JPH0837906A - Threshing and sorting controller - Google Patents

Abstract

PURPOSE:To enable the sorting operation optimally as much as possible regardless of the grain leak opening of a shaking type sorting plate by allowing the manipulation variable for controlling the opening to differ depending on the degree of the grain leak opening, for example, obtained from the fuzzy inference. CONSTITUTION:Based on information from a layer thickness detector S1 for detecting the layer thickness of the treated product on a shaking type sorting plate mounted to the sorter for sorting the treated product after reaping or threshing, a controlling unit H operates the divergent opener M1 to change the leak divergent of the shaking type sorting plate by the manipulation variable determined by the detected value of the layer thickness and its change rate. At this time, the controlling unit H makes the manipulation variable larger in the case where the leak opening is small than in the case that it is large.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a layer thickness detecting means for detecting a layer thickness of a processed product on an oscillating sorting plate provided in a sorting device for selecting a processed product after threshing, and a layer of the processed product. An opening degree changing means for changing the leakage opening degree of the rocking sorting plate with an operation amount determined based on the layer thickness detection value of the layer thickness detecting means and the rate of change thereof so that the thickness falls within an appropriate range. The present invention relates to a threshing selection control device provided with control means for operating.

[0002]

2. Description of the Related Art In the above threshing selection control device, an operation amount determined by using, for example, fuzzy inference, from detection information of a layer thickness value of a processed object on a rocking selection plate and its change rate,
By changing and adjusting the leakage opening of the swing sorting plate to maintain the layer thickness of the processed product layer on the swing sorting plate within an appropriate range, it is possible to adjust the leakage to the first product when the processed product layer is too thin. Problems such as mixing of straw waste, conversely, an increase in loss No. 3 when the treated material layer is too thick, and damage to the grain due to an excessive increase in reduction No. 2 have been prevented (for example, Japanese Patent Application Laid-Open No. Hei 10 (1999) -242242). 5
-21 publication).

[0003]

According to the above-mentioned prior art, for example, when a large amount of grain culm is supplied to the handling room and thus a large amount of processed material leaks from the handling room to the sorting device, the amount of processed material is increased. Corresponding to, the leakage opening of the rocking sorting plate is operated to the open side, and the grain component leaks in the rocking sorting plate in an appropriate state, while the grain with twigs etc. Is recovered. In this state, even if, for example, a lump of the processed material to which the grain or the like is fixed or a grain with a twig is temporarily supplied, the
It is stably recovered as a product, and the fluctuation of the processed product layer thickness is small. However, conversely, if the amount of grain culm supplied to the handling room is small and the amount of processed material that leaks from the handling room to the sorting device is small, the leakage of the rocking sorting plate will correspond to that amount of processed material. The opening is operated to the closing side, but when the lumps of processed products or grains with twigs are supplied in that state, the lumps of processed products or grains with twigs are oscillated. May be clogged and accumulated in the leaked part (chaff sheave), or may be suddenly moved from the accumulated state and collected in the second item. Therefore, when the amount of the processed product leaking from the handling room to the sorting device is small, the layer thickness of the processed product and the second reduction amount vary greatly, and there is a possibility that the sorting process may not be performed in an appropriate state.

The present invention has been made in view of the above circumstances, and an object thereof is to solve the problem of the above-mentioned prior art, that is, the state of the amount of processed material leaking from the handling room to the sorting device (the amount of the processed material). By changing the operation amount for changing and adjusting the leakage opening of the rocking sorting plate according to the amount, the optimal state can be achieved even when the amount of processed material leaking from the handling room to the sorting device is small. The purpose is to perform the sorting process.

[0005]

A threshing selection control device of the present invention is a layer thickness detecting means for detecting a layer thickness of a processed product on an oscillating sorting plate provided in a sorting device for selecting a processed product after threshing. With the operation amount determined based on the layer thickness detection value of the layer thickness detection means and its change rate, the leakage opening of the rocking sorting plate is adjusted so that the layer thickness of the processed material falls within an appropriate range. A control means for activating the opening degree changing means for changing is provided, and a first characteristic configuration thereof is a processed material amount for detecting an amount of the processed material leaking from the handling chamber to the rocking sorting plate. A detection unit is provided, and the control unit detects the layer thickness of the layer thickness detection unit based on the information of the processed material amount detection unit when the processed material amount is smaller than when the processed material amount is large. Configured to increase the operation amount determined based on the value and its change rate Lies in the fact that is.

In a second characteristic configuration, the processed material amount detecting means is configured as a leakage opening degree detecting means for detecting the amount of the processing objects by the size of the leakage opening degree in the swing selection plate. There is a point.

In a third characteristic configuration, the processed material amount detecting means is constituted by a grain culm supply amount detecting means for detecting the amount of the treated material by the amount of the grain culm supplied to the handling chamber. In point.

A fourth characteristic configuration is that the control means stores operation amount data obtained in advance based on fuzzy inference for the operation amount, and determines the operation amount based on the operation amount data. It is in the point that is configured.

A fifth characteristic configuration is that, in the fuzzy inference, one of a plurality of types of control rules set corresponding to the amount of the processed material is selected based on the processed material amount, and the operation is performed. It is configured to determine quantitative data.

[0010]

According to the first characteristic configuration of the present invention, when the amount of the processed material leaking from the handling chamber to the rocking sorting plate is small, the amount of the processed material leaking from the handling chamber to the rocking sorting plate is small. The operation amount for changing the leakage opening of the rocking sorting plate, which is determined based on the layer thickness detection value of the processed material layer and its rate of change, is made larger than when it is large, and the rocking sorting plate is made with the larger manipulation amount. The opening of is changed and adjusted. Therefore, since the amount of the processed material leaking from the handling chamber to the swing sorting plate is small, the leak opening of the swing sorting plate is correspondingly operated to the closing side (small side), For example, lumps of processed products with fixed grains, etc., or grains with twigs, etc. are supplied from the handling room, and these are clogged and retained in the lower part of the rocking sorting plate. When it suddenly becomes large and the rate of increase thereof becomes large, the leakage opening of the oscillating sorting plate is operated so as to move to the open side (large side) faster, while the treated material in the above-mentioned retention state is also operated. If a lump or the like suddenly moves from its staying state, the layer thickness value of the processed material suddenly decreases, and the reduction rate increases, in accordance with it,
It is operated so that the leakage opening of the rocking sorting plate is closer to the closing side (small side).

