JPH10127145A - Vehicle speed controller for combine harvester and the like - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect the distribution density of the grains leaking from a feeding net in the axial direction of a feeding drum at the time of threshing with a combine harvester, etc., and to set the max. vehicle speed in such a manner that the distribution density does not exceed the preset threshold value to a satd. state. SOLUTION: A sorting chamber 2 of a threshing device for threshing supplied grain culm is provided with a grain size distribution sensor 5 capable of detecting the distribution density of the grains leaking from the feeding net 4 along the axial direction of the feeding drum 3. When the value detected by the grain size distribution sensor 5 attains the preset threshold value, the max. vehicle speed at the time of reaping is calculated and set on the basis of this detected value.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle speed control device such as a combine and the like, and belongs to the field of setting a vehicle speed based on a detected value of a grain distribution density which is threshed and leaks from a handling net.

[0002]

2. Description of the Related Art Conventionally, during a combine operation, a load state of a threshing device is detected based on a change in the number of revolutions of an engine or a threshing device, and a vehicle speed is controlled based on the detected value. In general, a method of performing the above method is used. However, such a vehicle speed change alone does not correspond to the difficulty of grain shedding due to varieties of grain culms to be threshed, mowing time, dryness and humidity, and the difference in grain shedding conditions due to the amount of grain shedding due to cropping. The distribution density of the grains leaking from the handling net along the axial direction is concentrated at a specific location and becomes saturated, causing poor sorting. Outside scattering increases. In addition, the drying operation and the adjusting operation will be adversely affected.

[0003] Therefore, in the present invention, the maximum vehicle speed at the time of mowing is set based on the detected value of the grain distribution density that is threshed and leaks from the handling net.

[0004]

SUMMARY OF THE INVENTION According to the present invention, distribution of kernels leaking from a handling net 4 along an axial direction of a handling cylinder 3 is provided to a sorting chamber 2 of a threshing apparatus 1 for threshing a harvested grain stem. A grain distribution sensor 5 capable of detecting the density is provided, and when the detection value of the grain distribution sensor 5 reaches a preset limit value M, the maximum vehicle speed at the time of mowing is set based on the detection value. And a vehicle speed control device such as a combine.

[0005]

According to the above configuration, when the threshing operation is performed by the threshing apparatus 1, the distribution density along the axial direction of the handling cylinder 3 of the grain that is threshed by the handling cylinder 3 and leaks from the handling net 4 is determined by: For example, a grain distribution sensor 5 arranged below the entrance of the handling net 4
When the detection value reaches a limit value M set in advance in a controller or the like as shown in the diagram of FIG. 5 by detecting with an ultrasonic wave having a concentric spread due to The maximum vehicle speed at the time of mowing is calculated and set, and the maximum vehicle speed is set as the upper limit to perform the vehicle speed control of the combine. The detection method by the grain distribution sensor 5 is not limited to the ultrasonic wave, and the same result as described above can be obtained by using various methods such as light, pressure, and impact.

[0006]

As described above, the distribution density of the grains leaking from the handling net 4 along the three axes of the handling cylinder is detected by the grain distribution sensor 5, and this detected value is set to a preset limit value M. When the maximum value is reached, the maximum vehicle speed at the time of harvesting is calculated and set based on this detection value. The mowing work can be performed at an appropriate vehicle speed in response to the difference in the threshing condition that changes due to
When the distribution density of the leaking kernels exceeds the limit value M and becomes saturated, the increase in the number of spike sticking particles caused by excessive shedding is suppressed, along with prevention of poor sorting and scattering of the kernels outside the machine, It is possible to improve the efficiency and quality of the subsequent drying operation and adjustment operation.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings for a combine for harvesting cereals. A traveling device 8 having a pair of right and left traveling crawlers 7 traveling on the soil surface is disposed below the undercarriage 6 of the combine.
A threshing apparatus 1 having a grain tank 10 for threshing grain culms supplied by being sandwiched by the feed chain 9 and selectively collecting the threshed grains for temporary storage is mounted thereon.

At the front side of the threshing device 1, a weeding body 11 for weeding trichomes from the front end position, a raising part 12 for causing the weeded stalks, and a cutting blade for cutting the raised stalks. A mowing section 13, a scraping transporting section 14 for transporting the cut culm backward and delivering it to the feed chain 9, and a feed transport section 15 for taking over the transported grain culm from the scraping transporting section 14. The device 16 is configured to be able to move up and down on the soil surface by a telescopic cylinder 17 driven by hydraulic pressure.

