JPH11137062A - Control device of conventional combine harvester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically control the rising and descending action of a reaping unit and the action of a second mower depending on states of cereal stems in a conventional combine harvester in which the reaping unit is connected to front of a traveling unit and the main machine having a threshing unit is mounted on the traveling unit. SOLUTION: A second mower 80 which cuts feet of cereal stems, is installed to be able to rise and descend between a reaping unit 2 and a main machine B, and a cereal stem sensor which detects planting states of the cereal stems is mounted on the main machine. When the cereal stem sensor detects the cereal stems in front of the reaping unit 2 to be fallen down, the action of the second mower 80 is stopped, the reaping unit 2 is descend and the traveling speed of a traveling unit 1 is reduced. When the sensor detects the cereal stems in front of the reaping unit 2 to be stood upright, the second mower 80 is acted, the reaping unit 2 is ascended and the traveling speed of the traveling unit 1 is increased. When the sensor detects no cereal stem in front of the reaping unit 2, the operation of the second mower 80 is stopped, the second mower 80 is ascended and the traveling speed of the traveling unit 1 is decreased.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a general-purpose combine control device.

[0002]

2. Description of the Related Art Conventionally, a mowing unit is connected to the front of a traveling unit so as to be able to move up and down, and a machine equipped with a threshing unit, a swing sorting unit, a Glen tank, etc. is mounted on the traveling unit. There is a general-purpose combine that can also perform harvesting work of soybeans and red beans as well as yam, and sends the grain stalks cut at the cutting section to the threshing section of the machine, threshing at the threshing section and removing the culms outside the machine. , And the grains mixed with fine dust are sorted out by the swing sorting section, and the fine dust is discharged outside the machine.
There is a general-purpose combine that stores grains in a Glen tank.

[0003]

However, in the above-mentioned general-purpose combiner, since the culm is harvested from the root of the plant and transported to the threshing unit, the amount of threshing processing becomes extremely large. There is a problem that it is necessary to decelerate, and it takes time for the harvesting operation.

[0004] Therefore, when harvesting crops such as rice and wheat in which grains are concentrated at the tip of the ear, the height of the cutting section is set high, and only the tip is cut and transported to the threshing section. By reducing the threshing processing amount, enabling high-speed running and improving work efficiency, a second mower is arranged between the cutting unit and this machine, and the grain culm whose ears have been cut is cut off from the root of the stock, It is conceivable to use the post-harvest farming service.

[0005] However, when the grain culm in front of the combine changes from an upright state to a lying state, the grain cannot be harvested unless the ground height of the cutting section is lowered and the cereal culm is cut at the height of the root of the plant. Therefore, the operator needs to perform the following operations.

[0006] That is, the operator constantly looks at the planting state of the grain culm in front of the combine, and when the grain culm changes from the upright state to the lodging state, the cutting unit is lowered to move the lodging grain culm from the plant base. Harvesting is performed, the operation of the second mower is stopped to prevent waste of power, the traveling speed of the combine is reduced, and an appropriate amount of threshing is supplied to the threshing unit.
In addition, when the culm in front of the combine changes from the lying state to the upright state, it is necessary to perform the reverse operation.

[0007] Further, when one stroke has been cut, it is necessary to cut off the power transmission to the second mower, raise the second mower, and prevent interference between the second moor and the ridges during circulation.

[0008] Since many of these operations must be performed simultaneously in relation to the planting state of the cereal stem, there is a problem that the skill of the operator is required and fatigue is increased.

[0009]

SUMMARY OF THE INVENTION Therefore, according to the present invention, there is provided a general-purpose combiner in which a mowing unit is connected to the front of a traveling unit so as to be able to move up and down, and the machine having a threshing unit is mounted on the traveling unit. A second mower, which cuts the stem of the grain stalk, is mounted between the reaping unit and the machine so as to be able to move up and down freely, and a grain stalk sensor that detects the planting state of the grain stalk is arranged on the machine. When the culm sensor detects that the grain culm in front of the reaping part is lying down, the second mower is raised to stop the operation, the reaping part is lowered, and the traveling speed of the traveling part is reduced, When it is detected that the culm in front of the cutting unit is upright, the cutting unit is raised, the second mower is lowered and activated, and the traveling speed of the traveling unit is increased to increase the speed in front of the cutting unit. If it is detected that there is no grain culm, the mowing part and the second mower are Stops the operation by raising, is to St. provide a control apparatus for a general-purpose combine, characterized by decelerating the travel speed of the travel unit.

