WO2016147521A1 - コンバイン及びコンバインのための穀粒評価制御装置 - Google Patents
コンバイン及びコンバインのための穀粒評価制御装置 Download PDFInfo
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- WO2016147521A1 WO2016147521A1 PCT/JP2015/086351 JP2015086351W WO2016147521A1 WO 2016147521 A1 WO2016147521 A1 WO 2016147521A1 JP 2015086351 W JP2015086351 W JP 2015086351W WO 2016147521 A1 WO2016147521 A1 WO 2016147521A1
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- grain
- yield
- unit
- travel
- taste
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
- A01F12/00—Parts or details of threshing apparatus
- A01F12/50—Sack-filling devices; Counting or weighing devices
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B79/00—Methods for working soil
- A01B79/005—Precision agriculture
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/1208—Tanks for grain or chaff
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
- A01D41/1277—Control or measuring arrangements specially adapted for combines for measuring grain quality
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
- A01F12/00—Parts or details of threshing apparatus
- A01F12/46—Mechanical grain conveyors
Definitions
- the present invention relates to a combine and a grain evaluation control device for a combine that store grains obtained by harvesting grains from a farm while running and threshing the harvested grains in a grain tank.
- a combine that measures the weight and moisture of a grain stored in a grain tank and outputs the harvested grain as harvest information has been proposed.
- the load cell which detects the load of the moisture measuring apparatus and the grain tank which take in a part of grain supplied to a grain tank and measures the moisture content is provided.
- the harvested grain (yield) per cutting area can be calculated from the increase in the grain tank.
- the weight increase of the grain is small compared to the weight of the grain tank itself, and It is difficult because measurement errors are likely to occur due to grain offset.
- the combine according to Patent Document 2 opens and closes the yield receiving port that receives the grain supplied to the grain tank, the yield discharging port that discharges the received kernel, and the yield discharging port.
- Yield measuring container having a yield shutter, a time calculating unit for calculating a storage time until a predetermined volume of grains is stored in the yield measuring container, and a unit traveling yield (per unit cutting area from the traveling speed and storage time)
- a yield calculation unit for calculating the yield of It is also possible to create a yield distribution for the entire field by statistically processing the unit travel yields that are sequentially calculated by the yield calculation unit.
- the yield distribution of each small section of the field is important data.
- the conventional combine as described above has the harvesting operation traveling. Since the unit travel yield was determined without distinguishing from non-harvest work travel, inaccuracies may occur in the yield distribution of the entire field.
- a combine that evaluates the harvested grain by simultaneously performing the weight measurement (yield measurement) and moisture measurement (taste measurement) of the grain stored in the grain tank has been proposed.
- the combine by patent document 2 is provided with the yield calculation apparatus which calculates the yield of the grain harvested per unit driving
- the yield calculation apparatus includes a yield measuring container having a yield receiving port for receiving the grain supplied to the grain tank, a yield discharging port for discharging the received kernel, and a yield shutter for opening and closing the yield discharging port, and a yield.
- the taste calculation device includes a taste receiving port for receiving the grain released from the yield releasing port, a taste releasing port for releasing the accepted grain, and a taste measuring container having a taste shutter for opening and closing the taste releasing port, and a taste.
- yield measurement and taste measurement for the harvested grain are performed at the same time, and the yield and taste value of the grain harvested in a specific section of the field are obtained as a grain data set.
- the means for solving the problem [1] is as follows.
- the harvest according to the present invention in which the harvested grains are harvested from the field while traveling and the grains obtained by threshing the harvested grains are stored in the grain tank, calculates the unit travel yield, which is the yield per unit travel distance.
- a harvesting map data generating unit that generates harvesting map data that relates a determination result by the traveling determining unit, and a harvesting information recording unit that records the harvesting map data are provided.
- the yield per unit travel distance (unit travel yield) calculated by the yield calculation unit is related to the harvest work travel or the non-harvest work travel determined by the work travel determination unit. Therefore, attribute information indicating the harvesting work traveling or the non-harvesting work traveling can be given to the unit traveling yield of the harvest map data that is a collection of unit traveling yields of the entire field.
- attribute information indicating the harvesting work traveling or the non-harvesting work traveling can be given to the unit traveling yield of the harvest map data that is a collection of unit traveling yields of the entire field.
- a yield distribution map showing the distribution of yield per unit mileage in the work target field is generated based on the harvest map data, and the yield distribution map is displayed.
- a monitor is provided. This monitor may be a fixed display device attached to the combine, or may be a display of a portable terminal that can be worn or brought by the driver.
- a yield distribution map for one field can be generated based on a collection of unit travel yields connected along the travel path of the combine. At this time, by identifying the locus part of the non-harvest work traveling and the locus part of the harvesting operation traveling, it is possible to easily distinguish the yield decrease due to the non-harvest operation traveling and the yield decrease due to the farm work cause. For this reason, it is preferable that the travel route of the non-harvest work travel is displayed in an identifiable manner in the yield distribution map.
- a transmission unit that transmits the harvest map data to an external management server via a communication line, and the management server that generates the harvest map data based on the harvest map data.
- a receiver for receiving the yield distribution map.
- Combine harvesters harvest crops by running, but they do not always run at a constant speed. In general combine, the vehicle speed is always checked. From this, one of the preferred embodiments for calculating the unit travel yield, that is, the yield per unit travel distance, is based on the storage time and the vehicle speed required for the yield calculation unit to store the grains in a predetermined volume.
- the unit travel yield is calculated. For example, the storage time when the grain supplied to the grain tank from the threshing device is a predetermined volume is measured.
- the unit travel yield is obtained by dividing the predetermined volume by the travel distance obtained by multiplying the storage time by the vehicle speed (more precisely, the average vehicle speed within the storage time).
- the work travel determination unit determines the non-harvest work travel and the harvest work travel based on the ground height of a harvesting unit that harvests cereals from a field. To do. In addition, harvesting work is impossible unless power is transmitted to the cutting unit.
- the work travel determination unit is configured to perform the non-harvesting operation based on cutting information of a cutting clutch that turns on and off power transmission from a farm field to a cutting unit that cuts corn.
- the traveling and the harvesting operation traveling are determined. That is, when the combine is traveling with the cutting clutch in the disengaged state, it is determined that the harvesting operation travels. Conversely, if the combine is traveling with the cutting clutch in the engaged state, the harvesting operation is determined.
- taste values such as moisture and protein are also important. If this taste value can be measured in units of unit travel distance, that is, for each minute section of the field, the influence of the sunlight and fertilization state on the taste value can be evaluated, and fine field management becomes possible.
- so-called taste measurement with a configuration as simple as possible, in one of the preferred embodiments of the present invention, at least of the grains supplied to the grain tank.
- a taste measurement container that temporarily stores a part, a taste measurement unit that outputs a measurement value relating to the taste of the grain stored in the taste measurement container, and a taste value per unit mileage is calculated from the measurement value A taste calculation unit, and the harvest map data generation unit is configured to incorporate the taste value into the harvest map data.
- the yield measuring device used for calculating the unit traveling yield by the yield calculating unit in the present invention, at least a part of the grain supplied to the grain tank is temporarily stored. It is proposed to have a yield measuring container. At that time, the yield calculation unit calculates the unit travel yield from the storage state of the grains in the yield measurement container.
- the grain transfer path between the threshing device and the grain tank, or the yield receiving port of the yield measuring container that temporarily stores the grain in the grain tank only partially supplies the grain supplied to the grain tank. If it cannot be accepted, the actual unit running yield can be determined if the ratio of the accepted amount to the total supplied amount is known in advance. Thereby, since the grain storage capacity of the yield measuring container can be reduced, the structure becomes compact.
- the means for solving the problem [2] is as follows.
- the combine according to the present invention in which the harvested grain is harvested from the field while running and the grain obtained by threshing the harvested grain is stored in the grain tank, the combine according to the present invention includes a yield measuring container, a yield calculating unit, and a taste measuring container And a taste calculation unit.
- the yield measuring container opens and closes a first receiving port that receives at least a part of the grain supplied to the kernel, a first discharge port that discharges the received grain, and the first discharge port. And a first shutter that enables temporary storage of the grains received through the first receiving port.
- the yield calculation unit calculates a unit travel yield that is a yield per unit travel distance from a storage state of the grains in the yield measurement container.
- the taste measurement container opens and closes a second receiving port that receives at least a part of the grain supplied to the kernel, a second discharge port that discharges the received grain, and the second discharge port. And a second shutter that enables temporary storage of the grains received through the second receiving port.
- the said taste calculation part measures the taste value of the grain stored temporarily in the said taste measurement container, and calculates the unit traveling taste value which is the taste value of the grain harvested by the unit traveling distance.
- the yield measurement container and the taste measurement container are provided independently of each other, and receive at least a part of the grain supplied to the grain tank through each receiving port.
- the quantity of grain suitable for each measurement can be stored in a container, and an optimal measurement is attained.
- the grain from the threshing apparatus is A first opening and a second opening that are open at intervals in the grain supply direction are formed in the grain tank inner pipe part of the supply pipe that supplies the grain to the tank.
- a configuration is proposed in which one opening serves as the first receiving port and the second opening serves as the second receiving port. In this configuration, since only two openings are formed in the supply pipe for supplying the grain to the grain tank, the supply is distributed to the yield measurement container and the taste measurement container, which is advantageous in terms of manufacturing cost.