An operating device 18 for controlling the operation of the combine is provided on one side of the reaper 16 and an operating seat 1 for this operation.
The engine 20 is mounted below the operation seat 19, and the grain tank 10 is arranged behind the operation seat 19. Such threshing device 1, traveling device 8, reaper 1
6, the operating device 19, the engine 20 and the like constitute a combine vehicle body 21.

A cereal stalk sensor 22 for detecting the presence or absence of a transported cereal stem and a cereal stalk sensor 2 for detecting the presence or absence of a transported cereal culm in a cereal culm transport passage formed by the raking transport unit 14 and the supply transport unit 15 of the cutting device 16
In addition, the feed conveyor unit 24 is provided, and the feed conveying unit 15 holds the spike side of the grain stalk in an ear feed lug 24a and conveys the spike, and the stock side is sandwiched by a stock feed chain 25a. And the stock transport unit 25 for transporting them separately.

A handling depth control device for automatically controlling the grain culm conveyed by the supply / conveyance unit 15 to a side where the handling depth is increased and a side where the grain depth is reduced, and transferring the grain to the feed chain 9 of the threshing apparatus 1. 26, and a vehicle speed control device 28 for automatically controlling the vehicle speed based on a detection value of a vehicle speed sensor 27 that detects a vehicle speed disposed at an appropriate position on the transmission path of the traveling device 8 are provided on one side of the operation device 18. It is composed.

The threshing apparatus 1 comprises a threshing chamber 29 on the upper side and a sorting chamber 2 on the lower side. In the threshing room 29, a feed cylinder 9 is provided with a handle cylinder 3 mounted on a shaft extending from the entrance side to the exit side of the grain culm supply port 3a, and a feed chain 9 for pinching and conveying the grain culm along the grain culm passage on the near side. It is arranged and provided, and is provided with a handling net 4 surrounding a substantially lower half of the handling cylinder 3 and a threshing discharge port 30 for discharging threshing dust at the outlet end of the handling net 4.

In the sorting room 2, a vertically long swinging sorting shelf 31 for sorting while threshing the thresh processed and leaked from the handling net 4 while swinging is provided along the axial direction of the handling cylinder 3. The entrance side is set as a good side and is installed toward the exit side. At the lower side of the swing sorting shelf 31 on the upper side of the swing, a Karino 32 which generates a sorting wind by the rotation of the blades is provided. The swing sorting shelf 31 is a rack-shaped transfer shelf 31a for transferring thresh from the upper side, an armor-shaped chaff sheave 31b for middle-sorting thresh following the transfer shelves 31a, and a chaff sheave 31b following the chaff sheave 31b. A saw-shaped straw rack 31c that roughly sorts by receiving contaminants that do not leak from the sheave 31b and threshing straw chips discharged from the threshing discharge port 30, and a net that further finely sorts the medium-sorted material that has leaked from the chaff sheave 31b. And the upper end of the transfer shelf 31a is supported by the swinging support shaft 33, and is located on the lower side of the straw rack 31c and on the back surface of the second grain shelves 31e for allowing the second product to flow down. A swing metal 34 for eccentrically swinging the swing sorting shelf 31 is mounted.

A lower end of the bottom plate 32a of the Karamin 32;
Connect the upper end of the first gutter 35a, which houses the first spiral 35 that accommodates the selected first kernel and collects the horizontal grain, and connects the lower end with the lower end of the sheave 31d. The finely sorted material leaked from the sheave 31d is flowed down, and is connected to the lower end portion of the first-flowing grain rack 36, which is to be finished and sorted by the sorting wind. On the back surface near the upper end of the first grain shelf 36, a second spiral 37 for storing the sorted second products and laterally accumulating them.
Is connected to the upper end of the second receiving trough 37a, and the lower end of the second receiving trough 37a is provided with a predetermined gap between the lower end of the second flow grain shelf 31e and an appropriate length of the lower tray 37e. And configure.

