combine

Abstract

To provide a combine harvester capable of securing accuracy of a calculated amount of grain even with an inexpensive constitution.SOLUTION: A control device is capable of executing: a filtering process for generating load cell data D3 by filtering load cell data D2 based on a detection signal of a yield sensor; and an amount of grain calculation process for calculating an amount of grain accumulated in a grain tank on the basis of the load cell data D3. In the filtering process, the control device extracts data DCA and DCB which exceed threshold and appear in a prescribed period from among load cell data D2 as load cell data D3 by using a reference condition.SELECTED DRAWING: Figure 15

Description

[Technical field]

[0001] The present invention relates to a combine harvester, and more particularly to a combine harvester equipped with a calculation means for calculating the amount of grain. [Background technology]

[0002] In general, a combine harvester threshes the harvested stalks and stores the threshered grains in a grain tank. Conventionally, as shown in Patent Document 1, a combine harvester has been proposed that includes a pressure sensor that detects the impact force of grains thrown into the grain tank by the rotation of the blades, and calculates the amount of grains based on the impact force detected by the pressure sensor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 5512372 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the above-mentioned Patent Document 1, it was necessary to determine the period during one rotation of the blade during which the grains collide with the pressure sensor using a pickup sensor that generates a pulse wave every time the blade rotates once, and to calculate the amount of grains stored in the grain tank based on the integrated value of the detection value during the period during which the grains collide with the pressure sensor. Therefore, the combine harvester described in the above-mentioned Patent Document 1 was required to be equipped with a pickup sensor to calculate the amount of grains.

[0005] Therefore, an object of the present invention is to provide a combine harvester that is inexpensive in construction yet can ensure the accuracy of the calculated grain amount. [Means for solving the problem]

[0006] The present invention relates to a threshing unit (35) for threshing the harvested stalks; A rotating body (61) that rotates to scatter the grains supplied from the threshing section (35) into the storage section (9); a detection means (80) for outputting a detection signal (Sn1) corresponding to an impact force of grains that are scattered by the rotor (61) and come into contact with the grains; A storage means (103) for storing reference conditions (RF); and a calculation means (100) capable of executing a filtering process for generating second detection data (D3) by filtering first detection data (D2) based on the detection signal (Sn1), and a grain amount calculation process for calculating the amount of grains stored in the storage section (9) based on the second detection data (D3). In the filtering process, the calculation means (100) extracts data that exceeds a threshold value (TH1) and appears at a predetermined period (P0) from the first detection data (D2) as the second detection data (D3) using the reference condition (RF). It is characterized by:

[0007] For example, referring to FIG. 8, FIG. 14, and FIG. 15, the first detection data (D2) includes a plurality of data (DC) sampled at a predetermined sampling period (Δt), The reference condition (RF) is a first data (e.g., DC A ,DC C ) for the first data (DC A ) a predetermined number (for example, six) of second data (DC A0 ) does not exceed the threshold value (TH1), the first data (DC A ) in the second detection data (D3), and the predetermined number of second data (DC C0 ) exceeds the threshold, the first data (DC C ) is not included in the second detection data (D3).

[0008] For example, with reference to FIGS. 8 and 16, the calculation means (100) is capable of executing a determination process of determining whether or not an abnormality has occurred based on the first detection data (D2) and causing an alarm unit (95) to give an alarm when it is determined that an abnormality has occurred.

[0009] For example, referring to Figures 6, 8 and 16, in the determination process, the calculation means (100) estimates the rotation speed of the rotating body (61) based on the first detection data (D2), and determines that an abnormality has occurred if the difference between the estimated rotation speed and the rated rotation speed of the rotating body (61) is greater than a predetermined value (M2).

[0010] It should be noted that the reference numerals in parentheses are used for comparison with the drawings, and do not limit the configuration of the present invention in any way. Effect of the Invention

[0011] According to the present invention of claim 1, there is no need to provide a separate sensor such as a pickup sensor to determine the amount of grains, so the amount of grains can be calculated with an inexpensive configuration and the accuracy of the calculated amount of grains can be ensured.

[0012] Also, Claim 1 According to the present invention, data other than data that appears at a predetermined cycle in the first detection data can be removed more reliably, and the kernel quantity can be calculated with higher accuracy.

[0013] Claim 2 According to the present invention, since the notification unit notifies an abnormality, an operator can quickly respond to the abnormality.