- the first opening when the first opening is formed in the grain supply direction at a position closer to the threshing device than the second opening, a part of the grain flowing from the threshing device through the supply line is formed. First, it is discharged into the yield measuring container through the first opening, and a part of the grain flowing through the first opening is discharged into the taste measuring container through the second opening. Since the first opening is located upstream of the second opening in the grain flow direction, the amount of the grain released from the first opening is not affected by the second opening. Therefore, by appropriately selecting the size of the first opening, a predetermined proportion of the amount of grain supplied from the threshing device to the grain tank is supplied to the yield measuring container.
- the yield measuring container and the taste measuring container are arranged on the same wall surface of the grain tank. It is also possible to use a part of the mounting structure.
- the grain tank is provided with a grain supply portion.
- the screw conveyor extends from the threshing device side to the first opening. This stabilizes the accuracy of yield measurement.
- the 2nd opening is covered with the porous member which sorts out foreign substances, such as a basket, and a basket. Thereby, it is avoided that the sawdust etc. which flow with the grain (slag) from the threshing apparatus enter the taste measurement container.
- a sorting member such as a porous member
- it is effective to push the grain into the second opening with external force.
- a rotating impeller is provided, so that the impeller can be pushed into the taste measuring container through the porous member by the impeller.
- the yield measurement container can temporarily store a predetermined amount of grain, and by repeating this temporary storage, a substantially continuous yield measurement can be performed along with the harvesting of the combine. . Therefore, the yield calculation unit can calculate the unit travel yield from the storage time and the vehicle speed required for storing the grains in the predetermined volume in the yield measurement container. At that time, if the cutting width is taken into consideration, the yield per unit area can be easily calculated.
- a harvest map data generation unit that generates harvest map data by combining the unit travel yield and the unit travel taste value with a travel route traveled in the field, and harvest information that records the harvest map data. When the recording unit is provided, it is possible to continuously assign the yield and the taste value to the combine traveling route. Thereby, the harvested grain can be evaluated at the time of harvest.
- the yield and taste values are allocated to the field subdivision based on the location information of the travel route in the work target field. It is possible to create a yield distribution map indicating the distribution, and further a taste distribution map indicating the distribution of the taste value in the work target field. Therefore, in a preferred embodiment of the present invention, a monitor is provided that displays a yield distribution map that is generated based on the harvest map data and indicates the distribution of yield per unit mileage in the work target field. Yes.
- a yield distribution map generation unit may be installed for each combine, but a yield distribution map generation unit may be built in an external management server so that many combiners can use it together.
- a transmission unit that transmits the harvest map data to an external management server via a communication line, and the yield distribution generated by the management server based on the harvest map data.
- a receiving unit for receiving the map.
- the combine is provided with a yield distribution map generation unit that generates the yield distribution map based on the harvest map data.
- the present invention is also applied to a grain evaluation control device for a combine that harvests grains from a farm while traveling and stores grains obtained by threshing the harvested grains in a grain tank.
- This grain evaluation control device has a function of measuring and evaluating the yield and taste of a grain at the time of harvest.
- the grain evaluation control device is supplied to the grain tank and a first shutter control unit that controls opening and closing of a first shutter that temporarily stores part of the grain supplied to the grain tank.
- the second shutter control unit that controls the opening and closing of the second shutter that temporarily stores the other part of the grain independently of the control of the first shutter, and the first shutter is temporarily stored.
- FIG. 4 is a plan view of the combine according to FIG. 3.
- FIG. 4 is a front view of a yield measurement container and a taste measurement container installed in the grain tank of the combine according to FIG. 3.
- FIG. 13 It is a functional block diagram which shows the function part relevant to this invention in the control system of the combine by FIG. It is a functional block diagram which shows the modification of the control system shown in FIG. It is a schematic diagram which shows the various arrangement
- the first embodiment will be described below with reference to FIGS. Before describing the specific configuration of the combine as the first embodiment of the present invention, the basic principle will be described with reference to FIG.
- the combine harvests the wheat and rice grains while traveling in the field, and the threshed grain is stored in the grain tank 2 mounted on the combine. At that time, in this combine, the amount of the grain supplied to the grain tank 2 over time, that is, the yield is measured.
- the combine includes a work travel determination unit 53 that determines a non-harvest work travel without grain harvest and a harvest work travel with grain harvest based on the operating state of the cutting unit 12 and the like.
- the grain tank 2 has a first receiving port 31 for receiving at least a part of the grain supplied to the grain tank 2 and a first releasing port for discharging the received grain.
- a yield measuring container 30 is provided, which includes 32 and a first shutter 33 that opens and closes a flow path to the first discharge port 32.
- the yield measuring container 30 is arranged so that the first receiving port 31 faces the flow of the grain continuously sent from the threshing device 14 to the grain tank 2 during the cutting operation.
- the first shutter 33 can be switched between a closed posture for closing the flow path to the first discharge port 32 and an open posture for opening. Therefore, in the closed posture of the first shutter 33, grains are stored in the yield measurement container 30 over time.
- a storage time which is an elapsed time required for storage, is calculated assuming that a predetermined amount of yield has been obtained.
- the traveling speed (indicated by subscript V in FIG. 1) at that time (indicated by subscript t in FIG. 1) is also acquired.
- the travel speed acquired here (hereinafter abbreviated as vehicle speed) is preferably the average vehicle speed during the storage time.
- a travel distance (indicated by a subscript L in FIG. 1) is calculated from the storage time and the vehicle speed, and a yield per unit travel distance (unit travel yield) is calculated.
- the unit travel yield is given a tag indicating the non-harvest work travel. If no non-harvest work travel is determined while the grains are stored, a tag indicating the harvest work travel is assigned to the unit travel yield, assuming that the harvest work travel has been performed.
- the unit travel yield is also related to the direction information (harvest position information) obtained from the inertial navigation device, the GPS unit 90, or the like.
- FIG. 1 schematically shows a unit travel yield (indicated by a subscript Q in FIG. 1) recorded as harvest map data.
- the harvest position information (travel route) of the combine is acquired by the GPS unit 90, and by matching this harvest position information with the farm field map, in the farm field that is the target of the harvesting work.
- a yield distribution map showing the distribution of yield per unit mileage can be generated.
- an identification body indicating non-harvesting work travel can be given on the yield distribution map.
- FIG. 2 A simplified version of such a yield distribution map is illustrated in FIG. 2, where the magnitude of the yield is shown in shades of color, and the identifier indicating non-harvesting work travel is the symbol “x”. .
- the taste measurement can be performed as a quality evaluation of the grain.
- grain component values such as moisture and protein are used as taste evaluation values.
- the taste value per unit mileage can be calculated from the measured value of the grain component, and the yield + taste distribution map can be generated by incorporating the taste value into the harvest map data. It becomes. Since the grain flow from the threshing device 14 to the grain tank 2 has a considerably large flow cross-sectional area, the yield measuring container 30 and the taste measuring container are arranged side by side, and the grains are parallelly arranged from above each container.
- a taste measuring container is disposed below the yield measuring container 30, and the grain whose yield measurement has been completed in the yield measuring container 30 is temporarily stored again in the taste measuring container, and the grain component (taste value) is measured. May be.
- a light beam is irradiated to the grains temporarily stored in the taste measurement container, and the returned light beam is spectroscopically analyzed to obtain measured values related to moisture and protein components.
- the desired optical measurement method is suitable.
- the grains included in the harvested cereal from the harvesting point of the cereal It is necessary to consider the time delay until the measurement time for the grains.
- This delay time can be calculated on the basis of the processing time from the detection by the stock sensor of the grain harvester first harvested until the grain reaches the yield measuring container 30 and the traveling speed of the combine at that time. By using this calculated delay time, a data set consisting of yield and taste can be accurately assigned to the harvest position.
- FIG. 3 is a side view of an ordinary combine as an example of a combine
- FIG. 4 is a plan view.
- This combine is equipped with the body frame 10 which connected several steel materials, such as a channel shape material and a square pipe material.
- a pair of left and right crawler type traveling devices 11 are provided at the lower part of the body frame 10.
- An engine 15 is mounted on the front side of the right half of the body frame 10, and an operating unit 13 having a cabin structure is formed on the upper side thereof.
- a control lever 17, a monitor 18, and the like are disposed in the operation unit 13.
- a reaping part 12 is provided so as to be movable up and down.
- a threshing device 14 that throws the whole chopped cereal meal supplied from the reaping part 12 and threshs. And the grain tank 2 which stores the grain supplied by the grain supply apparatus 7 from the threshing apparatus 14, and the unloader 16 which discharges
- the mowing unit 12 is configured to be able to move up and down about the first horizontal axis X1 that is transverse to the machine body.
- the mowing unit 12 is in a raised state during non-harvesting work such as turning, and is lowered close to a farm scene during harvesting work. It becomes a state.
- the cutting blade device 122 that cuts the planted cereal culm, the auger drum 123 that sends the chopped cereal that has been cut by the cutting blade device 122 to the rear, and the chopped cereal that is sent from the auger drum 123 to the front end of the threshing device 14
- a feeder 124 is provided.
- the threshing device 14 is configured to thresh the harvested cereal meal supplied from the feeder 124 by a handling cylinder 14a that is rotationally driven.
- the grain tank 2 is arranged on the right rear part on the machine body frame 10 and is located on the rear side of the operation part 13 on the right side of the threshing apparatus 14.