Numeral 38 denotes a dust discharge fan for discharging threshing dust outside the machine by a sirocco fan or the like provided above the straw rack 31c. The upper cover 38a and the lower guide 3
8b forms a dust suction side and a dust discharge side. A third dust outlet 39 of the threshing apparatus 1 for discharging threshing dust from the lower end of the straw rack 31c to the outside of the machine is provided, and the threshed culms discharged above the upper cover 38a are disposed outside the machine. The culm transport chain 40 and the holding rod 40a are carried out.

As shown in FIGS. 1 and 2, an ultrasonic wave 5a having a concentrically spreading wavefront is emitted at an appropriate position between the handling net 4 and the swing sorting shelf 31 at the entrance side of the handling drum 3 and the ultrasonic wave 5a is emitted. A kernel distribution sensor 5 for detecting the distribution density of kernels leaking from the handling net 4 by reflected waves is arranged and configured. In addition, this grain distribution sensor 5 is not limited to the ultrasonic wave 5a,
Various types such as pressure and impact may be used, and it is not necessary to limit the number of installations and the installation positions, and they may be selected according to the detection capability.

As shown in FIG. 3, the CPU mainly controls various arithmetic operations and calculates and sets the supply depth of the grain stalks. A controller 41 incorporating a vehicle speed control device 28 for calculating and setting the maximum vehicle speed at the time of mowing based on the distribution density is provided on one side of the operation device 18, and the grain distribution sensor 5 is provided on the input side of the controller 41. In front of grain stalk sensor 22,
The rear portion 23 of the grain stem, the vehicle speed sensor 27 and the like are connected to each other, and an actuator 42 for controlling the supply depth of the grain stem and an actuator 43 for controlling the vehicle speed are connected to the outlet side thereof.

The harvested grain culm is passed from the scraping transport unit 14 to the supply transport unit 15, and the spike side transport unit 24 of the supply transport unit 15 holds the spike side and the stock source transport unit 25 pinches the stock side. As a result, the stock side is delivered to and sandwiched by the feed chain 9, and the tip side is fed into the grain stalk supply port 3a. At this time, both the front 22 and the rear 23 of the grain sensor are turned ON.

The grain culm conveyed by the feed chain 9 is threshed by the handling drum 3 in the threshing room 29, and the thresh that has leaked from the handling net 4 due to the threshing is placed on the swinging sorting shelf 31 of the sorting room 2. The falling object is sent from the transfer shelf 31a to the chaff sheave 31b and sorted by the swinging transfer action by the swing sorting shelf 31 and the sorting wind by the Karamin 32, and the medium sorted material leaking from the chaff sheave 31b is Further, the selected material that has been sorted by the grain sieve 31d and leaked from the grain sieve 31d falls onto the most drifting shelves 36 and the shelves 36
While flowing down, the final grain is sorted and stored in the first gutter 35a, and the stored first grain is fed laterally by the first spiral 35 and transported to the grain tank 10.

In the meantime, the dust-exhausted dust, which is discharged from the threshing discharge port 30 of the threshing chamber 29 and falls on the chaff sheave 31b and does not leak from the handling net 4 and is mixed with paddy such as thick culm, does not leak from the chaff sheave 31b. The dust that is sent to the straw rack 31c together with the material and the paddy is mixed by the swinging transfer of the straw rack 31c is discharged out of the machine from the third dust outlet 39. The second product sorted by the straw rack 31c and the second product generated by the first sorting flow down the second flow grain shelf 31e, are housed in the second receiving trough 37a, and are laterally fed by the second spiral 37. And returned to the threshing room 29.

At the time of threshing, the threshing with the handling cylinder 3 is mainly performed in a region of about 1/3 of the entrance side of the handling cylinder.
When a large amount of cereal stems are supplied by high-speed cutting,
Forcible shedding increases the number of spike sticking grains and has various adverse effects on performance. Therefore, as a means to improve this situation,
As shown in the flowchart of FIG. 4, ultrasonic waves 5 a are emitted from the grain distribution sensor 5 by turning on the grain stem sensor 22 and the grain stem sensor 23 on the grain that is threshed and leaks from the handling net 4, as shown in the flowchart of FIG. 4. Then, the reflected wave is received, a histogram of the received signal is calculated, and a differential calculation is performed. As a result, as shown in FIG.
It is checked whether or not the limit value M set in the controller 41 has been reached in advance. If YES, the maximum vehicle speed is calculated based on the limit value M at this time, and if NO, the vehicle speed is increased. Next, it is checked whether or not the vehicle speed exceeds the calculated maximum vehicle speed. If the answer is YES, the vehicle is decelerated, and if the answer is NO, the vehicle is returned to the checked portion of the limit value M again. Note that the deceleration may be directly performed when the value exceeds the limit value M.

