JP2023149467A - combine - Google Patents

Abstract

To provide a combine capable of adjusting deviation of accumulation heights of grains stored in a grain tank.SOLUTION: A combine includes: a grain tank 9 storing grains; a grain-lifting discharge part 70 discharging the grains into the grain tank 9 from a discharge port 76; a detection part 80 continuously detecting continuous grain-lifting heights of the grains stored in the grain tank 9 at a plurality of positions P1, P2 in a horizontal direction X in the grain tank 9; a guide plate 85 capable of changing feed directions of the grains discharged from the discharge port 76; and an ECU controlling the guide plate 85 on the basis of the result of detection of the detection part 80.SELECTED DRAWING: Figure 4

Description

The present invention relates to a combine harvester equipped with a grain tank.

Generally, a combine threshes harvested grain culms and stores the threshed grains in a grain tank. Conventionally, as shown in Patent Document 1, the pile height of grains stored in a grain tank is detected by using a plurality of limit switches arranged at intervals in the height direction in the grain tank. A combine harvester has been proposed that determines the amount of grain stored in a grain tank based on the grain pile height. When determining the amount of grain stored in a grain tank, it is desirable that it be as even as possible. Therefore, in the combine shown in Patent Document 1, in order to level the surface layer of the grains accumulated in the grain tank, a rotating shaft equipped with a leveling body such as a straight pipe extending in the horizontal direction is arranged in the grain tank, and the rotating shaft is rotated. As the shaft rotates, the leveling body breaks up the pile of grains.

JP 2021-58166 Publication

However, the appropriate pile height required for each horizontal position of the grain stored in the grain tank depends on the situation, such as the amount of grain stored in the grain tank and the type of grain. different. The leveling body described in Patent Document 1 alone may not be able to cope with various situations, and improvements have been desired.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a combine harvester that can adjust the deviation in the height of grains stored in a grain tank depending on the situation.

The combine harvester (1) of the present invention includes a grain tank (9) for storing grain;
a discharge part (70) that discharges grains from a discharge port (76) into the grain tank (9);
a detection unit (80) that detects a continuous pile height of grains stored in the grain tank (9) at a plurality of horizontal positions in the grain tank (9);
a guide member (85) capable of changing the feeding direction of grains discharged from the discharge port (76);
It is characterized by comprising a control section (100) that controls the guide member (85) based on the detection result of the detection section (80).

Further, the combine harvester (1) of the present invention includes a grain tank (9) for storing grain;
a discharge part (70) that discharges grains from a discharge port (76) into the grain tank (9);
an imaging unit (83) that images grains stored in the grain tank (9);
a guide member (85) capable of changing the feeding direction of grains discharged from the discharge port (76);
It is characterized by comprising a control section (100) that controls the guide member (85) based on image data (300) captured by the imaging section (83).

For example, referring to FIGS. 6, 9(a), and 9(b), the control unit (100) controls the posture or movement pattern of the guide member (85).

Further, for example, with reference to FIGS. 4 and 6, the control unit (100) controls the guide member ( 9).

For example, with reference to FIGS. 4, 6, and 11, the control unit (100) controls the grain tank (9) so that the degree of bias of grains stored in the grain tank (9) falls within a set range. a first control mode for controlling a guide member; and a first control mode for preferentially placing grains in a second position (A2) that is further from the discharge port (76) than the first position (A1) in the grain tank (9) in the horizontal direction. and a second control mode in which the guide member (85) is controlled so that the guide member (85) is deposited.

Note that the above-mentioned symbols in parentheses are for contrast with the drawings, but do not limit the configuration of the present invention in any way.

According to the present invention according to claim 1, it is possible to adjust the deviation in the pile height of grains stored in the grain tank depending on the situation.

According to the second aspect of the present invention, it is possible to adjust the deviation in the height of the grains stored in the grain tank depending on the situation.

According to the present invention according to claim 3, by controlling the posture or movement pattern of the guide member, it is possible to efficiently adjust the deviation in the pile height of grains stored in the grain tank depending on the situation. .

According to the present invention according to claim 4, the surface layer of the grains stored in the grain tank is controlled by controlling the guide member so that the degree of deviation of the grains stored in the grain tank is within a set range. It can be made approximately even.

According to the present invention according to claim 5, in the first control mode, the surface layer of the grains stored in the grain tank can be made approximately flat, and in the second control mode, the surface layer of the grains stored in the grain tank can be made substantially flat. The deviation in the height of the grain piled up is adjusted, and the filling rate of grains in the grain tank can be improved.

FIG. 1 is a perspective view showing a combine harvester according to a first embodiment. The left side view which shows a threshing device. A cross-sectional view showing a threshing device and a grain tank. Right side view showing the internal structure of the grain tank. A plan view showing the internal structure of a grain tank. The block diagram which shows the control system of a combine. (a) and (b) are explanatory diagrams showing display screens. 5 is a flowchart showing control processing of the ECU. (a) and (b) are schematic diagrams for explaining control of the guide plate. A schematic diagram of a captured image. 5 is a flowchart showing control processing of an ECU according to a second embodiment. (a) and (b) are diagrams showing modified examples.