- a grain supply device 7 that functions as a supply conduit for supplying the grain from the threshing device 14 to the grain tank 2 is disposed between the threshing device 14 and the grain tank 2.
- the final stage of the grain supply device 7 is configured as a screw conveyor 71 and enters the grain tank 2.
- the grain supply device 7 is composed of a first object recovery screw 74, a lifting conveyor 75, a screw conveyor 71, and an impeller 73.
- the first object recovery screw 74 mounted on the bottom portion of the threshing device 14 in the left-right direction is connected to a bucket-type transporting conveyor 75 at the conveyance end portion.
- the lifting conveyor 75 is a bucket conveyor in which a plurality of buckets 754 are attached at regular intervals to the outer peripheral side of an endless rotating chain 753 wound around a drive sprocket 751 and a driven sprocket 752.
- the lifting conveyor 75 is connected to the screw conveyor 71 at the end of its conveyance.
- the screw conveyor 71 is surrounded by a housing 72 having an octagonal cross section (may be other polygonal or circular shape), and a pair of impellers 73 that rotate integrally with the screw conveyor 71 are disposed at the end of the screw conveyor 71. Has been.
- the yield measurement container 30 of the yield measurement device 3 that measures the yield of the grain
- the taste measurement of the taste measurement device 4 that measures the taste of the grain.
- a container 40 is arranged.
- the yield measuring device 3 measures the yield per hour based on the time during which a predetermined amount of grain is stored in the yield measuring container 30.
- the taste measuring device 4 measures grain components such as moisture and protein through spectroscopic measurement on the grains temporarily stored in the taste measuring container 40.
- the yield measurement container 30 and the taste measurement container 40 are located inside the grain tank 2 and above the front wall 2 a of the grain tank 2. Installed side by side.
- the yield measuring container 30 is a cylindrical container.
- a first receiving port 31 for receiving the grain is formed at the upper end of the yield measuring container 30, and a first receiving port for discharging the accepted grain is formed at the lower end of the yield measuring container 30.
- One discharge port 32 is formed. The grain received through the first receiving port 31 is temporarily stored between the first receiving port 31 and the first discharge port 32, and the stored kernel is first released after a predetermined amount of kernels is stored.
- a first shutter 33 that discharges through the outlet 32 is provided.
- the taste measuring container 40 is also a cylindrical container, and a second receiving port 41 for receiving the grain is formed at the upper end of the taste measuring container 40, and the received grain is placed at the lower end of the taste measuring container 40.
- a second discharge port 42 for discharging is formed. Between the 2nd receiving port 41 and the 2nd discharge port 42, while temporarily storing the grain received through the 2nd receiving port 41, the said amount through the 2nd discharge port 42 after storing a predetermined amount of grain A second shutter 43 that discharges stored grains is provided.
- a first opening 721 and a second opening 722 that serve as a grain discharge port of the grain supply device 7 are provided in the housing 72 of the screw conveyor 71 provided at the uppermost portion of the front wall 2a of the grain tank 2. It is arranged along the grain conveyance direction.
- the first opening 721 and the second opening 722 have a size that occupies substantially the lower half of the housing 72 in the cross-sectional direction of the housing 72.
- the yield measuring container 30 is arranged so that the first receiving port 31 is located below the first opening 721, and the taste measuring container 40 is arranged so that the second receiving port 41 is located below the second opening 722.
- the screw conveyor 71 extends above the first opening 721, and more than half of the grains carried by the screw conveyor 71 are discharged through the first opening 721.
- the impeller 73 that receives the grains conveyed by the screw conveyor 71 includes a rotating shaft 731 that extends in the extending direction of the housing 72 serving as a supply line for the grains, that is, the axial direction of the screw conveyor 71, and the rotating shaft 731. And a plurality of blade bodies 732 extending radially from the rotating shaft 731 in the radial direction.
- a wire mesh 723 is stretched as a porous member in the second opening 722. The grain pushed out by the blade body 732 passes through the wire mesh 723, and a part thereof is supplied to the taste measuring container 40 through the second receiving port 41. Due to the wire mesh 723 having a pore size that provides a grain sorting action, mixing of grains, leaves, etc. with the grain supplied to the taste measuring container 40 is suppressed.
- the first shutter 33 which is a grain shutter of the yield measuring container 30, is swung by the actuator 34 between a closed posture that blocks passage of the grain and an open posture that allows passage of the grain. Is possible.
- the first shutter 33 swings to the closed posture, the grains falling from the first opening 721 and entering the yield measuring container 30 through the first receiving port 31 start to be stored on the first shutter 33 in the closed posture.
- the proximity sensor 35 detects it.
- the time from when the first shutter 33 swings to the closed posture until the proximity sensor 35 detects the storage of a predetermined amount of grain is measured.
- the yield per time is obtained, and the yield per unit travel distance is calculated from the measurement time and the vehicle speed. By repeating such processing, the yield per unit travel distance along the combine travel locus is calculated.
- the second shutter 43 which is a grain shutter of the taste measuring container 40, is also swung by the actuator 44 between a closed posture that blocks passage of the grain and an open posture that allows passage of the grain.
- the actuators 34 and 44 of the first shutter 33 and the second shutter 43 are constituted by electric motors.
- the taste measurement unit 4A constituting the taste measurement device 4 includes a light transmission / reception head protruding into the taste measurement container 40, and measures the spectrum of light that passes through the grains and returns.
- the spectroscopic measurement method is adopted.
- the taste measurement unit 4A is capable of measuring the grain moisture value and protein value, and the taste measurement unit 4A is a taste calculation value obtained from the measured values related to moisture and protein, which are grain components, and their component ratios. A taste value including at least one of the above is output.
- the second shutter 43 swings to the open posture, and the stored grain is discharged. Then, the 2nd shutter 43 rocks
- FIG. 9 is a functional block diagram for explaining a control system related to yield calculation and taste calculation per unit travel distance (per unit small section of the field) in this combine.
- This control system substantially adopts the basic principle shown in FIG.
- a travel control ECU 51, a work unit ECU 52, and a unit travel harvest evaluation unit 6 are provided as electronic control units for yield calculation and taste calculation so that data can be exchanged with each other via an in-vehicle LAN or other data communication line. It has been.
- the travel control ECU 51 is an ECU that handles various control information related to vehicle travel.
- the travel control ECU 51 acquires vehicle speed, travel distance, travel, and the like acquired from the device state detection sensor group 9 including various sensors, switches, buttons, and the like through an in-vehicle LAN. It has a function to convert data such as the locus (travel position), engine speed, and fuel consumption into travel information.
- the travel control ECU 51 obtains azimuth information from the GPS unit 90 mounted on this combine in order to calculate a travel trajectory composed of successive travel positions (azimuth positions such as latitude and longitude).
- the work device ECU 52 is an ECU that controls a harvesting and harvesting device such as the reaping unit 12 or the threshing device 14, and is a device state detection sensor group for acquiring data indicating operation states and operating states of various devices constituting the work device. 9 is connected. Thus, the work device ECU 52 can output work state information indicating the work state. Further, the work device ECU 52 gives an operation control signal to various devices constituting the work device, for example, the lifting clutch 12a and the lifting cylinder 12b that lifts and lowers the cutting unit 12.
- the work travel determination unit 53 determines whether the combine is in a harvesting work travel or a non-harvest work travel from the work state information received from the work device ECU 52 and the travel state information received from the travel control ECU 51. The determination result is given to the unit travel harvest evaluation unit 6. For example, if it is detected that the harvesting unit 12 is raised above a predetermined level based on a signal from a sensor that detects the movement of the lifting cylinder 12b and the combine is traveling, the combine is traveling in a non-harvesting operation ( Non-harvested). Further, when it is detected that the combine is traveling with the cutting clutch 12a being turned off and the cutting unit 12 is not driven, it is determined that the combine is traveling in a non-harvesting operation (non-harvesting). . In addition, various rules for determining that the combine is in a non-harvest work traveling based on an appropriate detection signal are set in the work traveling determination unit 53.
- the first shutter control unit 61 is also connected to a time calculation unit 62, and the time calculation unit 62 is connected to the unit travel harvest evaluation unit 6.
- the time calculation unit 62 measures a storage time that is a time until a predetermined amount of grain is stored in the yield measurement container 30.
- the grain evaluation control device includes a first shutter control unit 61, a second shutter control unit 64, a taste measurement unit 4A, and a unit travel harvest evaluation unit 6.
- the unit traveling harvest evaluation unit 6 includes a yield calculation unit 63, a taste calculation unit 65, a harvest map data generation unit 66, and a harvest information recording unit 67.
- the yield calculation unit 63 calculates a unit travel yield from the storage time from the time calculation unit 62 and the vehicle speed at the time of the storage.
- the taste calculation unit 65 calculates a taste value per unit travel distance (unit travel taste value) from the measurement value from the taste measurement unit 4A.
- the harvest map data generation unit 66 obtains the unit travel yield, the unit travel taste value, the travel position (travel trajectory) from which the taste-measured and yield-measured grain is harvested, and the determination result by the work travel determination unit 53. Generate related harvest map data.
- the generated harvest map data is temporarily recorded in the memory by the harvest information recording unit 67.
- the combine control system includes a yield distribution map generation unit 68 that generates a yield distribution map based on the harvest map data read from the memory.