As described above, the vehicle speed at the time of cutting is detected by the grain distribution sensor 5 and the vehicle speed sensor 27, and it is difficult to shatter the grain by the variety of the grain culm to be threshed, the cutting time, the dryness and humidity, and the amount of threshing by the crop. Can be set to an appropriate vehicle speed by the vehicle speed control device 28 in the controller 41, and the distribution density of the leaking kernels exceeds the limit value M and becomes saturated. In addition to suppressing the increase of attached grains of branch stalks caused by excessive grain shedding, preventing poor sorting and scattering of grains outside the machine, smoothing the flow of grains in subsequent drying work, and finishing in adjustment work Efficiency and high quality can be achieved, such as by preventing paddy from being mixed into rice.

At this time, the mounting position of the grain distribution sensor 5 is adjusted such that the concentric wavefront (or the wavelength of light) by the ultrasonic wave 5a is set between the handling net 4 and the swing sorting shelf 31. By setting the distribution density of the leaked kernels continuously and systematically in the axial direction of the trunk 3 so that the distribution density can be detected, FIG.
As shown in the figure, since the relationship between the axial position of the handling cylinder 3 and the distance from the grain distribution sensor 5 becomes a monotonous increase or decrease curve, when the reflection time of the sound wave (light intensity) is used, the detection position is determined. Can be performed with high accuracy.

FIG. 7 shows another improvement means different from the above.
As shown in the flowchart, the reflected wave is received by the emission of the ultrasonic wave 5a by the kernel distribution sensor 5, the histogram of the received signal is calculated, and the differential calculation is performed. As a result, the distribution density of the leaking kernel is obtained. However, as shown in FIG. 8, it is checked whether or not there is almost no remaining unhandled portion at the exit side end position of the handling cylinder 3.
When NO, the speed of the feed chain 9 is reduced, and YE
In the case of S, it is checked whether or not the grain distribution is in an appropriate distribution state.
In the case of, check whether it is in the state of decreasing distribution,
If YES, the speed of the feed chain 9 is increased, and if NO, the speed of the feed chain 9 is decreased.

As described above, the speed of the feed chain 9 is controlled so as to detect the shedding state of the handling cylinder 3 and to avoid the partial concentration of the shedding action to equalize the distribution density of the leaking grains. By doing so, it is possible to minimize the effects of grain hull supply, varieties, and other factors, such as shedding, and to finish paddy with few attached grains. In addition, since there is a tendency that the particles are shed in the entire region of the handling cylinder 3, the handling cylinder 3 can be shortened.

Further, in the threshing unit 44 of the whole-culm-in type combine as shown in FIG. 10, when the distribution density of the leaking kernel is detected by arranging the kernel distribution sensor 5 in the same manner as described above,
The distribution density of the grains is determined by the handling cylinder 44 having the spiral handling teeth.
There are peaks at certain specific positions on the inlet side and the outlet side of a, and this peak sometimes exceeds the limit value M, which is promoted by the supply amount of the grain stalk, the shedding property depending on the variety, and the like.

As means for improving this state, as shown in the flowchart of FIG. 11, the reflected wave is received by the emission of the ultrasonic wave 5a by the grain distribution sensor 5, the histogram of the received signal is calculated, and the differential calculation is performed. Do
As a result, as shown in FIG.
It is checked at the exit end position of the handling cylinder 44a whether or not it is at a level where little unhandled material is generated.
In the case of O, the rotation speed of the handling cylinder 44a is reduced, in the case of YES, it is checked whether or not the grain distribution is in a proper distribution state. In the case of YES, the state is maintained as it is, and in the case of NO, the state of the decreasing distribution is maintained. Is checked, and if YES, the rotation speed of the handling cylinder 44a is increased.
4a is reduced.

As described above, by detecting the shedding state of the handling cylinder 44a and adjusting and controlling the rotation speed of the handling cylinder 44a so as to equalize the distribution density of the partially concentrated leaked kernels, the identification is performed. It is possible to finish the paddy with few spikestick attached grains without the leaked grain at the position reaching the peak and clogging beyond the limit value M. In addition, since there is a tendency that the particles fall in the entire region of the handling cylinder 44a, the handling cylinder 44a can be shortened.