[0014] Claim 3 According to the present invention, the notification unit notifies an abnormality, enabling an operator to quickly respond to an abnormality in the rotation speed of the rotating body. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is a left side view showing a combine harvester according to a first embodiment. [Diagram 2] FIG. [Diagram 3] FIG. [Figure 4] FIG. [Diagram 5] Cross-sectional view showing the threshing device and grain tank. [Figure 6] A side view showing the grain lifting and discharging section. [Figure 7] FIG. 1 is a plan view showing the grain lifting and discharging section, where (a) is a view with the top lid attached and (b) is a view with the top lid removed. [Figure 8] FIG. 2 is a block diagram showing a control system of a combine harvester. [Figure 9] 4 is a flowchart showing the processing of the control device. [Figure 10] FIG. 1 is an explanatory diagram showing load cell data, where (a) is a diagram before offset correction and (b) is a diagram after offset correction. [Figure 11] 13 is a flowchart showing an offset amount calculation process. [Figure 12] 13 is a flowchart showing a yield calculation process. [Figure 13] FIG. 11 is an explanatory diagram showing a transition state when load cell data is processed. [Figure 14] FIG. [Figure 15] FIG. [Figure 16] 4 is a flowchart showing an abnormality determination process. [Figure 17] 10 is a flowchart showing a process of a control device according to a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] <First embodiment> A first embodiment of the present invention will be described below with reference to the drawings. As shown in Fig. 1 and Fig. 2, a head-feeding combine harvester 1 has a machine body 3 supported by a crawler travel device 2 and equipped with an engine (not shown), and a reaping unit 6 that reaps culms and transfers them to a feed chain 5 is provided in front of the machine body 3 so as to be movable up and down and open and close in the left and right directions. A threshing device 7 that threshes and sorts the culms reap- ed and transported by the reaping unit 6 and feed chain 5 is provided on one side of the machine body 3, and a driving operation unit 8 that allows an operator to operate the combine harvester is provided on the other side.

[0017] A grain tank 9, which is an example of a storage unit for storing grains threshed and sorted by the threshing device 7, is disposed behind the operation unit 8, and a discharge auger 10 that can be raised and lowered and rotated to discharge the grains stored in the grain tank 9 outside the machine is disposed behind the grain tank 9. The straw removed after threshing by the threshing device 7 is cut by a cutter device 14 (see FIG. 4) 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 GNSS antenna (GPS antenna) 12 is disposed between the operation unit 8 and the grain tank 9.

[0018] A reaping clutch 97 (see FIG. 8) is provided between the engine and the reaping unit 6, and a threshing clutch 98 (see FIG. 8) is provided between the engine and the threshing device 7. The reaping clutch 97 and the threshing clutch 98 are connected and disconnected to switch between stopping and driving the reaping unit 6 and the threshing device 7.

[0019] The harvesting unit 6 is composed of a rotatable divider 13 that divides the culms in the field, a lifting device 15 that raises the divided culms behind the divider 13, a reciprocating cutting blade 16 that harvests the raised culms, a culm conveying device 17 that transports the harvested culms and hands them over to the feed chain 5, and a threshing depth conveying body 19 that adjusts the threshing depth of the culms.A narrow guide 20 is provided on the side of the harvesting unit 6 and is configured to be switchable between a working position that extends forward of the machine body 3 to guide and divide the planted culms, and a storage position in which it is pulled toward the machine body 3.

[0020] As shown in Fig. 3, the driving operation unit 8 has a main travel speed change lever 22 that can adjust the forward or reverse vehicle speed steplessly by operating it forward or backward from a neutral position, and an auxiliary speed change lever 23 that can be switched between a low-speed work range and a high-speed driving range, etc., on the left side of the driver's seat 21 provided in the center of the driving operation unit 8. Furthermore, in front of the driver's seat 21, there are an engine rotation dial 25 that adjusts the engine speed, a power clutch switch 26 that can turn on and off the threshing clutch 98 and the reaping clutch 97 by button operation to turn on and off the power from the engine to the threshing device 7 or the reaping unit 6, respectively, a multi-steering lever 29 that can lift and lower the reaping unit 6 and turn the machine body 3, a touch panel type liquid crystal monitor 30, a display changeover switch 31 that changes the screen of the liquid crystal monitor 30, etc. It should be noted that the screen of the liquid crystal monitor 30 may be changed by touching the liquid crystal monitor 30 instead of operating the display changeover switch 31.

[0021] The power clutch switch 26 is a momentary seesaw switch that switches the drive state of the reaping unit 6 and the threshing device 7. There are three drive states of the reaping unit 6 and the threshing device 7: a stopped state in which both the reaping unit 6 and the threshing device 7 are stopped, a threshing state in which the reaping unit 6 is stopped and the threshing device 7 is driven, and a reaping state in which both the reaping unit 6 and the threshing device 7 are driven. A transition to the stopped state is made by disconnecting both the threshing clutch 98 and the reaping clutch 97, a transition to the threshing state is made by connecting the threshing clutch 98 and disconnecting the reaping clutch 97, and a transition to the reaping state is made by connecting both the threshing clutch 98 and the reaping clutch 97.

