combine

Abstract

To provide a combine harvester that can prevent the body, clothing, or other items from getting caught in the feed chain during manual operation. [Solution] A threshing device 10 having an upper threshing section 7 equipped with a feed chain 96 for supplying grain straws, In a combine harvester 1 equipped with a feed chain drive mechanism 9 that rotates a feed chain 96, Camera 207 is positioned on the side of the threshing section, The system includes a control device 200 that performs entanglement prevention processing based on the captured image Q acquired by the camera 207, The above problem is solved by a combine harvester 1 characterized in that the control device 200 analyzes the captured image Q by performing an entanglement prevention process, and when it determines that the distance between the worker's arm and a marker provided near the starting end of the feed chain, as included in the captured image Q, falls below a preset safety distance, it emergency stops the rotational drive of the feed chain 96.

Description

Technical Field

[0001] The present invention relates to a self - detaching combine harvester.

Background Art

[0002] For example, a self - detaching combine harvester as described in Patent Document 1 conveys the cereal straw cut by a cutting device to an upper threshing chamber (threshing part of a threshing device) by a conveying device, and threshes the conveyed cereal straw by a handling cylinder rotating in the upper threshing chamber. This type of combine harvester rotates an endless feed chain by the driving force of an engine, sandwiches the cereal straw cut by the cutting device between this feed chain and a clamping rod, and has a mechanism to take over the cereal straw from the conveying device and supply it to the threshing part of the threshing device.

[0003] Here, when the cereal straw gets clogged in the conveying device or the threshing part, etc., the operator needs to remove the clogged cereal straw, drive only the threshing part in a predetermined procedure, and perform a hand - cranking operation of directly supplying the cereal straw to the feed chain for threshing. In this hand - cranking operation, since the operator directly feeds the cereal straw into the feed chain by hand, there is a risk of getting the body, clothes, etc.卷入. Therefore, as described in Patent Document 2, in a conventional combine harvester, an emergency stop switch for stopping the engine in an emergency is provided on the front side surface of the handling cylinder cover. When the operator feels danger, by operating this emergency stop switch, the rotational drive of the feed chain can be stopped emergently.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, conventional combine harvesters still posed a risk of workers getting caught in the feed chain or their clothing if they were slow to activate the emergency stop switch, indicating that there was room for improvement in terms of safety.

[0006] Therefore, the present invention aims to solve these problems and provide a combine harvester that can improve safety by preventing the body, clothing, etc. from getting caught in the feed chain during manual rowing operation. [Means for solving the problem]

[0007] To achieve the above objective, the first invention is: A harvesting device is provided at the front of the aircraft frame, A threshing device is provided behind the harvesting device and has a lower sorting section and an upper threshing section equipped with a feed chain for supplying grain straws. A combine harvester equipped with a feed chain drive mechanism that rotates the feed chain, A camera positioned on the side of the threshing section so as to face forward of the machine, The system includes a control device that performs an entanglement prevention process to prevent the body, clothing, or other objects from becoming entangled in the feed chain, based on the image captured by the camera. The present invention provides a combine harvester characterized in that the control device is configured to perform the entanglement prevention process, analyze the captured image, and when it is determined that the distance between the worker's arm and a marker provided near the starting end of the feed chain, as included in the captured image, falls below a preset safety distance, it emergency stops the rotational drive of the feed chain.

[0008] According to the first invention described above, the rotational drive of the feed chain is stopped immediately when the worker's arm approaches the feed chain, regardless of the worker's operation. This prevents the worker's body or clothing from getting caught in the feed chain during manual rowing, thereby improving safety.

[0009] The second invention is, in the first invention described above, Furthermore, it is equipped with a temperature sensor to measure the temperature of the outside air and a humidity sensor to measure the humidity of the outside air. The control device calculates the discomfort index from the measured values ​​of the temperature sensor and the humidity sensor. The system is characterized by correcting the calculated discomfort index to increase the predetermined safety distance if it is greater than a predetermined standard value.

[0010] According to the second invention described above, in addition to the effects of the first invention described above, Since a higher discomfort index is a concern as it can reduce workers' attention span, adjusting the predetermined safety distance to a longer level can further improve worker safety.

[0011] To achieve the above objective, the third invention is: A harvesting device is provided at the front of the aircraft frame, A threshing device is provided behind the harvesting device and has a lower sorting section and an upper threshing section equipped with a feed chain for supplying grain straws. A combine harvester equipped with a feed chain drive mechanism that rotates the feed chain, A camera positioned on the side of the threshing section so as to face forward of the machine, The system includes a control device that performs an entanglement prevention process to prevent the body, clothing, or other objects from becoming entangled in the feed chain, based on the image captured by the camera. The present invention provides a combine harvester characterized in that the control device is configured to perform the entanglement prevention process, analyze the captured image, and when it determines that any part of the worker's arm included in the captured image is outside a preset safety range, it emergency stops the rotational drive of the feed chain.

