as to reduce the third loss.

  As shown in FIG. 3, the combine 1000 is provided with a grain amount measuring device 13 for obtaining a grain amount for each cutting position of the combine 1000. The grain amount measuring device 13 includes a position detection unit 81, a grain amount detection unit 82, and a second calculation unit 12 (corresponding to a calculation unit). Based on the harvesting position information of the combine 1000 detected by the position detection unit 81 and the grain amount information in the storage unit 6 detected by the grain amount detection unit 82, the second calculation unit 12 It is comprised so that the grain amount for every may be calculated.

  As shown in FIG. 8B, the position detection unit 81 detects the cutting position of the combine 1000 in time series, and the grain amount detection unit 82 also stores the harvesting amount as shown in FIG. 8A. The amount of grain in part 6 is detected in time series. Therefore, the second calculation unit 12 associates the cutting position information from the position detection unit 81 with the grain amount information from the grain amount detection unit 82, thereby obtaining how much kernel amount at which cutting position. It is possible to grasp the amount of grain for each cutting position.

  In the combine 1000, the grains contained in the cereals harvested by the harvesting unit 3 are transported to the storage unit 6 through threshing in the threshing unit 5 and sorting in the sorting unit 7, and the grain amount detection unit 82. The amount of grain is detected. Therefore, there is a time delay between the time when the position detection unit 81 detects the cutting position and the time when the grain amount detection unit 82 detects the grain amount. Therefore, it is required to consider this time delay when associating the cutting position information from the position detection unit 81 with the grain amount information from the grain amount detection unit 82.

  The combine 1000 is not limited to the normal sorting control in which the sorting unit 7 performs sorting under the normal sorting conditions as the control of the sorting unit 7, but also performs the non-normal sorting in which the sorting unit 7 performs sorting under the non-normal sorting conditions. Also controls. Therefore, since the time required for sorting in the sorting unit 7 differs depending on whether normal sorting control or non-normal sorting control is performed, it is required to perform association suitable for each sorting control.

  Therefore, for the harvesting position where the combine 1000 has performed normal sorting control, the second calculation unit 12 uses the normal association condition, and the harvesting position information from the position detection unit 81 and the grain amount information from the grain amount detection unit 82. To obtain the grain amount for each cutting position. Moreover, about the cutting position which the combine 1000 performed unusual selection control, the 2nd calculating part 12 detected the cutting position information and grain amount from the position detection part 81 by the unusual association condition different from normal association conditions. The grain amount for each cutting position is obtained in association with the grain amount information from the section 82.

  As described above, the second calculation unit 12 associates the reaping position for which the normal sorting control has been performed using the normal association condition suitable for the normal sorting control, and the reaping position for which the emergency sorting control has been performed. Thus, the association is performed using the unusual association condition suitable for the unusual sorting control. As a result, it is possible to obtain an appropriate amount of grain for both the cutting position where the normal sorting control is performed and the cutting position where the emergency sorting control is performed. Can ask for

  Based on FIG.8 and FIG.9, the association by a normal association condition and the association by a non-normal association condition are demonstrated.

  FIG. 8 shows, for example, when the combine 1000 travels along the travel route 121 shown in the enlarged view of FIG. 7 and performs the work, the cutting position information by the position detection unit 81 and the grain amount detection unit 82. It is the graph which showed the change with time progress of grain amount information. FIG. 8 (A) shows the change in the amount of grain with the vertical axis as the grain amount and the horizontal axis as the time, and FIG. 8 (B) shows the cutting position as the vertical axis. The change in the cutting position is shown with the axis as time.

  In FIG.8 and FIG.9, normally selection control is performed as control in the selection part 7 with respect to the grain husk cut in the cutting positions P1-P5, and with respect to the grain husk cut in the cutting positions P6-P10, In the following, it is assumed that the non-normal sorting control is performed as the control in the sorting unit 7.