- Yield distribution map is the distribution of yield per unit mileage in the field to be worked, specifically, the yield and taste value (water and protein components) distribution graph of harvested grains allocated to each small section of the field. . Further, in this yield distribution map, an identifier that can be identified as a harvesting work run is assigned to a minute section where a non-harvest work run has occurred.
- the yield distribution map generated in this way is displayed on a monitor 18 such as a liquid crystal panel provided in the operation unit 13.
- the first shutter 33 In the initial state where the mowing operation has not started, the first shutter 33 is in the open posture. When the harvesting operation starts and the time when the grain is released to the grain tank 2, the first shutter 33 is switched to the closed posture, and the storage of the grain is started in the yield measurement container 30. At the same time, time measurement (counting signal generation) by the time calculation unit 62 starts. When the amount of stored grains in the yield measuring container 30 reaches a predetermined amount, the proximity sensor 35 is activated and an appropriate amount detection signal is generated.
- the time measurement value (storage time) by the time calculation unit 62 is the time until a predetermined amount of grain is stored in the yield measurement container 30.
- the predetermined amount is q and the storage time is t
- the yield per unit time can be obtained by q / t.
- the vehicle speed when the stored grain is harvested is v
- the yield per unit travel distance is obtained by q / (t * v).
- a yield per unit traveling area can be obtained by q / (t * v * w).
- a unit traveling yield This is because generally the yield per unit travel distance is normalized by the cutting width (harvesting width).
- the second shutter 43 is in the open posture.
- the second shutter 43 is switched to the closed posture, and the storage of the grain in the taste measurement container 40 is started.
- time measurement by the time calculation unit 62 starts.
- the proximity sensor 45 is activated and an appropriate amount detection signal is generated.
- the taste measurement by the taste measurement unit 4A is started with the generation of the appropriate amount detection signal as a trigger.
- the moisture value and protein value are measured through wavelength analysis of the light beam applied to the grain.
- the measurement time required for taste measurement is about several seconds to several tens of seconds.
- the yield and taste value calculated at the closest timing are combined.
- the first discharge port 32 of the yield measurement container 30 and the second discharge port 42 of the taste measurement container 40 Grain enters the inside of each container.
- the first shutter 33 that forms the bottom surface of the storage space in the yield measurement container 30 and the second shutter 43 that forms the bottom surface of the storage space in the taste measurement container 40 are configured to open downward, so that the inside of the container The opening / closing operation is not normally performed by the grain that has entered the space.
- the first shutter 33 and the second shutter 43 use the electric motors as the actuators 34 and 44 for opening and closing operations, respectively.
- an abnormal opening / closing operation is detected using a signal from a potentiometer provided for detecting the opening / closing positions of the first shutter 33 and the second shutter 43.
- the voltage signal from the potentiometer is used as the swing angle, and the time from the opening / closing operation start time to the predetermined swing angle is measured. If the measurement time until reaching the predetermined swing angle is out of the threshold range set in advance, it is regarded as a shutter operation failure, the measurement is stopped, and the operations of the first shutter 33 and the second shutter 43 are performed. Stop.
- the yield distribution map generation unit 68 is incorporated in the combine control system, but instead, the yield distribution map generation unit 68 is replaced with an external management server as shown in FIG. 100 may be constructed.
- the harvest map data generated by the harvest map data generation unit 66 is transmitted from the transmission / reception unit 101 included in the combine control system to the transmission / reception unit 102 of the management server 100 via the wireless data communication line.
- the yield distribution map generation unit 68 of the management server 100 Based on the harvest map data received by the transmission / reception unit 102, the yield distribution map generation unit 68 of the management server 100 generates a yield distribution map and transmits it to the combine control system.
- the unit travel yield and the unit travel taste value are related to the travel position (travel route), and whether the travel position (travel route) is a work travel or non-work travel.
- Harvest map data was added to which the result of the determination related to traveling was added. Instead, only yield map data relating only the unit travel yield and the travel-related determination result to the travel position (travel route), and the unit travel taste value and the travel-related determination result to the travel position (travel route).
- the related taste value map data may be created separately.
- the unit traveling harvest evaluation unit 6 is constructed as one of the ECUs mounted on the combine. However, at least the unit traveling harvest evaluation unit 6 is removed from the combine as a grain evaluation control device. It can also be built as an application program on portable control devices such as a portable personal computer or a mobile communication terminal such as a smartphone brought by the driver.
- the yield measurement container 30 and the taste measurement container 40 are attached to the front wall 2a of the grain tank 2, but may be attached to other side walls.
- the 1st opening part 721 and the 2nd opening part 722 are provided in the housing 72 of the screw conveyor 71 located in the last stage of the grain supply apparatus 7 along with a grain conveyance direction.
- a configuration in which two branch paths are provided at the tip of the screw conveyor 71 and supplied to the yield measuring container 30 and the taste measuring container 40 may be adopted.
- the yield measuring container 30 and the taste measuring container 40 are configured by a cylindrical body having a rectangular cross section, but may be a cylindrical body having other cross sections. Further, the wall surface of the grain tank 2 may be used as at least one side wall of the yield measuring container 30 and the taste measuring container 40.
- the ordinary type combine is handled as the combine.
- the present invention can also be applied to other types of combine, for example, a self-removing combine.
- the yield measuring container 30 and the taste measuring container 40 are configured separately, but as schematically shown in FIG. 11, the yield measuring container 30 and the taste measuring container 40.
- the grain supply structure can be simplified by making the supply of the grain to the common.
- the configuration of FIG. 11A is integrated by a cylindrical body shared by the yield measurement container 30 and the taste measurement container 40, and the upper part thereof is used as the yield measurement container 30 and the lower part thereof. Is used as the taste measuring container 40.
- Yield measurement is performed by the grains stored in the yield measurement container 30 by closing the first shutter 33. When the yield measurement is completed, the first shutter 33 is opened, and the stored grains are released into the taste measurement container 40 with the second shutter 43 closed, and the taste measurement unit 4A performs the taste measurement.
- the second shutter 43 is opened, and the grain is released from the taste measurement container 40. Since the amount of grain stored in the yield measurement container 30 in the time required for taste measurement varies depending on the field, a plurality of proximity sensors 35 (three in FIG. 11A) are prepared to match the yield in the taste measurement time. Select what to do. 11B has a structure similar to that of FIG. 11A, but differs in that the volume of the taste measuring container 40 is several times the volume of the yield measuring container 30. This makes it possible to measure the yield several times during the taste measurement, so that both measurements are possible even if the time required for taste measurement is several times longer than the time required for yield measurement. However, taste measurement can be performed only once during several yield measurements. In FIG.
- the yield measuring container 30 and the taste measuring container 40 are combined, and the second shutter 43 also functions as the first shutter 33.
- the second shutter 43 also functions as the first shutter 33.
- the yield measurement container 30 and the taste measurement container 40 are configured separately, but the taste measurement container 40 is disposed directly below the yield measurement container 30. Therefore, the timing at which the grain is received in the taste measurement container 40 depends on the grain discharge timing from the yield measurement container 30.
- the second embodiment is an embodiment premised on the measurement of yield and taste using a measurement container that temporarily stores grains. Below, the basic principle is demonstrated centering on a different part from said 1st Embodiment.
- FIG. 12 illustrates a combine that harvests wheat grains and rice grains while traveling in the field and stores the grains obtained by the threshing apparatus 214 in the grain tank 202.
- the amount of grain supplied to the grain tank 202 from the threshing device 214 with time, that is, the yield is measured.
- the taste (moisture, protein, etc.) of the grain can also be measured.
- a yield measurement container 230 for yield measurement and a taste measurement container 240 for taste measurement are attached to the inner wall of the grain tank 202. ing.
- the yield measuring container 230 receives through the first receiving port 231 that receives at least a part of the grain supplied to the grain tank 202, the first discharging port 232 that discharges the received grain, and the first receiving port 231.
- a first shutter 233 that allows temporary storage of the cereal grains or circulation of the cereal grains to the first discharge port 232 by opening and closing thereof.
- the taste measuring container 240 has a structure similar to the yield measuring container 230, and is arranged side by side near the yield measuring container 230.
- the taste measuring container 240 receives through the second receiving port 241 for receiving at least a part of the grain supplied to the grain tank 202, the second discharging port 242 for discharging the received kernel, and the second receiving port 241.
- a second shutter 243 that allows temporary storage of the cereal grains or circulation of the cereal grains to the second discharge port 242 by opening and closing thereof.
- the amount of grain stored in the yield measurement container 230 after the first shutter 233 is changed to the storable posture is monitored, and from the time when a predetermined amount of grain is stored and the speed of the combine vehicle
- the yield per unit travel time (unit travel yield) is calculated.
- the first shutter 233 is changed to the release (open) posture, and the stored grains are released.
- the first shutter 233 is returned to the storage (closed) posture, and the next yield calculation is performed.
- the taste calculation process when the second shutter 243 is changed to the storage (closed) posture and a predetermined amount of grains is stored in the taste measurement container 240, the taste measurement of the spectroscopic measurement method is started and the taste value is calculated. The When the taste measurement is finished, the second shutter 243 is changed to the release (open) posture, and the stored grain is released. Immediately thereafter, the second shutter 243 is returned to the storable posture, and the process proceeds to the next taste calculation.
- the taste value calculated at almost the same timing as the unit travel yield was calculated in the yield calculation process is related to the combine travel data, and as the harvest map data along with the unit travel yield, It is recorded sequentially.