Further, according to the second characteristic configuration, in the first characteristic configuration, when the amount of the processed material leaking from the handling chamber to the swing selection plate is large, the swing selection plate corresponding thereto is correspondingly disposed. When the leak opening is manipulated to a large side and the amount of the processed material leaking from the handling chamber to the swing sorting plate is small, the leak opening of the swing sorting plate is manipulated to a small side correspondingly. Therefore, the amount of processed material that leaks from the handling chamber to the swing sorting plate is detected by the size of the leak opening of the swing sorting plate, and depending on the size of the leak opening of the swing sorting plate, When the leakage opening is smaller than when the leakage opening is large, the leakage opening change of the oscillating sorting plate is determined based on the layer thickness detection value of the processed material layer and its change rate. The operation amount for use is increased, and the opening degree of the swing selection plate is changed and adjusted by the larger operation amount.

According to the third characteristic configuration, in the first characteristic configuration, the large amount of the processed material leaking from the handling chamber to the rocking sorting plate is due to the amount of grain culm supplied to the handling chamber. The reason is that the amount of processed material that leaks from the handling room to the rocking sorting plate is small because the amount of grain culm supplied to the handling room is small. The amount of processed products to be detected is detected depending on the amount of grain culm supplied to the handling room, and depending on the amount of grain culm supplied to the handling chamber, when the amount of grain culm supplied is small,
The operation amount for changing the leakage opening of the rocking sorting plate, which is determined based on the layer thickness detection value of the processed material layer and its change rate, is made larger than when the grain culm supply is large, and the larger operation is performed. The opening of the rocking sorting plate is changed and adjusted by the amount.

Further, according to the fourth characteristic configuration,
In the third characteristic configuration, the operation amount for changing the leakage opening of the rocking sorting plate is a layer thickness detection value of a processed material on the rocking sorting plate,
The rate of change and the amount of processed material leaking from the handling room to the swing selection plate are determined based on fuzzy inference that uses fuzzy inference, and is determined based on the stored operation amount data, and the determined operation is performed. The opening of the rocking sorting plate is changed and adjusted by the amount.

Further, according to the fifth characteristic constitution, in the fourth characteristic constitution, the manipulated variable data previously obtained and stored based on the fuzzy reasoning in which the layer thickness detection value and its change rate are fuzzy variables. As a rule, a plurality of types of control rules are set in accordance with the amount of the processed material leaking from the handling room to the swing selection plate. A corresponding one of the rules is selected, and the leakage opening of the rocking sorting plate is changed and adjusted by the operation amount determined based on the selected one control rule.

[0015]

According to the first characteristic configuration of the present invention, even when the amount of the processed material leaking from the handling chamber to the rocking sorting plate is small, the layer thickness variation of the processed material on the rocking sorting plate is reduced. Therefore, it becomes possible to perform the sorting process in an appropriate state as much as possible, regardless of the amount of the substances leaked from the handling chamber to the swing sorting plate.

In addition, according to the second characteristic configuration, the amount of the processed matter leaking from the handling chamber to the swing sorting plate is originally adjusted to change and adjust the leak opening of the swing sorting plate. With the leakage opening detection means such as a potentiometer provided, it is possible to perform detection easily while avoiding complication of the apparatus configuration, and thus suitable means for implementing the first characteristic configuration can be obtained.

Further, according to the third characteristic configuration, an increase or decrease in the amount of processed material leaking from the handling room to the rocking sorting plate is detected in advance as a grain culm supply amount to the handling room, and the grain culm supply amount is detected. Based on the information, the adjustment of changing the leakage opening of the rocking sorting plate can be performed without control delay, so that a suitable means for implementing the first characteristic configuration can be obtained.

Further, according to the fourth characteristic configuration, since the operation amount for changing the leakage opening of the swing selection plate is determined by the operation amount data previously obtained and stored based on the fuzzy reasoning, For example, as compared with a case where the manipulated variable is determined by PID control or the like, smoother and more appropriate selection control can be performed without making the control configuration complicated, and thus the first, second, and third characteristic configurations described above. Suitable means for carrying out are obtained.

Further, according to the fifth characteristic configuration, the amount of processed substances leaking from the handling chamber to the swinging sorting plate detected by the leakage opening of the swinging sorting plate and the amount of grain culm supplied to the handling chamber. Depending on the degree of the above, the more appropriate control rule is selected from the plurality of control rules obtained by fuzzy inference using the layer thickness detection value on the rocking sorting plate and its change rate as fuzzy variables, and the manipulated variable is calculated. Since it is determined, for example, in addition to the above-mentioned layer thickness detection value and its change rate, the amount of stored data is made smaller than that of the amount of processed material leaking from the handling chamber to the swing selection plate as a fuzzy variable. Therefore, suitable means for carrying out the fourth characteristic configuration can be obtained.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a combine threshing device will be described below with reference to the drawings. As shown in FIGS. 2 to 4, the combine includes a pair of left and right crawler traveling devices 1, a threshing device 2, a control unit 3, a cutting unit 4, and the like.

