JPH1146550A - Self-propelled crop harvester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To contrive the improvement of work efficiency by discriminating with a discriminating device whether a crop in an upland field is suitable for harvest or not. SOLUTION: An engine 3, an operation section 4, a harvest device 5, a stepless speed variator 6 for varying the speed of a travel device 1 and a discrimination device 7 having a camera, etc., and used for discriminating a harvest period suitable for a crop S are disposed on an undercarriage 2 provided with the travel device 1. When a CPU in which information from the discrimination device 7 is inputted discriminates that the crop S is suitable for its harvest, the crop S is harvested with the harvest device 5. When it is discriminated that the crop S is not suitable, the crop S is left. When the crops are again subjected to a harvest treatment, the speed of the travel device is increased through the stepless speed variator 6 in the harvested section.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled crop harvesting machine that harvests crops such as cabbage, carrots, and onions while moving the body.

[0002]

2. Description of the Related Art In general, it is common for an operator to visually check a crop growing in a field to determine whether it is an appropriate time to harvest, and to operate a harvester to harvest all the crops in the field.

[0003]

However, since not all crops in the field are at the right time, they must be harvested even if they are not at the right time, resulting in waste. Further, when harvesting a crop that has been left undetermined by the determination device and not left for a proper period, the operation time is long if the operation is performed at a constant vehicle speed, and the efficiency of the harvesting operation is not improved. Therefore, there is a need to reduce the waste of crops and improve the work efficiency.

[0004]

SUMMARY OF THE INVENTION The present invention has been made to solve such a problem, and has taken the following technical means. That is, the undercarriage 2 equipped with the traveling device 1 is provided with at least the prime mover 3, the operating unit 4, the harvesting device 5, the transmission 6 for shifting the traveling device 1, and the discriminating device 7 for discriminating a suitable crop harvest time. When the discriminating device 7 determines that it is the right time to harvest, the harvesting device 5 harvests the crop, and when it is determined that it is not the right time for harvesting, it performs the leaving operation. A self-propelled crop harvester configured to increase the vehicle speed via the transmission 6 is provided.

[0005]

First, the prime mover 3 is started, and the operation unit 4 is operated to move the self-propelled crop harvester in a predetermined direction. The discriminating device 7 that moves in association with the movement of the airframe discriminates a suitable harvest time of the crop, and when it is determined that it is the proper time, the harvesting device 5 harvests the crop. When the harvesting operation is performed again, the interval between the crops sandwiching the already-harvested portion is wide.
The vehicle speed is increased via.

[0006]

According to the present invention, in the case of re-working, in a section having a wide interval, it is possible to move quickly to the next crop, so that the efficiency of the harvesting operation can be improved.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be specifically described below with reference to the drawings. First, the structure of the motor will be described.
A self-propelled harvester 8 driven by a motor 3 or the like driven by solar power or the like is a driving device (wheels, wheels,
An operation unit 4 is provided at the front of a chassis 2 provided with a vehicle 1, and a seat 9 is provided at a rear portion thereof. Crop S
And a discriminating device 7 for detecting whether or not it is appropriate for harvesting, and a harvesting device 5 provided at the rear of the discriminating device 7 so as to be vertically movable by a lifting mechanism (not shown) driven by power from an electric motor 16. Provided.

[0008] The traveling device 1 is provided so as to be able to change the speed by a transmission device (hydrostatic transmission in the embodiment, hereinafter referred to as "HST") 6 which is detachably provided on the chassis 2 and the harvesting device 5 is an embodiment. It is a rotating disk-type cutter. The operation unit 4 includes a shift lever for operating the transmission 6 to increase and decrease the vehicle speed, a steering lever for adjusting the traveling direction of the aircraft, a throttle lever, a display panel, and the like.