The present invention has the following features.

[0011] The grain culm sensor includes a transmitting unit for emitting ultrasonic waves or laser light toward the grain culm in front of the mowing unit, and a receiving unit for receiving a reflected wave from the grain culm. That the culm is upright or lying down according to the state of the reflected waves.

The grain culm sensor includes a television camera for photographing a grain culm in front of the cutting section, and an image processing device connected to the television camera. Detecting the planting state of the grain culm by comparing with the image of the grain culm in each state stored in the image processing device in advance.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS In this embodiment, a mowing unit is connected to the front of a traveling unit so as to be able to move up and down, and a general-purpose combiner with a threshing unit mounted thereon is mounted on the traveling unit. A second mower, which cuts the stem of the grain stalk, is mounted at the back and in front of the running section so as to be able to move up and down, and a grain stalk sensor that detects the lodging state of the grain stalk is arranged. When it detects that the front culm has changed from the upright state to the lying state, it automatically cuts off the power transmission to the second mower,
While raising the second mower to prevent collision with the ground surface, the mowing part is lowered to cut the culm from the root of the stock, and the running speed of the machine is reduced to respond to the increase in threshing throughput. .

Further, when the grain culm sensor detects that the grain culm in front of the machine has changed from the lying state to the upright state, it automatically connects the power transmission to the second mower, and lowers the second mower. The cutting section is raised to cut only the tip of the culm, and the running speed of the machine is increased to increase the working speed.

[0015] Further, when the harvesting of one stroke is completed, there is no grain stalk in front of the combine. When this is detected, the power transmission to the second mower is cut off, the second mower is raised, and In addition to preventing the second mower from colliding with obstacles such as ridges, the traveling speed is reduced to make it easier to go around.

[0016] The grain culm sensor includes a transmitting unit for emitting ultrasonic waves or laser light toward the grain culm in front of the machine, and a receiving unit for receiving a reflected wave or reflected light from the grain culm. Some systems detect the presence or absence of a grain culm in front of the machine and the state of planting based on the level of reflected waves or reflected light, the distance between the grain culm and the grain culm sensor, and the like.

The television camera further includes a television camera for photographing the culm in front of the machine, and a control device having an image processing capability connected to the television camera. An image photographed by the television camera is input to the control device. In some cases, the presence / absence of a grain culm in front of the machine and the planting state are detected by comparing an image with an image of a grain culm in a planted state stored in a control device in advance.

[0018]

Embodiments of the present invention will be described with reference to the drawings.

FIG. 1 shows a general-purpose combine A provided with a control device C according to the present invention.
Mounts the machine B above the crawler type traveling unit 1,
A reaper 2 and a transporter 3 are provided in front of the machine B so as to be movable up and down.

The drive wheels 11 of the traveling section 1 are composed of an engine 12, a belt 13 and a transmission 14 disposed at the rear of the machine B.
And the transmission 14
The traveling speed can be steplessly increased and reduced by a hydrostatic continuously variable transmission 84 (see FIG. 2) provided therein. The speed ratio of the hydrostatic continuously variable transmission 84 is controlled by a shift lever 42 described later. And the control device C.

The cutting section 2 includes a cutting blade device 21 disposed at a front end of a platform 20 extending in the left-right direction.
A scraping reel 23 is arranged above the stalk via a lifting link 22 so that the stalks cut by the cutting blade device 21 are scraped into the platform 20. Also, a lateral feed auger 24 extending in the left-right direction is pivotally supported inside the platform 20, and the rotation of the lateral feed auger 24 causes the harvested grain culms to be accumulated at a position slightly leftward from the center of the platform 20. .
In the figure, 26 is a weed board.