[0022] As shown in Figures 4 and 5, the threshing device 7 has a threshing section 35 that threshes the culms harvested by the harvesting section 6, a sorting section 36 located directly below the threshing section 35, and a straw waste processing section 37 located behind the threshing section 35 and the sorting section 36. The culms harvested by the harvesting section 6 (see Figure 1) are transported backward by the feed chain 5 and clamping rails, and the tips of the culms enter the threshing section 35 for threshing. The processed material, which consists of the grains threshed by the threshing section 35 and impurities such as broken straw generated during threshing, leaks from the threshing section 35 to the sorting section 36, where they are shaken and air-sorted, and only the grains are stored in the grain tank 9 (see Figure 2). A straw waste conveying device 39 is connected to the end of the feed chain 5, and the straw waste after threshing in the threshing section 35 is transported to the straw waste processing section 37, where it is cut or bundled.

[0023] More specifically, the threshing section 35 has a threshing chamber 40 extending along the front-rear direction of the machine body, and the threshing chamber 40 rotatably supports a threshing drum 41 having a cylindrical shape that is long in the conveying direction, which is the front-rear direction of the machine body. The threshing drum 41 is divided into front and rear parts at its middle, and these two threshing drums 41a, 41b have a large number of threshing teeth 41c, ... attached to their outer circumferential surfaces, and the front threshing drum 41a and the rear threshing drum 41b are configured to be able to be driven at different rotation speeds.

[0024] A number of dust guides 42 are arranged at the top of the threshing chamber 40, and the retention time of straw scraps, grains, etc. in the threshing chamber 40 can be controlled by arbitrarily changing the angle of these dust guides 42. A receiving net 43 with a number of holes is arranged along the threshing drum 41 below the threshing chamber 40, and impurities such as threshed grains and scraps drop from the receiving net 43 to the sorting section 36 as leakage material. Note that a processing chamber that rotatably supports the processing drum may be further provided behind the threshing chamber 40, so that materials that could not be completely threshed in the threshing chamber 40 can be processed in the processing chamber.

[0025] The sorting section 36 has a swaying sorting body 45 disposed below the receiving net 43, a winnowing fan 46 and a blower fan 47 for blowing sorting air from the lower front side to the upper rear side of the swaying sorting body 45, and a dust exhaust fan 48. The swaying sorting body 45 has a three-tiered structure, with an upper tier feed pan 49, a chaff sieve 50, and a straw rack 51, a middle tier chaff sieve 52 and a straw rack 53, and a lower tier grain sieve 55, which are arranged in succession and sway back and forth to sieve and sort the material to be processed. The chaff sieves 50 and 52 are composed of a plurality of fins arranged side by side at a predetermined interval in the front-rear direction, and the fins of the chaff sieve 52 are configured to be freely opened and closed. A layer thickness sensor (not shown), consisting of a flag, a potentiometer, etc., is provided above the chaff sieve 52, and the layer thickness of the material being treated on the chaff sieve 52 can be detected by detecting the opening degree of the flag, which is pressed and swung by the material being treated, using the layer thickness sensor.

[0026] The feed pan 49 is a corrugated transfer plate that receives the materials to be processed that drop from the receiving net 43 and transfers them backward. The materials transferred backward are screened and sorted by the oscillating sorting body 45, and are also wind-sorted by the sorting wind generated by the winnowing fan 46 and the blower fan 47. The grains that pass through the grain sieve 55, which is a wire mesh member with a specified mesh size, fall into the first spiral 56 as the first grain. The materials transferred to the end of the oscillating sorting body 45 fall into the second spiral 57 via the straw rack 51, the chaff sieve 52 and the straw rack 53. The long straw and dust that are restricted from falling by the straw rack 53 are transferred to the end and discharged outside the machine by the dust exhaust fan 48.

[0027] The upper part of the grain tank 9 is connected to the lifting tube 58 via the lifting and discharging section 70. The lifting and discharging section 70 is provided at the upper end of the lifting tube 58. As shown in FIG. 6, a rotor 61 is provided inside the lifting tube 58 and the lifting and discharging section 70. The rotor 61 includes a first vertical spiral 59 provided inside the lifting tube 58 and a spring plate 60 provided inside the lifting and discharging section 70. The first vertical spiral 59 rotates around a rotation axis 61a that is approximately the same as the center of the lifting tube 58. The spring plate 60 is provided at the upper end of the first vertical spiral 59 and rotates together with the first vertical spiral 59 around the rotation axis 61a. The first grain that falls into the first spiral 56 is supplied to the first vertical spiral 59 by the first spiral 56 and is lifted by the first vertical spiral 59. The grains lifted up inside the lifting tube 58 by the first vertical spiral 59 are scattered over a wide area into the grain tank 9 from the lifting grain discharge section 70 by the ejection plate 60, and are stored in the grain tank 9. The second grains that fall into the second spiral 57 are lifted up by the second vertical spiral, and then discharged again into the oscillating sorting body 45. The second grains may be configured to be discharged into the handling chamber 40.