In the cutting section 4, a weeding tool 5, a raising device 6 for causing planted grain culms, a cutting blade 7 for cutting the root of the raised grain culm, and a cut grain culm are conveyed while being locked. The vertical conveying devices 9 and the like to be passed to the feed chain 16 of the threshing device 2 on the rear side of the machine body are provided in a state of being sequentially arranged. In addition, in order to detect the presence or absence of a cut culm, a stock sensor S4, which is a switch that is turned on when there is a cut culm and turned off when there is no cut culm, is provided at the starting end of the vertical transport device 9. .

The threshing device 2, as shown in FIG.
5, a handling chamber A for housing 5, a feed chain 16 for feeding and transporting the grain culm supplied from the cutting unit 4 to the handling chamber A, a cross-flow fan 17 for dust removal, and a sorting device for sorting the processed products after threshing. Equipped with B. The sorting apparatus B includes a tomi 18, a swing sorting plate 19, a first item recovery unit (hereinafter, referred to as the first mouth) 20 for recovering processed products after selection, and a second item recovery unit (hereinafter,
21).

The grain culm supplied and conveyed to the handling chamber A by the feed chain 16 is threshed by the rotation of the handling barrel 15. In the lower part of the handling room A, a receiving net 22 is provided, and grains of the processed product after threshing that have been made into single grains leak from the receiving net 22 to the rocking sorting plate 19. The processed material that could not leak from the receiving net 22 is the receiving net 22.
It falls from the rear end portion to the swing selection plate 19.

The swing selection plate 19 is composed of a Glen pan 23 located above the tomi 18, a chaff sheave 24 located behind the Glen pan 23, a Glen sheave 25 located below the Glen pan 23, and the like. Select specific gravity while transferring. The first mouth 20 and the second mouth 21 are respectively provided with screw conveyors, and the grains leaked from the chaff sheave 24 and the Glen sieve 25 are collected from the first mouth 20 and stored in a tank or the like. The mixture of the grain and the straw waste that has fallen from the rear end of the chaff sheave 24 or the rear end of the Glen sieve 25 is recovered from the No. 21 opening and returned to the swing selection plate 19.

The chaff sheave 24, as shown in FIG.
A plurality of plate-shaped members 24a are arranged side by side in the front-rear direction at predetermined intervals. Each plate-shaped member 24a is pivotally attached to the left and right side plates so as to be rotatable about the left-right axis, and the lower end portion thereof is a link 24b.
It is pivotally connected at. Therefore, when the link 24b is operated to move in the front-rear direction, the plate-shaped members 24a simultaneously rotate, and the adjacent distance t between the plate-shaped members 24a changes. This interval t corresponds to a leakage opening (hereinafter referred to as a chaff opening) in the swing selection plate 19, and the chaff opening is changed by rotationally driving the sheave motor M1 in the forward and reverse directions. The rotation operation of the sheave motor M1 is converted into the forward / backward movement operation of the link 24b by the gear type linkage mechanism 26, the swing arm 27, and the wire 28, and the chaff opening degree is changed as described above. As described above, the sheave motor M1 constitutes opening change means for changing the leakage opening of the swing selection plate 19. A potentiometer-type chaff opening sensor S2 for detecting the chaff opening from the turning angle of the swing arm 27 is provided.

The toumi 18 is for generating a sorting wind, and the wind force is changed by changing the rotation speed of the toumi 18. In other words, the larger the number of revolutions, the larger the toumi wind force. The toumi rotation speed is changed by performing a gear shift operation of a split pulley type belt transmission 8 (see FIG. 3) described later by the toumi motor M2. A toumi rotation speed sensor S3 for detecting the rotation speed of the toumi 18 is provided on the rotary shaft 18a of the toumi 18.

In the structure of the swing selection plate 19, as the sheave motor M1 is driven to increase the chaff opening,
The amount of grains leaking downward in the chaff sheave 24 increases, and the processing capacity of the sorting apparatus B increases. At this time, in order to prevent straw debris from being mixed into the grain collected at the first mouth 20, the toumi wind force increases as the chaff opening increases, that is, the toumi motor increases so that the toumi rotation speed increases. Drive M2.

Further, as shown in FIG. 6, the chaff sheave 24
A layer thickness sensor S1 for detecting the layer thickness of the above-mentioned sorted product (grain or the like) is provided. The layer thickness sensor S1 resists the plate-like members T1 and T2 that are oscillated around the horizontal axis and the rotation angle I of the plate-like members T1 and T2 to the rear (the conveyance direction of the processed material). It consists of a potentiometer PM that converts into a value. When the layer thickness of the processed material is small, the plate-shaped member T1 contacts the processed material and rotates backward, and when the layer thickness increases, the plate-shaped member T2 contacts the processed material and rotates rearward. Is configured.

With the above construction, the larger the amount of the sorted products and the thicker the layer thickness, the larger the rotation angle I of the sensor bars T1 and T2. Therefore, the layer thickness of the processed products is detected from the resistance value of the potentiometer PM. be able to. Therefore, the layer thickness detecting means for detecting the layer thickness of the processed material on the swing selection plate 19 (actually, the chaff sheave 24) is constituted by the layer thickness sensor S1.

The power transmission system is constructed as shown in FIG. The power of the engine E is transmitted to the threshing device 2 via the threshing clutch 10 and via the traveling clutch 11 and the hydraulic continuously variable transmission 12 for vehicle speed shifting, the missions of the pair of left and right crawler traveling devices 1 are transmitted. The power is transmitted to the case 13, and the power is transmitted to the mowing unit 4 from the mission case 13 via the mowing clutch 14. The power transmitted to the threshing device 2 is transmitted to the rotary shaft 18a of the toumi 18 through the split pulley type belt transmission device 8, and
Although not shown, the handling cylinder 15, the feed chain 16,
It is transmitted as drive power for the swing selection plate 19 and the like. The engine E is provided with an engine rotation speed sensor S6 for detecting the rotation speed thereof, and the mission case 13 is provided with a vehicle speed sensor S5 for detecting the rotation speed of the drive shaft to the crawler traveling device 1 to detect the vehicle speed. In order to detect whether or not the threshing device 2 is operating, a threshing switch SW1 for detecting the on / off state of the threshing clutch 10 is provided.