- the grain supply pipe connecting the threshing device 214 and the grain tank 202 is constituted by a screw conveyor, a bucket conveyor, an impeller, or the like.
- the terminal portion of the supply pipe enters the upper part of the grain tank 202 as a grain tank inner pipe part.
- a first opening 921 and a second opening 922 are formed in the housing 272 of the grain tank inner pipe line portion and open in the grain supply direction with a space between each other.
- a first receiving port 231 is located below the first opening 921, and the grains released from the first opening 921 are put into the yield measurement container 230.
- a second receiving port 241 is located below the second opening 922, and the grains released from the second opening 922 are put into the taste measurement container 240.
- the grains in the pipeline portion in the grain tank In the supply direction the first opening 921 is formed closer to the threshing device 214 than the second opening 922. Thereby, the grain amount discharged from the first opening 921 is not affected by the grain discharge by the second opening 922.
- the taste measurement for obtaining a measurement value related to moisture and protein components by spectroscopic analysis of the light beam that has been returned to the grain by irradiating the light beam foreign matter such as rice cake is mixed into the taste measurement container 240. It should be avoided as much as possible. For this reason, it is preferable that a porous member such as a punching metal is stretched in the second opening 922 so that the grains pass but the straws do not easily pass.
- the harvest map data including the unit running yield obtained over time in the yield calculation process and the temporal taste value obtained over time in the taste measurement process are shown in FIG. (Indicated by a P with a subscript).
- As the harvest position an absolute azimuth position represented by latitude and longitude or a relative azimuth position represented by a coordinate position in field coordinates is used. Therefore, based on this harvest map data, it is possible to generate a yield / taste distribution map indicating the distribution of yield and taste per unit travel distance in the work target field, that is, per minute section of the field.
- FIG. 13 shows an example of such a yield / taste distribution map. The taste distribution is partially omitted in order to avoid the complexity of the figure.
- the yield distribution map or the taste distribution map can be generated separately for the yield and the taste.
- This delay time is calculated on the basis of the processing time from the detection by the strain sensor of the first harvested culm until the grain reaches the yield measuring container 230 or the taste measuring container 240 and the traveling speed of the combine at that time. can do. By using this calculated delay time, a data set consisting of yield and taste can be accurately assigned to the harvest position.
- the yield measuring container 30 is provided to calculate the unit travel yield.
- the unit traveling yield is calculated from the detection signal of the load detector 341.
- the combine harvests the wheat and rice grains while traveling in the field, and the threshed grain is stored in the grain tank 2 mounted on the combine. At that time, in this combine, the amount of the grain supplied to the grain tank 2 over time, that is, the yield is measured.
- the combine includes a work travel determination unit 53 that determines a non-harvest work travel without grain harvest and a harvest work travel with grain harvest based on the operating state of the cutting unit 12 and the like.
- this combine is provided with a grain transport mechanism 316 for transporting the grain to the grain tank 2 and a terminal region of the grain transport mechanism 316, and a grain discharge port 330 is provided.
- a grain release device 303 having a release case 331 and a release rotator 332 rotatably disposed in the release case 331, and a pressing action unit 340 that receives a pressing force by the grain immediately before the release of the grain by the release rotator 332, , And a load detector 341 for detecting a pressing force acting on the pressing action unit 340. Based on the detection signal of the load detector 341, the grain yield per unit time is derived. At the same time, the traveling speed (indicated by subscript V in FIG.
- the travel speed acquired here (hereinafter abbreviated as vehicle speed) is preferably the average vehicle speed during the measurement time.
- vehicle speed is preferably the average vehicle speed during the measurement time.
- the yield per unit travel distance is calculated. Further, when the non-harvest work travel is determined by the work travel determination unit 53 while the yield is being measured, a tag indicating the non-harvest work travel is assigned to the unit travel yield. If no non-harvesting work travel is determined while the yield is being measured, a tag indicating the harvest work travel is assigned to the unit travel yield, assuming that the harvest work travel has been performed. .
- the unit travel yield is also related to the direction information (harvest position information) obtained from the inertial navigation device, the GPS unit 90, or the like. It is not always necessary to acquire the vehicle speed. For example, the time elapsed while traveling a predetermined distance may be measured, and the unit travel yield may be calculated based on this time and the yield of grain per unit time.
- FIG. 14 schematically shows a unit travel yield (indicated by a subscript Q in FIG. 14) recorded as harvest map data.
- FIG. 15 is a side view of an ordinary combine as an example of a combine
- FIG. 16 is a plan view.
- This combine is equipped with the body frame 10 which connected several steel materials, such as a channel shape material and a square pipe material.
- a pair of left and right crawler type traveling devices 11 are provided at the lower part of the body frame 10.
- An engine 15 is mounted on the front side of the right half of the body frame 10, and an operating unit 13 having a cabin structure is formed on the upper side thereof.
- the operating unit 13 includes a control lever 17 and a monitor 18.
- a reaping part 12 is provided so as to be movable up and down.
- a threshing device 14 that throws the whole chopped cereal meal supplied from the reaping part 12 and threshs.
- the grain tank 2 which stores the grain supplied by the grain conveying mechanism 316 from the threshing device 14 and the unloader 16 which discharges the grain stored in the grain tank 2 to the outside are equipped.
- the mowing unit 12 is configured to be movable up and down about the first horizontal axis X1 that is transverse to the machine body.
- the mowing unit 12 is raised during non-harvesting work such as turning, and is lowered close to the farm scene during harvesting work. It becomes a state.
- the harvested cereals cut by the harvesting unit 12 are conveyed to the front end of the threshing device 14.
- the threshing device 14 is configured to thresh the chopped cereals conveyed from the reaping unit 12 with a handling cylinder 14a that is rotationally driven.
- the grain tank 2 is arranged on the right rear part on the machine body frame 10 and is located on the rear side of the operation part 13 on the right side of the threshing apparatus 14.
- a grain transport mechanism 316 that transports the grain from the threshing apparatus 14 to the grain tank 2 is disposed between the threshing apparatus 14 and the grain tank 2.
- the grain transport mechanism 316 includes a first object recovery screw 74 provided at the bottom of the threshing apparatus 14, a feed conveyor 316A, and a transverse feed conveyor 316B.
- the lifting conveyor 316A is erected substantially vertically in order to send the grains discharged from the threshing device 14 upward.
- the lifting conveyor 316A is a bucket conveyor in which a plurality of buckets 754 are attached at regular intervals to the outer peripheral side of an endless rotating chain 753 wound around a drive sprocket 751 and a driven sprocket 752.
- the lifting conveyor 316A is a bucket conveyor that sends the grains discharged from the threshing device 14 upward.
- the transverse feed conveyor 316B is a screw conveyor that is connected to the conveying terminal end of the lifting conveyor 316A and feeds the grain transferred from the lifting conveyor 316A into the grain tank 2.
- the transverse feed conveyor 316B extends laterally from the upper end of the lifting conveyor 316A and is inserted into the front upper portion of the left side wall 2b of the grain tank 2, and the outer peripheral portion has a circular cross-sectional shape (an octagonal shape or other various shapes). (Which may be square).
- the transverse feed conveyor 316B includes a screw shaft 166 and a screw body 167 fixed to the screw shaft 166.
- the grain release device 303 In the terminal area of the transverse feed conveyor 316B, a grain release device 303 that diffuses and releases the grain into the grain tank 2 is provided.
- the grain release device 303 includes a release rotator 332 and a release case 331 that covers the periphery of the release rotator 332.
- the discharge rotator 332 is a rotating blade that includes a rotating shaft 621 extended from the screw shaft 166 and a blade plate 622 provided on the rotating shaft 621.
- the vane plate 622 is fixed to the rotary shaft 621 so as to protrude outward from the rotary shaft 621.
- the blade 622 has a substantially flat extrusion surface that extrudes the grains in the rotation direction.
- the discharge case 331 has a cylindrical shape having an inner diameter slightly larger than the rotation trajectory of the blade 622. A part of the peripheral surface of the discharge case 331 is cut away. By this notch, a grain discharge port 330 (see FIG. 19) is formed through which the grain is discharged to the rear side inside the grain tank 2 by the rotation of the blade plate 622.
- the screw shaft 166 and the rotary shaft 621 rotate integrally around the horizontal axis X2.
- the rotation direction is set to the left rotation with reference to the line of sight from the proximal end side to the distal end side of the screw shaft 166 along the horizontal axis X2. That is, the blade 622 rotates counterclockwise in FIG.
- the discharge case 331 is a cylindrical tube and is formed as an extension of the casing 165 of the transverse feed conveyor 316B.
- the discharge case 331 is formed larger in diameter than the casing 165 of the transverse feed conveyor 316B, and in the opposite case, the discharge case 331. Is formed in a smaller diameter than the casing 165 of the transverse feed conveyor 316B.
- the taste measuring device 4 and the second opening 722 are also provided in this embodiment.
- the taste measuring container 40 of the taste measuring device 4 is arranged inside the grain tank 2.
- the taste measuring device 4 measures grain components such as moisture and protein through spectroscopic measurement on the grains temporarily stored in the taste measuring container 40.
- the taste measuring container 40 is a cylindrical container, and a second receiving port 41 for receiving grain is formed at the upper end of the taste measuring container 40, and a second receiving port for releasing the accepted grain is formed at the lower end of the taste measuring container 40.