[0028] The lifting and discharging section 70 is a box-shaped housing that covers the spring-out plate 60. The lifting and discharging section 70 has a planar top plate 72 that is disposed above the spring-out plate 60 and approximately perpendicular to the rotation shaft 61a, a planar bottom plate 71 that is disposed below the spring-out plate 60 and facing the top plate 72, and a guide side wall 73 that connects the bottom plate 71 and the top plate 72 and is formed parallel to the rotation shaft 61a.

[0029] 7(a) and 7(b) are plan views of the lifting and discharging section 70 shown in FIG. 6 as viewed in the direction of the arrow A, with FIG. 7(a) showing the state in which the top plate 72 is attached, and FIG. 7(b) showing the state in which the top plate 72 is removed. The bottom plate 71 is formed with a communication port 71b having a diameter substantially the same as the inner diameter of the lifting tube 58, and the inside of the lifting and discharging section 70 communicates with the inside of the lifting tube 58. The guide side wall 73 is formed with a discharge port 76, and the inside of the lifting and discharging section 70 communicates with the inside of the grain tank 9. The guide side wall 73 has a semi-cylindrical plate 73a adjacent to the tip of the spring plate 60 rotating in the direction of the arrow B, and a planar guide plate 73b extending from the semi-cylindrical plate 73a. Grains that reach the inside of the lifting and discharging section 70 are scattered by the rotation of the spring plate 60.

[0030] A yield sensor 80 that detects an impact force, which is an example of a detection means, is fixed to the guide side wall 73. The yield sensor 80 is a sensor that outputs a detection signal Sn1 that is an electric signal corresponding to the impact force (pressure), and includes a detection plate 81 and a load cell 82 having a strain gauge connected to the detection plate 81. The load cell 82 is, for example, a column-type load cell. A detection hole 73c shown in FIG. 6 is formed in the guide plate 73b of the guide side wall 73, and the detection plate 81 is disposed in the detection hole 73c so that the grains scattered by the splash plate 60 come into contact with the detection plate 81. The load cell 82 is disposed outside the grain lifting and discharging section 70.

[0031] The grains lifted and conveyed by the lifting tube 58 and the first vertical screw 59 are carried into the lifting and grain discharge section 70 through the communication port 71b of the bottom plate 71, scattered by the rotation of the ejection plate 60, guided by the top plate 72, the bottom plate 71, the guide side wall 73, and the detection plate 81, and discharged from the discharge port 76 into the inside of the grain tank 9. The grains scattered by the ejection plate 60 collide with the detection plate 81. When the grains collide with the detection plate 81, the detection plate 81 is displaced. The displacement of the detection plate 81 is converted into a detection signal Sn1, which is an electric signal (voltage), by the strain gauge of the load cell 82. The load cell 82 outputs the detection signal Sn1 to the control device 100 of FIG. 8 via the cable 77. The control device 100 converts the detection signal Sn1, which is an electric signal received from the load cell 82 of the yield sensor 80, into an analog-to-digital conversion, and measures the amount of grains discharged from the discharge port 76.

[0032] As shown in Figure 8, the control device 100 is connected to a measurement switch 91, a harvesting clutch 97 and a threshing clutch 98 which are connected and disconnected by a power clutch switch 26, a grain stalk sensor 92, a yield sensor 80, a GNSS unit 93, an aircraft inclination sensor 94, an LCD monitor 30, a buzzer 95, and an external communication device 96.

[0033] The measurement switch 91 is a switch that causes the control device 100 to perform a predetermined measurement by the operator's operation. As described above, the power clutch switch 26 is a switch that turns on and off the power from the engine to the threshing device 7 or the reaping unit 6 by the operator's operation. The stalk sensor 92 is a sensor that contacts the stalk being transported by the stalk transport device 17 to detect the presence of the stalk. As described above, the yield sensor 80 is a sensor that detects the impact force of the grains put into the grain tank 9. The GNSS unit 93 is a unit (GPS unit) that acquires (receives) the position information of the machine body 3 from a positioning satellite via the GNSS antenna 12. The machine body tilt sensor 94 is a sensor that detects the tilt of the machine body 3. As described above, the liquid crystal monitor 30 is a touch panel type liquid crystal monitor. The buzzer 95 is an example of an alarm unit that notifies the operator of an abnormality, and emits a buzzer sound. The external communication device 96 is configured to be capable of data communication with an external device, for example, by wireless communication (Bluetooth (registered trademark) or the like). The external device may be any device equipped with a communication function, such as an information terminal such as a tablet terminal or a PC, a transport vehicle, a dryer, etc.