<First embodiment>
A first embodiment of the present invention will be described below along with the drawings. FIG. 1 is a perspective view showing a combine harvester 1 according to a first embodiment. FIG. 2 is a left side view showing the threshing device 7. FIG. FIG. 3 is a cross-sectional view showing the threshing device 7 and the grain tank 9. FIG. 4 is a right side view showing the internal structure of the grain tank 9. FIG. 5 is a plan view showing the internal structure of the grain tank 9. As shown in FIG. The combine harvester 1 is, for example, a self-retracting type combine harvester that harvests grains such as rice, wheat, or soybeans.

As shown in FIG. 1, the combine 1 has a machine body 3 supported by a crawler traveling device 2 and equipped with an engine (not shown). 5 (FIG. 2) is provided so as to be movable up and down and to be openable and closable in the left and right directions. A threshing device 7 for threshing and sorting the grain culms harvested and conveyed by the reaping section 6 and feed chain 5 is provided on one side of the machine body 3, and on the other side, a worker A driving operation section 8 is provided for performing driving operations.

A grain tank 9 for storing the grains threshed and sorted by the threshing device 7 is arranged behind the operation section 8. Behind the grain tank 9, grains are stored in the grain tank 9. A discharge auger 10 is provided which can be raised and lowered and rotated to discharge the grains to the outside of the machine. The straw that has been threshed by the threshing device 7 is cut by a cutter device 14 disposed at the rear of the threshing device 7, and can be dispersed and discharged to the harvested area behind the machine body 3.

A reaping clutch (not shown) is provided between the engine and the reaping section 6, and a threshing clutch (not shown) is provided between the engine and the threshing device 7. By connecting and disconnecting the reaping clutch and the threshing clutch, the reaping section 6 and the threshing device 7 are switched between stopping and driving.

The reaping unit 6 includes a rotatable divider 13 that separates the grain culms in the field, a pulling device 15 that raises the divided grain culms behind the divider 13, and a reciprocating device that reaps the pulled grain culms. A type of cutting blade (not shown), a grain culm conveying device (not shown) that conveys the cut grain culm and delivers it to the feed chain 5, and a handling depth conveyor (not shown) that adjusts the handling depth of the grain culm. and has.

The driving operation section 8 is arranged at the driver's seat 21 and in front of the driver's seat 21, and turns on and off the threshing clutch and the reaping clutch by operating a button, thereby transmitting power from the engine to the threshing device 7 or the reaping section 6. It has a power clutch switch 26 that can be turned on and off, and a touch panel type liquid crystal monitor 30.

The power clutch switch 26 is a momentary seesaw switch that switches the driving states of the reaping section 6 and the threshing device 7. The driving states of the reaping section 6 and the threshing device 7 include a stopped state in which both the reaping section 6 and the threshing device 7 are stopped, and a threshing state in which the reaping section 6 is stopped and the threshing device 7 is driven. There are three states: a reaping state in which both the reaping section 6 and the threshing device 7 are driven; Transition to a stopped state by disengaging both the threshing clutch and the reaping clutch, transition to the threshing state by connecting the threshing clutch and disengaging the reaping clutch, and connect both the threshing clutch and the reaping clutch. Transition to the reaping state.

As shown in FIGS. 2 and 3, the threshing device 7 includes a threshing section 35 that threshes the grain culm harvested by the reaping section 6, a sorting section 36 disposed directly below the threshing section 35, a threshing section 35, and a sorting section 36 disposed directly below the threshing section 35. It has a straw processing section 37 disposed behind the sorting section 36, and the grain culm cut by the reaping section 6 (see FIG. 1) is transported rearward by the feed chain 5 and the clamping rail. The tip side of the grain culm enters the threshing section 35 and is threshed. The grains threshed in the threshing section 35 and the grains generated during threshing are leaked from the threshing section 35 to the sorting section 36, where they are subjected to rocking sorting. The grains are then air sorted and only the grains are stored in the grain tank 9. A waste straw conveying device 39 is connected to the terminal end of the feed chain 5, and the waste straw that has been threshed in the threshing section 35 is transported to a waste straw processing section 37, where the waste straw is The processing section 37 performs cutting or bundling processing.

To explain in more detail, the threshing section 35 has a handling chamber 40 that extends along the longitudinal direction of the machine body, and the handling chamber 40 has a cylindrical shape that is long in the transport direction, which is the longitudinal direction of the machine body. The trunk 41 is rotatably supported. The handling cylinder 41 is divided into front and rear parts in the middle, and these two handling cylinders 41a and 41b have a large number of handling teeth 41c, . . . attached to their outer peripheral surfaces. The cylinder 41a and the rear handling cylinder 41b are configured to be able to be driven at different rotational speeds.

