JP7224276B2 - combine - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a combine harvester provided with a harvesting unit for harvesting planted grain culms in a field and a conveying device for conveying the harvested grain culms harvested by the harvesting unit to a threshing device.

For example, as shown in Patent Document 1, a conventional combine is provided with a culm length detection device that detects the tip position of harvested grain culms ("conveyed grain culms" in the literature) sent from a harvesting unit to a threshing device by a conveying device. ing. Based on the detected state of the culm length detector, a threshing depth adjustment mechanism for adjusting the threshing depth in the threshing device is controlled, and the harvested grain culms are threshed to a suitable target threshing depth.

JP 2019-4771 A

By the way, in the culm length detection device disclosed in Patent Document 1, since the tip of the harvested grain culm passes through the culm length detection device, the culm length detection device may become entangled with straw scraps, weeds, etc. adhering to the harvested grain culm. If the culm accumulates on the surface, the detected state of the culm length detecting device may always be a long culm. In this case, even when the tips of the harvested culms do not pass through the culm length detector, the threshing depth adjustment mechanism is controlled to the shallow threshing side based on the detection state of the culm length detector, resulting in the harvested grain. There is a risk that the culms will be threshed at a shallow threshing condition rather than at the originally preferred threshing depth.

In view of such circumstances, an object of the present invention is to provide a combine harvester capable of threshing the harvested grain culms with a suitable threshing depth even when straw waste, weeds, etc. adhering to the harvested culms get entangled in the culm length detection device. to provide.

A combine according to the present invention comprises a harvesting unit for harvesting planted grain culms in a field, a transport device for transporting the harvested grain culms harvested by the harvesting unit to a threshing device, and the harvested grain culms transported by the transport device. a culm length detection device for detecting the culm length of the grain, a threshing depth adjustment mechanism capable of changing the threshing depth of the harvested culms threshed by the threshing device, and the threshing depth based on the operation of a manual operating tool. Manual adjustment control that causes the adjustment mechanism to adjust the threshing depth of the harvested culms, and automatic adjustment that causes the threshing depth adjustment mechanism to adjust the threshing depth of the harvested culms based on the detection state of the culm length detection device. Based on the controllable threshing depth control unit, the detection state of the culm length detection device, and the state of the threshing depth adjustment mechanism, the harvested grain culms are threw shallowly to the above-mentioned depth. a determining unit that determines an abnormal state in which harvested culms are detected as long culms, and the threshing depth control unit terminates the automatic adjustment control when the abnormal state is determined by the determining unit. and performing deep threshing control for changing the threshing depth of the harvested culms to the deep threshing side in the threshing depth adjusting mechanism, and performing the manual adjustment control after the end of the deep threshing control. and

According to the present invention, when the harvested culms are detected as long culms by the culm length detection device even though the harvested culms are threshed shallowly, the threshing depth adjustment mechanism adjusts the threshing depth of the harvested culms. Change to the deep treatment side. As a result, the harvested culms and the culm length detector come into contact with each other, and straw scraps, weeds, and the like entangled in the culm length detector are transported downstream in the conveying direction together with the harvested culms. As a result, the culm length detection device is not entangled with straw scraps, weeds, etc., and the abnormal state can be easily resolved. Then, the culm length detection device can suitably detect the tip position of the reaping grain culm. This realizes a combine harvester capable of threshing the harvested grain culms to a suitable threshing depth even when the culms length detector is entangled with straw scraps, weeds, or the like attached to the harvested grain culms.
In addition, when the culm length detection device is in an abnormal state, the automatic adjustment control by the threshing depth control unit is not preferably performed, so the inappropriate automatic adjustment control is terminated by this configuration. In a state where the threshing depth control unit is performing deep threshing control, the harvested culms detected by the culm length detection device normally continue to be detected as long culms. Therefore, the configuration in which the manual adjustment control is performed by the deep threshing control section after the end of the deep threshing control makes it easier for the operator to take measures to eliminate the abnormal state.

In the present invention, it is preferable that the threshing depth control section performs the deep threshing control so that the threshing depth of the reaping grain culm is the deepest.

With this configuration, the harvested culms and the culm length detection device are in strong contact with each other, and straw waste, weeds, etc. entangled in the culm length detection device are easily transported downstream in the conveying direction together with the harvested culms. As a result, the culm length detection device is not entangled with straw scraps, weeds, etc., and the abnormal state can be more easily resolved.

In the present invention, if the harvested culms are detected as long culms over a preset period of time while the harvested culms are treated shallowly, the abnormal state is detected. is preferably determined.

Even if the harvested culms are treated shallowly and the culm length detection device detects the harvested culms as long culms, the culm length detection device detects that the culms are really long culms. In that case, it is not preferable for the threshing depth control section to perform deep threshing control. With this configuration, the determination unit does not immediately determine an abnormal state upon occurrence of the phenomenon, but determines an abnormal state when the phenomenon continues for a preset time. This makes it difficult for the determination unit to make an erroneous determination.

In the present invention, the depth of treatment control section performs the deep treatment control prior to the automatic adjustment control when the determination section determines that the abnormal state has occurred, and after the completion of the deep treatment control, the automatic adjustment control is performed. A regulatory control is preferred.

When the culm length detection device is in an abnormal state, the automatic adjustment control by the threshing depth control unit is not preferably performed, so this configuration eliminates the state in which the shallow threshing state continues inappropriately. Further, when deep threshing control is performed by the threshing depth control unit, the culm length detection device is often not entangled with straw scraps, weeds, etc., and the abnormal state is eliminated. For this reason, with a configuration in which the threshing depth control unit performs automatic adjustment control after the end of deep threshing control, the automatic adjustment control by the threshing depth control unit is resumed without the operator's operation, which is troublesome for the operator to deal with. is canceled.