  As shown in FIG. 8, for example, at the cutting position P1 by the position detection unit 81 in FIG. 8B, normal selection control is performed as control by the selection unit 7 on the harvested culm. The grain amount by the grain amount detection unit 82 in 8 (A) is detected when the normal processing time L has elapsed since the position detection unit 81 detected the cutting position P1. In this way, at the harvesting positions P1 to P5 where the normal sorting control is performed on the harvested grain straw, the grain at the time when the normal processing time L has elapsed since the position detection unit 81 detected the harvesting position P1. The amount of grain by the amount detection unit 82 is detected. However, at the cutting position P10, when the cutting is finished (during alignment running), the control in the selection unit 7 is shifted from the normal selection control to the non-normal selection control. In the non-normal selection control, the non-normal selection condition is a condition for increasing the amount of passing grain in the selection unit 7 as compared with the normal selection condition. The amount detection unit 82 is reached. Therefore, at the time of transition to the cutting position P10, not only the amount of grain at the cutting position P6 at the time point that has passed by the normal processing time L from the transition time, but also the amount of grain of the grain that has been harvested after the cutting position P6. Is detected, and the grain amount by the grain amount detector 82 increases. And while this unusual selection control is performed, the state in which the grain quantity by the grain quantity detection part 82 increased is continued, and the grain quantity of the cutting positions P6-P10 which performed unusual selection control is as follows. Detected between the transition point of the cutting position P10 and the point when the non-normal processing time L ′ has elapsed.

  Here, the normal processing time L is from the time when the cereal is cut by the reaping unit 3, through the threshing in the threshing unit 5 and the selection in the selection unit 7 under the normal selection conditions, This is the time required to reach 82. The normal processing time L is, for example, t1 (except for the time required for sorting in the sorting unit 7, after the cereal is harvested by the harvesting unit 3, the normal processing time L is conveyed to the detection point of the grain amount detection unit 82. 2) and t2 (normal sorting time required for sorting in the sorting section 7 under normal sorting conditions). About t1, for example, since each part is operated by the power from the engine, it can be obtained based on the rotational speed of the engine, the operating state of each part, and the amount of processed products, grains, etc. It is also possible to use the transport time obtained by For t2, for example, the time required for sorting in the reference state can be obtained by correcting based on the actual operating state of the sorting unit 7, or the normal sorting time obtained in advance through experiments or the like can be used.

  Further, the non-normal processing time L ′ is the amount of grain after the cereal is cut by the reaping unit 3, through the threshing in the threshing unit 5, and the selection in the selection unit 7 based on the non-normal selection conditions. This is the time required to reach the detection unit 82. The non-normal processing time L ′ is obtained by adding t1 and t2 ′ (the non-normal sorting time required for sorting in the sorting unit 7 based on the non-normal sorting conditions). For t2 ', for example, the time required for sorting in the reference state can be obtained by correcting it based on the actual operating state of the sorting unit 7, or an unusual sorting time obtained in advance through experiments or the like can be used.

The normal processing time L and the non-normal processing time L ′ have the following relationship.
L = t1 + t2
L ′ = t1 + t2 ′
t2> t2 ′
L> L '

  As described above, in the normal sorting control, the grain amount is detected by the grain amount detection unit 82 at the time when the normal processing time L has elapsed from the time when the cutting position is detected by the position detection unit 81. As shown in FIG. 9A, the condition is set to a condition for assigning the grain amount information to the cutting position information according to the normal processing time L. FIG. 9A is a schematic diagram showing the association by the normal association condition.

  For example, as shown in FIG. 9 (A), the second arithmetic unit 12 detects the grains detected from the time when the normal processing time L has elapsed from the cutting position P1 to the time when the normal processing time L has elapsed from the cutting position P2. The total amount K1 of the grain amount is assigned as the grain amount from the cutting position P1 to the cutting position P2, and the grain quantity at each of the cutting position P1 and the cutting position P2 is obtained. Moreover, the 2nd calculating part 12 also assigns each of the total amount K2-K4 of the detected grain amount from each of the cutting positions P2 to P4 to each of the cutting positions P3 to P5 for the allocation of the cutting positions P2 to P5. It is allocated as the amount of kernels up to. Thus, the 2nd calculating part 12 allocates grain amount information to the cutting position information at the time of going back by the normal processing time L from the detection time according to the normal association condition, and the kernel amount for each cutting position. Seeking.

  As shown in FIG. 8, at the transition point of the cutting position P10, the normal sorting control is shifted to the non-normal sorting control, and the detected grain amount increases. Therefore, for the harvesting positions P6 to P10 corresponding to the time point that has passed by the normal processing time L from the transition point of the cutting position P10, the grain amount information is normally assigned to the cutting position information according to the normal processing time L. Under the association condition, it is impossible to appropriately allocate the grain amount information and the cutting position information.