As an embodiment different from the above, a boundary detection sensor 45 for detecting the boundary between the ear portion and the culm portion of the grain culm being conveyed by a light receiving signal by reflection (or transmission) of light is provided at an appropriate position. As shown in FIG.
The ear part and the culm part of the cereal culm passing below by the light emitting part a and the light receiving part b are input so as to be included in the same image as shown in FIG. 14, and this image 46 is, for example, an image shown in FIG. 46
As shown in a, the spike area G (210 × 155, 337 × 282 point area) based on the X-axis and Y-axis pixel areas.
And culm area S (point area of 0 × 265, 127 × 392) and boundary area B (60 × 115, 187 ×
242), and the frequency analysis of the luminance distribution of the image of each area G, S, B is performed.

When performing this frequency analysis, as shown in FIG. 16, a plurality of band-pass filters 47a and 47 for passing the light received by the light receiving section b through frequencies in different frequency bands.
b, and a plurality of passed frequency signals f
The detection circuits 48a and 48b detect the signals f1 and f2, calculate the ratios (f1 / f2) of the detected signals f1 and f2 by the arithmetic circuit 49, and send the calculated values to the CPU 50.

As described above, each area G,
The power spectrum distribution obtained by performing the frequency analysis of S and B is represented by a rotation angle: 20 ° and a viewpoint angle: 20
The three-dimensional display in the conveying direction of the grain stalk under the condition of ° is shown as a, b, and c in FIG. 17 and the one-dimensional intensity distribution of this power spectrum is shown as a, b, and c in FIG. Shown by diagram.

In the diagram of FIG.
And the culm area S, the difference between the power values of the frequency signals f1 and f2 is small, and the boundary area B has a large difference between the power values of the signals f1 and f2. In order to detect the difference between the components and obtain the ratio of the culm and spikes contained in this detection area by the ratio of the signal intensities of a plurality of frequency regions, the boundary between the spike and culm is accurately and directly determined. Can be detected.

Further, since the frequency components included in the reflected light signal of the ear portion and the culm portion greatly differ in the intensity of the frequency component in the direction perpendicular to the carrying direction, the frequency characteristics of such a portion may be reduced. By utilizing the difference, the boundary can be directly detected with high accuracy as described above, and the fluctuation of the received light signal due to the reflection (or transmission) caused by the conveyance is used as the modulation signal, whereby the distinction from the natural light can be made. Because there is no need to provide a separate modulator,
It is possible to accurately detect signals with a simple configuration,
At the same time, cost reduction can be achieved. (Since natural light is direct current, it is possible to remove a direct current component by extracting a specific frequency component.) Further, as shown in FIG. 1
Between the corn culm feed path 3a and the corn culm supply port 3a at a position where the corn culm can be supplied to the corn culm supply port 3a at a position where the supply can be controlled with reference to the entire spike portion. As in the case of supply control as a reference, there is no possibility that an accurate supply position is obtained depending on the cultivar or crop pattern and the threshing accuracy is not reduced. As shown in FIG. Even in the case of a part, since it can be adjusted by the handling depth control device 26 in a state where the supply control amount is the smallest on the basis of the boundary with the culm part, it is possible to control with good responsiveness and to cope with a high speed at the time of cutting. .

As another embodiment different from the above, the dust outlet 3 is located near the third dust outlet 39 of the threshing apparatus 1.
Grains contained in straw wastes, such as cut stalks and branch stalks, discharged from 9 are converted into the absorption amount of the transmitted light amount of an electromagnetic wave having a specific wavelength (for example, a wavelength of 1.45 micrometers as a water absorption band). In the apparatus provided with the scattering kernel sensor 51 which performs calculation and detection, since the amount of moisture in the discharged straw chip portion and the kernel portion is largely different, the transmission of the wavelength of the moisture absorption band passing through the kernel portion is performed. Since light absorbs a larger amount of light than the straw chips, it is possible to accurately detect the grains contained in the straw chips.