A combine according to the present invention comprises a harvesting unit for harvesting planted grain culms in a field, a transport device for transporting the harvested grain culms harvested by the harvesting unit to a threshing device, and the harvested grain transported by the transport device. A culm length detection device for detecting the culm length of the culm, a threshing depth adjustment mechanism capable of changing the threshing depth of the harvested culms threshed by the threshing device, and the threshing depth based on the operation of a manual operating tool. manual adjustment control for adjusting the threshing depth of the harvested culms by the thickness adjusting mechanism, and automatic adjustment control for causing the threshing depth adjusting mechanism to adjust the threshing depth of the harvested culms based on the detection state of the culm length detector. Based on the threshing depth control unit capable of adjustment control, the detection state of the culm length detection device, and the state of the threshing depth adjustment mechanism, the culm threshing depth is shallow, even though the threshing depth is shallow. a determination unit that determines an abnormal state in which the harvested culms are detected as long culms, and the threshing depth control unit adjusts the threshing depth when the abnormal state is determined by the determination unit. If deep threshing control for changing the threshing depth of the harvested culms to the deep threshing side is performed in the mechanism, and if the detection state of the culm length detection device changes to the short culm side after the start of the deep threshing control, It is characterized by ending the deep handling control.

According to the present invention, when the harvested culms are detected as long culms by the culm length detection device even though the harvested culms are threshed shallowly, the threshing depth adjustment mechanism adjusts the threshing depth of the harvested culms. Change to the deep treatment side. As a result, the harvested culms and the culm length detector come into contact with each other, and straw scraps, weeds, and the like entangled in the culm length detector are transported downstream in the conveying direction together with the harvested culms. As a result, the culm length detection device is not entangled with straw scraps, weeds, etc., and the abnormal state can be easily resolved. Then, the culm length detection device can suitably detect the tip position of the reaping grain culm. This realizes a combine harvester capable of threshing the harvested grain culms to a suitable threshing depth even when the culms length detector is entangled with straw scraps, weeds, or the like attached to the harvested grain culms.
Further, even when deep threshing control is being performed by the threshing depth control unit, if the abnormal state is resolved and the culm length detection device is in a state in which the position of the tip of the harvested culm can be suitably detected, There is no need to continue deep treatment control by the treatment depth control unit. For this reason, with this configuration, the deep threshing control is terminated based on the detection state of the culm length detection device, and the risk of unnecessarily continuing the deep threshing control by the threshing depth control unit can be avoided.

In the present invention, it is preferable that the depth-of-thrusting control section ends the deep-thrusting control when a preset time elapses after the deep-thinning control is started.

When the deep threshing control is performed by the threshing depth control unit, the culm length detection device is not entangled with straw scraps, weeds, etc., and the abnormal state is often resolved. For this reason, a configuration in which deep handling control is terminated after a preset time, that is, a time sufficient for the culm length detection device to become free from entanglement with straw waste, weeds, etc., allows deep handling without operator's operation. Automatic adjustment control or manual adjustment control by the thickness control unit is resumed, eliminating the troublesomeness of the operator.

A combine according to the present invention comprises a harvesting unit for harvesting planted grain culms in a field, a transport device for transporting the harvested grain culms harvested by the harvesting unit to a threshing device, and the harvested grain transported by the transport device. A culm length detection device for detecting the culm length of the culm, a threshing depth adjustment mechanism capable of changing the threshing depth of the harvested culms threshed by the threshing device, and the threshing depth based on the operation of a manual operating tool. manual adjustment control for adjusting the threshing depth of the harvested culms by the thickness adjusting mechanism, and automatic adjustment control for causing the threshing depth adjusting mechanism to adjust the threshing depth of the harvested culms based on the detection state of the culm length detector. Based on the threshing depth control unit capable of adjustment control, the detection state of the culm length detection device, and the state of the threshing depth adjustment mechanism, the culm threshing depth is shallow, even though the threshing depth is shallow. a determination unit that determines an abnormal state in which the harvested culms are detected as long culms, and the threshing depth control unit adjusts the threshing depth when the abnormal state is determined by the determination unit. The mechanism performs deep threshing control to change the threshing depth of the harvested culm to the deep threshing side, and when the manual operation tool is operated after the start of the deep threshing control, the deep threshing control is terminated. characterized by

According to the present invention, when the harvested culms are detected as long culms by the culm length detection device even though the harvested culms are threshed shallowly, the threshing depth adjustment mechanism adjusts the threshing depth of the harvested culms. Change to the deep treatment side. As a result, the harvested culms and the culm length detector come into contact with each other, and straw scraps, weeds, and the like entangled in the culm length detector are transported downstream in the conveying direction together with the harvested culms. As a result, the culm length detection device is not entangled with straw scraps, weeds, etc., and the abnormal state can be easily resolved. Then, the culm length detection device can suitably detect the tip position of the reaping grain culm. This realizes a combine harvester capable of threshing the harvested grain culms to a suitable threshing depth even when the culms length detector is entangled with straw scraps, weeds, or the like attached to the harvested grain culms.
Further, with this configuration, the operator can determine the end timing of the deep squeezing control through the operation of the manual operating tool, so that the operator can end the deep squeezing control after confirming the culm length detection device. .

It is a left view of a combine. It is a side view of a reaping part. It is explanatory drawing which shows the state in which harvested grain culm flows from a conveying apparatus to a threshing apparatus. FIG. 10 is an explanatory diagram showing handling depth control; FIG. 4 is a flow chart diagram showing the flow of processing for manual depth control and automatic depth control. FIG. 10 is a flow chart diagram showing the flow of deep handling control processing; It is a time chart figure which shows the flow of processing of deep handling control. FIG. 11 is a flowchart of another embodiment showing the flow of processing for deep handling control; It is a time chart figure of another embodiment which shows the flow of processing of deep handling control.

A mode for carrying out the present invention will be described based on the drawings. In the following description, unless otherwise specified, the direction of arrow F shown in FIG. 1 will be referred to as "front" and the direction of arrow B will be referred to as "rear".