- Two discharge ports 42 are formed.
- a second shutter 43 that discharges stored grains is provided.
- a second opening 722 is provided on the upper side of the grain discharging device 303 in the grain conveying direction.
- the taste measuring device 4 is disposed below the second opening 722. Thereby, the grain dropped from the second opening 722 enters the taste measuring container 40 through the second receiving port 41.
- a wire mesh 723 is stretched as a porous member in the second opening 722. Due to the wire mesh 723 having a pore size that provides a grain sorting action, mixing of grains, leaves, etc. with the grain supplied to the taste measuring container 40 is suppressed.
- elements corresponding to the first opening 721 and the yield measuring device 3 in the first embodiment are not provided.
- the grain discharge port 330 is approximately the width of the blade 622 in the axial direction of the discharge case 331, and is substantially a quarter in the rotational direction from the lower end in the circumferential direction of the discharge case 331.
- the grain pushed by the blades 622 is discharged from the discharge case 331 into the grain tank 2 through the grain discharge port 330.
- a discharge guide piece 611 is formed.
- the pressure applied to the grain by the rotational force of the blade 622 is transmitted to the pressing action unit 340 via the grain.
- the pressure due to this pressing causes the pressing action part 340 to be distorted.
- the pressure on the grain by the blade 622 increases as the amount of the grain conveyed by the grain conveying mechanism 316 increases. Therefore, the electrical signal generated in the load cell due to the strain of the pressing action unit 340 has a strength that depends on the amount of grain being conveyed (amount of harvested grain: yield). It can be handled as a detection signal for evaluating fluctuation and amount of the coming grain.
- the plate-like member constituting the pressing action portion 340 functions as a part of the peripheral wall of the discharge case 331 and also functions as a pressure-sensitive plate that detects pressure fluctuation due to increase or decrease of the grain. Therefore, as the load detector 341 for detecting the load applied to the pressing action unit 340, other pressure sensitive sensors can be used besides the load cell.
- a rotation angle sensor 391 for detecting the rotation period of the blade plate 622 that is, the period of the rotation shaft 621 is disposed around the rotation shaft 621.
- the rotation angle sensor 391 is a sensor that optically or magnetically detects an object to be detected such as a protrusion provided at a specific position in the circumferential direction of the rotation shaft 621, and based on this detection signal, the rotation angle sensor 391 detects the rotation of the rotation shaft 621.
- a pulse signal indicating the passage time of the direction specifying point, and consequently the passage time of the blade 622 is generated.
- FIG. 21 shows the behavior of the detection signal from the load detector 341 over time when the grain is released.
- the upper graph in FIG. 21 schematically shows a detection signal (voltage from the load cell) output by the load detector 341 during one rotation (one cycle) of the blade plate 622.
- a large pressure load
- the detection signal shows a low level.
- the grains continuously fed from the transverse feed conveyor 316B to the grain discharge device 303 are pushed toward the grain discharge port 330 by the rotating blades 622.
- the detection signal of the load detector 341 is the maximum value (max) in one cycle. Indicates.
- the blade plate 622 causes the pressing action unit 340 to move during a period from when a pulse signal based on the detection signal of the rotation angle sensor 391 is generated until the next pulse signal is generated (hereinafter also referred to as a pulse interval).
- a peak that has passed only once and should be detected as the maximum value (max) occurs once in each pulse interval.
- peak timing the timing at which a peak that should be detected as the maximum value (max) occurs (hereinafter also referred to as peak timing) may slightly shift back and forth.
- the maximum value (max) is caused by a shift in peak timing. There may occur an event that one peak is not included in one pulse interval or two or more peaks are included in one pulse interval. Therefore, in this embodiment, as shown in FIG. 21, the vane plate 622 passes through the pressing action portion 340 and reaches the peak timing at a time near the center in the pulse section. According to this configuration, even if the peak timing slightly deviates back and forth, none of the peaks that should be detected as the maximum value (max) are included in one pulse interval, or two in one pulse interval. It is difficult for events such as these to occur.
- the fluctuation of the maximum value (max) in each cycle represents the fluctuation of the amount of grain sent by the transverse feed conveyor 316B, that is, the fluctuation of the yield (yield) of the small section unit of the field.
- signal processing including filter processing is applied to the detection signal from the load detector 341, and a preset yield is obtained from the maximum value (max) calculated for each rotation (one period) of the blade plate 622.
- the yield per unit mileage can be derived using the derivation map 363.
- the contents of the yield derivation map 363 are changed depending on the traveling speed of the combine, the rotational speed of the blade 622, the type of grain, and the like.
- the simplest yield derivation map 363 is a linear relationship between the maximum value (max) and the yield per unit time (one rotation of the blade 622).
- the yield per unit travel distance that is, the unit travel yield is obtained from the yield per unit time derived using this and the travel speed of the combine.
- the unit travel yield obtained in this way is also the yield per unit distance of the field.
- the yield per unit area (micropartition) of the field can be obtained from the unit travel yield and the harvest width of the combine.
- the harvesting position (harvest position) of the cereals in the combine field during harvesting can be obtained using the GPS unit 90 or the like.
- the above-mentioned It is possible to determine the field micro-partitions to which the yield per unit area (micro-partition) should be assigned. As a result, it is possible to finally generate a grain yield distribution in the field.
- FIG. 22 shows a part of the functional block of the combine control unit 305.
- the control unit 305 includes a travel control unit 351 that controls equipment related to travel, a work control unit 352 that controls equipment related to the work device, and an input signal processing unit 353 as modules that control the operation of each device of the combine. ing. Further, a yield evaluation unit 306 is constructed in the control unit 305 as a functional module related to yield measurement. Control signals generated by the travel control unit 351 and the work control unit 352 are sent to various devices via the device control unit 354.
- the input signal processing unit 353 receives a signal from an artificial operation device, a signal from a work state detection sensor group 309 such as a sensor and a switch for detecting the state of a device constituting the combine, and a detection signal from a load detector 341 as a load cell. Entered. Then, the input signal processing unit 353 converts these inputs into a required data format, and then transfers them to each functional unit of the control unit 305.
- the combine is provided with a GPS unit 90 for detecting the position of the host vehicle. Orientation information acquired by the GPS unit 90 is also input to the control unit 305.
- the yield evaluation unit 306 includes a maximum value calculation unit 361, a yield calculation unit 362, a yield derivation map 363, and a yield distribution calculation unit 364.
- the maximum value calculation unit 361 receives the detection signal of the load detector 341 that is a load cell that has been subjected to amplification processing and filtering processing by the input signal processing unit 353.
- the maximum value calculation unit 361 further receives a signal from the rotation angle sensor 391 that detects the rotation period of the blade plate 622 of the grain release device 303 via the input signal processing unit 353, and receives the maximum value for each cycle ( max).
- one vane plate 622 is provided on the rotation shaft 621, and one pulse is generated every time the rotation shaft 621 rotates based on a detection signal from the rotation angle sensor 391. That is, one maximum value (max) is calculated for every 360 degree rotation period. The relationship between the time when this pulse occurs and the time when the maximum value (max) occurs can be calculated in advance. Therefore, a maximum value generation area having a predetermined time width can be set as a gate, and this maximum value generation area can be used as an evaluation area for calculating the maximum value (max).
- the yield derivation map 363 is a look-up table for deriving the amount of grain per unit time sent by the transverse feed conveyor 316B with the maximum value (max) in one cycle of the blade 622 as an input.
- a look-up table is prepared for each rotational speed, or the output value is corrected with a correction coefficient set according to the rotational speed.
- the yield calculation unit 362 obtains the grain amount (yield) per unit time from the maximum value (max) calculated by the maximum value calculation unit 361 using the yield derivation map 363. Furthermore, it is also possible to obtain the amount of grain (yield) per unit mileage or unit area by acquiring the vehicle speed and the cutting width of the combine.
- the yield calculation unit 362 calculates the field position where the culm corresponding to the grain subjected to the yield calculation is cut based on the position information from the GPS unit 90, and the position information and the obtained grain amount (Yield) and record as grain yield status information.
- the yield distribution calculation unit 364 assigns a yield to each micro section of the field based on the grain yield state information, and generates a grain yield distribution.
- the grain yield distribution is generated by relating the yield per unit area and the position information.
- signal processing including filter processing is performed on the detection signal from the load detector 341, the maximum value (max) calculated for each rotation (one cycle) of the blade 622, the yield derivation map 363, ,
- the unit travel yield is derived.
- the position information acquired by the GPS unit 90 and the determination result in the work travel determination unit 53 are related to the unit travel yield, and the harvest map data generation unit 66 generates harvest map data.
- a yield distribution map indicating the distribution of unit travel yield in the field that is the target of the harvesting operation.
- a yield distribution map showing the unit travel yield and the distribution of the unit travel taste value can be generated by using the measured value in the taste measuring device 4, which is also the same as in the first embodiment. Detailed description thereof will be omitted.
- the yield is handled as the grain yield state information, but instead of this, the yield fluctuation, that is, the fluctuation data of the maximum value (max) may be used as the grain yield state information.
- the grain yield distribution is relative data indicating the degree of yield in micro-compartment units. The absolute value of the yield in the field can be obtained from the measurement result of the amount of grain performed when the grain is carried out from the grain tank 2.