As shown in FIG. 1, a control means H composed of a microcomputer or the like is provided, and the control means H is provided.
Includes the layer thickness sensor S1, the chaff opening sensor S2,
Each detection information from the Toumi rotation speed sensor S3, the stock sensor S4, the vehicle speed sensor S5, the engine rotation speed sensor S6, and the threshing switch SW1 is input. In addition, the control panel of the control unit 3 has three crop conditions: wheat, rice and wet.
Crop selection switch SW that can be selected and switched from the conditions
2 and toumi adjustment volume VR are provided, and these pieces of information are also input to the control means H. It should be noted that the input information from the above-mentioned sensor or the like is A / D converted and is 8 of 0 to 255.
It becomes bit digital data. On the other hand, from the control means H, the sheave motor M1 and the toumi motor M2 described above are used.
Each drive signal for is output.

The control means H operates the sheave motor M1 with an operation amount determined based on the layer thickness detection value of the layer thickness sensor S1 and the rate of change thereof so that the layer thickness of the object to be processed falls within an appropriate range. Is configured to operate. still,
As will be described later, the toumi motor M2 is also operated according to the operation amount of the sheave motor M1. And the control means H
Stores the operation amount previously calculated based on fuzzy inference as a numerical value table, and determines the operation amount based on the operation amount data, that is, by selecting the data in the numerical value table. In the fuzzy inference, one of a plurality of types of control rules (for example, two numerical value tables) set corresponding to the amount of the processed material leaking from the handling room A to the swing selection plate 19 is set. , Is selected based on the amount of the processed material, and the manipulated variable data is obtained. Then, when the amount of processed material leaking from the handling chamber A to the rocking sorting plate 19 increases, the leak opening (chaff opening) of the rocking sorting plate 19 is adjusted to a large side accordingly. The processed material amount detecting means is constituted by the chaff opening degree sensor S2 as the leakage opening degree detecting means for detecting the amount of the processing objects based on the size of the leakage opening degree in the swing selection plate 19. The control means H obtains the target values of the chaff opening degree and the toumi rotation speed from the determined operation amounts, and zeros the deviation between each target value and the detection value of the chaff opening sensor S2 or the toumi rotation speed sensor S3. Control to do.

The control rule in the fuzzy inference will be described. As an array element of the fuzzy map shown in FIG. 24, a sheave deviation that is a deviation of the layer thickness detection value from a layer thickness target value (a sheave target value described later) of the object to be processed, and a variation amount of the layer thickness detection value within a predetermined time period. The sheave variation (is therefore
This corresponds to the rate of change of the layer thickness detection value). Here, the sheave deviation has a positive value if the layer thickness detection value is larger than the layer thickness target value, and has a negative value if the layer deviation is the opposite. or,
The sheave change amount has a positive value when the layer thickness detection value tends to increase, and has a negative value when the layer thickness detection value tends to decrease. Next, when the chaff opening is smaller than the predetermined opening (for example, 19 mm), the main map (FIG. 24A) is selected from the two prepared fuzzy maps, and the main opening is smaller than the predetermined opening. When it is larger, the auxiliary map (FIG. 24 (b)) is selected, and the operation amount of the chaff opening, that is, the output to the sheave motor M1 is calculated by fuzzy inference using the sheave deviation and the sheave change amount as the fuzzy variables of the antecedent part. Ask for.

That is, the membership functions of the sheave deviation and the sheave change amount are shown in FIGS. 23A and 23B, and for the chaff opening which is the fuzzy variable in the consequent part of the rule shown in FIG. The membership function of the manipulated variable is represented as a set of discrete singletons, as shown in FIG. Then, according to the grade (also referred to as the goodness of fit) of the sheave deviation and the sheave change amount with respect to each membership function, the output from one or a plurality of the 25 rules shown in each map of FIG. 24 is obtained. The value obtained by multiplying the output obtained from the matching rule by the smaller value of the sheave deviation or the sheave change amount grade becomes the output obtained from the rule. When multiple outputs are obtained from multiple rules, their average value becomes the final output. The above output is also represented by a positive and negative 8-bit digital value, a positive value indicates that the chaff opening is increased, and a negative value indicates that the chaff opening is decreased. .

As can be seen from the above control rule (FIG. 24), in the main map (FIG. 24 (a)) selected when the chaff opening is smaller than the predetermined opening, the chaf opening is smaller than the predetermined opening. Auxiliary map selected when
The operation amount of the chaff opening is larger than that in (b)).
In particular, the operation amount of the chaff opening is set to be large under the condition that both the sheave deviation and the sheave change amount are large. As a result, the layer thickness detection value of the layer thickness sensor S1 and the change rate thereof are smaller when the leakage opening of the rocking sorting plate 19 is smaller than when the leakage opening of the rocking sorting plate 19 is large. It is configured to increase the operation amount determined based on the above.

Next, the flow of threshing control by the control means H will be described based on the flow charts shown in FIGS. In the main flow (FIG. 7), first, after initial setting processing, sheave detection processing for processing layer thickness detection data by the layer thickness sensor S1 and common data setting processing are performed. When the threshing switch SW1 is in the off state,
After clearing various control flags and counters, self-diagnosis processing is performed to check for abnormalities in the sensors and other parts. on the other hand,
When the threshing switch SW1 changes from the off state to the on state and the threshing work is started, a predetermined control cycle (250 m
The threshing control process is performed for each s), and then the self-diagnosis process is performed.