[Overall configuration of combine harvester]
As shown in FIG. 1, a self-threshing combine 1, which is one form of the combine of the present invention, includes a pair of left and right crawler-type traveling devices 11, 11, an operation unit 12, a threshing device 13, a grain It has a tank 14 , a reaping unit H, a grain discharging device 18 and a satellite positioning module 80 .

The travel device 11 is provided in the lower portion of the combine harvester 1 . Further, the travel device 11 is driven by power from an engine (not shown). The combine 1 can be self-propelled by the travel device 11 .

Further, the driving unit 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11. As shown in FIG. An operator who monitors the work of the combine harvester 1 can board the operation section 12 . The operator may monitor the work of the combine harvester 1 from outside the combine harvester 1 .

A reaping part H is connected to the front part of the combine harvester 1 so as to be vertically movable around the horizontal axis X. - 特許庁The combine 1 is capable of reaping travel in which the traveling device 11 travels while the reaping unit H reaps crops in a field. The reaping part H is provided in the front part of the combine harvester 1, and reaps the crops in the field, specifically planted grain culms. The reaping unit H is provided with a plurality of raising devices 21, a clipper-type cutting device 22, a conveying device 23, and the like. Note that the reaping unit H may be of a six-row cutting specification, a five-row cutting specification, or a specification of cutting four or less rows.

Each of the plurality of raising devices 21 raises a lodged planting culm. The cutting device 22 cuts the root of the erected planted culm. The conveying device 23 conveys the reaping grain culm harvested by the reaping unit H to the threshing device 13 . Specifically, the conveying device 23 gradually changes the reaping grain culms in the vertical posture with the base cut off to the lying posture toward the starting end of the threshing feed chain 13A of the threshing device 13 located behind. transport. An auxiliary conveying device 25 is provided between the conveying device 23 and the threshing feed chain 13A for smooth delivery between the conveying device 23 and the threshing feed chain 13A.

The conveying device 23 includes a merging conveying section 23A, a stock clamping conveying device 23B, a tip locking conveying device 23C, a supply conveying device 23D, and the like. 23 A of confluence|merging conveyance parts convey the harvested grain culms harvested by the cutting device 22, gathering them in the center in the cutting width direction. The stem clamping and conveying device 23B clamps and transports the collected harvested grain culm rearward. The tip retaining and conveying device 23C retains and conveys the tip side of the reaping grain culms. The feeding and conveying device 23D guides the base of the reaping grain culm from the terminal end of the base holding and conveying device 23B toward the threshing feed chain 13A and the auxiliary conveying device 25 .

As shown in FIGS. 2 and 3, the stem clamping and conveying device 23B is supported by the support frame of the reaping unit H so as to be swingable around the horizontal axis. A threshing depth adjusting mechanism 24 is connected to the root clamping and conveying device 23B. The threshing depth adjustment mechanism 24 is configured to be able to change the threshing depth of harvested grain culms to be threshed by the threshing device 13 .

The threshing depth adjustment mechanism 24 has a threshing depth motor 24M and an operating rod 24A. The operating rod 24A is pivotally connected to the threshing depth motor 24M and the middle part of the root clamping and conveying device 23B. The operation rod 24A is pushed and pulled by the threshing depth motor 24M, and the stock clamping and conveying device 23B swings up and down around the axis Y. When the stem clamping/conveying device 23B swings up and down, the transport end portion of the stem clamping/conveying device 23B changes its position in the culm length direction of the grain culm with respect to the feeding/conveying device 23D.

When the end of the transport of the stem clamping and transporting device 23B is separated from the supply transporting device 23D, the position of clamping the grain culm by the feeding transporter 23D changes to the position of clamping the grain culm by the root clamping and transporting device 23B. On the other hand, it is changed to the tip side and transferred to the supply/conveyor device 23D. As a result, the penetration depth (threshing depth) of the harvested grain culm into the threshing device 13 is changed to a shallower one (shallower threshing side).

When the end of the transport of the stem clamping and transporting device 23B approaches the feeding and transporting device 23D, the position of clamping the grain culm by the feeding and transporting device 23D changes to the position of clamping the grain culm by the root clamping and transporting device 23B. It is handed over to the supply/conveyance device 23D in a close position. As a result, the threshing depth of the reaping grain culms with respect to the threshing device 13 is changed to a deeper one (deeper threshing side).

Thus, the threshing depth adjusting mechanism 24 is configured to allow the stock clamping and conveying device 23B to swing up and down. When the tilting posture of the root clamping and conveying device 23B is changed, the depth of treatment of harvested grain culms with respect to the threshing device 13 is changed. In addition, a contact-type culm length detection device 30 is provided in the vicinity of the feeding and conveying device 23D. The tip side of the harvested culms transported by the transportation device 23 and the culm length detection device 30 are configured to be in contact with each other, and the culm length detection device 30 detects the culm length of the harvested grain culms.

The culms conveyed by the conveying device 23 are delivered to the auxiliary conveying device 25 . Then, the culms are conveyed to the threshing feed chain 13A in a state where the root side of the stalk is clamped by the auxiliary conveying device 25, and transferred to the threshing feed chain 13A. Furthermore, the culm transferred to the threshing feed chain 13A is pinched at the root side of the stalk by the threshing feed chain 13A and conveyed toward the threshing device 13 . The tips of the harvested grain culms are inserted into the threshing chamber of the threshing device 13, threshed by the threshing drum 13B rotating in the threshing chamber, and sorted into grains and dust. Grains obtained by the threshing process are stored in the grain tank 14 . A grain discharger 18 is connected to the grain tank 14 . The grains stored in the grain tank 14 are discharged out of the machine by the grain discharging device 18 as required.

Further, the driving section 12 is provided with a main shift lever 19 (see FIG. 4). The main shift lever 19 can be manually operated. When the combine harvester 1 is manually traveling, the vehicle speed of the combine harvester 1 changes when the operator operates the main shift lever 19 . That is, when the combine harvester 1 is manually operated, the operator can change the vehicle speed of the combine harvester 1 by operating the main shift lever 19 .