[0012] According to the third invention, when the operator's arm approaches the feed chain without depending on the operator's operation, the rotational drive of the feed chain is emergently stopped. Therefore, during manual pushing operation, it is possible to prevent the body, clothes, etc. from being caught in the feed chain, thereby improving safety.

[0013] The fourth invention is as follows in the third invention. Furthermore, it includes a temperature sensor for measuring the temperature of the outside air and a humidity sensor for measuring the humidity of the outside air. The control device calculates a discomfort index from the measured values of the temperature sensor and the humidity sensor. It is characterized in that as the calculated discomfort index is larger than a predetermined standard value, it corrects to narrow the preset safety range.

[0014] According to the fourth invention above, in addition to the effects of the third invention, as the discomfort index is higher, there is a concern that the operator's attention will decrease. Therefore, by correcting to narrow the preset safety range, the safety of the operator can be further improved.

Effects of the Invention

[0015] According to the present invention, it is possible to provide a combine that can prevent the body, clothes, etc. from being caught in the feed chain during manual pushing operation and improve safety.

Brief Description of the Drawings

[0016] [Figure 1] Figure 1 is a side view of a combine showing a preferred embodiment of the present invention. [Figure 2] Figure 2 is a plan view of the same. [Figure 3] Figure 3 is a side view showing the configuration of the feed chain drive mechanism of the combine in Figure 1. [Figure 4] Figure 4 is a side view showing the internal structure of the threshing device in Figure 1. [Figure 5] Figure 5 is an enlarged left side view of the main part around the threshing device in Figure 1. [Figure 6]Figure 6 is a block diagram showing the configuration of the control device in Figure 1. [Figure 7] Figure 7 is an explanatory diagram illustrating the analysis of captured images by the image analysis unit in Figure 6. [Figure 8] Figure 8 is a flowchart showing the details of the anti-entanglement process performed by the anti-entanglement unit in Figure 6. [Figure 9] Figure 9 is an explanatory diagram illustrating the method for calculating the distance between the position of each part of the arm in the captured image and the position of the marker, as performed by the image analysis unit in Figure 6. [Figure 10] Figure 10 is a flowchart showing the details of the first modified example of the anti-entanglement treatment using the anti-entanglement part in Figure 6. [Figure 11] Figure 11 is a flowchart showing the contents of a second modified example of the anti-entanglement treatment using the anti-entanglement part in Figure 6. [Figure 12] Figure 12 is an explanatory diagram illustrating the relationship between the position of each part of the arm in the image captured by the image analysis unit and the safety range. [Figure 13] Figure 13 is a flowchart showing the details of the third modified example of the anti-entanglement treatment using the anti-entanglement part shown in Figure 6. [Modes for carrying out the invention]

[0017] Hereinafter, preferred embodiments of the present invention will be described with reference to the attached drawings. In the following description, unless otherwise specified, the forward direction of the combine harvester 1 will be referred to as "forward," the opposite direction as "rear," the right side when facing forward will be referred to as "right," and the left side as "left." The main body of the combine harvester 1 may also be simply referred to as the "machine."

[0018] <1. Basic configuration of a combine harvester> First, the basic configuration of the combine harvester 1 according to a preferred embodiment of the present invention will be described. Figure 1 is a side view of a combine harvester showing a preferred embodiment of the present invention, Figure 2 is a plan view of the same, Figure 3 is a side view showing the configuration of the feed chain drive mechanism of the combine harvester of Figure 1, and Figure 4 is a side view showing the internal structure of the threshing device of the combine harvester of Figure 1.

[0019] As shown in Figure 1, combine harvester 1 is a combine harvester that can cut and thresh grain stalks such as rice and wheat while self-propelled by the driving force generated by engine 3 as a driving force source. As shown in Figures 1 and 2, combine harvester 1 comprises a machine frame 2, engine 3 as a driving force source, a running gear 4, a cutting gear 5, a threshing gear 10, a grain tank 8, a feed chain drive mechanism 9, a power transmission mechanism 11, and a control device 200.

[0020] The machine frame 2 forms the frame-like structural member of the combine harvester 1's body. The engine 3 (shown in Figure 3) is mounted on the front side in the longitudinal direction on the machine frame 2. The engine 3 is the source of the driving force used in the combine harvester 1. The engine 3 is an internal combustion engine, a heat engine that converts the energy of fuel into mechanical work by burning fuel in the combustion chamber and outputs it as rotational force. The engine 3 is also located below the cabin 22 (shown in Figures 1 and 2), which has an operator's seat 21 (shown in Figure 2) on the machine frame 2.

[0021] In front of the operator's seat 21, there is an input unit 31 that receives various operations from the operator, and a notification unit 32 that can notify the operator of various information by means of display, sound, etc.