In the initialization process (FIG. 8), the memory (E
It is checked whether or not the data of the fully open position and the fully closed position of the chaff sheave 24 stored in the EPROM) are normal.
If it is normal, based on that, the upper limit position of the chaff opening adjustment is set to a position slightly close to the fully open position in the above data, and the lower limit position is set to a position slightly open from the fully closed position in the above data. Set. Further, only when the difference between the upper limit position and the lower limit position is larger than a predetermined value (appropriate opening amount), the upper limit position is reset as a position obtained by adding the predetermined value (appropriate opening amount) to the lower limit position. On the other hand, if the data of the fully open position and the fully closed position of the chaff sheave 24 in the memory (EEPROM) is not normal (for example, both are 0), it is processed as abnormal.

In the sheave detection process (FIGS. 9 to 11), the detection value of the layer thickness sensor S1 is sampled at a predetermined cycle (5 ms), and the processing time (12) for detecting the minimum value and the maximum value is sampled.
The sampling data is stored as the minimum value and maximum value data only at the beginning of (setting to 5 ms). After that, when the detection value of the layer thickness sensor S1 to be sequentially sampled is smaller than the minimum value data, the minimum value data is updated with the detected value, and when the detected value is larger than the maximum value data, the maximum value data is updated with the detected value. The processing to be performed is continued until the processing time (125 ms) has elapsed. When the processing time (125 ms) has elapsed, the average value of the minimum value and maximum value data is calculated, and the sum W with the average value in the immediately preceding processing time is calculated. Then, when the above processing is performed twice (that is, after 250 ms has elapsed), the layer thickness data at each processing point, that is, the latest sheave detection value, the sheave detection value 250 ms before, and the sheave detection value 500 ms before are each respectively. For 250ms data (2), 250ms data (1) and 250ms data (0) provided in the memory for storing, 250ms data (2) and 250m
The stored contents of the s data (1) are transferred to 250 ms data (1) and 250 ms data (0), respectively, and 1/2 of the obtained sum W, that is, the latest sheave detection value is set to 25.
Store in 0 ms data (2).

Next, the sheave deviation is obtained as the difference between the preset sheave target value and the latest sheave detection value (contents of the above 250 ms data (2)), and the sheave differential value (change amount) is 500 ms. Previous sheave detection value (25 above)
The difference is obtained as the difference between the 0 ms data (0) content) and the latest sheave detection value (250 ms data (2) content). It should be noted that the above-mentioned sheave target value is set to different values for each crop switching condition of wheat and rice described later. Then, when the sheave deviation is greater than or equal to the larger set value of the set values set in two steps, the sheave deviation is between the set value on the large side and the set value on the small side, and the sheave differential value is When the value is equal to or more than the set value, as described later, as a rule, threshing control processing performed at intervals of 3 seconds is continuously performed (actually, the control cycle is 250 m.
Turn on the continuous control enable flag that allows execution (in s). On the other hand, in cases other than the above, the continuous control permission flag is turned off.

Next, the latest sheave detection value (250 m above)
The s data (contents of (2)) is divided into ranks 0, 1, 2, 3, 4 in order from the sheave value in five stages, that is, the detection value is smaller. And the sheave value divided into the above ranks is
The state that is different from the sheave value data in the memory that stores the previous sheave value is 5 times continuously in the control cycle of 250 ms (that is, at least 250 ms × 4 = 1 second or more).
Only in the case of continuing, the sheave value data is updated with the newly obtained sheave value.

In the common data setting process (FIG. 12), the detection value of the toumi adjustment volume VR is detected only when the detection value changes from the value of the toumi volume data in the memory storing the detection data, exceeding the dead zone width. The value is updated as the value in the TOUMI volume data. next,
Check the state of the crop changeover switch SW2,
According to each switching position of wet and wet, the mode value is set to 0, 1, 2 respectively, and further, in the wheat and rice mode, when the sheave value is 0 and 1, the opening degree is as described later. The minimum opening of the chaff for the sheave value 0 and the sheave value 1 used for setting is set, respectively.

In the threshing control process (FIG. 13), first, the crop condition is judged from the mode value, and in the wet mode, wetting mode control (FIG. 14) is executed. On the other hand, in the wheat and rice mode, the layer thickness sensor S is set as follows according to the state of the stock origin sensor S4 and the content of the sheave value.
When 1 is a failure, a vehicle speed-sensitive control (Fig. 15) that adjusts the chaff opening and Tomi wind force according to the vehicle speed and a fuzzy control (Figs. 16 and 17) that adjusts the chaff opening based on a fuzzy rule are used. Do either. Then, the chaff output process and the toumi output process for actually operating the sheave motor M1 and the toumi motor M2 are performed with the adjustment operation amount set in each control described above.

That is, in the wheat and rice mode, when the stock origin sensor S4 is in the ON state, the 6-second flag is set when a predetermined time (6 seconds) elapses after it is changed from OFF to ON (this 6 The second flag is reset when the stock yuan sensor S4 is in the off state. On the other hand, when the stock yuan sensor S4 is in the off state, the state in which the sheave value is 0 continues for 8 seconds after it changes from on to off. Only occasionally the 8 second flag is set (this 8 second flag is reset when the stock yuan sensor S4 is turned on). Next, the layer thickness sensor S1
When the failure of the layer thickness sensor S1 is determined because the detected value is 0 V or the value corresponding to the power supply voltage due to a disconnection or the like, the vehicle speed is determined. Performs sensitive control. If the layer thickness sensor S1 is normal,
Fuzzy control is performed when a predetermined control cycle (3 seconds) has elapsed, and when the control cycle (3 seconds) has not elapsed but the continuous control permission flag is on.

In the wet mode control (FIG. 14), the target value of the chaff opening is set to the fully open position, and the toumi rotation speed is calculated based on the toumi volume data. That is, when the toumi adjustment volume VR is at the standard position, the toumi rotation speed becomes the standard rotation speed (for example, 1300 rpm), and as the toumi adjustment volume VR is turned from the standard position to the strong side or the weak side, the toumi rotation speed is changed. The standard rotation speed is changed to a large side or a small side. Then, the calculated Toumi rotation speed is the minimum rotation speed of the Tomi (for example, 1000 rp).
When m is smaller than m), the minimum rotation speed is set as the toumi target rotation speed, and the maximum rotation speed of the toumi (for example, 1500 rpm)
When it is larger, the maximum rotation speed is set as the target rotation speed, and when it is between the minimum rotation speed and the maximum rotation speed of the tomi, the calculated rotation speed is set as the target rotation speed.