Furthermore, a satellite positioning module 80 is also provided on the roof of the cabin that covers the operating section 12 . Satellite positioning module 80 includes a satellite antenna for receiving GNSS (Global Navigation Satellite System) signals, including Global Positioning System signals. To complement the satellite navigation provided by the satellite positioning module 80, the satellite positioning module 80 incorporates an inertial navigation unit incorporating a gyroscopic accelerometer and a magnetic orientation sensor. Of course, the inertial navigation unit may be placed elsewhere.

Although not described in detail, the combine harvester 1 operates along the travel route based on the position coordinates of the combine harvester 1 detected by the satellite positioning module 80 and the inertial navigation unit and the travel route set to travel through the field. Reaping travel is possible. That is, the combine 1 can automatically travel.

[Regarding the depth control section]
The control system of the combine 1 in this embodiment is composed of a large number of electronic control units called ECUs, various operating devices, a sensor group and a switch group, and a wiring network such as an in-vehicle LAN for data transmission between them. . As shown in FIG. 4, the combine 1 of the present invention is provided with a control section 31 . The control unit 31 is configured as part of the control system.

The driving unit 12 is provided with a main shift lever 19 that allows an operator to shift the traveling device 11 . A manual operating tool 19A is provided on the main shift lever 19, and the manual operating tool 19A corresponds to the "manual operating tool" of the present invention. The manual threshing depth operation tool 19A includes, for example, a switch for operating the stock nipping and conveying device 23B toward the shallow threshing side and a switch for actuating the stock nipping and conveying device 23B toward the deep threshing side. It consists of a pair of push button switches. The automatic depth control tool 20 is arranged in the operation part 12 and is composed of one push button switch.

A manual threshing depth manipulator 19A and an automatic threshing depth manipulator 20 which can be operated by an operator, and a culm length detector 30 are connected to the control unit 31 so as to be communicable.

The control section 31 is provided with a treating depth control section 31A and a determination section 31B. The threshing depth control unit 31A has a threshing depth manual adjustment control mode in which the threshing depth of the harvested culms can be adjusted based on the operator's operation of the manual threshing depth operation tool 19A, and a detection state of the culm length detection device 30. and an automatic threshing depth adjustment control mode in which the threshing depth is adjusted based on the threshing depth. In other words, the threshing depth control unit 31A controls the threshing depth adjustment mechanism 24 to adjust the threshing depth of the harvested grain culm based on the operation of the manual threshing depth operation tool 19A, and the culm length detection device 30 Automatic adjustment control for adjusting the threshing depth of the reaping grain culm by the threshing depth adjusting mechanism 24 based on the detected state of the .

In the manual depth adjustment control mode, the depth control section 31A controls the depth motor 24M based on the amount of operation of the manual depth operation tool 19A. In the automatic threshing depth adjustment control mode, the threshing depth control unit 31A controls the threshing depth motor 24M so that the threshing depth of the reaping grain culms for the threshing device 13 is maintained within the target setting range.

When the operator operates the automatic threshing depth manipulator 20, the threshing depth control section 31A is switched to the threshing depth automatic adjustment control mode, and when the operator operates the manual threshing depth manipulator 19A, the threshing depth is changed. The depth control unit 31A is switched to the manual depth adjustment control mode. Alternatively, each time the operator operates the automatic threshing depth manipulator 20, the threshing depth control section 31A may alternately switch between the threshing depth automatic adjustment control mode and the threshing depth manual adjustment control mode. good.

Details will be described later, but based on the detection state of the culm length detection device 30 and the state of the threshing depth adjustment mechanism 24, the determination unit 31B determines whether the culm is cut even if the culm is cut to a shallow threshing depth. It is configured to determine an abnormal condition in which the culm is detected as a long culm. Further, in the present embodiment, a deep treatment control mode is implemented in the treatment depth control unit 31A. In the deep treatment control mode, when the determination unit 31B determines an abnormal state, the treatment depth controller 31A The thickness adjusting mechanism 24 is caused to change the threshing depth of the reaping grain culm to the deep threshing side. The depth control mode is a mode that is automatically switched by the depth control unit 31A. The depth control section 31A does not switch to the deep control mode.

The culm length detection device 30 is provided with a main body case 30H formed in a substantially bottomless box shape that is open downward, and a pair of oscillating sensor arms 30A and 30B. The culm length detection device 30 is configured to detect the culm length by swinging the pair of sensor arms 30A and 30B in contact with the tip side portion of the harvested grain culm. A pair of sensor arms 30</b>A and 30</b>B are separated along the culm length direction of the harvested grain culms conveyed by the conveying device 23 .

Upper parts of the pair of sensor arms 30A and 30B are swingably supported by the main body case 30H, and the pair of sensor arms 30A and 30B hang downward from the upper parts. Therefore, the upper portion of each of the sensor arms 30A and 30B is the rocking base end. Each of the sensor arms 30A and 30B is capable of swinging in the front-rear direction (direction in which the harvested culms move) around a horizontal axis extending laterally of the machine body, and is biased to return to the downward hanging position. there is Detecting switches 30C and 30D are provided at the rocking proximal ends of the pair of sensor arms 30A and 30B, respectively. Each of the detection switches 30C and 30D is, for example, a limit switch.

When the harvested culms conveyed by the conveying device 23 come into contact with the sensor arm 30A and the sensor arm 30A swings from the hanging posture by a set amount or more, the detection switch 30C is turned on. Further, if the swing amount of the sensor arm 30A from the hanging posture is less than the set amount, the detection switch 30C is turned off.

When the harvested culms conveyed by the conveying device 23 come into contact with the sensor arm 30B and the sensor arm 30B swings from the hanging posture by a set amount or more, the detection switch 30D is turned on. Further, if the swing amount of the sensor arm 30B from the hanging posture is less than the set amount, the detection switch 30D is turned off.