[0034] The control device 100 is an example of a calculation means, and is configured with a computer such as a microcomputer. The control device 100 includes a CPU (not shown), which is an example of a processor, a storage unit 103 (not shown), which is an example of a storage means, and is configured with a ROM, a RAM, etc., and an I / O (not shown). The storage unit 103 stores a program that causes the control device 100 to perform a calculation process described later and various parameters used in the calculation process. The storage unit 103 can also store various data such as detection data acquired by a sensor such as the yield sensor 80, yield data measured based on the detection data of the yield sensor 80, and position data acquired by the GNSS unit 93. The control device 100 can also transmit these data to an external device via the external communication device 96. This allows the external device to calculate the yield of the entire field and create a yield map using the yield data and position data.

[0035] When an operator operates an ignition key (not shown) for starting the engine, the control device 100 automatically and repeatedly executes the process flow shown in Fig. 9 at a predetermined period (a sampling period Δt described later in this embodiment). Fig. 9 is a flowchart showing the calculation process (main routine) of the control device 100 according to the first embodiment.

[0036] The control device 100 acquires the load cell data D0 illustrated in FIG. 10(a) based on the detection signal Sn1 input from the yield sensor 80 (step S1). The horizontal axis of the graph illustrated in FIG. 10(a) is time, and the vertical axis is a detection value indicating the magnitude of the impact force. The load cell data D0 is digital data in this embodiment. Specifically, the load cell data D0 in this embodiment is composed of sampling data DA obtained by sampling the detection signal Sn1 at a predetermined sampling period Δt (for example, 5 msec) and performing AD conversion at a predetermined resolution. The sampling data DA is acquired sequentially for each sampling period (unit time) Δt. The detection signal Sn1 has a larger voltage as the impact force, i.e., pressure, received by the yield sensor 80 is larger. Therefore, the detection value indicating the sampling data DA is larger as the impact force, i.e., pressure, received by the yield sensor 80 is larger. The detection value indicating the sampling data DA may be expressed in any format, such as binary, decimal, or hexadecimal.

[0037] Here, the direction of the force that the grains receive from the ejection plate 60 changes depending on the rotational position of the ejection plate 60. Therefore, during one rotation of the ejection plate 60, there are periods when the grains come into contact (collide) with the yield sensor 80 and periods when the grains do not come into contact (collide) with the yield sensor 80. Therefore, when grains are normally scattered from the ejection plate 60, the load cell data D0 includes data for periods when the grains collide and data for periods when the grains do not collide, and the data for the periods when the grains collide appears as a waveform (mountain) W0 including peaks of the detection value at a predetermined period P0 that is the same as the rotation period of the ejection plate 60.

[0038] In FIG. 10(a), new sampling data DA isn Then, the sampling data DA n The sampling data DA acquired at the previous sampling timing is n-1 Each time new sampling data DA is acquired, the latest sampling data DA n and the previous sampling data DA n-1 In addition, in FIG. 10(a), sampling data DA n-1 ,D.A. n is illustrated as an example, and the sampling data DA n Sampling data DA acquired at a later timing is indicated by a dashed line.

[0039] Here, the load cell data D0 may be offset depending on the mounting state of the yield sensor 80. The offset amount D O corresponds to the detection signal Sn1 when no grains are in contact with the yield sensor 80. In other words, even if no grains are in contact with the yield sensor 80, the detection signal Sn1 (voltage) of the yield sensor 80 is output in a state offset from 0V, and the offset amount of the detection signal Sn1 appears as an offset of the detection value in the load cell data D0. Also, the offset amount D O changes with changes in the environment (eg, temperature) surrounding the yield sensor 80.

[0040] Therefore, the control device 100, at least during harvesting work, in this embodiment, when the ignition key is ON, during harvesting work and when not during harvesting work, while the engine is operating, detects the offset amount D included in the load cell data D0. O(Step S2). The control device 100 determines whether harvesting is in progress (Step S3), and if harvesting is not in progress (Step S3: NO), the process returns to Step S1. Here, harvesting in progress refers to, for example, a threshing state in which the threshing clutch 98 is engaged, a reaping state in which the reaping clutch 97 is engaged, or a state in which the culm is detected by the culm sensor 92. In addition, multiple sensors such as the layer thickness sensor described above may be used in combination to determine whether harvesting is in progress.

[0041] If harvesting is in progress (step S3: YES), the control device 100 calculates the amount of grains stored in the grain tank 9, i.e., the total yield of grains (step S4). The control device 100 determines whether an abnormality has occurred in the machine body 3 (step S5), and returns to the process of step S1.