When the scattered grain sensor 51 detects grains contained in the straw waste, as shown in FIG. 20, the detected straw waste is subjected to an image 5 with only one side light source from above.
As shown in FIG. 2a, it is impossible to detect the grains in the straw waste, and only the one-sided light source from below can detect the grains in the straw waste as shown in the image 52b. Difficult to identify. Therefore, by using both sides of the light source from above and below, as shown in the image 52c, a high density portion other than the grain can be almost removed. (Usually, the straw chips have a low density and the kernels have a high density.) A configuration for detecting scattered kernels by arranging light sources from both sides is present on a glass plate 53 as shown in FIG. A plurality of light sources 54, such as tungsten lamps or halogen lamps, for irradiating light at a fixed angle from the left and right sides at both upper and lower positions with respect to straw waste
And a glass window 55 serving as the scattered grain sensor 51 and a band-pass filter 56 transmitting the wavelength of the moisture absorption band (1.45 micrometers) at a central position between the light sources 54 on the upper side. By arranging the light receiving element 57 for receiving the light through the light, the light can be diffused into the straw chip space by the optical axis inclined from the vertical direction of the straw chip, so that the forms of the straw chip and the grain are greatly different. Therefore, the difference in lightness and darkness facilitates identification, and the difference in morphological characteristics can improve the accuracy of detecting scattered grains contained in straw waste.

As described above, since the amount of moisture is greatly different between the straw waste portion and the grain portion, there is a difference in the light of the wavelength (1.45 micrometers) of the moisture absorption band transmitted through both portions. Since light is naturally affected by the density of the transmission path, it is difficult to distinguish whether the change is due to the grain or the change due to the density with only a single wavelength.

Therefore, as a grain detecting element in straw waste,
For example, in order to reduce the influence of density, which is a variable element other than moisture, it has another specific wavelength that is not affected by moisture as a detection element, and is hardly affected by, for example, moisture or color.
By determining a change in electromagnetic waves of about 0 micrometers as a change in density and calculating a ratio of the wavelength of the water absorption band to the amount of transmitted light, only a change due to water can be detected.

When detecting the scattered grains using the plurality of wavelengths, as shown in FIG. 22, the plurality of light sources 54 are arranged as light sources for the straw chips existing on the glass plate 53, and the scattered grains are scattered. As the grain sensor 58, the band pass filter 56 that transmits the wavelength of the moisture absorption band (1.45 micrometers) is obliquely provided with respect to the glass window 55, and the transmission position of the filter 56 for the moisture absorption wavelength is provided. The light receiving element 57 is arranged, and a band-pass filter 59 that transmits a reference wavelength (1.0 μm) and a light receiving element 60 for a reference wavelength are arranged at the reflection position of the filter 56.

With such a configuration, a detection area of the amount of transmitted light is set at a specific position of the image 52c shown in FIG. 20 as shown in the image of FIG. 23. In this area, the wavelength of the transmitted light is 1.45 micrometers. , Matrix: 50 × 5
The change in the amount of received light of the water absorption wavelength under the condition of 0 pixel, movement: 10 pixels is obtained as a mean luminance with respect to the movement of the matrix from a chart as shown in FIG. 24, and the signal change by ratio processing under the same conditions as this chart (simulation). Is obtained from the chart as shown in FIG. 25 as a ratio value to the matrix movement, whereby only the change due to moisture can be detected. Therefore, it is possible to perform highly accurate detection of grains in straw waste.

Further, as an embodiment different from the above, when a branch 61 attached to a grain, that is, a paddy is detected by an image using the camera 61, as shown in FIG. (Either in a stationary or moving state) is illuminated from below by an illumination lamp 63, and the illuminated branch branch attached particles are imaged by a camera 61 located above to input an image.

At the time of this image input, as shown in the flow chart of FIG. 27 and FIG.
Two types of S / IL are set, and an image 64 of only the paddy is input with the aperture IS (small aperture), and an image 65 including the rice and branch spikes is input with the aperture IL (large aperture). Next, image 64
After the binarization, the image 64a is subjected to dilation processing and noise removal.
Is an image 65a obtained by binarizing the image 65 and removing noise.
, An image 66 of only the branch spike is extracted, and this image 66
After removing the noise from, the inversion is performed to calculate the amount of branch infarct. (For the image 64a, the dilation process is performed because the aperture is small and the whole image is small.) As described above, the light amount entering the camera 61 is changed due to the morphological difference that the paddy is thick and the branch is thin. When the image is input in such a manner, a thin object becomes invisible. Therefore, the amount of the branch vein can be calculated using this phenomenon. Therefore, it is not necessary to use a complicated extraction unit, and the processing speed can be increased.
Further, by calculating the amount of the branch vein, it is possible to control the rotation speed of the threshing device 1 and the vehicle speed of the traveling device 8.
It should be noted that substantially the same result can be obtained even when the illuminance of the illumination lamp 63 or the shutter speed is changed instead of the aperture at the time of image input by the camera 61.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a state in which a distribution density of leaking kernels is detected by a kernel distribution sensor.