[0022] The running gear 4 is installed on the vertically lower side of the machine frame 2. The running gear 4 propels the entire combine harvester 1 using the driving force from the engine 3. The running gear 4 has crawlers 41. The crawlers 41 are installed in pairs on the vertically lower side of the machine frame 2, spaced apart in the width direction of the vehicle. The running gear 4 propels the entire combine harvester 1 forward in the front-rear direction by driving the crawlers 41 with the driving force transmitted from the engine 3.

[0023] The harvesting device 5 is installed at the front of the machine frame 2. The harvesting device 5 is driven by the power from the engine 3 to harvest the grain stalks and transport the harvested grain stalks to the threshing device 10 and the like. The harvesting device 5 is driven by the power from the engine 3 to harvest the grain stalks and is equipped with a weed divider 51 for separating the grain stalks growing in the field, a lifting device 52 for raising fallen grain stalks, and a cutting blade 53 for cutting the raised grain stalks. It also includes a transport device 56 for transporting the harvested grain stalks and a suspension platform 59 (shown in Figures 3, 4, and 8).

[0024] The conveying device 56 is equipped with a stalk conveying device 56a and a head conveying device 56b, and conveys the grain stalks from the harvesting device 5 to the threshing device 10 and then hands them over to the feed chain drive mechanism 9.

[0025] The suspension frame 59 is provided in front of the threshing device 10 at the rear end of the harvesting section 55. As shown in Figure 8, the suspension frame 59 comprises a pair of left and right upright frames 59a erected from the machine frame 2 in the width direction of the vehicle, and a connecting frame 59b that connects the left and right upright frames 59a to each other.

[0026] The threshing device 10 is located behind the harvesting device 5 and to the side of the grain tank 8, and has a lower sorting section 6 and an upper threshing section 7. The sorting section 6 is located above the machine frame 2 and behind the conveying device 56 of the harvesting device 5. The sorting section 6 is located to the side of the grain tank 8 and to the left of the machine frame 2. The sorting section 6 is a device that separates grain from impurities such as straw from the grain stalks threshed by the threshing section 7, using driving force from the engine 3.

[0027] As shown in Figures 1 and 4, the sorting unit 6 comprises a sorting chamber 61, an oscillating sorting unit 62 located within the sorting chamber 61, a winnowing machine 63 located below the oscillating sorting unit 62, a second winnowing machine 64 located behind the winnowing machine 63, a first recovery unit 65 and a second recovery unit 66, and a dust removal fan 67 located behind the oscillating sorting unit 62. The sorting chamber 61 removes impurities from the material to be processed, including the grains threshed in the threshing unit 7, through the combined action of airflow from the winnowing machine 63 and the second winnowing machine 64, which are driven by the driving force transmitted from the engine 3, the oscillating of the oscillating sorting unit 62, and the suction of the dust removal fan 67, thereby sorting the grains for collection in the first recovery unit 65 and the second recovery unit 66. The material to be processed is the grain threshed from the stalks by the threshing drum 72 of the threshing unit 7. Furthermore, the stalks (removed straw) from which the grain has been threshed after passing through the threshing device 10 are placed on the rear side of the feed chain drive mechanism 9. The straw is transported to a straw cutting device located at the rear of the combine harvester 1 by the positioned straw conveying device 150 (shown in Figure 4). The straw conveying device 150 includes a straw conveying chain that transports the threshed grain stalks (straw) from the threshing section 7 of the threshing device 10 to the straw cutting device, a straw drive sprocket that meshes with the straw conveying chain to rotate it, and a straw driven sprocket that meshes with the straw conveying chain and is rotatably mounted. The straw cutting device cuts the straw fed into the straw conveying device 150 and releases it, for example, into the field.

[0028] The threshing unit 7 is located above the machine frame 2 and behind the conveying device 56 of the harvesting device 5. The threshing unit 7 is also located to the side of the grain tank 8 and on the left side of the machine frame 2. The threshing unit 7 threshes the grain stalks that have been conveyed by the driving force from the engine 3. In other words, the threshing unit 7 is a device that separates the grain from the grain stalks harvested by the harvesting device 5.

[0029] As shown in Figures 1 and 4, the threshing unit 7 comprises an endless annular feed chain 96 for supplying grain stalks, a threshing chamber 71 located on the front left side, a second processing chamber (not shown) located to the right of the threshing chamber 71, and a dust removal processing chamber (not shown) located behind the second processing chamber. The threshing chamber 71 houses a cylindrical threshing drum 72 that is rotatable around a rotation axis (not shown) extending in the front-rear direction. The threshing drum 72 rotates to thresh the grain from the ears of the grain stalks that have been transported into the threshing chamber 71 by the feed chain 96, etc. A second processing drum 73 is located in the second processing chamber, and a dust removal processing drum 74 is located in the dust removal processing chamber, both rotatable around rotation axes (not shown) extending in the front-rear direction. The threshing unit 7 threshes the grain stalks as the threshing drum 72, the second processing drum 73, and the dust removal processing drum 74 rotate around the rotation axis by the driving force from the engine 3. The shackle chamber 71 is surrounded by a shackle net 75 on the vertically lower side of the shackle drum 72.