[0042] In this embodiment, the machine body 3 does not include a sensor that generates a synchronous signal synchronized with the rotation of the rotor 61, i.e., a pickup sensor that generates a pulse signal every time the rotor 61 rotates once. The control device 100 of this embodiment does not use such a sensor, but executes the offset calculation process in step S2 using data from a period when the grains are not in contact with the yield sensor 80. FIG. 11 is a flowchart of the offset amount calculation process. Here, in this embodiment, three counters 111, 112, and 113 are realized by software in the control device 100. Immediately after the engine starts, the initial values ​​of these counters 111, 112, and 113 are 0. In addition, the judgment values ​​N1, N2, and N3 to be compared with the count numbers of these counters 111, 112, and 113 are stored in the storage unit 103 in advance.

[0043] The control device 100 outputs the sampling data DA n and the sampling data DA, which is the value immediately before the latest value. n-1 That is, the control device 100 calculates the difference ΔD between the sampling data DA and the load cell data D0 as the amount of change per unit time of the load cell data D0. n and sampling data DA n-1A difference ΔD between the load cell data D0 and the latest value is calculated. In this case, the unit time is the sampling period Δt. It is sufficient to select the calculation data D01 described later from among a plurality of sampling data DA acquired during a period when the grains are not in contact with the yield sensor 80, and the unit time may be two or more times the sampling period Δt. For example, when the unit time is set to twice the sampling period Δt, the sampling data DA n All that is needed is to find the difference ΔD between the latest value and the sampling data that is the value two values ​​before it.

[0044] The control device 100 judges whether the difference ΔD exceeds a predetermined value M1 (step S202). Data on the predetermined value M1 is stored in the storage unit 103. If the difference ΔD does not exceed the predetermined value M1 (step S202: NO), that is, if the difference ΔD is equal to or smaller than the predetermined value M1, the control device 100 increments the count number in the counter 111 by +1 (step S203). In this way, the counter 111 counts the previous sampling data DA n-1 Sampling data DA where the detection value hardly changes n The number of new sampling data DA n When the difference ΔD exceeds the predetermined value M1 (step S202: YES), the control device 100 resets the count number in the counter 111 to 0 (step S204).

[0045] The control device 100 judges whether the count number in the counter 111 is equal to or greater than a judgment value N1 (e.g., 3), that is, whether the count number has reached the judgment value N1 (step S205). This judgment in step S205 excludes cases where the difference ΔD accidentally becomes equal to or less than the predetermined value M1. Here, since the sampling data is obtained by sampling at a sampling period Δt, the judgment value N1 corresponds to Δt×N1 in terms of time. That is, in step S205, the control device 100 judges whether the state in which the difference ΔD is equal to or less than the predetermined value M1 has continued for a predetermined time (Δt×N1). In other words, when grains are normally scattered from the splash plate 60, if the state in which the difference ΔD is equal to or less than the predetermined value M1 continues for a predetermined time, it is considered that this is a period in which grains are not contacting the yield sensor 80.

[0046] If the count number in the counter 111 is equal to or greater than the judgment value N1 (step S205: YES), that is, if the state in which the difference ΔD is equal to or smaller than the predetermined value M1 continues for a predetermined time, the control device 100 outputs the sampling data DA n The control device 100 adds the sampling data DA to the data used to calculate the offset amount ΔD in step S208 described later (step S206). n The number of pieces of calculation data D01 that have been accumulated is counted by the counter 112.

[0047] Next, the control device 100 judges whether the number of pieces of calculation data D01 in the counter 112 has reached a judgment value N2 (e.g., 50) (step S207). The calculation data D01 for the judgment value N2 is a portion of data in which the amount of change per unit time is equal to or less than a predetermined value M1 for a predetermined period of time. If the number of pieces of calculation data D01 has reached the judgment value N2 (step S207: YES), the control device 100 calculates an offset amount D based on these N2 pieces of calculation data D01. O (Step S208). For example, the control device 100 calculates the offset amount D OThe average value of N2 pieces of calculation data D01 is calculated as data indicating the offset amount D O The data is preferably an average value of the N2 pieces of calculation data D01, but is not limited thereto. For example, the data may be a median, a maximum value, or a minimum value of the N2 pieces of calculation data D01. In addition, it is preferable that the calculation data D01 to be extracted is a plurality of pieces, but it may be a single piece. In this case, the calculation data D01 is calculated based on the offset amount D O The data should show the above.

[0048] Next, the control device 100 stores the offset amount D O If the data indicating the offset amount D calculated in step S208 is stored, O If the data indicating the offset amount is not stored in the storage unit 103, the data used to correct the offset of the load cell data D0 is updated with the data indicating the offset amount D calculated in step S208. O In step S210, the control device 100 also resets the counters 111 and 112.

[0049] If the count number in the counter 111 is less than the judgment value N1 (step S205: NO), or if the number of data in the counter 112 is less than the judgment value N2 (step S207: NO), the control device 100 returns to the main routine shown in FIG.

[0050] By the above processing operation of the control device 100, the offset amount D O is calculated and the offset amount D O The data will be updated.

[0051] Next, the yield calculation process in step S4 will be described with reference to a flowchart of FIG 12.