- the pressing action unit 340 and the load detector 341 are provided in a part of the discharge case 331 of the grain discharge device 303 provided on the extension of the transverse feed conveyor 316B. Since the form of the grain release device 303 differs depending on the type of the combine, in the present invention, the form of the grain release device 303 and the shape and arrangement of the pressing action unit 340 and the load detector 341 are limited to the above-described embodiments. Not. For example, in FIG. 23 and FIG. 24, a grain releasing device 303 is provided at the upper end of a screw conveyor type lifting conveyor 316 ⁇ / b> A that conveys the grain from the bottom of the threshing device 14 to the upper side of the grain tank 2.
- the grain releasing device 303 includes a blade plate 192 provided along the axial direction at the upper end of the shaft body 191 of the screw conveyor 190 constituting the lifting conveyor 316A, and a blade cover 193 covering the blade plate 192. ing.
- the blade cover 193 opens a region facing a portion of the rotation trajectory of the blade plate 192 facing the inside of the grain tank 2, and this opening serves as a grain discharge port 330 of the grain.
- the grain transported by the screw conveyor 190 causes the blades 192 to fly the grain from the grain discharge port 330 toward the grain tank 2.
- the blade cover 193 has such a shape that the skipped grain is stored in the grain tank 2 in a horizontally distributed state as uniform as possible.
- a plate-like pressing portion 340 and a load detector 341 using a load cell are attached to a portion where the kernel is sandwiched between the blade plate 192 when the kernel is released. Since the grain conveyed by the lifting conveyor 316A is pressed against the side wall of the blade cover 193 by the blade plate 192, a load corresponding to the amount of the grain is applied to the pressing action unit 340.
- the load detector 341 detects the load applied to the side wall.
- one blade plate 622 is provided on the rotary shaft 621, but a plurality of blade plates 622 may be provided on the rotary shaft 621.
- the blades 622 are preferably arranged at equal intervals in the circumferential direction.
- the rotation phase interval at which the peak (peak immediately before the grain release) that should be detected as the maximum value (max) is generated is not 360 degrees, but 360 degrees divided by the number of blades 622. It becomes.
- the rotation period of the rotating shaft 621 is the same as the number of the blade plates 622 at a ratio corresponding to the assigned pitch of the blade plates 622 in the rotation direction of the rotating shaft 621.
- divided sections May be divided into the following sections (hereinafter referred to as divided sections).
- the maximum value (max) can be achieved even if the peak timing slightly deviates back and forth. In such a case, it is difficult to cause an event that one peak is not included in one divided section or two or more peaks are included in one divided section.
- a plurality of specific points may be set so as to correspond to the respective blades 622.
- the rotation angle sensor 391 generates as many pulses as the number of blades 622 every rotation of the rotation shaft 621. Thereby, the rotation period of the rotating shaft 621 is divided into the same number of pulse sections as the number of blades 622.
- the shape of the blade plate 622 is a flat plate, but various shapes such as a curved body can be adopted.
- the present invention can be applied to various types of combine equipped with a grain tank that accommodates grains obtained by threshing cereals harvested from a field while traveling.
Abstract
Description
上述の実情に鑑み、より正確な圃場全体の収量分布を得るための収穫時収量算定技術が要望されている。
特許文献2のコンバインで用いられているような光学的食味測定では、測定中の穀粒を一定時間だけ静止状態にしておく必要がある。この一定時間は1回の収量測定に要する時間より数倍長いので、1回分の収量測定に用いられる穀粒の数倍の容積が、食味測定容器に必要となる。
走行しながら圃場から穀稈を刈り取り、刈取穀稈を脱穀することで得られた穀粒を穀粒タンクに貯留する、本発明によるコンバインは、単位走行距離当たりの収量である単位走行収量を算定する収量算定部と、穀粒収穫を伴わない非収穫作業走行と穀粒収穫を伴う収穫作業走行とを判定する作業走行判定部と、前記単位走行収量と前記圃場において走行した走行経路と前記作業走行判定部による判定結果とを関係づけた収穫マップデータを生成する収穫マップデータ生成部と、前記収穫マップデータを記録する収穫情報記録部とを備えている。
走行しながら圃場から穀稈を刈り取り、刈取穀稈を脱穀することで得られた穀粒を穀粒タンクに貯留する、本発明によるコンバインは、収量測定容器と、収量算定部と、食味測定容器と、食味算定部とを備えている。前記収量測定容器は、前記穀粒タンクに供給される穀粒の少なくとも一部を受け入れる第1受け入れ口と、受け入れた穀粒を放出する第1放出口と、前記第1放出口を開閉することで前記第1受け入れ口を通じて受け入れた穀粒の一時的な貯留を可能にする第1シャッタとを有する。前記収量算定部は、前記収量測定容器での穀粒の貯留状況から単位走行距離当たりの収量である単位走行収量を算定する。前記食味測定容器は、前記穀粒タンクに供給される穀粒の少なくとも一部を受け入れる第2受け入れ口と、受け入れた穀粒を放出する第2放出口と、前記第2放出口を開閉することで前記第2受け入れ口を通じて受け入れた穀粒の一時的な貯留を可能にする第2シャッタとを有する。前記食味算定部は、前記食味測定容器に一時的に貯留される穀粒の食味値を測定して、単位走行距離で収穫された穀粒の食味値である単位走行食味値を算定する。
以下、図1~11を参照しながら、第1実施形態について説明する。
本発明における第1実施形態としてのコンバインの具体的な構成を説明する前に、図1を用いて、その基本原理を説明する。図1の例では、コンバインが圃場を走行しながら麦や稲の穀稈を刈り取り、脱穀された穀粒がコンバインに搭載された穀粒タンク2に貯蔵される。その際、このコンバインでは、時間経過とともに穀粒タンク2に供給される穀粒の量、つまり収量が測定される。このコンバインには、穀粒収穫を伴わない非収穫作業走行と穀粒収穫を伴う収穫作業走行とを刈取部12などの動作状態に基づいて判定する作業走行判定部53が備えられている。
刈取り作業が始まっていない初期状態では、第1シャッタ33は開放姿勢となっている。刈取り作業が始まって、穀粒が穀粒タンク2に放出されるタイミングとなると、第1シャッタ33が閉鎖姿勢に切り替わって、収量測定容器30において穀粒の貯留が始まる。同時に時間算定部62による時間計測(計数信号の生成)がスタートする。収量測定容器30における穀粒貯留量が所定量に達すると、近接センサ35が作動し、適量検知信号が生じる。
以下、上記した実施形態を変更した別実施形態について説明する。以下の各別実施形態で説明している事項以外は、上記した実施形態で説明している事項と同様である。上記した実施形態及び以下の各別実施形態は、矛盾が生じない範囲で、適宜組み合わせてもよい。なお、本発明の範囲は、上記した実施形態及び以下の各別実施形態に限定されるものではない。