The transport unit 3 connects the front end of the feeder house 30 to the harvested grain culm accumulation position on the rear surface of the platform 20 and connects the rear end of the feeder house 30 to the front side surface of the machine B so as to be vertically rotatable. The cutting culm in the feeder house 30 is conveyed to the threshing unit 5 by a cutting grain culm conveyor 31 disposed inside the feeder house 30. Also, a hydraulic cylinder 32 for raising and lowering the mowing unit is interposed between the lower surface of the feeder house 30 and the machine B, and the mowing unit 2 and the transporting unit 3 are raised and lowered by the expansion and contraction operation of the hydraulic cylinder 32 for raising and lowering. I have to.

Above the feeder house 30, a cabin 43 in which a driver's seat 40, a steering handle 41, a shift lever 42 and the like are housed is disposed.

A threshing unit 5 is provided behind the cabin 43. The threshing unit 5 connects the large-diameter first rotor 51 and the small-diameter second rotor 52 to each other with the axis centered horizontally and The first and second receiving nets 53 and 54 are provided below the rotors 51 and 52, respectively, to support the first and second handling chambers D1 and D1.
2.

Then, by the rotation of the first rotor 51, the harvested grain culm fed from the feeder house 30 is drawn onto the first receiving net 53, and threshing is performed while being conveyed rightward on the first receiving net 53. To the second receiving net 54, and throttling the harvested culm by turning the second rotor 52 while returning the harvested culm to the left, and mixing the straw mixed with the straw waste passing through the first and second receiving nets 53, 54. The grains are dropped on a swing sorting unit 7 described later, and the waste straw remaining on the first and second receiving nets 53 and 54 is discharged outside the machine.

As described above, the first and second rotors 51 and 52 are disposed in the threshing unit 5 to sequentially thresh the grain culms that have been carried in, so that kernels that are left untreated or the like can be removed. Loss can be prevented. In addition, since the first and second rotors 51 and 52 are arranged orthogonally to the traveling direction, the front-rear length of the fuselage can be reduced despite the length of the threshing process being increased,
Since the large-diameter first rotor 51 is orthogonal to the direction in which the harvested grain culm is carried in from the feeder house 30, the grain culm can be easily taken into the threshing unit 5 and the second rotor 52 has a small diameter. In addition, threshing can be completely performed on unprocessed portions such as stabbing grains and the like, so that the grains can be prevented from being mixed with the straw and discharged.

The swing sorting section 7 is constituted by a swing sorter 72 and a Karamin 73, which swing together by a swing mechanism 71.
Separation of the straw-mixed grains falling from the threshing unit 5 onto the rocking sorting body 72 into straw-mixed and fine-dust-mixed grains, discharging the straw-based scraps outside the machine, and removing the fine-dust-mixed grains, It is separated into grains and fine dust by the sorting wind from Karino 73, and the fine dust is discharged outside the machine,
Transfer and store the first grain in the Glen tank 74
The goods are recirculated to the front of the swing sorting section 7.

The Glen tank 74 is formed in a substantially inverted triangular shape in a side view, and is disposed from above the front end of the second rotor 52 to above the rear end of the swing sorting section 7, and is discharged to the lowermost part of the Glen tank 74. The conveyor 75 is extended and arranged in the left-right direction, the end of the discharge conveyor 75 is rotatably connected to the start end of the discharge auger 76, and the end of the discharge auger 76 can be moved to an arbitrary position, This is convenient for transferring the grains in the Glen tank 74 to a truck bed or the like.

In the general-purpose combine A, in the present embodiment, a second mower 80 is provided between the machine B and the mowing section 2. The second mower 80 is provided on the lower surface of the feeder house 30 in the middle. An upper end of the mower support rod 81 is pivotally connected to the lower end of the second mower support rod 81, and a clipper-type second mower 80 is connected to the lower end of the second mower support rod 81 in a suspended state. Also,
A second mower lifting hydraulic cylinder 82 is interposed between the middle part of the second mower support rod 81 and the machine B, and the second mower 80 is raised and lowered by the expansion and contraction operation of the second mower lifting hydraulic cylinder 82. ing.