[0030] The grain tank 8 is located to the side of the threshing machine 10. The grain tank 8 temporarily stores the grain collected by the sorting section 6 of the threshing machine 10. The grain tank 8 is connected to a discharge auger 81. The discharge auger 81 uses power from the engine 3 to transport the grain inside the grain tank 8 and discharge it to the outside of the grain tank 8.

[0031] The feed chain drive mechanism 9 rotates the feed chain 96 to transport the grain stalks harvested by the harvesting device 5 from the conveying device 56 of the harvesting device 5 to the threshing section 7 of the threshing device 10. The feed chain drive mechanism 9 is located on the left side, opposite to the side where the grain tank 8 of the threshing device 10 is located. As shown in Figure 3, the feed chain drive mechanism 9 includes a frame 91, a lower chain rail 92, an upper chain rail 93, a rear end support rail 107, a drive sprocket 94, a plurality of driven sprockets 95a, 95b, a clamping rod 97, a fixed displacement section 108, and the like.

[0032] Frame 91 extends in the longitudinal direction of the machine frame 2, and its front end is attached to a pin 106 (shown in Figures 3 and 8) which is rotatably mounted around its axis on the left of the pair of left and right upright frames 59a of the suspension base 59. Frame 91 is rotatably mounted around the pin 106 and is locked by a locking mechanism in a state parallel to the longitudinal direction of the machine frame 2. As shown in Figure 7, frame 91 is positioned outside the vehicle width direction of the counter pulley 120 of the power transmission mechanism 11 (described later), and as shown in Figure 3, it is positioned so as to partially overlap the counter pulley 120 when viewed from the side.

[0033] The lower chain rail 92 and the upper chain rail 93 are formed in the shape of strips extending in the front-rear direction of the machine frame 2, and support the feed chain 96 on their upper surfaces. The lower chain rail 92 is provided above the frame 91 and is supported by the frame 91. The lower chain rail 92 is provided above the frame 91, as if The upper chain rail 93 is curved to pass in front of and above the counter pulley 120, so as to avoid the counter pulley 120. The upper chain rail 93 is positioned above the lower chain rail 92 and is connected to the lower chain rail 92 via a second connecting frame 98 (shown in Figure 7), and is supported by the frame 91 via the second connecting frame 98 and the lower chain rail 92. As shown in Figure 7, the second connecting frame 98 connects the lower surface of the upper chain rail 93 to the inner surface of the lower chain rail 92 and is positioned inward in the vehicle width direction from the lower chain rail 92.

[0034] The lower chain rail 92 is positioned lower than the upper chain rail 93, so that the lower chain rail 92 supports the lower through portion 96a of the endless annular feed chain 96, which passes under the drive sprocket 94 and the driven sprocket 95b, while the upper chain rail 93 supports the upper through portion 96b of the endless annular feed chain 96, which passes over the drive sprocket 94 and the driven sprocket 95b.

[0035] The rear end support rail 107 is formed in the shape of a strip extending in the front-rear direction of the machine frame 2, and is provided behind the upper chain rail 93, on the same line as the upper chain rail 93, and supports the rear end of the feed chain 96 on its upper surface. The rear end support rail 107 is supported (provided) by the threshing unit 7 so as to be able to rotate vertically with its front end 107a as the center and its rear end 107b pointing downwards. The rotation center K of the rear end support rail 107 is parallel to the width direction of the vehicle. In addition, a guide member 109 is attached to the rear end 107b of the rear end support rail 107 to prevent the grain stalks from getting tangled in the feed chain 96 or the like.

[0036] The drive sprocket 94 is rotated by the driving force output by the hydraulic continuously variable transmission 112 of the power transmission mechanism 11 (described later), thereby rotating the feed chain 96 and transporting the grain stalks toward the threshing device 10. As shown in Figure 7, the drive sprocket 94 is superimposed on a fixed plate 99 attached to the front end of the frame 91 and is rotatably supported by a support plate 101 which is fixed to the fixed plate 99 by bolts 100a and nuts 100b as fastening members. The drive sprocket 94 meshes with the inside of the front end (front part) of the feed chain 96. The fixed plate 99 and the support plate 101 are provided with holes for passing the bolts 100a through. The drive sprocket 94 is rotatably supported by the frame 91 via the fixed plate 99 and the support plate 101.

[0037] In Embodiment 1, two driven sprockets 95a and 95b are provided. One driven sprocket 95a is provided above and in front of the drive sprocket 94 and is rotatably supported at the front end of the upper chain rail 93. The other driven sprocket 95b is provided above and behind the drive sprocket 94 and is rotatably supported at the rear end 107b of the rear end support rail 107. One driven sprocket 95a engages with the inside of the front end of the feed chain 96, and the other driven sprocket 95b engages with the inside of the rear end of the feed chain 96.