FIG. 2 is a side sectional view showing the entire threshing apparatus.

FIG. 3 is a block diagram showing an electric circuit for automatic control.

FIG. 4 is a flowchart showing a procedure for detecting the distribution density of leaking kernels and controlling the vehicle speed.

FIG. 5 is a diagram showing the distribution density of leaked kernels between the entrance side and the exit side of the handling drum.

FIG. 6 is a diagram showing a relationship between an axial position of a handling cylinder and a distance between a grain distribution sensor.

FIG. 7 is a flowchart showing a procedure for detecting the distribution density of leaking kernels and controlling the speed of the feed chain.

FIG. 8 is a diagram showing the distribution density of leaked kernels between the inlet side and the outlet side of the handling cylinder.

FIG. 9 is a side view showing the whole combine.

FIG. 10 is a side sectional view showing a threshing unit of an all-culm input type.

FIG. 11 is a flowchart showing a procedure for detecting the distribution density of leaking kernels and controlling the rotation speed of the handling cylinder.

FIG. 12 is a diagram showing the distribution density of leaked kernels between the entrance side and the exit side of the handling drum.

FIG. 13 is a perspective view showing a state where a boundary between a spike portion and a culm portion of a grain culm is detected by a boundary detection sensor as another embodiment.

FIG. 14 is an image diagram showing an imaging state of a grain culm by a boundary detection sensor.

FIG. 15 is an image diagram showing a power spectrum distribution state by frequency analysis of a cereal culm by a boundary detection sensor.

FIG. 16 is a block diagram showing a circuit for calculating a ratio of a plurality of frequency signals by a boundary detection sensor.

FIG. 17 is a perspective view showing a stereoscopic display of the power spectrum distribution in the grain culm transport direction.

FIG. 18 is a diagram showing a one-dimensional intensity distribution of a power spectrum in a grain conveying direction.

FIG. 19 is a schematic plan view showing a supply position of a grain culm to a threshing device with respect to the culm body direction.

FIG. 20 is an image diagram showing a state in which a light source is changed at the time of detection of discharged straw by a scattered grain sensor as another embodiment.

FIG. 21 is a schematic side view showing an arrangement state of a scattered grain sensor and a light source when detecting discharged straw chips.

FIG. 22 is a schematic side view showing an arrangement state of a scattered grain sensor and a light source when detecting discharged straw chips.

FIG. 23 is an image diagram showing a detection area of a transmitted light amount in an image of discharged straw waste.

FIG. 24 is a diagram showing a change state of a received light amount of a water absorption wavelength by the detection of FIG. 23;

FIG. 25 is a diagram showing a change state of a signal by the ratio processing based on the detection of FIG. 23;

FIG. 26 is a schematic side view showing an arrangement state of a camera and an illumination for imaging a grain attached to a branch stalk of rice as another embodiment.

FIG. 27 is a flowchart showing a procedure for calculating the amount of branch stalk of rice from an image obtained by changing the aperture of a camera.

FIG. 28 is an image diagram showing a comparison between the attached particles of branch infarct with the aperture of the camera changed and a processing state thereof.

[Explanation of symbols]

 1. Threshing device 2. Sorting room 3. Handling cylinder 4. Handling network 5. Grain distribution sensor

Claims (1)

[Claims] 1. A grain distribution capable of detecting the distribution density of grains leaking from a handling net 4 along an axial direction of a handling cylinder 3 into a sorting chamber 2 of a threshing apparatus 1 for threshing a harvested grain culm. A sensor 5 is provided,
When the detection value of the grain distribution sensor 5 reaches a preset limit value M, the maximum vehicle speed at the time of cutting is calculated and set based on the detection value, and a vehicle speed control device such as a combine.