以下、図12及び図13を参照しながら、第2実施形態を説明する。第2実施形態は、穀粒を一時的に貯留する測定容器を用いての収量及び食味の測定を前提とした実施形態である。以下では、その基本原理について、上記の第1実施形態と異なる部分を中心に説明する。
以下、図14~図24を参照しながら、第3実施形態を説明する。上記の第1実施形態においては、単位走行収量を算定するために、収量測定容器30が設けられている。これに対して、第3実施形態では、収量測定容器が設けられておらず、代わりに、荷重検出器341の検出信号から単位走行収量が算定されるよう構成されている。以下で説明している事項以外は、上記の第1実施形態で説明している事項と同様である。なお、以下の説明において、第1実施形態の構成要素と同じ符号が付された構成要素については、第1実施形態と同様であり、詳細な説明は省略している。
以下、上記した実施形態を変更した別実施形態について説明する。以下の各別実施形態で説明している事項以外は、上記した実施形態で説明している事項と同様である。上記した実施形態及び以下の各別実施形態は、矛盾が生じない範囲で、適宜組み合わせてもよい。なお、本発明の範囲は、上記した実施形態及び以下の各別実施形態に限定されるものではない。
2 :穀粒タンク
12 :刈取部
12a :刈取りクラッチ
14 :脱穀装置
18 :モニタ
30 :収量測定容器
31 :第1受け入れ口
32 :第1放出口
33 :第1シャッタ
40 :食味測定容器
41 :第2受け入れ口
42 :第2放出口
43 :第2シャッタ
53 :作業走行判定部
61 :第1シャッタ制御部
63 :収量算定部
64 :第2シャッタ制御部
65 :食味算定部
66 :収穫マップデータ生成部
67 :収穫情報記録部
68 :収量分布マップ生成部
71 :スクリューコンベヤ
73 :羽根車
100 :管理サーバ
721 :第1開口部
722 :第2開口部
731 :回転軸
202 :穀粒タンク
214 :脱穀装置
230 :収量測定容器
231 :第1受け入れ口
232 :第1放出口
233 :第1シャッタ
240 :食味測定容器
241 :第2受け入れ口
242 :第2放出口
243 :第2シャッタ
921 :第1開口部
922 :第2開口部
2 :穀粒タンク
12 :刈取部
14 :脱穀装置
316 :穀粒搬送機構
303 :穀粒放出装置
330 :穀粒放出口
331 :放出ケース
332 :放出回転体
332 :放出回転体
340 :押圧作用部
341 :荷重検出器
Claims (28)
- 走行しながら圃場から穀稈を刈り取り、刈取穀稈を脱穀することで得られた穀粒を穀粒タンクに貯留するコンバインにおいて、
単位走行距離当たりの収量である単位走行収量を算定する収量算定部と、
穀粒収穫を伴わない非収穫作業走行と穀粒収穫を伴う収穫作業走行とを判定する作業走行判定部と、
前記単位走行収量と圃場において走行した走行経路と前記作業走行判定部による判定結果とを関係づけた収穫マップデータを生成する収穫マップデータ生成部と、
前記収穫マップデータを記録する収穫情報記録部と、を備えたコンバイン。 - 前記収穫マップデータに基づいて生成された、作業対象圃場における単位走行距離当たりの収量の分布を示す収量分布マップを表示するモニタが備えられている請求項1に記載のコンバイン。
- 前記収量分布マップにおいて、前記非収穫作業走行の走行経路が識別可能に表示される請求項2に記載のコンバイン。
- 前記収穫マップデータを外部の管理サーバに通信回線を介して送信する送信部と、前記収穫マップデータに基づいて前記管理サーバによって生成された前記収量分布マップを受信する受信部とが備えられている請求項2または3に記載のコンバイン。
- 前記収穫マップデータに基づいて前記収量分布マップを生成する収量分布マップ生成部が備えられている請求項2または3に記載のコンバイン。
- 前記収量算定部は、所定容積に穀粒が貯留するに要する貯留時間と車速とから前記単位走行収量を算定する請求項1から5のいずれか一項に記載のコンバイン。
- 前記穀粒タンクに供給される穀粒の少なくとも一部を一時的に貯留する収量測定容器が備えられており、前記収量算定部は前記収量測定容器での穀粒の貯留状況から前記単位走行収量を算定する請求項1から6のいずれか一項に記載のコンバイン。
- 刈取穀稈を脱穀することで得られた穀粒を前記穀粒タンクに搬送する穀粒搬送機構と、
前記穀粒搬送機構の終端領域に設けられ、穀粒放出口を設けた放出ケース及び前記放出ケース内に回転可能に配置された放出回転体を有する穀粒放出装置と、
前記放出回転体による穀粒放出直前の穀粒による押圧力を受ける押圧作用部と、
前記押圧作用部に作用する前記押圧力を検出する荷重検出器と、を備え、
前記収量算定部は、前記荷重検出器の検出信号から前記単位走行収量を算定する請求項1から5のいずれか一項に記載のコンバイン。 - 前記押圧作用部として、前記放出ケースにおける、穀粒搬送方向で前記穀粒放出口の直前の位置に、板状部材が取り付けられており、
前記放出回転体と前記板状部材との間を通過する穀粒による前記押圧力が前記板状部材に作用する請求項8に記載のコンバイン。 - 前記板状部材が前記放出回転体の回転方向に沿って延びる感圧板として形成され、前記荷重検出器が前記感圧板に取り付けられたロードセルである請求項9に記載のコンバイン。
- 前記放出ケースは、前記放出回転体の回転軸心を中心とする円筒部分を有し、かつ前記回転軸心に沿って延びている筒状体であり、
前記筒状体の内周面の一部に前記穀粒放出口が設けられ、
前記内周面における、前記放出回転体の回転方向で前記穀粒放出口の手前に位置する周面部分に、前記押圧作用部が設けられている請求項8から10のいずれか一項に記載のコンバイン。 - 前記作業走行判定部は、圃場から穀稈を刈り取る刈取部の地上高さに基づいて前記非収穫作業走行と前記収穫作業走行とを判定する請求項1から11のいずれか一項に記載のコンバイン。
- 前記作業走行判定部は、圃場から穀稈を刈り取る刈取部への動力伝達を入り切りする刈取りクラッチの切り情報に基づいて前記非収穫作業走行と前記収穫作業走行とを判定する請求項1から11のいずれか一項に記載のコンバイン。
- 前記穀粒タンクに供給される穀粒の少なくとも一部を一時的に貯留する食味測定容器と、前記食味測定容器に貯留された穀粒の食味に関する測定値を出力する食味測定部と、前記測定値から単位走行距離当たりの食味値を算定する食味算定部とが備えられ、前記収穫マップデータ生成部は前記食味値を前記収穫マップデータに組み込む請求項1から13のいずれか一項に記載のコンバイン。
- 走行しながら圃場から穀稈を刈り取り、刈取穀稈を脱穀することで得られた穀粒を穀粒タンクに貯留するコンバインにおいて、
前記穀粒タンクに供給される穀粒の少なくとも一部を受け入れる第1受け入れ口と、受け入れた穀粒を放出する第1放出口と、前記第1放出口を開閉することで前記第1受け入れ口を通じて受け入れた穀粒の一時的な貯留を可能にする第1シャッタとを有する収量測定容器と、
前記収量測定容器での穀粒の貯留状況から単位走行距離当たりの収量である単位走行収量を算定する収量算定部と、
前記穀粒タンクに供給される穀粒の少なくとも一部を受け入れる第2受け入れ口と、受け入れた穀粒を放出する第2放出口と、前記第2放出口を開閉することで前記第2受け入れ口を通じて受け入れた穀粒の一時的な貯留を可能にする第2シャッタとを有する食味測定容器と、
前記食味測定容器に一時的に貯留される穀粒の食味値を測定して、単位走行距離で収穫された穀粒の食味値である単位走行食味値を算定する食味算定部と、を備えたコンバイン。 - 脱穀装置から前記穀粒タンクに穀粒を供給する供給管路の穀粒タンク内管路部分に穀粒供給方向に互いに間隔をあけて開口している第1開口部と第2開口部とが形成され、前記第1開口部が前記第1受け入れ口であり、前記第2開口部が前記第2受け入れ口である請求項15に記載のコンバイン。
- 前記第1開口部が穀粒供給方向で前記第2開口部より前記脱穀装置に近い位置に形成されている請求項16に記載のコンバイン。
- 前記穀粒タンク内管路部分に穀粒供給用のスクリューコンベヤが備えられ、前記スクリューコンベヤは前記脱穀装置側から前記第1開口部まで延設されている請求項17に記載のコンバイン。
- 前記第2開口部が、籾と藁とを選別する多孔部材によって覆われている請求項16から18のいずれか一項に記載のコンバイン
- 前記穀粒タンク内管路部分における前記第2開口部に対応する箇所に前記供給管路の延設方向に沿った回転軸周りに回転する羽根車が設けられており、前記羽根車によって籾が前記多孔部材を通じて前記食味測定容器に押し込められる請求項19に記載のコンバイン。
- 前記収量算定部は、前記収量測定容器における所定容積に穀粒が貯留するに要する貯留時間と車速とから前記単位走行収量を算定する請求項15から20のいずれか一項に記載のコンバイン。
- 前記単位走行収量と前記単位走行食味値とを圃場において走行した走行経路に組み合わせて収穫マップデータを生成する収穫マップデータ生成部と、前記収穫マップデータを記録する収穫情報記録部とが備えられている請求項15から21のいずれか一項に記載のコンバイン。
- 前記収穫マップデータに基づいて生成され、作業対象圃場における単位走行距離当たりの収量の分布を示す収量分布マップを表示するモニタが備えられている請求項22に記載のコンバイン。
- 前記収穫マップデータを外部の管理サーバに通信回線を介して送信する送信部と、前記収穫マップデータに基づいて前記管理サーバによって生成された前記収量分布マップを受信する受信部とが備えられている請求項23に記載のコンバイン。
- 前記収穫マップデータに基づいて前記収量分布マップを生成する収量分布マップ生成部が備えられている請求項23に記載のコンバイン。
- 前記収量測定容器と前記食味測定容器とが前記穀粒タンクの同一壁面に配置されている請求項15から25のいずれか一項に記載のコンバイン。
- 走行しながら圃場から穀稈を刈り取り、刈取穀稈を脱穀することで得られた穀粒を穀粒タンクに貯留するコンバインのための穀粒評価制御装置であって、
前記穀粒タンクに供給される穀粒の一部を一時的に貯留する第1シャッタの開閉を制御する第1シャッタ制御部と、
前記穀粒タンクに供給される穀粒の他の一部を一時的に貯留する第2シャッタの開閉を前記第1シャッタの制御とは独立して制御する第2シャッタ制御部と、
前記第1シャッタによって一時的に貯留される穀粒の貯留状況から単位走行距離当たりの収量である単位走行収量を算定する収量算定部と、
前記第2シャッタによって一時的に貯留される穀粒の食味値を測定して、単位走行距離で収穫された穀粒の食味値である単位走行食味値を算定する食味算定部と、を備えた穀粒評価制御装置。 - 前記単位走行収量と前記単位走行食味値とを圃場において走行した走行経路に組み合わせて収穫マップデータを生成する収穫マップデータ生成部が備えられている請求項27に記載の穀粒評価制御装置。
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US10178829B2 (en) | 2019-01-15 |
KR20170126850A (ko) | 2017-11-20 |
KR102582905B1 (ko) | 2023-09-27 |
EP3272205A1 (en) | 2018-01-24 |
JPWO2016147521A1 (ja) | 2017-10-12 |
EP3272205A4 (en) | 2018-11-21 |
JP6444491B2 (ja) | 2018-12-26 |
CN106998651B (zh) | 2019-10-18 |
CN106998651A (zh) | 2017-08-01 |
EP3272205B1 (en) | 2022-11-09 |
US20180177125A1 (en) | 2018-06-28 |
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