[0038] The inner sides of the feed chain 96 mesh with the outer circumferences of the drive sprocket 94 and the driven sprockets 95a and 95b, and the feed chain 96 is stretched across them. The lower passing portion 96a of the feed chain 96, which passes under the drive sprocket 94 and the other driven sprocket 95b, is curved by the lower chain rail 92 so as to avoid the counter pulley 120, passing in front of and above the counter pulley 120. A tensioner sprocket 102 is provided between the drive sprocket 94 and one of the driven sprockets 95a. The tensioner sprocket 102 is rotatably supported at the tip of a swinging arm 103 that is swingably mounted on a support plate 101 or the like, and applies tension to the feed chain 96 by pressing against it from the outside to the inside.

[0039] The gripping rod 97 is positioned above the feed chain 96 and supported by an upper chain rail 93 or the like. The gripping rod 97 is biased toward the feed chain 96 by a coil spring 104. This structure allows the gripping rod 97 to apply force toward the feed chain 96 to the stalks, especially the base of the stems. As a result, the base of the stalks fed between the gripping rod 97 and the feed chain 96 is gripped by the gripping rod 97 and the feed chain 96, and is transported to the threshing device 10 as the feed chain 96 is rotated. To the right of the gripping rod 97, as shown in Figure 7, a threshing funnel 105 is provided to guide the stalks, especially the ears, into the threshing section 7 of the threshing device 10.

[0040] Figure 5 is an enlarged left side view of the main parts surrounding the threshing apparatus shown in Figure 1. As shown in Figure 5, a hand-operated lever 201 is provided on the front side of the threshing unit 7. The rear end of the hand-operated lever 201 is pivotably mounted on a support shaft 203 that extends left and right from a bracket 202 provided on the front of the threshing unit. The hand-operated lever 201 rotates around the support shaft 203 to open the space S formed between the end of the conveying device 56 and the starting end of the upper chain rail 93. This allows the operator to efficiently transfer (feed) the harvested grain stalks onto the feed chain 96. The speed change lever 204 in the figure is an operating member that increases or decreases the rotational speed and changes the rotational direction of the engine 3, which is transmitted to a hydraulic continuously variable transmission (HST).

[0041] An emergency stop switch 206 is provided on the side of the threshing drum cover 205, which covers the threshing drum 72 (see Figure 4) of the threshing unit 7, allowing the engine 3 to be stopped in an emergency by the operator. A camera 207 is also provided on the side of the threshing drum cover 205, which takes pictures from the side of the threshing unit 7 toward the front of the machine. This camera 207 is positioned to photograph the operator performing the manual threshing operation, so it is preferable that the shooting range is approximately centered on the side of the end of the conveying device 56 and the starting end of the upper chain rail 93, which is the position where the operator transfers the grain stalks onto the feed chain 96. A marker X is also provided on the front left side of the threshing drum cover 205 near the starting end of the feed chain 96, so as to be included in the shooting range of the conveying device 56. This marker X is, for example, a circular reflective seal. A temperature sensor 208 for measuring the ambient temperature and a humidity sensor 209 for measuring the ambient humidity are also provided on the threshing drum cover 205 at appropriate locations.

[0042] <2. Control device configuration> Figure 6 is a block diagram showing the configuration of the control device 200 in Figure 1. The control device 200 is an information processing device composed of a combination of multiple ECUs (Electronic Control Units). Each of these ECUs is equipped with a CPU for performing calculations and a memory capable of reading and writing information necessary for calculations. The control device 200 realizes the configuration shown as a functional block in Figure 6 when the CPU operates according to various control programs stored in the memory. Note that Figure 6 shows the configuration related to the entanglement prevention process, which will be described later, but the configuration related to the operation of the combine harvester 1, harvesting, threshing, etc. is not shown. Although not shown, the combine harvester 1 may be configured to automatically travel around the field by acquiring position information from a positioning device that measures its own position. In this case, the functions of the input unit 31 and the notification unit 32 may be replaced by a portable information terminal (tablet, etc.) that is configured to communicate with the combine harvester 1 and to remotely control the combine harvester 1.

[0043] As shown in Figure 6, the control device 200 is configured to acquire various types of information from the input unit 31, emergency stop switch 206, camera 207, temperature sensor 208, and humidity sensor 209 connected to its input side. The engine 3 and notification unit 32 are connected to its output side, allowing the control device to start and stop the engine 3 and output various types of information such as warnings from the notification unit 32. Furthermore, the control device 200 includes, as a control program, an image acquisition unit 200a that acquires images from the camera 207 at predetermined time intervals (for example, 0.5 seconds), an image analysis unit 200b that analyzes the images acquired by the camera 207, and an entanglement prevention unit 200c that performs entanglement prevention processing, which will be described later, based on the information analyzed by the image acquisition unit 200a.