A large number of dust guides 42 are arranged in the upper part of the handling chamber 40, and by arbitrarily changing the angle of these dust guides 42, the residence time of straw waste, grains, etc. in the handling chamber 40 can be controlled. can do. A receiving net 43 with a plurality of holes is placed below the handling chamber 40 along the handling drum 41, and foreign matter such as threshed grains and scraps are removed from the receiving net 43. It leaks into the sorting section 36 as a leakage material. Note that a processing chamber that rotatably supports the processing cylinder may be further provided behind the handling chamber 40, and the processing material that cannot be completely threshed in the handling chamber 40 may be processed within the processing chamber.

The sorting section 36 includes a swinging sorter 45 disposed below the receiving net 43, a winnowing fan 46 that blows sorting air from the front lower side to the rear upper side of the swinging sorter 45; It has a ventilation fan 47 and a dust removal fan 48. The oscillating sorter 45 has an upper and lower three-tiered structure, and includes a feed pan 49, a chaff sieve 50, and a straw rack 51 in the upper tier, a chaff sieve 52, a straw rack 53, and a grain sieve 55 in the lower tier. These are provided in succession and are sifted back and forth to sieve the material to be processed. The chaff sheaves 50 and 52 are composed of a plurality of fins arranged in parallel at predetermined intervals in the front-rear direction, and the fins of the chaff sheave 52 are configured to be openable and closable. A layer thickness sensor (not shown) consisting of a flag, a potentiometer, etc. is provided above the chaff sieve 52, and the layer thickness sensor detects the opening degree of the flag, which is pressed and oscillated by the material to be processed, so that the chaff sieve 52 The layer thickness of the treated material can be detected.

The feed pan 49 is a corrugated transfer plate that receives the processed material leaking from the receiving net 43 and transfers it backward. These processed materials transported backward are sieved by the swinging sorter 45, and are also air-sorted by the sorting air generated by the winnowing fan 46 and the blower fan 47, and are passed through a grain sieve 55 made of a wire mesh member with a predetermined mesh size. The grains that have passed through fall into the first helix 56 as the first object. The processed material transferred to the terminal end of the oscillating sorter 45 falls onto the second spiral 57 via the straw rack 51, chaff sieve 52, and straw rack 53. Further, the long straw and waste dust whose fall is regulated by the straw rack 53 are transferred to the end thereof, and are discharged outside the machine by the dust removal fan 48.

As shown in FIGS. 4 and 5, a grain frying cylinder 58 is connected to the upper part of the grain tank 9 via a grain frying discharge part 70, which is an example of a discharge part. The fried grain discharge section 70 is provided at the upper end of the fried grain cylinder 58. A rotating body 61 is arranged inside the fried grain cylinder 58 and the fried grain discharge section 70. The rotating body 61 includes a vertical helix 59 disposed inside the fried grain cylinder 58 and a spring plate 60 disposed inside the fried grain discharge section 70. The most vertical helix 59 rotates around a rotating shaft 61a that substantially coincides with the center of the grain lifting cylinder 58. The spring plate 60 is provided at the upper end of the most vertical helix 59, and rotates together with the most vertical helix 59 around a rotating shaft 61a. The first grain that has fallen onto the first helix 56 is supplied by the first helix 56 to the first vertical helix 59, and is lifted by the first vertical helix 59. The grains lifted in the grain lifting cylinder 58 by the most vertical helix 59 are scattered over a wide area from the grain lifting part 70 into the grain tank 9 by the splash plate 60, and are stored in the grain tank 9. . The second object that has fallen onto the second helix 57 is lifted by the second vertical helix and then discharged to the swinging sorter 45 again. It should be noted that the configuration may be such that the second item is discharged into the handling room 40.

The fried grain discharge section 70 includes a box-shaped housing that covers the splash plate 60. The grains lifted and conveyed by the grain frying cylinder 58 and the most vertical helix 59 are carried into the inside of the fried grain discharge section 70, are scattered by the rotation of the splash plate 60, and are guided to the fried grain discharge section 70. , is discharged from the discharge port 76 into the grain tank 9.

A discharge spiral 18 is rotatably provided at the innermost part of the grain tank 9 along the front-rear direction. By the rotation of the discharge spiral 18, the grains stored in the deepest part of the grain tank 9 are transported toward the rear of the grain tank 9, and are carried out from the rear of the lower part of the grain tank 9 to the outside of the grain tank 9. is discharged out of the machine by a discharge auger 10 equipped with a vertical conveyance spiral 19 for lifting.

A plurality of ranging sensors 81 and 82 are arranged in the grain tank 9 to detect the pile height of grains G stored in the grain tank 9 at a plurality of positions P1 and P2 in the horizontal direction X in the grain tank 9. has been done. A detection unit 80 includes distance measuring sensors 81 and 82. Each distance measuring sensor 81, 82 is, for example, a TOF (time of flight) sensor, and can detect the continuous pile height of grains G in the height direction Z. The number of distance measuring sensors is not limited to two, and may be three or more, and may be determined depending on the accuracy required for grain yield measurement. The higher the number, the more accurate the grain yield measurement.