In the vehicle speed sensitive control (FIG. 15), first, the vehicle speed is set to 0 to 0.35 m / s, 0.35 to 0.5, for example.
5 m / s, 0.55 to 0.75 m / s, 0.75 to 0.
Based on the calculation map of vehicle speed vs. chaff opening prepared in advance for each stage of the vehicle speed, as shown in FIG. 26, the wheat and rice modes are divided into five stages of 95 m / s and 0.95 m / s. Separately, the chaff opening target value is calculated. Then, the toumi rotation speed setting process (FIGS. 18 and 19) described below calculates the toumi rotation speed based on the chaff opening target value.

In fuzzy control (FIGS. 16 and 17),
Sheave detection value for the sheave target value (contents of the 250 ms data (2) above) as an array element of the fuzzy map
Deviation and the latest sheave detection value (contents of the above 250 ms data (2)) with respect to the sheave detection value 500 ms before (contents of the above 250 ms data (0))
And the sheave change amount that is the change amount of. Next, as described above, when the current chaff opening is smaller than the predetermined opening (19 mm), the main map (FIG. 24 (a))
If the opening is larger than the predetermined opening, the auxiliary map (see FIG.
4 (b)), the output to the sheave motor M1 is obtained by fuzzy inference using the sheave deviation and the sheave change amount as fuzzy variables in the antecedent part.

Next, the state of the stock origin sensor S4 is checked, and when it is in the ON state, the above-obtained operation amount is added to the current chaff opening to obtain the chaff opening target value. Further, when the 6-second flag is set, that is, when 6 seconds have elapsed after the stock sensor S4 is turned on, the vehicle speed is divided into five stages as in the vehicle speed-sensitive control, and each vehicle speed step is divided. The chaff minimum opening is obtained from a map prepared in advance, and when the chaff opening target value is smaller than the chaff minimum opening, the chaff minimum opening is set as the chaff opening target value.

On the other hand, when the stock origin sensor S4 is in the off state, in order to prohibit the change of the chaff opening to the open side, it is checked whether or not the calculated operation amount is positive. To zero. Furthermore, when the 8 second flag is set, that is, when the stock value sensor S4 changes from on to off and the state of the sheave value 0 continues for 8 seconds,
The target value of the chaff opening is set to the minimum opening of the chaff for the set sheave value 0. In the case where the 8 second flag is in the reset state, when the sheave value is 1 or less (0 and 1), the chaff opening target value is set to the chaff minimum opening for the sheave value 1 and the sheave value is 2 or more. When (2, 3, 4),
The target value of the chaff opening is set as the current chaff opening. And
Based on each of the obtained chaff opening target values, the toumi target rotation speed is calculated by a toumi rotation speed setting process (FIGS. 18 and 19) described later.

Tomi rotation speed setting process (FIGS. 18 and 1)
In 9), the Toumi rotation speed is calculated by a linear conversion formula for the chaff opening value. This calculation is shown in FIG.
The conversion formulas for the wheat mode and the rice mode when the tomi control volume VR is in the standard position are used. In addition, the minimum rotation speed tmin and the maximum rotation speed tmax of the toumi rotation speed are set corresponding to the fully closed side and the fully opened side of the chaff opening. Also, for reference, in the rice mode, the toumi adjustment volume VR has the standard position. The conversion formula is shown when it is turned to the strong side or the weak side by one scale. Next, the calculated Tomi rotation speed is the above-mentioned Tomi minimum rotation speed (1000
When it is smaller than rpm), the minimum rotation speed is set as the target rotation speed, and when it is larger than the maximum rotation speed (1500 rpm), the maximum rotation speed is set as the target rotation speed. After that, an increase / decrease correction of the toumi target rotation speed is performed according to the position of the toumi adjustment volume VR, and when the corrected rotation speed is smaller than the minimum rotation speed tmin in the conversion formula changed by the toumi adjustment volume VR, the minimum rotation speed. Let tmin be the TOMI target speed, and the maximum speed t
When it is larger than max, the maximum rotation speed tmax is set as the toumi target rotation speed.

Next, it is judged whether or not tomi rotation control at the end of mowing is to be performed depending on whether the 6-second flag is in the off state. When the 6-second flag is on,
The toumi target rotational speed at that time is stored as the toumi rotational speed at the end of mowing, which is used in the tomi rotational speed control at the end of mowing. When the stock origin sensor S4 is turned off and the 6-second flag is changed to the off state, the cutting is completed and the toumi rotation speed control is started, and the toumi rotation speed is set as follows according to the sheave value. That is, when the sheave value is 3 or more (3, 4), it is set to the toumi rotation speed at the end of mowing, and when the sheave value is 2, a predetermined rotation speed (for example, from the toumi rotation speed at the end of mowing) is set. 100 rpm) When the rotation speed is set to a small value and the sheave value is 1, the minimum rotation speed t in the conversion formula changed by the toumi adjustment volume VR is set.
When the sheave value is set to 0 (see FIG. 25) and the sheave value is 0 for 8 seconds (when the 8 second flag is on), the minimum rotation speed (1000 rpm) is set.