[0044] <3. Analysis of Acquired Images> Figure 7 is an explanatory diagram illustrating the analysis of captured images by the image analysis unit 200b in Figure 6. The image analysis unit 200b acquires images from the camera 207 and analyzes the acquired images. Specifically, Figure 7 shows, as an example, an image Q showing a worker q performing a hand-rowing operation and a marker X.

[0045] The image analysis unit 200b analyzes the acquired image Q and, using known image analysis processing (e.g., pattern matching processing), detects the arm regions r1 and r2 of worker q that are included within a preset detection range R in the image. Upon detecting the arm regions r1 and r2 of worker q, it further detects the positions of each part of worker q's arm in the image, specifically the shoulder p1, elbow p2, and hand p3. Here, the detection range R is a range within the image region of the acquired image Q that is set to estimate whether or not the worker is performing manual rowing work. When the worker's arm is detected within this detection range R, it is estimated that the worker is performing manual rowing work. Note that the detection range R may be set to encompass the entire area of ​​the acquired image Q. Furthermore, the image analysis unit 200b is configured to detect, in detail, the upper arm region r1 from the shoulder to the elbow and the forearm region r2 from the elbow to the hand as arm regions. Furthermore, by configuring the system to detect the upper arm region r1 and the forearm region r2, the worker's arm can be reliably detected even if the worker's hands are obscured by the grain stalks fed into the feed chain 96 during manual rowing. Some functions of the image analysis unit 200b may be implemented by implementing a trained model that has learned the relationship between the image including the worker and the positions of various parts of the arm.

[0046] <4. Anti-entanglement treatment> Figure 8 is a flowchart illustrating the entanglement prevention process performed by the entanglement prevention unit in Figure 6. The entanglement prevention unit 200c performs the entanglement prevention process, thereby preventing the body, clothing, or other objects from becoming entangled in the feed chain 96.

[0047] The entanglement prevention process is initiated, for example, when the engine 3 is started to run by a predetermined operation. When the entanglement prevention process is started, the entanglement prevention unit 200c first acquires an image Q from the camera 207 using the image acquisition unit 200a (step #1), analyzes the acquired image Q using the image analysis unit 200b, and obtains from the image analysis unit 200b whether or not the worker's arm (regions r1 and r2) was detected in the image Q. The entanglement prevention unit 200c determines that the worker's arm was detected when the image analysis unit 200b can detect either or both of the upper arm region r1 or the forearm region r2 (Y in step #3). On the other hand, when neither the upper arm region r1 nor the forearm region r2 can be detected, the entanglement prevention unit 200c determines that the worker's arm was not detected (N in step #3).

[0048] When the worker's arm is detected (Y in step #3), the entanglement prevention unit 200c uses the image analysis unit 200b to calculate the distances between the position of each part of the worker's arm (shoulder p1, elbow p2, hand p3) in the captured image Q and the position of marker X (step #4). Here, Figure 9 is an explanatory diagram illustrating how the image analysis unit 200b calculates the distances (d1, d2, d3) between the position of each part of the arm (shoulder p1, elbow p2, hand p3) in the captured image Q and the position of marker X. As shown in Figure 9, the image analysis unit 200b calculates the distance d1 between marker X and shoulder p1, the distance d2 between marker X and elbow p2, and the distance d3 between marker X and hand p3. At this time, if the position of any part of the arm could not be calculated for any reason, such as being hidden by grain stalks, the calculation of the distance is omitted.

[0049] Returning to Figure 8, the entanglement prevention unit 200c then determines whether the calculated distances (d1, d2, d3) between the positions of each part of the arm (shoulder p1, elbow p2, hand p3) and the position of the marker X are below the safety distance set in advance for each part of the arm (step #5). Here, the safety distance is a distance set in advance for each part of the arm to prevent the body or clothing from getting caught in the feed chain 96. If the calculated distances (d1, d2, d3) between the positions of each part of the arm (shoulder p1, elbow p2, hand p3) and the position of the marker X are greater than or equal to the safety distance, it is determined that there is little risk of the body or clothing getting caught in the feed chain 96 (a safe distance is secured from the feed chain 96).

[0050] If the calculated distance (d1, d2, d3) between the position of any (at least one) part of the arm (shoulder p1, elbow p2, hand p3) and the position of marker X falls below the set safety distance (Y in step #5), the entanglement prevention unit 200c alerts the worker via the notification unit 32 (e.g., a buzzer) (step #6), and for safety, the engine 3 is emergency stopped (step #7), ending the process. Stopping the engine 3 stops the rotational drive of the feed chain 96. This prevents the body or clothing from getting caught in the feed chain 96 during manual operation, thereby improving safety.

[0051] Furthermore, if the worker's arm is not detected in step #3 (N in step #3), Alternatively, in step #5, if the calculated distance (d1, d2, d3) between the position of each part of the arm (shoulder p1, elbow p2, hand p3) and the position of marker X is greater than or equal to the set safety distance (N in step #5), the entanglement prevention unit 200c determines whether the work is complete. If it determines that the work is complete (for example, if the engine 3 has already been stopped by a predetermined operation), it terminates the process (Y in step #8). If it determines that the work is not complete, it returns to step #1 (N in step #8).