As shown in FIGS. 1 and 2, a cereal culm sensor S is provided at the upper front end of the cabin 43, and the cereal culm sensor S is connected to the control device C. Based on the output from the control device C based on the detected value, the second mower driving clutch 83, the mowing unit driving clutch 25, the second mower elevating hydraulic cylinder 82, the mowing unit elevating hydraulic cylinder 32, and the hydrostatic stepless The gear ratio of the transmission 84 is controlled.

When the grain stalk sensor S detects that the grain stalk in front of the machine B has changed from the upright state to the lying state, the second mower driving clutch 83 is disconnected to stop the operation of the second mower 80. Then, the second mower elevating hydraulic cylinder 82 and the mowing part elevating hydraulic cylinder 32 are contracted to raise the second mower 80, and the mowing part 2 is lowered to cut the grain stalks from the root of the stock. The speed ratio of the transmission 84 is moved to a lower speed side to reduce the traveling speed of the general-purpose combine A so as to cope with an increased threshing amount due to cutting the culm from the root of the stock. In addition, secondmore 80
Is supported by the feeder house 30, before the mowing unit 2 descends, the hydraulic cylinder for raising and lowering the second mower
Shrink 82 and raise Secondmore 80.

When the grain stalk sensor S detects that the grain stalk in front of the machine B has changed from the lying state to the upright state, the second mower driving clutch 83 is connected and the operation of the second mower 80 is started. Then, the hydraulic cylinder 32 for raising and lowering the cutting unit is extended, the cutting unit 2 is raised to cut only the tip of the grain stalk, and the speed ratio of the hydrostatic continuously variable transmission 84 is moved to the high-speed side to drive the general-purpose combine A. The speed is increased to cope with the threshing amount that is reduced by cutting only the ears, and the harvesting operation is performed at a high speed. When the second mower 80 is supported by the feeder house 30, the reaping unit 2
Immediately after the second mower is lifted, the second mower lifting hydraulic cylinder 82 is extended to lower the second mower 80.

Further, when the grain stalk sensor S detects that there is no grain stalk in front of the machine B, the second mower drive clutch 83 is disconnected to stop the operation of the second mower 80, and the hydraulic pressure for raising and lowering the mowing unit is reduced. Extend the cylinder 32 to raise the mowing part 2,
By moving the gear ratio of the hydrostatic continuously variable transmission 84 to the low speed side, the traveling speed of the general-purpose combine A is reduced to prepare for the U-turn at the field end.

The above-mentioned grain culm sensors S include those using ultrasonic waves or laser light, and all of them emit ultrasonic waves or laser light toward the grain culm in front of the machine, as shown in FIG. The transmitting unit S1 and the receiving unit S2 that receives the reflected wave and the reflected light from the cereal stem are connected to the arithmetic unit S3, and the level of the reflected wave and the reflected light due to the inclination of the cereal stem and the transmitting unit S1 From the distance between the cereal culm and the cereal culm sensor S calculated from the time until the receiving unit S2 receives the reflected sound or the reflected light from the cereal culm after emitting the ultrasonic wave or the laser light, etc. There is one that detects the presence or absence of a culm and the state of planting.

As shown in FIG. 4, a television camera S4 for photographing the cereal stem in front of the machine and an image processing device S5 connected to the television camera S4 are provided. The presence / absence and planting state of the grain culm in front of the machine B is detected by comparing the image input to the image processing device S5 with the image of the grain culm in various states stored in the image processing device S5 in advance. There are things that I try to do.

[0036]

According to the present invention, the following effects can be obtained.

According to the first aspect of the present invention, in a general-purpose combiner in which a mowing unit is connected to the front of the traveling unit so as to be able to move up and down and the machine equipped with a threshing unit is mounted on the traveling unit, In the middle of the machine, a second mower that cuts the stem of the grain stalk is attached so as to be able to move up and down, and a grain stalk sensor that detects the planting state of the grain stalk is arranged on the machine, and the grain stalk sensor, When it is detected that the grain stem in front of the mowing part is lying down,
Since the operation is stopped by raising the second mower, the collision with the ground of the second mower due to the lowering of the mowing part is prevented, the waste of power is prevented, the mowing part is lowered, and the lodging grain culm is removed from the stock plant. Since the mowing is prevented from being left uncut and the running speed of the running unit is reduced, it is possible to cope with an increase in the threshing processing amount caused by cutting the culm from the root of the stock.