The outputs of the pair of detection switches 30C and 30D are input to the handling depth control section 31A. The threshing depth control unit 31A controls the threshing depth motor 24M so that the detection switch 30D located on the side opposite to the stock base is in the OFF state and the detection switch 30C located on the stock base side is in the ON state. controls the operation of

That is, if the pair of detection switches 30C and 30D are both ON, the threshing depth control section 31A determines that the harvested grain culms conveyed by the conveying device 23 are long culms, and operates the threshing depth motor 24M. It is operated to operate the stock base clamping and conveying device 23B toward the shallow handling side. Further, when the pair of detection switches 30C and 30D are both in the OFF state, the threshing depth control section 31A determines that the harvested grain culms conveyed by the conveying device 23 are short culms, and operates the threshing depth motor 24M. It is operated to operate the stock base clamping and conveying device 23B toward the deep handling side. Furthermore, the trekking depth control unit 31A can be set even if the detection switch 30D located on the side opposite to the stock base side of the pair of detection switches 30C and 30D is in the OFF state and the detection switch 30C located on the stock base side is in the ON state. For example, the culm length of the harvested culms conveyed by the conveying device 23 is determined to be suitable, and the operation of the threshing depth motor 24M is stopped to maintain this state.

As shown in FIG. 5, the treatment depth control section 31A determines whether or not the manual treatment depth operation tool 19A has been operated (step #01). Then, when it is determined that the manual treatment depth operation tool 19A has been operated (step #01: Yes), the treatment depth control section 31A switches the control mode to the treatment depth manual adjustment control mode (step #02). .

Next, the treatment depth control section 31A determines whether or not the automatic treatment depth operation tool 20 has been operated (step #03). Then, when it is determined that the automatic treatment depth manipulator 20 has been operated (step #03: Yes), the treatment depth control section 31A switches the control mode to the treatment depth automatic adjustment control mode (step # 04).

Then, the treatment depth control section 31A determines whether the current control mode is the treatment depth manual adjustment control mode or the treatment depth automatic adjustment control mode (step #05). If the current control mode of the threshing depth control unit 31A is the threshing depth manual adjustment control mode, the threshing depth control unit 31A controls the threshing of the harvested grain culm based on the operator's operation of the manual threshing depth operation tool 19A. The depth is adjusted (step #06), and the process returns to step #01. If the current control mode of the threshing depth control unit 31A is the automatic threshing depth adjustment control mode, the threshing depth control unit 31A adjusts the threshing depth based on the detection state of the culm length detector 30 (step # 07), the process proceeds to step #11 and subsequent steps shown in FIG. In the processing after step #11, deep treatment control, which will be described later, is performed as necessary.

[Regarding deep treatment control of the treatment depth control unit]
As described above, when the pair of detection switches 30C and 30D are both ON, the threshing depth control unit 31A operates the threshing depth motor 24M so that the stock clamping and conveying device 23B operates to the shallow threshing side. activate. However, the sensor arm 30A is in continuous contact with the harvested culms conveyed by the conveying device 23, and the sensor arm 30B is also intermittently in contact with the harvested culms. Therefore, if straw waste, weeds, etc. attached to the harvested culms become entangled in the sensor arms 30A and 30B and pile up, there is a risk that the sensor arms 30A and 30B will swing upward from the hanging position and will not return. In this case, the detection switches 30C and 30D are maintained in the ON state even when the tips of the reaping grain culms are not in contact with the sensor arms 30A and 30B. In this state, the threshing depth control unit 31A erroneously determines that the harvested grain culms conveyed by the conveying device 23 are long culms, and activates the threshing depth motor 24M to move the stock pinching and conveying device 23B to the maximum position. It will operate to the shallow handling side. As a result, the culms of harvested grains are threshed not to the original suitable depth of threshing, but to be threshed shallowly, and there is a risk that the culms of harvested grains will be treated as waste straw while grains remain, resulting in harvest loss. There is In order to avoid such an inconvenience, in the present embodiment, deep treatment control, which will be described later, is executed.

FIG. 6 shows the overall flow of deep handling control. First, the judging section 31B judges whether or not the threshing depth adjusting mechanism 24 is in the shallowest threshing state and both of the pair of detection switches 30C and 30D are in the ON state (step #11). Further, in step #11, it may be determined whether or not the detection switch 30D on the side opposite to the stock base side is ON and the detection switch 30C on the stock base side is in the OFF state. If step #11 is determined as No, the count value of the first timer Tm1 prepared in advance is cleared to zero (step #17), and the process returns to step #01.

If step #11 determines Yes, the count value of the first timer Tm1 prepared in advance is incremented (step #12), and whether the count value of the first timer Tm1 has reached the preset first threshold value Ta It is determined whether or not (step #13). The first threshold value Ta is set, for example, to 5 seconds or the like as a guideline, and is a value that can be appropriately changed by an operator, a field manager, or the like.

If the first timer Tm1 has not reached the first threshold value Ta (step #13: No), the process returns to step #11. If the first timer Tm1 has reached the first threshold value Ta (step #13: Yes), the automatic treatment depth adjustment control mode is canceled and the deep treatment control mode of the treatment depth control section 31A is started. (step #14).

In the deep threshing control mode, the threshing depth control section 31A activates the threshing depth motor 24M to operate the stock pinching and conveying device 23B to the deepest threshing side. In other words, the threshing depth control unit 31A performs deep threshing control for causing the threshing depth adjustment mechanism 24 to change the threshing depth of the harvested culms so that the threshing depth of the harvested culms becomes the deepest. When the stem nipping and conveying device 23B operates to the deepest threshing side, the harvested grain culms and the pair of sensor arms 30A and 30B come into strong contact with each other, and straw scraps, weeds, etc. entangled in the sensor arms 30A and 30B are harvested. The culms are transported to the downstream side in the transport direction.