[0052] The control device 100 judges whether the number of pieces of sampling data DA counted by the counter 113 is equal to or greater than a judgment value N3 (e.g., 200). The judgment value N3 is a number greater than the judgment value N2 and corresponds to the number of pieces of data for multiple periods of the rotating body 61.

[0053] When the number of sampling data DA counted by the counter 113 is equal to or greater than the judgment value N3 (step S401: YES), that is, when the number of sampling data DA reaches the judgment value N3, the control device 100 converts the load cell data D0 consisting of N3 pieces of sampling data DA into an offset amount D stored in the memory unit 103. O Then, the load cell data D1 shown in FIG. 10(b) is generated (step S402: correction process).

[0054] The load cell data D1 includes sampling data DA and corresponding data DB. The data DB is a data set that includes the sampling data DA and an offset amount D O The data is corrected based on the offset amount D stored in the storage unit 103. O The data DB is generated by subtracting the data from the load cell data D1. This generates the offset-corrected load cell data D1. The control device 100 then performs the process of step S403 and the filter process of step S404 on these N3 pieces of data DB to integrate the N3 pieces of data generated, to obtain an integrated value (step S405). The control device 100 then converts the integrated value into weight to calculate the amount of grain based on the load cell data D1 (step S406). For example, if the sampling period Δt is 5 msec and the judgment value N3 is 200, the amount of grain stored in the grain tank 9 during 1 sec (Δt×N3) is calculated by steps S405 and S406.

[0055] Next, the control device 100 adds the amount of grains (weight) calculated in step S406 to the total yield (step S407). The amount of grains stored in the grain tank 9 is calculated by the above steps S405 to S407 (grain amount calculation process). Note that the amount of grains calculated in steps S405 to S407 is not limited to the weight of the grains, and may be the volume of the grains or a ratio to the maximum amount of grains that can be stored in the grain tank 9.

[0056] Here, even if the load cell data D1 is obtained by offset-correcting the load cell data D0, it may contain a waveform (peak) W1 other than the waveform (peak) W0 of the predetermined period P0 or a micro-vibration, as shown in Fig. 13. Therefore, in this embodiment, the control device 100 executes a process of removing the micro-vibration from the load cell data D1 in step S403 to generate load cell data D2, which is an example of the first detection data, and executes a filtering process of filtering the load cell data D2 to generate load cell data D3, which is an example of the second detection data. The processes of steps S403 and S404 will be described in detail below.

[0057] In step S403, the control device 100 removes the micro vibrations contained in the load cell data D1. Specifically, the control device 100 removes the micro vibrations equal to or less than the threshold value TH1 from the load cell data D1, that is, extracts only data exceeding the threshold value TH1, thereby generating the load cell data D2. In the load cell data D2, the data of the part removed in step S403 is set to a NULL value such as 0.

[0058] Next, in step S404, the control device 100 removes the waveform W1 (abnormal cycle data) other than the waveform W0 from the load cell data D2, i.e., extracts only the data of the waveform W0, and generates the load cell data D3. At that time, the control device 100 extracts only the data of the waveform W0 using the reference condition RF previously stored in the storage unit 103.

[0059] In addition to the waveform W0 of the predetermined period P0, one of the causes of the waveform W1 deviating from the predetermined period P0 is when the operator switches the sub-speed change lever 23 shown in Fig. 3 from the working range to the traveling range during harvesting work. In this way, the waveform W1 may be generated when the operator erroneously operates the sub-speed change lever 23.

[0060] Here, the reference condition RF will be specifically described. The reference condition RF is determined by performing an experiment or a theoretical calculation. FIG. 14 is an explanatory diagram showing a normal model DX used to determine the reference condition RF. FIG. 15 is an explanatory diagram of a filter process for the load cell data D2. As shown in FIG. 15, the load cell data D2 includes a plurality of data DC sampled at a sampling period Δt. That is, the data DC corresponds to the sampling data DA. The data DC is data after the offset correction and the micro-vibration removal as described above. As shown in FIG. 14, a normal model DX corresponding to the load cell data D2 is prepared by an experiment or a theoretical calculation. The horizontal axis corresponds to time, and the vertical axis corresponds to the detection value. The normal model DX is a model consisting of a plurality of data DY at intervals of a sampling period Δt. A flag is assigned to each data DY. Among the data DY, a flag assigned to data below a threshold value TH1 (FIG. 13) is set to a first value, for example, "0", and a flag assigned to data exceeding the threshold value TH1 is set to a second value, for example, "1". In the normal model DX, there is a waveform (peak) that exceeds the threshold value TH1 that appears in a predetermined cycle P0, and there is no peak in any part other than the predetermined cycle P0. In the normal model DX, the flag of each data DY in the peak part is set to "1", and the flag of each data DY in the non-peak part is set to "0".