  The cutting positions for which the non-normal sorting control is performed are a plurality of cutting positions P6 to P10 corresponding to the time point from the transition time point to the time point that is back by the normal processing time. And the some cutting position P6-P10 which performed non-normal selection control has the time width of the normal processing time L as a time width which detects these cutting position information. In addition, when the non-normal selection control is performed, the time required from the time when the culm is cut by the reaper 3 to the time when it reaches the grain amount detection unit 82 is the non-normal processing time L ′. The grain amount is detected from the end of cutting (transition time) until the non-normal processing time L ′ elapses. As a result, the grain amount at the cutting positions P6 to P10 having the time width of the normal processing time L immediately before the cutting end time with respect to the cutting end time (transition time) is abnormal immediately after the cutting end time. The processing time L ′ is collected in the time width and detected.

  Therefore, as shown in FIG. 9B, the non-normal association condition is a condition for assigning the grain amount information to the cutting position information according to the ratio of the normal processing time L and the non-normal processing time L ′. It is set. FIG. 9B is a schematic diagram showing association by the normal association condition. As a result, the grain amount information detected by being aggregated to the time width of the non-normal processing time L ′ immediately before the transition time with the cutting position P10 (transition time) as a reference, the normal processing time L and the non-normal processing time. It is distributed according to the ratio with L ′ and can be allocated to cutting position information having a time width of the normal processing time L immediately before the transition point.

  For example, in the case shown in FIG. 9B, the normal processing time L and the non-normal processing time L ′ are divided into a plurality of sections, and the grain amount is assigned to each section. The second calculation unit 12 equally divides the non-normal processing time L ′ into four sections, and calculates the total amount of grain amounts detected for the cutting positions P6 to P10 for which the non-normal selection control has been performed. It divides into each of the area and calculates | requires the total amount M1-M4 of the grain amount in each area. The second calculation unit 12 equally divides the normal processing time L corresponding to the cutting positions P6 to P10 into four sections. And the 2nd calculating part 12 has allocated the total amount M1 of the grain amount in the 1st area as the grain amount from the cutting position P6 to the cutting position P7. Moreover, the 2nd calculating part 12 is also the total amount of the amount of grain in the 2nd-4th area similarly about the total amount M2-M4 of each amount of grain in the 2nd-4th area. Each of M2 to M4 is allocated as a grain amount from each of the cutting positions P7 to P9 to each of the cutting positions P8 to P10. In this way, the second calculation unit 12 calculates the total amount of the grain amount detected for the cutting positions P6 to P10 for which the non-normal selection control is performed according to the non-normal association condition, as the normal processing time L and the non-normal processing condition L. The amount of grain is allocated to each of the cutting positions P6 to P10 that have been distributed according to the ratio with the normal processing time L ′ and subjected to the non-normal selection control, and the amount of grain for each cutting position is obtained.

  8 and 9, the relationship between the normal processing time L and the interval for detecting the cutting position is described assuming that the time width for detecting the cutting positions P6 to P10 corresponds to the time width of the normal processing time L. The normal processing time L is merely an example, and the relationship between the normal processing time L and the interval at which the cutting position is detected can be other relationships. In FIG. 9B, the normal processing time L and the non-normal processing time L ′ are divided into four sections, but the number of sections can be changed as appropriate. In addition, the distribution of how to distribute the total amount of grain at the cutting positions P6 to P10 subjected to the non-normal selection control according to the ratio of the normal processing time L and the non-normal processing time L ′. The manner can also be changed as appropriate.

  As described above, the second calculation unit 12 associates the cutting positions P1 to P5 for which the normal sorting control has been performed using the normal association condition, and does not perform the operations for the cutting positions P6 to P10 for which the emergency sorting control has been performed. The grain amount of each of the cutting positions P1 to P10 is obtained by performing the association using the normal association condition.