Each of the distance sensors 81 and 82 does not detect whether the grains G have reached a predetermined height by turning on or off a limit switch or the like, but rather detects the piled height of the grains G with a quantitative value. Each distance measuring sensor 81, 82 transmits information (data) regarding the pile height measured at a predetermined period to the ECU 100 (FIG. 6), which is an electronic control unit.

The distance measuring sensors 81 and 82 are fixed to a top plate 90 forming the upper part of the grain tank 9 at intervals in the horizontal direction X. The distance sensor 81 detects the piled height of grains G in the height direction Z at the position P1 in the horizontal direction X. The distance sensor 82 detects the piled height of the grains G in the height direction Z at the position P2 in the horizontal direction X. The height direction Z is both the vertical direction and the vertical direction.

Here, the distance measuring sensors 81 and 82 measure the time from emitting light to receiving the light, and the measurement time can be converted into distance, that is, the pile height. , distance measuring sensors 81 and 82 detect the height of grain G piled up. Therefore, the distance measuring sensor 81 can detect the height of grain G piled up at position P1, and the distance measuring sensor 82 can detect the piled height of grain G at position P2. Positions P1 and P2 are positions spaced apart in the horizontal direction It's the location.

Further, a camera 83 is arranged in the grain tank 9 to take an image of the grain G stored in the grain tank 9. The camera 83 is an example of an imaging unit, and is a digital camera. Although the camera 83 is a monocular camera in the first embodiment, it may be a compound eye camera (for example, a 3D camera). The camera 83 is disposed on the top plate 90 of the grain tank 9 and can image the inside of the grain tank 9. Specifically, the camera 83 is arranged on the top plate 90 so that the angle of view (imaging area) includes the surface layer of the grains G stored in the grain tank 9 and the inner wall of the grain tank 9.

Inside the grain tank 9, a plurality of guide plates 85, which are an example of a guide member, are provided. Each guide plate 85 is rotatably arranged on the top plate 90 of the grain tank 9 at intervals. The guide plate 85 has a flat plate shape, but is not limited to this shape, and may have any shape as long as it can easily guide grains.

The plurality of guide plates 85 are rotated by being driven by a guide plate motor 96 (FIG. 6), which is an example of a drive unit. The guide plate motor 96 is an electric motor. In the first embodiment, the plurality of guide plates 85 are configured to be driven in conjunction with each other by a guide plate motor 96, but the invention is not limited to this. For example, each guide plate 85 may be individually provided with an electric motor so that each guide plate 85 can be driven individually. Furthermore, the number of guide plates 85 is not limited to a plurality of guide plates, and may be one.

The guide plate 85 is arranged at a position where the grains discharged from the discharge port 76 can collide with each other. By rotating the guide plate 85, the attitude of the guide plate 85 is changed, and thereby the incident angle and the reflection angle of the grains with respect to the guide plate 85 are changed. With such a configuration, the guide plate 85 can change the feeding direction of grains discharged from the discharge port 76.

Next, the control system of the combine 1 will be explained. The ECU 100 shown in FIG. 6 controls the entire aircraft 3. ECU 100 is an example of a control unit. A power clutch switch 26, a grain discharge switch 91, distance sensors 81, 82, a camera 83, and a moisture sensor 93 are connected to the input port of the ECU 100. A power clutch motor 94, a grain discharge clutch motor 95, and a guide plate motor 96 are connected to the output port of the ECU 100. Further, a touch panel type liquid crystal monitor 30 is connected to an input/output port of the ECU 100.

ECU 100 is composed of a computer such as a microcomputer, for example. The ECU 100 includes a CPU (not shown) that is an example of a processor, a ROM or RAM (not shown) that is an example of a storage device, and an I/O (not shown) that is an example of an input/output interface. The storage device stores programs that cause the processor to perform arithmetic processing and various parameters used in the arithmetic processing. Furthermore, the storage device can store various data such as detection data (sensor values) acquired by sensors and image data. Further, the ECU 100 can transmit data to an external device or receive data from an external device via I/O.

The power clutch switch 26 is a switch that outputs an intermittent command to the power clutch motor 94 to intermittent the power from the engine to the threshing device 7 or the reaping section 6, respectively, in response to an operator's operation. The power clutch motor 94 is an electric motor that connects and connects the threshing clutch and the reaping clutch in response to an on/off command from the power clutch switch 26 .

The grain discharge switch 91 is a switch that outputs an intermittent command to the grain discharge clutch motor 95. The grain discharge clutch motor 95 is an electric motor that connects and disconnects a grain discharge clutch (not shown) in response to an on/off command from the grain discharge switch 91 . When the grain discharge clutch is connected, the discharge spiral 18, the vertical conveyance spiral 19, etc. are driven to rotate by the power of the engine, and the grains in the grain tank 9 are discharged to the outside of the machine via the discharge auger 10.

As described above, the ranging sensors 81 and 82 are sensors that detect the pile heights of grains stored in the grain tank 9 at the positions P1 and P2, respectively, and provide detection data ( (detection signal) is output to the ECU 100 at a predetermined period.