Further, when it is detected that the grain culm in front of the cutting unit is upright, the cutting unit is raised to cut only the tip of the planted grain culm so that efficient threshing work can be performed. And by lowering and operating the second mower,
It is possible to cut down the remaining planted grain culm at the root of the plant, to facilitate the subsequent farm work, to increase the running speed of the running section, and to cope with the decrease in threshing amount due to cutting only the ears. it can.

When it is detected that there is no grain stalk in front of the cutting unit, the operation is stopped by raising the cutting unit and the second mower, and the traveling speed of the traveling unit is reduced.
It is possible to facilitate the circulation on the headland.

In addition, since the above operation is performed automatically, the skill of the operator is not required, and the fatigue can be reduced.

According to the second aspect of the present invention, the cereal culm sensor includes a transmitting unit that emits an ultrasonic wave or a laser beam toward the cereal culm in front of the cutting unit, and a receiving unit that receives a reflected wave from the cereal culm. With the configuration of determining whether the grain stalk is upright or lying down based on the state of the reflected wave from the grain stalk, the planting state of the grain stalk in front of the mowing part is detected. And it is not in contact with the planted grain culm, so that the harvesting operation is not adversely affected.

According to a third aspect of the present invention, the cereal culm sensor includes a television camera for photographing the cereal culm in front of the cutting section, and an image processing device connected to the television camera. By comparing the image input to the device with the image of the grain stalk in each state stored in the image processing device in advance, the planted state of the grain stalk is detected, so that various planted grains can be detected. This can be accurately detected in accordance with the lodging state of the culm, and the accuracy of the cutting section, the second mower, and the running speed control can be improved.

[Brief description of the drawings]

FIG. 1 is a side view of a general-purpose combine provided with a control device according to the present invention.

FIG. 2 is an explanatory diagram showing a configuration of a control device.

FIG. 3 is an explanatory diagram showing a configuration of a grain culm sensor.

FIG. 4 is an explanatory diagram showing a configuration of a grain culm sensor.

[Explanation of symbols]

 A General-purpose combine B This machine C Control device S Grain sensor S1 Transmitting unit S2 Receiving unit S4 Television camera S5 Image processing device 1 Running unit 2 Cutting unit 5 Threshing unit 80 Second mower

Claims (3)

[Claims] A cutting section (2) is connected to the front of a traveling section (1) so as to be able to move up and down, and a machine (B) having a threshing section (5) is mounted on the traveling section (1). In the general-purpose combine (A), a second mower (80) for cutting the stem of the grain stalk is mounted between the mowing unit (2) and the machine (B) so as to be able to move up and down freely.
A grain culm sensor (S) that detects the planting state of the grain culm is placed in (B), and the grain culm sensor (S) detects that the grain culm in front of the mowing part (2) is lying down. If detected, Second More (80)
The cutting section (2) was lowered, the running speed of the running section (1) was reduced, and it was detected that the grain stem in front of the cutting section (2) was upright. In this case, the mowing part (2) is raised and the second mower (80) is operated by lowering it.
When it is detected that there is no grain stalk in front of (2), the mowing part (2) and the second mower (80) are raised to stop the operation, and the traveling speed of the traveling part (1) is reduced. A control device for a general-purpose combine. 2. The grain culm sensor (S) includes a transmitting section (S1) for emitting ultrasonic waves or laser light toward the grain culm in front of the cutting section (2), and receives a reflected wave from the grain culm. And a receiving unit (S2) that performs a determination based on a state of a reflected wave from the cereal stem whether the cereal stem is upright or lying down. General-purpose combine control device. 3. The cereal culm sensor (S) includes a television camera (S4) for photographing a cereal culm in front of the cutting unit (2) and an image processing device (S5) connected to the television camera (S4). Equipped with an image input from the television camera (S4) to the image processing device (S5), by comparing the image of the cereal stalk of each state stored in advance in the image processing device (S5), The control device for a general-purpose combine according to claim 1, wherein the state of planting is detected.