In the chaff output processing (FIG. 20), only when the current chaff opening target value is different from the previous chaff opening target value, the present chaff opening target value is set to the previous chaff opening target value for the next time. After storing the value as a value, the target value of the chaff opening is compared with the current chaff opening. When the chaff opening target value is larger than the current chaff opening, it is checked whether or not the sheave motor M1 is outputting to the closing side, and when it is outputting to the closing side, the output to the closing side is stopped. Output in the opening direction only when the difference between the target chaff opening value and the current chaff opening value is larger than a predetermined value. When the difference between the chaff opening target value and the current chaff opening is smaller than the predetermined value, the output in the closing direction is stopped for a predetermined period (for example, about 500 ms). On the other hand, when the chaff opening target value is equal to or smaller than the current chaff opening, it is checked whether the sheave motor M1 is outputting to the opening side. When the sheave motor M1 is outputting to the opening side, the output to the opening side is stopped. Only when the difference between the chaff opening target value and the current chaff opening degree is larger than a predetermined value, the output is made in the closing direction. When the difference between the chaff opening target value and the current chaff opening value is smaller than the predetermined value, the output in the opening direction is stopped for a predetermined period (for example, about 500 ms). Then, finally, a timer (3 seconds) for changing the chaff opening is started.

In the toumi output processing (FIGS. 21 and 22), the current toumi rotation speed exceeds 500 rpm, and the on / off drive cycle (5
(00 ms), when the end of the off time, that is, the end of the motor drive cycle is confirmed, the following processing is performed based on the value of the Toumi rotation speed deviation obtained by subtracting the current rotation speed from the target rotation speed. That is, the rotation speed deviation is -100 rp.
When it is smaller than m, it is checked whether or not the toumi motor M2 is outputting in the strong direction, and when it is outputting in the strong direction, the output in the strong direction is stopped and then the weak motor is continuously output. Specifically, the motor-on time in the weak direction is set to 500 ms (hence the motor-off time is 0). The rotational speed deviation is 100
When it is larger than rpm, it is checked whether or not the toumi motor M2 is outputting in the weak direction, and when it is outputting in the weak direction, the output in the weak direction is stopped and then the strong output is continuously performed. Specifically, the motor on time in the strong direction is set to 500 ms (hence the motor off time is 0). The above speed deviation is −
When it is between 15 rpm and 15 rpm, the motor output is stopped because it is in the dead zone. Specifically, the motor on time is 0 (hence the motor off time is 500 ms).
To

On the other hand, when the rotation speed deviation is between -100 rpm and -15 rpm and between 15 rpm and 100 rpm, the motor on time Ton for intermittently driving the motor is set to the rotation speed deviation Hr and the engine rotation speed. The calculation is performed according to the following equation based on the engine speed Er by the number sensor S6. In addition, a1 is a predetermined gain coefficient.

[0054]

[Formula 1] Ton = a1 · Hr / Er

Here, the calculated on-time Ton is 250
When it exceeds ms, the motor on time is set to 250 ms, 8
80 ms when less than 0 ms, 250 ms and 80
When it is between ms, set the calculated on time respectively, and
The motor-off time is set as 500 ms minus the motor-on time set above. When the rotation speed deviation is positive, the set motor ON time is set as the strong direction ON time, while when the rotation speed deviation is negative, the set motor ON time is set as the weak direction ON time. Finally, the toumi motor M2 is driven with the motor on / off time set above.

[Other Embodiments] Other embodiments will be listed below.
In the above embodiment, the processed material amount detecting means for detecting the amount of the processed material leaking from the handling chamber A to the rocking sorting plate 19 is determined by the size of the leak opening of the rocking sorting plate 19. Leakage opening detection means for detecting (chaff opening sensor S2)
However, it is not limited to this. That is, it is considered that the large amount of the processed material leaking from the handling chamber A to the swing selection plate 19 is due to the large amount of grain culm supplied to the handling chamber A from the mowing unit or the like. The material quantity detecting means may be constituted by a grain culm supply amount detecting means for detecting the amount of the processed material depending on the amount of the grain culm supplied to the handling room A. Specifically, the grain culm supply amount detecting means can be configured by the vehicle speed sensor S5 because the grain culm supply amount increases as the cutting speed increases and is proportional to the vehicle speed. The amount of grain culm supplied is detected from culm thickness information by a culm thickness sensor such as a potentiometer that detects the straw thickness of the harvested grain culm supplied and conveyed to the handling room A by the chain 16 and the feed speed information of the feed chain 16. May be.

Also, when the treated material amount detecting means is constituted by the leak opening degree detecting means, it is not limited to the chaff opening degree sensor S2 shown in the above-mentioned embodiment. Corresponding data of the drive amount of the sheave motor M1 which is the leakage opening changing means of the rocking sorting plate 19 from the standard driving state and the leakage opening of the rocking sorting plate 19 are stored. It is also possible to detect the leakage opening of the swing selection plate 19 from the drive amount of the sheave motor M1.

In the above embodiment, the operation amount for changing the leakage opening of the swing selection plate 19 is determined by fuzzy inference based on the detected layer thickness of the object to be processed and the rate of change thereof. The determination of the amount is not limited to that based on the fuzzy inference, and may be performed by, for example, PID control or the like.

In the above embodiment, when the operation amount is determined by fuzzy inference, the operation amount data calculated in advance is stored as a numerical table.
A calculation table may be stored instead of such a numerical value table, and the operation amount may be calculated and calculated from the information of the layer thickness detection value and the change rate thereof using the calculation table. This arithmetic table method has an advantage that the amount of stored information can be smaller than that of the numerical table method.

Further, in the above embodiment, two control rules are used as a plurality of control rules in the fuzzy reasoning for obtaining the manipulated variable data, and the amount of the processed material leaking from the handling room A to the swing selection plate 19 depends on the amount. To be more specific, the setting is made corresponding to the size of the leakage opening (chaff opening) in the swing selection plate 19, but in order to perform more appropriate control, Instead of two control rules, for example, three control rules may be set corresponding to the large, medium, and small leakage opening.