As described above, the camera 83 is an imaging device that images the inside of the grain tank 9, and outputs image data to the ECU 100 at a predetermined period. The camera 83 is used to detect the state of grain accumulation in the grain tank 9. That is, the ECU 100 can determine the pile height at a plurality of positions in the horizontal direction X based on image data obtained by imaging the inside of the grain tank 9.

The moisture sensor 93 is provided in the grain tank 9 and samples and detects the moisture content of grains released into the grain tank 9.

As described above, the guide plate motor 96 is an electric motor that drives the guide plate 85, and is driven and controlled by the ECU 100. As described above, the liquid crystal monitor 30 is a touch panel type liquid crystal monitor.

When calculating the storage amount (yield) of grain stored in the grain tank 9, the ECU 100 takes the following steps. First, when the engine is started and power is supplied, the ECU 100 performs initialization and then operates the power clutch motor 94 based on a command from the power clutch switch 26 to operate the threshing device 7 or the reaping section 6 and the threshing section. Drive the device 7.

Further, the ECU 100 controls the guide plate 85 by controlling the guide plate motor 96 while driving the threshing device 7 . Further, while the power is being supplied, the ECU 100 measures the height of grain accumulation stored in the grain tank 9 using a plurality of distance measuring sensors 81, 82 or a camera 83.

Then, the ECU 100 calculates the stored amount (yield) of grains based on the pile height of the grains stored in the grain tank 9. For example, the ECU 100 refers to table data that includes data on the pile height and data on the storage amount (yield) of grains associated with the data on the pile height, and adjusts the detected pile height to Determine the corresponding storage volume (yield). The table data may be stored in a storage device in advance. By referring to this table data, the storage amount (yield) of grains can be obtained. This table data can also be created based on actual measured values obtained by depositing grains in the grain tank 9, and by using the actual measured values in this way, accurate storage amount (yield) can be obtained depending on the crop to be harvested. can be obtained.

The ECU 100 uses the data on the moisture content of the grain obtained from the moisture sensor 93, the specific gravity data of the grain stored in the storage device in advance, and the data on the storage amount of the grain described above. , the weight of the grains stored in the grain tank 9 is calculated. Note that since the specific gravity of grains varies depending on crops, varieties, etc., the actually measured specific gravity may be used, and in this case, a more accurate grain weight can be obtained.

Furthermore, the ECU 100 may calculate the dry weight of the grain based on the weight and moisture content of the grain. For example, in the case of rice grains, the dry weight when dried to 15% can be calculated. In addition, the ECU 100 calculates the actual reaping work time excluding the grain discharge time and rest time after the start of the harvest work, and the actual reaping work time after the grains in the grain tank 9 are discharged outside the machine. Alternatively, the amount of grain harvested per unit time may be calculated from the total storage amount of grains during that time, and the free space obtained by subtracting the current storage amount from the maximum storage capacity of the grain tank 9. The predicted time to be full may be determined from the volume. Then, the ECU 100 may display the acquired information on the liquid crystal monitor 30 in real time.

Further, the ECU 100 may cause the storage device to store the total harvest amount, working hours, etc. per field. Such information can be used for future work management. In addition, if a real-time kinematic (RTK)-based global navigation satellite system (GNSS) is used to obtain work trajectories, it is possible to determine the yield of each area in the field. It can be compiled as a map and can be useful for precision farming. Furthermore, if the ECU 100 and the mobile communication terminal communicate with each other over a short distance, and the mobile communication terminal and the drying facility or management center communicate with each other over a long distance to exchange information, it is possible to check the availability of the dryer and arrange the dispatch of trucks. can be systemized.

On the other hand, FIGS. 7A and 7B are explanatory diagrams showing display screens 31 and 32 displayed on the liquid crystal monitor 30. FIG. 7A shows a normal display screen 31. FIG. When the operator operates the measurement button 311 on the display screen 31 shown in FIG. 30 is transitioned from the display screen 31 shown in FIG. 7(a) to the display screen 32 shown in FIG. 7(b). The display screen 32 is a display screen that displays measurement results, that is, yield information (numerical value) indicating the amount of grain stored (yield) in the grain tank 9, and information (numerical value) on the moisture content of the grain. The ECU 100 displays the measured grain yield information (numerical value) on the display screen 32.

The crop selection button 321 is a button for the operator to select the type of grain (crop). For example, each time the crop selection button 321 is operated, the type of grain to be selected is switched. In the example of FIG. 7(b), three types of grains are selectable: "rice", "wheat", and "barley", and each time the crop selection button 321 is operated, "rice", "wheat", and "barley" are selected. The lighting state of each lamp of "Barley" changes. Then, the ECU 100 adjusts the moisture content value based on the output voltage from the moisture sensor 93 according to the crop and displays it on the display screen 32. Note that it is sufficient that two or more grains can be selected, and the types of grains are not limited to these.