After starting the deep treatment control mode, it is determined whether or not the manual treatment depth operation tool 19A has been operated (step #15). When it is determined that the manual treatment depth operation tool 19A has been operated (step #15: Yes), the control mode of the treatment depth control unit 31A is switched from the deep treatment control mode to the treatment depth manual adjustment control mode ( step #16). Then, the count value of the first timer Tm1 and the count value of the second timer Tm2 are cleared to zero (step #17), and the process returns to step #01. That is, the deep threshing control section 31A ends the deep threshing control when the manual threshing depth operation tool 19A is operated after the start of the deep threshing control.

As described above, an abnormal state may occur in the culm length detection device 30 due to accumulation of straw waste, weeds, or the like on the culm length detection device 30 . When the determination unit 31B determines the abnormal state, the threshing depth control unit 31A performs deep threshing control to change the threshing depth of the harvested culms to the deep threshing side by the threshing depth adjustment mechanism 24 . That is, when the determining unit 31B determines that an abnormal state has occurred, the depth-of-treating control unit 31A ends the automatic adjustment control and performs deep-treating control, and after the deep-treating control ends, performs manual adjustment control.

FIG. 7 shows a time chart of the deep treatment control shown in the flow chart of FIG. In FIG. 7, the detection state of the culm length detection device 30 and the threshing depth of harvested culms adjusted by the threshing depth adjusting mechanism 24 are shown in common time series. In the graph of the detection state of the culm length detection device 30, the vertical axis indicates long culms and short culms. If the pair of detection switches 30C and 30D are both ON, or if the detection switch 30D is ON and the detection switch 30C is OFF, the graph line of the detection state of the culm length detection device 30 is positioned at the long culm. Also, if the pair of detection switches 30C and 30D are both in the OFF state, the graph line of the detection state of the culm length detection device 30 is positioned at the short culm. If the detection switch 30D located on the side opposite to the stock base side is in the OFF state and the detection switch 30C located on the stock base side is in the ON state, the graph line of the detection state of the culm length detection device 30 is a long culm and a short culm. located between

If the detection state of the culm length detection device 30 is long culms, the cutting depth of the cut culms is changed to the shallow cutting side, and if the detection state of the culm length detection device 30 is short culms, the cutting depth of the cut culms Saga is changed to the deep side. If the detected state of the culm length detector 30 is between the long culm and the short culm, the cutting depth of the harvested culm is maintained without being changed.

If the detection state of the culm length detection device 30 continues to be long culms, the culm handling depth of the harvested grain continues to be changed to the shallow handling side, and at the first time T1, the culling depth of the harvested grain culm is the shallowest. become a state. That is, at the time of the first time T1, the cut culms are detected as long culms by the culm length detection device 30 even though the cutting depth of the cut culms is the shallowest. Judgment is made.

During the time between the first time T1 and the second time T2, the culm length detecting device 30 continues to detect long culms, and during this time the process of step #12 in FIG. 6 is repeated. At the time of the second time T2, the count value of the first timer Tm1 reaches the first threshold value Ta, and a determination of Yes is made in step #13 in FIG. That is, the determining unit 31B determines an abnormal state when the harvested culms are detected as long culms even though the harvested culms are treated shallowly over a preset time. Here, the "preset time" is the time from when the count of the first timer Tm1 is started until the count value of the first timer Tm1 reaches the first threshold value Ta.

At the second time T2, the process of step #14 in FIG. 6 is executed, and the depth of treatment control section 31A shifts to the deep treatment control mode. The culling depth of the harvested grain is then changed to the deepest culling depth.

At the time of the third time T3, the manual treatment depth operation tool 19A is operated, and a determination of Yes is made in step #15 of FIG. Then, the processing of step #16 in FIG. 6 causes the processing depth control section 31A to shift to the processing depth manual adjustment control mode. After the third time T3, the threshing depth adjustment mechanism 24 is operated by the manual threshing depth operation tool 19A to change the threshing depth of the reaping grain culms.

[Another embodiment]
The present invention is not limited to the configurations exemplified in the above-described embodiments, and other representative embodiments of the present invention will be exemplified below.

(1) In the above-described embodiment, as shown in step #14 of FIG. 6, the automatic threshing depth adjustment control mode is canceled and the deep threshing control mode of the threshing depth control section 31A is executed. It is not limited to this embodiment. For example, as shown in step #24 of FIG. 8, the depth of treatment control section 31A may be configured to execute the deep treatment control mode prior to the automatic treatment depth adjustment control mode.

In the flow of deep threshing control shown in FIG. 31A performs deep handling control prior to automatic adjustment control.

First, the judging section 31B judges whether the threshing depth adjusting mechanism 24 is in the shallowest threshing state and both of the pair of detection switches 30C and 30D are in the ON state (step #21). Further, in step #21, it may be determined whether or not the detection switch 30D on the side opposite to the stock base side is ON and the detection switch 30C on the stock base side is in the OFF state.

If step #21 is determined as Yes, the count value of the first timer Tm1 is incremented (step #22). When the count value of the first timer Tm1 reaches the preset first threshold value Ta (step #23: Yes), the treating depth control section 31A gives priority to the treating depth automatic adjustment control mode and performs deep treating control. mode is executed (step #24).

After the start of the deep handling control mode, the counting of the second timer Tm2 is started (step #25), and until the second timer Tm2 reaches the preset second threshold value Tb (step #27), the second timer Tm2 continues to increment. The second threshold Tb is set, for example, to 5 seconds or the like as a guideline, and is a value that can be appropriately changed by an operator, a field manager, or the like.

At the same time that the second timer Tm2 is incremented, it is determined whether or not the detection switch 30D on the opposite side of the pair of detection switches 30C and 30D has turned OFF (step #26). This determination is made by the determination section 31B. When the detection switch 30D on the side opposite to the stock base side has changed to the OFF state (step #26: Yes), the process proceeds to step #28 without performing the determination of step #27. At this time, the increment of the second timer Tm2 is stopped.

If the determination in step #26 or step #27 is Yes, the depth of treatment control section 31A cancels the depth of treatment control mode and returns to the automatic depth of treatment control mode (step #28). Then, the count value of the first timer Tm1 and the count value of the second timer Tm2 are cleared to zero (step #29), and the process returns to step #01.