  For example, as shown in FIG. 10, the control unit 10 uses the obtained grain amount for each cutting position and displays it on the display unit 93 as a harvest amount map in the field. In the example shown in FIG. 10, the field is divided into a plurality of unit sections, and the harvest amount for each unit section is shown from the grain amount for each cutting position. And it is color-coded into unit sections in the range of yield 0 to R1, unit sections in the range of harvest R1 to R2, and unit sections in the range of harvest R2 to R3. It is possible to appropriately change what display form is adopted, such as color coding. Incidentally, the control unit 10 obtains the grain amount at each cutting position and outputs it to an external display device or the like, so that the yield map as shown in FIG. 10 can also be displayed by the external display device.

  In addition, the control unit 10 outputs the grain amount for each cutting position obtained by the second calculation unit 12 to an external farmland information management system via a communication device or the like, so that the farmland information management system can output the grain amount for each cutting position. It can be stored in the database by associating other harvest information such as the amount of grain of each grain, the amount of moisture of the grain harvested in the field, and the amount of grain for each cutting position.

[Another embodiment]
(1) In the above-described embodiment, the non-normal selection condition is a condition for increasing the passing grain amount in the selection unit 7 more than the normal selection condition. However, the non-normal selection condition may be a condition different from the normal selection condition. What is necessary is just to change suitably.

(2) In the above embodiment, the non-normal association condition is a condition for allocating the grain amount information to the cutting position information according to the ratio of the normal processing time L and the non-normal processing time L ′. The non-normal association condition can be a condition for allocating the grain amount information to the cutting position information regardless of the ratio of the normal processing time L and the non-normal processing time L ′. Can be applied.

(3) In the above embodiment, the kernel amount detection unit 82 obtains the kernel amount information based on the collision impact force that is larger than the set value among the collision impact forces of the grains conveyed to the storage unit 6. However, the grain quantity detection unit 82 can also obtain the grain quantity information based on the collision impact force of the grain conveyed to the storage unit 6 regardless of the magnitude of the collision impact force.

(4) In the above-described embodiment, the grain amount detection unit 82 detects the collision impact force of the grain conveyed to the storage unit 6 by the input amount detection sensor 80, thereby determining the grain amount in the storage unit 6. Although it is detected, for example, the grain amount in the storage unit 6 can also be detected using a weight sensor or the like, and how the grain amount in the storage unit 6 is detected can be appropriately changed. .

3 Cutting unit 6 Storage unit 7 Sorting unit 12 Second calculation unit (calculation unit)
13 Grain amount measuring device 81 Position detection unit 82 Grain amount detection unit 1000 Combine

Claims (3)

In the combine which sorts the grain cocoon harvested by the harvesting unit into the grain and the unnecessary material in the sorting unit, transports the selected grain and stores it in the storage unit, the position detected by the position detection unit A grain amount measuring device including a calculation unit that calculates the grain amount for each cutting position based on the harvest position information of the combine and the grain amount information in the storage unit detected by the grain amount detection unit. Because
The computing unit is
For the harvesting position where the combine has been sorted by the sorting unit under normal sorting conditions, the harvesting position information and the grain quantity information are associated with each other according to the normal association condition to determine the grain quantity for each cutting position,
About the cutting position which the combine performed the selection in the non-normal selection condition different from the normal selection condition, the cutting position information and the grain by the non-normal association condition different from the normal association condition It is configured to determine the grain amount for each cutting position in association with the amount information ,
The normal association condition depends on a normal processing time required from the time when the cereal is cut by the reaping part to the time when the grain amount detection part is reached through the selection by the selection part according to the normal selection condition. Is set to a condition for allocating the grain amount information to the cutting position information,
The non-normal association condition is the normal processing time and the time point when the grain amount detection unit reaches the grain amount detection unit through the selection by the selection unit according to the non-normal selection condition from the time when the cereal is cut by the reaping unit. The grain quantity measuring device set to the conditions for allocating the grain quantity information to the harvesting position information according to the ratio with the non-normal processing time required until . The normal sorting condition is set to a corresponding condition during the mowing operation,
The grain amount measurement according to claim 1, wherein the non-normal sorting condition is a condition corresponding to the end of cutting, and is set to a condition that increases a passing grain amount in the sorting unit more than the normal sorting condition. apparatus. The grain amount detection unit is configured to obtain the grain amount information based on a collision impact force larger than a set value among the collision impact forces of the grains conveyed to the storage unit. Item 3. A grain amount measuring apparatus according to item 1 or 2 .

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