Although the case where the liquid crystal monitor 30 is a touch panel type input display device has been described, the present invention is not limited to this. For example, instead of the liquid crystal monitor 30, a display device and an input device (for example, a switch or button) may be connected to the ECU 100.

Here, the appropriate pile height required for each position in the horizontal direction etc., depending on the situation. Therefore, in the first embodiment, the ECU 100 controls the guide plate 85 based on the detection result of the detection unit 80 outputted by the detection unit 80. A detailed explanation will be given below with reference to the flowchart of the control process shown in FIG. The control process of ECU 100 shown in FIG. 8 is repeatedly executed at a predetermined period.

In step S101, the ECU 100 determines whether harvesting work is in progress. Whether the harvesting operation is in progress can be determined by checking whether the reaping section 6 and the threshing device 7 are in a driving state. That is, if the reaping section 6 and the threshing device 7 are in the driving state, the harvesting operation is in progress; otherwise, the harvesting operation is not in progress.

If the harvesting operation is not in progress (S101: NO), the ECU 100 ends the control process. If the harvesting operation is in progress (S101: YES), the ECU 100 moves to the process of step S102. In step S102, the ECU 100 reads sensor values (detection results) from each sensor 81, 82, and 93, and also reads the selection result of the crop selection button 321.

Next, in step S103, the ECU 100 calculates the degree of bias of the grains stored in the grain tank 9 based on the detection results of the distance measuring sensors 81 and 82. Here, the degree of deviation of grains is an index such as the variance, standard deviation, or difference between the maximum and minimum values of grain height at multiple positions in the horizontal direction X. Yes, it is expressed numerically. The higher the value of the degree of bias, the greater the bias.

In the example of the first embodiment, the grain deviation degree refers to the grain pile height at position P1 and the grain pile height at position P2 because the grain pile height at two positions P1 and P2 is detected. This is the difference between the grain height and the grain height.

Next, in step S104, the ECU 100 determines a control target for controlling the guide plate 85 based on the degree of grain bias. The control target is the attitude or movement pattern of the guide plate 85. The attitude of the guide plate 85 is the fixed angle of the guide plate 85. Further, the operation pattern of the guide plate 85 includes a swing range of the guide plate 85, a swing speed (period) of the guide plate 85, an inching movement amount, and the like. The swing range of the guide plate 85 can be set by the position of the swing end of the guide plate 85 and the amount of swing. When changing the swing range, at least one of the position of the swing end and the swing amount may be changed.

Next, in step S105, the ECU 100 controls the guide plate 85 based on the determined control target. 9(a) and 9(b) are schematic diagrams for explaining control of the guide plate 85. FIG.

An example will be described in which the guide plate 85 is set to the first posture P10 in the initial state of the control target. As shown in FIG. 9A, the ECU 100 changes the control target of the guide plate 85 from the first posture P10 to the second posture P20 depending on the degree of bias. For example, the ECU 100 sets the first posture P10 as the default posture, and the ECU 100 uses the guide plate 85 to change to the second posture P20 when the degree of bias exceeds the set range, and to return to the first posture P10 when the degree of bias falls within the set range. control. In this way, the ECU 100 controls the guide plate 85 so that the grains stored in the grain tank 9 are less unevenly distributed. Thereby, the grains in the grain tank 9 can be made substantially even.

Furthermore, an example will be described in which the guide plate 85 is set in the first swing range R10 in the initial state of the control target. As shown in FIG. 9(b), the ECU 100 changes the control target of the guide plate 85 from the first swing range R10 to the second swing range R20 depending on the degree of deviation. In this way, the ECU 100 controls the guide plate 85 so that the grains stored in the grain tank 9 are less unevenly distributed. Thereby, the grains in the grain tank 9 can be made substantially even.

In either case, the ECU 100 controls the guide plate 85 based on the determined degree of bias so that the grains are preferentially sent to a position where the stacking height is relatively low. In this way, the ECU 100 determines the control target so that the degree of bias of the grains stored in the grain tank 9 falls within the set range, and controls the guide plate 85 using the determined control target.

Through the above control operations, the height of the grains stored in the grain tank 9 during the harvesting operation is controlled to be approximately even, so that the yield of grains can be determined with high accuracy.

Although the case where the guide plate 85 is controlled using the detection unit 80 (range sensors 81 and 82) has been described above, it is also suitable to control the guide plate 85 using the camera 83. In the first embodiment, either the detection unit 80 or the camera 83 is selectively used to control the guide plate 85. Control of the guide plate 85 using the camera 83 will be described below.

FIG. 10 is a schematic diagram of a captured image (image data) 300 obtained by imaging with the camera 83. In step S102, the ECU 100 acquires a captured image (image data) 300 from the camera 83. The captured image 300 includes a grain tank image 9A corresponding to the grain tank 9, a discharge port image 76A corresponding to the discharge port 76, and a grain image GA corresponding to the surface layer of grains G stored in the grain tank 9. and are included. In the grain tank 9, marks such as scales are provided at a plurality of positions. Note that the color inside the grain tank 9 may be a different color from that of the grains. The ECU 100 determines the boundary position between the grain image GA and the grain tank image 9A by analyzing the captured image 300, and determines the pile height at a plurality of positions in the grain tank in the horizontal direction based on the boundary position. Next, the ECU 100 calculates the degree of bias in step S103, determines a control target in step S104, and controls the guide plate 85 in step S105.