[0052] <5. First modified example of the anti-entanglement treatment> Figure 10 is a flowchart showing the details of the first modified example of the anti-entanglement treatment using the anti-entanglement part shown in Figure 6. The anti-entanglement treatment related to the first modified example will mainly be explained in terms of the differences from the anti-entanglement treatment shown in Figure 8.

[0053] As shown in Figure 10, the entanglement prevention unit 200c, using the image analysis unit 200b, calculates the distance between the position of each part of the worker q's arm (shoulder p1, elbow p2, hand p3) in the captured image Q and the position of the marker X (step #4). Then, it obtains temperature measurements from the temperature sensor 208 and humidity measurements from the humidity sensor 209 (step #5-1), and calculates the discomfort index (step #5-2). Subsequently, it corrects the preset safety distance based on the calculated discomfort index value (step #5-3). Specifically, the greater the calculated discomfort index value is than a predetermined standard value, the more the preset safety distance is corrected to be longer. Conversely, the lower the calculated discomfort index value is than a predetermined standard value, the more the preset safety distance is corrected to be shorter. In other words, since a higher discomfort index raises concerns about a decrease in the worker's attention span, correcting the preset safety distance to be longer can further improve worker safety. Furthermore, by correcting the calculated discomfort index value to be shorter the preset safety distance as it falls below a predetermined standard value, when the discomfort index value is low, it is possible to prevent the engine from being stopped due to false detection and improve work efficiency. Subsequently, for any (at least one) part of the arm, if the distance (d1, d2, d3) between the calculated position of the arm part (shoulder p1, elbow p2, hand p3) and the position of the marker X falls below the (corrected) safety distance (Y in step #5-4), the entanglement prevention unit 200c alerts the worker via the notification unit 32 (for example, with a buzzer) (step #6), and for safety, the engine 3 is stopped (step #7), ending the process.

[0054] <6. Second variation of the anti-entanglement treatment> Figure 11 is a flowchart showing the details of the second modified example of the anti-entanglement treatment using the anti-entanglement section in Figure 6. The anti-entanglement treatment related to the second modified example will mainly be explained in terms of the differences from the anti-entanglement treatment shown in Figure 8.

[0055] In step #3, when the worker's arm is detected (Y in step #3), the entanglement prevention unit 200c uses the image analysis unit 200b to determine whether the positions of each part of the worker's arm (shoulder p1, elbow p2, hand p3) in the captured image Q are outside the safety range R2 (step #5-5). Here, Figure 12 is an explanatory diagram to explain the relationship between the positions of each part of the arm (shoulder p1, elbow p2, hand p3) in the captured image Q determined by the image analysis unit 200b and the safety range R2. As shown in Figure 12, the safety range R2 is set in advance within the detection range R, and it is the range (on the two-dimensional image) in which safety is presumed to be ensured when the positions of each part of the arm (shoulder p1, elbow p2, hand p3) are all within the safety range R2.

[0056] Returning to Figure 11, if any part of the arm (shoulder p1, elbow p2, hand p3) is outside the safety range R2 (Y in step #5-5), the entanglement prevention unit 200c alerts the worker via the notification unit 32 (e.g., a buzzer) (step #6), and for safety, the engine 3 is emergency stopped (step #7), ending the process.

[0057] <7. Third variation of the anti-entanglement treatment> Figure 13 is a flowchart showing the details of the third modified example of the anti-entanglement treatment using the anti-entanglement part shown in Figure 6. The anti-entanglement treatment related to the second modified example will mainly be explained in terms of the parts that differ from the anti-entanglement treatment shown in Figure 10.

[0058] After calculating the discomfort index (step #5-2), the anti-entanglement unit 200c corrects the preset safety range R2 (see Figure 12) to be narrower if the calculated discomfort index value is greater than a predetermined standard value, and corrects the preset safety distance to be wider if the calculated discomfort index value is lower than a predetermined standard value. In other words, since a higher discomfort index raises concerns about decreased worker attention, correcting the preset safety range to be narrower can further improve worker safety. Furthermore, by correcting the preset safety range to be wider if the calculated discomfort index value is lower than a predetermined standard value, it is possible to prevent engine emergency shutdowns due to false detections when the discomfort index value is low, thereby improving work efficiency.

[0059] Next, the entanglement prevention unit 200c uses the image analysis unit 200b to determine whether the positions of each part of the worker q's arm (shoulder p1, elbow p2, hand p3) in the captured image Q are outside the (corrected) safety range R2 (steps #5-7). If any of the positions of the arm parts (shoulder p1, elbow p2, hand p3) are outside the (corrected) safety range R2 (Y in step #5-7), the entanglement prevention unit 200c alerts the worker via the notification unit 32 (e.g., a buzzer) (step #6), and for safety reasons, it emergency stops the engine 3 (step #7), ending the process.