That is, the deep threshing control unit 31A may be configured to end the deep threshing control when a preset time elapses after the start of the deep threshing control, or the culm length detecting device It may be configured such that when the detection state of 30 changes to the short culm side, the deep handling control is terminated.

In FIG. 9, the detection state of the culm length detection device 30 and the threshing depth of harvested culms adjusted by the threshing depth adjusting mechanism 24 are shown in common time series.

If the detection state of the culm length detection device 30 continues with the long culm, the culm handling depth continues to be changed to the shallow handling side, and at the first time T11, the culling depth of the harvested grain culm is the shallowest. become a state. That is, at the time of the first time T11, even though the cut culms are treated to the shallowest depth, the culm length detection device 30 detects the cut culms as long culms. Judgment is made.

During the time between the first time T11 and the second time T12, the culm length detecting device 30 continues to detect long culms, and during this time the process of step #22 in FIG. 8 is repeated. At the time of the second time T12, the count value of the first timer Tm1 reaches the first threshold value Ta, and a determination of Yes is made in step #23 in FIG.

At the second time T12, the process of step #24 in FIG. 8 is executed, and the depth of treatment control section 31A shifts to the deep treatment control mode. The culling depth of the harvested grain is then changed to the deepest culling depth.

During the time between the second time T12 and the third time T13, the depth of treatment of the reaping grain culm is maintained at the deepest treatment depth, and during this time the processing of steps #25 and #26 in FIG. Repeated. At the time of the third time T13, the count value of the second timer Tm2 reaches the second threshold value Tb, and a determination of Yes is made in step #27 in FIG.

Then, the processing of step #28 in FIG. 8 returns the processing depth control section 31A to the processing depth automatic adjustment control mode. After the third time T3, automatic adjustment control is performed by the threshing depth control section 31A, and the threshing depth adjusting mechanism 24 adjusts the threshing depth of the harvested culms based on the detection state of the culm length detector 30. FIG.

That is, the deep threshing control unit 31A is configured to perform deep threshing control prior to automatic adjustment control when the determining unit 31B determines that an abnormal state has occurred, and to perform automatic adjustment control after the end of the deep threshing control. can be

Further, the deep threshing control mode may be a part of the threshing depth automatic adjustment control mode. In other words, when the determination unit 31B determines an abnormal state, the control mode of the processing depth control unit 31A may shift to the deep processing control mode as a special mode of the processing depth automatic adjustment control mode. . Then, when the deep threshing control mode is canceled, the control mode of the threshing depth control section 31A may return to the normal threshing depth automatic adjustment control mode.

Note that the determination process of step #26 shown in FIG. 8 is not necessarily required, and for example, the configuration may be such that there is no determination process of step #26 shown between steps #25 and #27. . That is, the threshing depth control section 31A does not have to end the deep threshing control when the detection state of the culm length detection device 30 changes to the short culm side after starting the deep threshing control.

In addition, after the process of step #14 shown in FIG. 6 is performed and before the process of step #15 is performed, the processes of steps #25 and #27 shown in FIG. 8 are performed. It may be a configuration that is That is, the deep threshing control section 31A is configured to end the deep threshing control when a preset time elapses after the start of the deep threshing control and when the manual threshing depth operation tool 19A is operated. can be At this time, the timing at which the manual treatment depth operation tool 19A is operated may be before the count value of the second timer Tm2 reaches the second threshold value Tb, or the count value of the second timer Tm2 may reach the second threshold value Tb. It may be after reaching the threshold value Tb.

(2) The above-described deep threshing control may be performed while the combine harvester 1 is automatically traveling for reaping, or may be performed while the combine harvester 1 is manually traveling for reaping.

(3) In the above-described embodiment, the culm length detection device 30 is provided with a pair of oscillating sensor arms 30A and 30B, but may be provided with three or more sensor arms. In this case, the threshing depth control unit 31A changes the threshing depth of the reaping grain culms by the threshing depth adjustment mechanism 24 in accordance with the number of sensor arms that detect the tip of three or more. good.

For example, in a configuration provided with five sensor arms, if the tip is detected by all the sensor arms, the treatment depth of the treatment depth adjustment mechanism 24 is adjusted to the deepest, and the tip is detected by the five sensor arms. is not detected at all, the structure may be such that the treatment depth of the treatment depth adjusting mechanism 24 is adjusted to the shallowest. Then, when the tip is detected by three of the five sensor arms on the stock base side, the treatment depth of the treatment depth adjusting mechanism 24 is adjusted between the deepest and the shallowest. can be

(4) In the above-described embodiment, the culm length detection device 30 is provided with a pair of swinging sensor arms 30A and 30B. sensor (for example, an infrared sensor, etc.) may be provided.

When the culm length detection device 30 is equipped with a camera, the configuration may be such that the tips of the harvested culms imaged by the camera are detected by image processing. In this case, the culm length detection device 30 may be configured to detect the harvested culm as a long culm when the tip position is positioned laterally inside the body from a preset threshold value.

Moreover, when the culm length detection device 30 is equipped with a non-contact type sensor, the configuration may be such that the distance between the tip of the harvested culm and the tip of the sensor is measured. In this case, if the separation distance is shorter than a preset threshold value, the culm length detection device 30 may be configured to detect the harvested culm as a long culm.

(5) In the above-described embodiment, when the threshing depth adjustment mechanism 24 is in the shallowest threshing state and the culm length detection device 30 detects the harvested culm as a long culm, the determination unit 31B determines the abnormal state. is used as a condition for determining, the present invention is not limited to this embodiment. In other words, based on the detection state of the culm length detection device 30 and the state of the threshing depth adjustment mechanism 24, the determination unit 31B determines whether the culm harvested is long even though the culm threw is lightly threshed. It suffices if the abnormal state detected as .theta. For example, even in a state in which the threshing depth of the harvested culms is adjusted within a movable range of 10% on the shallow threshing side of the movable range of the threshing depth adjustment mechanism 24, the determination unit 31B is in an abnormal state. may be determined.