In this way, the ECU 100 controls the guide plate 85 based on the captured image (image data) 300. Therefore, even when the camera 83 is used, the pile height of the grains stored in the grain tank 9 can be controlled to be approximately even during the harvesting operation, and the grain yield can be determined with high accuracy. becomes possible. Further, the operator can confirm grain yield information (numerical value) on the display screen 32 shown in FIG. 7(b).

In addition, when the camera 83 is a 3D camera, the height and distribution of the unevenness of the deposited grains may be determined from the captured image (image captured data). Alternatively, the yield may be calculated directly from the captured image.

Moreover, the above-mentioned control targets may be different depending on the crop. That is, in step S104, the control target may be determined depending on the crop. In addition, the control is not limited to making the grains in the grain tank 9 approximately level, but even if the piled height differs at each position, the amount of change in the piled height of grains at each position is within a predetermined range. It may be controlled as follows.

As described above, according to the first embodiment, the distance measuring sensors 81 and 82 can detect the continuous pile height of grains at the positions P1 and P2 in the horizontal direction X in the grain tank 9. Since the ECU 100 controls the guide plate 85 based on the detection results of the distance sensors 81 and 82, the way the grains are stored in the grain tank 9 is controlled regardless of the conditions (type of grains and how well they are stored). , it can be adjusted to the target state. Thereby, the filling rate of grains in the grain tank 9 can be increased, the detection accuracy of yield can be improved, and the balance of the machine body 3 can be stabilized during harvesting work. In this way, the deviation in the height of grain accumulation stored in the grain tank 9 can be adjusted depending on the situation.

Further, even when the camera 83 is used to detect the pile height, the way the grains are stored in the grain tank 9 can be adjusted to the target state. Thereby, the filling rate of grains in the grain tank 9 can be increased, the detection accuracy of yield can be improved, and the balance of the machine body 3 can be stabilized during harvesting work. In this way, the deviation in the height of grain accumulation stored in the grain tank 9 can be adjusted depending on the situation.

Furthermore, since the ECU 100 controls the attitude or movement pattern of the guide plate 85, the direction in which the grains discharged from the discharge port 76 collide with the guide plate 85 and bounce back is adjusted. Thereby, the grains are easily guided in the target direction within the grain tank 9, and the way the grains are stored in the grain tank 9 can be adjusted to the target state. Therefore, the deviation in the height of the grains stored in the grain tank 9 can be efficiently adjusted depending on the situation.

In addition, by controlling the guide plate 85 so that the degree of deviation of the grains stored in the grain tank 9 is within a set range, the ECU 100 can approximately equalize the surface layer of the grains stored in the grain tank 9. It can be done. Thereby, the accuracy of yield detection can be improved, and the balance of the machine body 3 can be stabilized during harvesting work.

<Second embodiment>
Next, a second embodiment will be described. In the second embodiment, the control mode of the guide member is switched depending on whether or not the grains stored in the grain tank are almost full. The configuration of the combine harvester of the second embodiment is the same as that of the first embodiment, so illustration and description will be omitted.

FIG. 11 is a flowchart of control processing of ECU 100 according to the second embodiment. The control process of ECU 100 shown in FIG. 11 is repeatedly executed at a predetermined period.

In step S201, the ECU 100 determines whether harvesting work is in progress. The process in step S201 is similar to the process in step S101.

If the harvesting operation is not in progress (S201: NO), the ECU 100 ends the control process. If the harvesting operation is in progress (S201: YES), the ECU 100 moves to the process of step S202. In step S202, the ECU 100 reads sensor values (detection results) from each sensor 81, 82, and 93, and also reads the selection result of the crop selection button 321. The process in step S202 is similar to the process in step S102.

Next, in step S203, the ECU 100 determines whether the grain tank 9 is nearly full of grains. Whether the inside of the grain tank 9 is almost full of grains can be determined based on the detection results of the distance measuring sensors 81 and 82. Alternatively, the determination can be made by analyzing image data captured by the camera 83. Alternatively, the determination can also be made using a limit switch (not shown) placed inside the grain tank 9. For example, the ECU 100 determines that the grain tank 9 is almost full of grains when the height of grain accumulation in the grain tank 9 reaches a predetermined value.

If the grain tank 9 is not nearly full of grains (S203: NO), the ECU 100 selects the first control mode that emphasizes leveling (S204). If the inside of the grain tank 9 is nearly full of grains (S203: YES), the ECU 100 selects the second control mode that emphasizes the filling rate of grains (S205).