[0060] The embodiments of the present invention have been described above. The present invention is not limited to the embodiments described above. It goes without saying that modifications can be made as appropriate within the scope of the technical idea.

[0061] The control device 200 may be configured to alert the user via the notification unit 32 to return the hand-rowing lever 201 to its initial position after detecting an arm in the captured image Q and then no longer detecting an arm in the captured image Q.

[0062] A wind speed sensor may be installed on combine harvester 1, and when calculating the discomfort index in Figures 10 and 13, the measured values ​​from the wind speed sensor may be acquired and the measured wind speed may be taken into account when calculating the discomfort index.

[0063] Combine harvester 1 may be configured to recognize workers being filmed by camera 207, and if a worker being filmed remains completely motionless for a predetermined period of time, it may send an emergency alert email to a pre-set email address to the administrator, a designated institution (hospital), etc. Alternatively, combine harvester 1 may be configured to have an additional camera 207 mounted at the rear of the machine, which can be used to determine the shape of the rice grains, the number of rows in the field, whether there are rice grains in the field, whether there are workers present, the posture of workers on board the machine, whether there are other combine harvesters, etc., and to stop the machine if necessary. [Explanation of symbols]

[0064] 1 combine harvester 2. Aircraft Frame 3 Engines 4. Traveling device 5 Reaping device 6. Sorting Section 7. Threshing section 8 Glen Tank 9 Feed chain drive mechanism 10 Threshing device 11 Power transmission mechanism 31 Input section 32 Hochi Department 41 Crawler 67 Dust removal fan 91 frames 92 Lower chain rail 93 Upper chain rail 94 Drive sprocket 95b Driven sprocket 96 Feed Chain 96a Lower passage 96b Upper passage 99 Fixing plate 107 Rear end support rail 107a Front end 107b Rear end (separated part) 108 Fixed displacement section 108c through groove 108d Lock release lever 108e Entry groove 108g electric motor 108h Linking Link 108i output shaft 111 Counter shaft 112 Hydraulic continuously variable transmission 120 Counter Pulley 151 Straw Removal Conveying Chain 152 Straw Removal Drive Sprocket 153 Speed-increasing gearbox (speed-increasing mechanism) 160 Torque limiter (safety device) 173 Valve (safety device) 200 Control device 201 Hand-operated lever 202 Bracket 203 Spindle 204 Gear shift lever 205 Drum Cover 206 Emergency Stop Switch 207 Camera 208 Temperature Sensor 209 Humidity Sensor p1 Shoulder position p2 Elbow position p3 Hand position Q: Captured image q Worker (image) R detection range R2 Safety Range r1 Region of the arm (upper arm) r2 Region of the arm (forearm) X Marker

Claims

1. A harvesting device is provided at the front of the aircraft frame, A threshing device is provided behind the harvesting device and has a lower sorting section and an upper threshing section equipped with a feed chain for supplying grain straws. A combine harvester equipped with a feed chain drive mechanism that rotates the feed chain, A camera positioned on the side of the threshing section so as to face forward of the machine, The system includes a control device that performs an entanglement prevention process to prevent the body, clothing, or other objects from becoming entangled in the feed chain, based on the image captured by the camera. The combine harvester is characterized in that, upon execution of the entanglement prevention process, the control device analyzes the captured image and, when it determines that the distance between the worker's arm and a marker provided near the starting end of the feed chain, as included in the captured image, falls below a preset safety distance, it is configured to emergency stop the rotational drive of the feed chain.

2. Furthermore, it is equipped with a temperature sensor to measure the temperature of the outside air and a humidity sensor to measure the humidity of the outside air. The control device calculates the discomfort index from the measured values ​​of the temperature sensor and the humidity sensor. The combine harvester according to claim 1, characterized in that the calculated discomfort index is greater than a predetermined standard value, and the preset safety distance is corrected to be longer.

3. A harvesting device is provided at the front of the aircraft frame, A threshing device is provided behind the harvesting device and has a lower sorting section and an upper threshing section equipped with a feed chain for supplying grain straws. A combine harvester equipped with a feed chain drive mechanism that rotates the feed chain, A camera positioned on the side of the threshing section so as to face forward of the machine, The system includes a control device that performs an entanglement prevention process to prevent the body, clothing, or other objects from becoming entangled in the feed chain, based on the image captured by the camera. The combine harvester is characterized in that the control device is configured to perform the entanglement prevention process, analyze the captured image, and when it determines that any part of the worker's arm included in the captured image is outside a preset safety range, it emergency stops the rotational drive of the feed chain.

4. Furthermore, it is equipped with a temperature sensor to measure the temperature of the outside air and a humidity sensor to measure the humidity of the outside air. The control device calculates the discomfort index from the measured values ​​of the temperature sensor and the humidity sensor. The combine harvester according to claim 3, characterized in that the calculated discomfort index is greater than a predetermined standard value, and the preset safety range is corrected to be narrower.

Images