In the above embodiment, the swing selection plate 1 is moved from the handling room A to the swing selection plate 1.
When the amount of processed material leaking to 9 is small (the leakage opening of the oscillating selection plate 19 is small), it is larger than when the amount of processed material is large (the leakage opening of the oscillating selection plate 19 is large). In order to increase the operation amount determined based on the layer thickness detection value of the layer thickness detection means (layer thickness sensor S1) and the rate of change thereof, the operation amount is large especially under the condition that both the sheave deviation and the sheave change amount are large. However, the present invention is not limited to this. For example, in addition to the condition where both the sheave deviation and the sheave change amount are large, the operation amount may be increased under the condition that both the sheave deviation and the sheave change amount are small.

In the above embodiment, the mixture of the grains and straw scraps dropped from the rear end of the chaff sheave 24 or the rear end of the Glen sieve 25 is recovered by the No. 21 opening and returned to the rocking selection plate 19. Although shown, the above-mentioned mixture recovered at the mouth 21 may be returned to the handling room A.

The layer thickness detecting means for detecting the layer thickness of the object to be processed on the rocking / sorting plate 19 is not limited to the contact type layer thickness sensor S1 as in the above embodiment, but may be, for example, a transmission type optical sensor or It can be configured by various means such as using a non-contact type sensor such as an ultrasonic sensor.

In the above embodiment, the leakage opening changing means of the swing selecting plate 19 is constituted by the sheave motor M1, but the invention is not limited to this. For example, the means for causing the processed material to leak while changing the leak opening in the swing selection plate 19 is called, for example, a mesh-shaped or slit-shaped opening as a slide Glen pan, instead of the chaff sheave 24 as in the above embodiment. It may be configured such that it is shielded by a shield plate and the slide Glen pan is slid to change the shield area of the opening, that is, the opening. In this case, the opening changing unit is a motor for sliding the slide Glen pan. Etc.

In the above-described embodiment, the toumi rotation speed is changed according to the change of the leakage opening of the swing selection plate 19, but the invention is not limited to this. For example, the toumi rotation speed is set to a predetermined value. Only the sheave motor M1 may be rotationally driven in the forward and reverse directions in a state where the rotation speed is fixed (that is, the toumi motor M2 is fixed at a predetermined rotation position).

The present invention is not limited to the self-removing combine as in the above-mentioned embodiment, but can be applied to other combine such as ordinary combine, and can also be applied to threshing devices other than combine. .

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a block diagram of a control configuration of a combine according to an embodiment of the present invention.

FIG. 2 is a side view of the self-removing combine.

FIG. 3 is a schematic diagram of a power transmission mechanism

FIG. 4 is a side perspective view of the threshing device.

FIG. 5 is a view showing a chaff sheave and means for changing its opening.

FIG. 6 is a side view showing the structure of a layer thickness sensor.

FIG. 7 is a flowchart of control operation.

FIG. 8 is a flowchart of control operation.

FIG. 9 is a flowchart of control operation.

FIG. 10 is a flowchart of control operation.

FIG. 11 is a flowchart of control operation.

FIG. 12 is a flowchart of control operation.

FIG. 13 is a flowchart of control operation.

FIG. 14 is a flowchart of control operation.

FIG. 15 is a flowchart of control operation.

FIG. 16 is a flowchart of control operation.

FIG. 17 is a flowchart of control operation.

FIG. 18 is a flowchart of control operation.

FIG. 19 is a flowchart of control operation.

FIG. 20 is a flowchart of control operation.

FIG. 21 is a flowchart of control operation.

FIG. 22 is a flowchart of control operation.

FIG. 23 is a diagram showing a membership function of each variable in fuzzy inference.

FIG. 24 is a table showing rules in fuzzy inference.

FIG. 25 is a graph showing a conversion formula for obtaining Toumi rotation speed from a chaff opening value.

FIG. 26 is a graph showing vehicle speed versus chaff opening value in vehicle speed sensitive control.

[Explanation of symbols]

 B sorting device 19 rocking sorting plate S1 layer thickness detecting means M1 opening degree changing means A handling room H control means S2, S5 processed material amount detecting means S2 leak opening degree detecting means S5 grain culm feed amount detecting means

Claims (5)

[Claims] 1. A layer thickness detecting means (S1) for detecting a layer thickness of a processed product on an oscillating sorting plate (19) provided in a sorting device (B) for selecting a processed product after threshing, and the process. The layer thickness detecting means (S1) so that the layer thickness of the object is within an appropriate range.
A control means (H) for actuating an opening degree changing means (M1) for changing the leakage opening degree of the rocking sorting plate (19) with an operation amount determined based on the detected layer thickness value and the rate of change thereof. In the threshing selection control device provided with, there is provided a processed product amount detection means (S2, S5) for detecting the amount of processed product leaking from the handling room (A) to the swing selection plate (19), The control means (H) detects the amount of processed material (S2,
Based on the information in S5), the determination is made based on the layer thickness detection value of the layer thickness detection means (S1) and the rate of change thereof when the amount of processed material is small, compared to when the amount of processed material is large. A threshing selection control device configured to increase the operation amount. 2. The processing amount detecting means (S2, S5)
The threshing selection control according to claim 1, wherein the threshing opening detection means (S2) detects the amount of the processed material based on the size of the leakage opening in the swing selection plate (19). apparatus. 3. The processing amount detecting means (S2, S5)
However, a grain culm supply amount detecting means (S5) for detecting the amount of the treated material by the amount of the grain culm supplied to the handling room (A).
The threshing selection control device according to claim 1, which is configured by. 4. The control means (H) is configured to store operation amount data obtained in advance for the operation amount based on fuzzy inference, and to determine the operation amount based on the operation amount data. The threshing selection control device according to claim 1, 2 or 3. 5. In the fuzzy inference, one of a plurality of types of control rules set corresponding to the quantity of the processed material is selected based on the quantity of the processed material to obtain the manipulated variable data. The threshing selection control device according to claim 4, which is configured to.