Explaining with reference to FIG. 2, the first control mode is a control mode in which the guide plate 85 is controlled so that the degree of deviation of grains stored in the grain tank 9 is within a set range. The second control mode is a control mode in which the guide plate 85 is controlled so that grains are preferentially deposited at a second position A2 that is farther from the discharge port 76 than the first position A1 in the grain tank 9 in the horizontal direction X. . That is, when the height of the grains deposited in the grain tank 9 reaches the vicinity of the discharge port 76, the control that emphasizes leveling is stopped and the grain height is changed to the left side of the grain tank 9 in FIG. The control is changed so that the grains accumulate at position A2 on the opposite side. Thereby, the filling rate of grains in the grain tank 9 can be improved.

Next, in step S206, the ECU 100 calculates the degree of bias of the grains stored in the grain tank 9 based on the detection results of the distance measuring sensors 81 and 82. The process in step S206 is similar to the process in step S103.

Next, in step S207, the ECU 100 determines a control target for controlling the guide plate 85 based on the degree of grain bias. Specifically, the ECU 100 determines the control target based on the calculated degree of bias, the selected control mode, the type of crop selected by the operator, and the pile height.

Next, in step S208, ECU 100 controls guide plate 85 based on the determined control target. The process in step S208 is similar to the process in step S105.

In this way, until the grain tank 9 is almost full, the grains supplied to the grain tank 9 are deposited in the grain tank 9 in a substantially even manner. Therefore, the detection accuracy of grain yield is improved, and the balance of the machine body 3 is stabilized. If the display screen 32 shown in FIG. 7B has been switched, the ECU 100 displays yield information on the display screen 32. Therefore, the operator can confirm grain yield information (numerical value) on the display screen 32.

When the grains in the grain tank 9 are almost full, for example, when the grains near the discharge port 76 are nearly full, the grains discharged from the discharge port 76 are preferentially placed in the far position A2. will be supplied to By filling the position A2 with grains, it is possible to prevent a pile of grains from forming at the position A1 before the position A2, and the grains that are to be supplied from the discharge port 76 to the position A2 are blocked on the way. It is possible to reduce the amount of Therefore, the filling rate of grains in the grain tank 9 is improved.

Further, since either the first control mode or the second control mode is selectively executed depending on the situation, in the first control mode, the surface layer of the grains stored in the grain tank 9 is approximately equalized. In the second control mode, the unevenness of the height of the grains stored in the grain tank 9 is adjusted, and the filling rate of grains in the grain tank 9 can be improved. can.

Although the case where the guide plate 85 is controlled using the distance measuring sensors 81 and 82 has been described above, the same applies to the case where the guide plate 85 is controlled using the camera 83.

Although the embodiments have been described above, the embodiments are not limited to the above examples, and various modifications are possible.

[Modified example]
FIGS. 12(a) and 12(b) are explanatory diagrams of modified examples. The number of guide plates is not limited to a plurality, and as shown in FIG. 12(a), the number of guide plates 85 disposed in the grain tank 9 may be one.

Further, the position of the guide plate 85 disposed inside the grain tank 9 is not limited to the top plate 90. As shown in FIG. 12(b), guide plates 85A and 85B may be arranged on the side wall plate 90A near the discharge port 76. The guide plate 85A is a guide member that guides the grains in the horizontal direction, and the guide plate 85B is a guide member that guides the grains in the vertical direction.

In the above description, a case has been described in which the combine 1 includes both the detection unit 80 (a plurality of ranging sensors 81 and 82) and the camera 83 and selectively uses one of them, but the invention is limited to this. The present invention is also applicable to a case where either one of the detection unit 80 and the camera 83 is provided.

1 Combine harvester 9 Grain tank 70 Fried grain discharge section (discharge section)
76 Discharge port 80 Detection section 83 Camera (imaging section)
85 Guide board (guide member)
100 ECU (control unit)

Claims (5)

A grain tank for storing grain,
a discharge section that discharges grains from a discharge port into the grain tank;
a detection unit that detects a continuous pile height of grains stored in the grain tank at a plurality of horizontal positions in the grain tank;
a guide member capable of changing the feeding direction of grains discharged from the discharge port;
a control unit that controls the guide member based on the detection result of the detection unit;
A combine harvester characterized by: A grain tank for storing grain,
a discharge section that discharges grains from a discharge port into the grain tank;
an imaging unit that images grains stored in the grain tank;
a guide member capable of changing the feeding direction of grains discharged from the discharge port;
a control unit that controls the guide member based on image data captured by the imaging unit;
A combine harvester characterized by: The control unit controls the posture or movement pattern of the guide member.
The combine harvester according to claim 1 or 2, characterized in that: The control unit controls the guide member so that the degree of bias of grains stored in the grain tank is within a set range.
The combine harvester according to any one of claims 1 to 3, characterized in that: The control unit has a first control mode in which the guide member is controlled so that the degree of deviation of grains stored in the grain tank is within a set range, and a first control mode in which the guide member is controlled from a first position in the grain tank in the horizontal direction. and a second control mode in which the guide member is controlled so that grains are preferentially deposited at a second position far from the discharge port.
The combine harvester according to any one of claims 1 to 3, characterized in that:

Images