The determining device 7 includes a camera, image processing means, and the like, detects the position, size, and color of the crop S, and determines whether or not the harvest of the crop S is appropriate. In addition, the automatic switch 10 can be selected from “ON” and “OFF”,
Only when it is set to “enter”, the automatic harvesting operation by the determination device 7 can be performed. Reference numeral 11 denotes an arithmetic control unit (hereinafter referred to as a CPU) of a microcomputer having a memory 12 containing a control program, necessary data, and the like, and performs operations such as arithmetic / logic and comparison operations. The information input to the CPU 11 via the input interface 13 includes information on the harvesting work form from the automatic switch 10, crop information from the discriminating device 7, cropped (or unharvested) crop information, and crop suitable for harvesting. There is quantity information and the like.

The drive command signal output from the CPU 11 through the output interface 14 includes a start / stop signal of the motor 3, an operation command signal to the shift actuator 15 for operating the transmission 6, and an automatic harvesting signal. Command signal,
There is a drive command signal to the electric motor 16 and the like. Next, the operation will be described.

First, the operator sets the throttle lever, turns on the engine switch, and starts the prime mover 3. Then, the automatic harvester 8 is moved to a predetermined position in the field by operating a shift lever, a steering lever for adjusting the traveling direction of the machine, and the like. Next, the automatic switch 10 is turned on,
When the shift lever is set at a predetermined position, the traveling device 1 moves forward through the transmission 6 at the set speed. When the discriminating device 7 detects a crop while the body is moving, this information is sent to the CPU 11
Then, the CPU 11 determines whether or not the crop S is in a suitable harvest time.

When the CPU 11 determines that it is a suitable harvesting time, it outputs a drive command signal to the electric motor 16, so that an elevating mechanism (not shown) having transmitted this rotational power lowers the harvesting device 5 to the harvesting position. Then, the crop S is cut and harvested by the harvesting device 5. On the other hand, if the CPU 11 determines that it is not the optimal time for harvesting, it outputs a reverse drive command signal to the electric motor 16, so that this rotating power causes the lifting mechanism (not shown).
Raises the harvesting device 5 and does not harvest. Thereafter, the same operation is performed.

When the harvesting operation is started again from the original position, the CPU 11 stores which of the crop rows has been harvested or not harvested. Some crops are harvested sequentially.
When the CPU 11 determines that the interval between the harvested crop and the next crop is wide, the shift actuator
A command signal for increasing the speed is output to the motor 15. Then, the transmission actuator 15 increases the vehicle speed of the automatic harvester 8 via the transmission 6. Thereafter, when the crop S continues, the CPU 11 outputs a deceleration command signal to the shift actuator 15 to return the vehicle speed to the original speed. Therefore, in the case where crops can be harvested at the appropriate time for harvesting and when harvesting is performed again in the same field, the work efficiency can be improved as compared with those in which the vehicle speed is changed and the work is always performed at a constant speed.

(Another Embodiment) In a harvesting operation, an operator may determine a today's harvest amount (how many, how many boxes, etc.). In such a case, when the automatic harvester 8 is moved along a predetermined work passage in the field, the information sent from the discriminating device 7 is calculated to discriminate the optimal harvest time of the crop S and count the number. When the number reaches a preset number, the automatic harvester 8 stops running. Therefore, the worker can determine the harvesting position of the field, and thus the convenience can be improved.

Further, since it is possible to know the amount of the crop at the expected harvesting place at the optimal harvesting time, it is possible to assemble the plan of the harvesting work in advance.

[Brief description of the drawings]

FIG. 1 is a side view of a self-propelled harvester.

FIG. 2 is a block circuit diagram.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling device 2 Undercarriage 3 Prime mover 4 Operation part 5 Harvesting device 6 Transmission 7 Discrimination device S Crops

Claims (1)

[Claims] 1. A vehicle 2 equipped with a traveling device 1 includes at least a prime mover 3, an operation unit 4, a harvesting device 5, a transmission 6 for shifting the traveling device 1, and a discriminating device 7 for discriminating a suitable harvest time of the crop S. When the discriminating device 7 determines that it is the right time to harvest, the harvesting device 5 harvests the crop S.
A self-propelled crop harvester configured to increase the vehicle speed via the transmission 6 during a harvested section during reharvesting.