(6) In the above-described embodiment, the threshing depth control unit 31A causes the threshing depth adjustment mechanism 24 to change the threshing depth of the harvested culms so that the threshing depth of the harvested culms becomes the deepest. However, it is not limited to this embodiment. For example, the culling depth of harvested grains in deep threshing control may not be the deepest, but may be approximately the deepest, or may be on the deep threshing side rather than intermediate between the deepest and the shallowest. That is, the threshing depth control unit 31A performs deep threshing control to cause the threshing depth adjustment mechanism 24 to change the threshing depth of the reaping grain culm to the deep threshing side when the determining unit 31B determines an abnormal state. Any configuration is fine.

It should be noted that the configurations disclosed in the above-described embodiments (including other embodiments; the same shall apply hereinafter) can be applied in combination with configurations disclosed in other embodiments unless there is a contradiction. Moreover, the embodiments disclosed in this specification are merely examples, and the embodiments of the present invention are not limited thereto, and can be modified as appropriate without departing from the scope of the present invention.

INDUSTRIAL APPLICABILITY The present invention is applicable to a combine harvester capable of changing the threshing depth of harvested grain culms to be threshed by a threshing device.

13: Threshing device 19A: Manual threshing depth operation tool 23: Conveying device 24: Threshing depth adjustment mechanism 30: Culm length detection device 31A: Threading depth control unit 31B: Judgment unit H: Reaping unit Ta: First threshold value (judgment pre-set time for the unit to determine an abnormal condition)
Tb: Second threshold (preset time after start of deep handling control)

Claims (7)

a harvesting unit for harvesting planted grain culms in a field;
a conveying device that conveys harvested grain culms harvested by the harvesting unit to a threshing device;
a culm length detection device for detecting the culm length of the harvested grain culm being conveyed by the conveying device;
a threshing depth adjustment mechanism capable of changing the threshing depth of the harvested grain culm threshed by the threshing device;
Manual adjustment control for causing the threshing depth adjusting mechanism to adjust the threshing depth of the harvested culms based on the operation of the manual operation tool, and controlling the threshing depth adjusting mechanism based on the detection state of the culm length detection device. a threshing depth control unit capable of automatic adjustment control for adjusting the threshing depth of harvested grain culms;
Abnormality in which the harvested culms are detected as long culms even though the harvested culms are shallowly treated based on the detection state of the culm length detection device and the state of the threshing depth adjustment mechanism. A judgment unit that judges the state is provided,
The threshing depth control unit terminates the automatic adjustment control when the determination unit determines the abnormal state, and causes the threshing depth adjustment mechanism to change the threshing depth of the harvested culms to the deep threshing side. A combine harvester that performs deep threshing control to allow the deep threshing control to be performed, and performs the manual adjustment control after the end of the deep threshing control . a harvesting unit for harvesting planted grain culms in a field;
a conveying device that conveys harvested grain culms harvested by the harvesting unit to a threshing device;
a culm length detection device for detecting the culm length of the harvested grain culm being conveyed by the conveying device;
a threshing depth adjustment mechanism capable of changing the threshing depth of the harvested grain culm threshed by the threshing device;
Manual adjustment control for causing the threshing depth adjusting mechanism to adjust the threshing depth of the harvested culms based on the operation of the manual operation tool, and controlling the threshing depth adjusting mechanism based on the detection state of the culm length detection device. a threshing depth control unit capable of automatic adjustment control for adjusting the threshing depth of harvested grain culms;
Abnormality in which the harvested culms are detected as long culms even though the harvested culms are shallowly treated based on the detection state of the culm length detection device and the state of the threshing depth adjustment mechanism. A judgment unit that judges the state is provided,
The threshing depth control unit performs deep threshing control to cause the threshing depth adjustment mechanism to change the threshing depth of the harvested culms to a deep threshing side when the determination unit determines that the abnormal state is present. and a combine harvester that terminates the deep squeezing control when the detection state of the culm length detecting device changes to the short stalk side after the start of the deep squeezing control. a harvesting unit for harvesting planted grain culms in a field;
a conveying device that conveys harvested grain culms harvested by the harvesting unit to a threshing device;
a culm length detection device for detecting the culm length of the harvested grain culm being conveyed by the conveying device;
a threshing depth adjusting mechanism capable of changing the threshing depth of the harvested grain culms threshed by the threshing device;
Manual adjustment control for causing the threshing depth adjusting mechanism to adjust the threshing depth of the harvested culms based on the operation of the manual operation tool, and controlling the threshing depth adjusting mechanism based on the detection state of the culm length detection device. a threshing depth control unit capable of automatic adjustment control for adjusting the threshing depth of harvested grain culms;
Abnormality in which the harvested culms are detected as long culms even though the harvested culms are shallowly treated based on the detection state of the culm length detection device and the state of the threshing depth adjustment mechanism. A judgment unit that judges the state is provided,
The threshing depth control unit performs deep threshing control to cause the threshing depth adjustment mechanism to change the threshing depth of the harvested culms to a deep threshing side when the determination unit determines that the abnormal state is present. and a combine harvester that terminates the deep threshing control when the manual operating tool is operated after the deep threshing control is started. The depth of treatment control section performs the deep treatment control prior to the automatic adjustment control when the abnormal state is determined by the determination section, and performs the automatic adjustment control after the completion of the deep treatment control. The combine according to claim 2 or 3 . The combine according to any one of claims 1 to 4, wherein the threshing depth control unit performs the deep threshing control so that the threshing depth of the harvested grain culm becomes the deepest. The judging unit judges the abnormal state when the harvested culms are detected as long culms over a preset period of time even though the harvested culms are treated shallowly. Item 6. The combine according to any one of Items 1 to 5 . The combine according to any one of claims 1 to 6 , wherein the deep threshing control section terminates the deep threshing control when a preset time elapses after the start of the deep threshing control.

Images