[0061] One predetermined cycle P0 in the normal model DX can be divided into a period in which data DY whose flag is "0" continues, and a period in which data DY whose flag is "1" continues. In one cycle P0 in the normal model DX, the number of data DY whose flag is "0" and the number of data DY whose flag is "1" are fixed. In the example of Fig. 14, the number of data DY whose flag is "0" is 10, and the number of data DY whose flag is "1" is 5.

[0062] 14, of the five consecutive data DY whose flags are "1", attention is focused on the oldest data DY1 in the time series. Of the data before this data DY1, the next data whose flag is "1" appears in the data 11 after the data DY1, and the 10 data from the data 1 before the data DY1 to the data 10 before the data DY1 have flags of "0".

[0063] Next, of the five consecutive data DY whose flags are "1", we focus on the most recent data DY2 in the time series and the 10 data items from the data item immediately preceding data DY2 to the data item ten items prior to data DY2. Of these 10 data items, the four data items from the data item immediately preceding data DY2 to the data item four items prior to data DY2 have a flag of "1", while the six data items from the data item five items prior to data DY2 to the data item ten items prior to data DY2 have a flag of "0".

[0064] That is, when focusing on data with a flag of "1", if the focused data is included in the waveform W0 of the predetermined period P0, the flags of six data items from the data 5 to 10 before the focused data should always be "0". Conversely, if the flag of even one of these six data items is "1", the focused data is data included in the waveform W1 other than the waveform W0. From the above results, the focused data with a flag of "1" is set as data DR, and a predetermined number of data DR0 (preferably two or more, six in this example) before the data DR is set as the judgment range R0. The reference condition RF is a condition that if all of the data DR0 in the judgment range R0 before the focused data DR does not exceed the threshold value TH1 (FIG. 13), the focused data DR is included in the load cell data D3, and if even one of the data DR0 in the judgment range R0 exceeds the threshold value TH1, the focused data DR is not included in the load cell data D3. This reference condition RF is stored in the storage unit 103. That is, in this embodiment, the data DR with a flag of "1" and a plurality of data DR0 with flags of "0" that precede the data DR and are included in the judgment range R0 are stored as reference data, that is, reference conditions RF in the storage unit 103. Note that it is sufficient to store the reference conditions RF in the storage unit 103, and it is not necessary to store the normal model DX.

[0065] The control device 100 uses the reference condition RF to determine whether or not each of the data DC included in the load cell data D2, whose flag is "1", should be included in the load cell data D3. The determination is preferably performed in chronological order from oldest to newest. Here, for each of the data DC included in the load cell data D2, as with the normal model DX, the flag of data below the threshold TH1 is set to "0", and the flag of data exceeding the threshold TH1 is set to "1".

[0066] The control device 100 uses the reference condition RF to determine whether or not the data DC whose flag is "1" should be included in the load cell data D3. For example, four pieces of data DC are included as data DC that exceed the threshold value TH1.A ~DC D Each data DC A ~DC D is an example of the first data exceeding the threshold TH1.

[0067] First, the control device 100 receives the data DC A About Data DC A The six data items (second data items) included in the judgment range R0 acquired before A0 All flags are "0", that is, 6 data DC A0 Since all of the data are below the threshold TH1, the data DC A is included in the load cell data D3. Therefore, data DC A This is used to calculate the amount of kernels in subsequent steps S405 to S407.

[0068] Similarly, the control device 100 receives the data DC B About Data DC B The six data items (second data items) included in the judgment range R0 acquired before B0 All flags are "0", that is, 6 data DC B0 Since all of the data are below the threshold TH1, the data DC B is included in the load cell data D3. Therefore, data DC B This is used to calculate the amount of kernels in subsequent steps S405 to S407.

[0069] Next, the control device 100 receives the data DC C About Data DC C The six data items (second data items) included in the judgment range R0 acquired before C0 Among them, any one of the flags is "1", that is, any one exceeds the threshold TH1, so the data DC C is not included in the load cell data D3. Therefore, data DC C is not used in the calculation of the kernel amount in the subsequent steps S405 to S407. In this case, the control device 100 determines the subsequent data DC, for example, the data DC E For the purpose of determining the above, the data DC CIt is preferable to change the flag from "1" to "0". C is the later data DC E In the judgment, it is considered to be below the threshold.

[0070] Similarly, the control device 100 receives the data DC D About Data DC D The six data items (second data items) included in the judgment range R0 acquired before D0 Among them, any one of the flags is "1", that is, any one exceeds the threshold TH1, so the data DC D is not included in the load cell data D3. Therefore, data DC D is not used in the calculation of the kernel amount in the subsequent steps S405 to S407. In this case, the control device 100 determines the subsequent data DC, for example, the data DC E For the purpose of determining the above, the data DC D It is preferable to change the flag from "1" to "0". D is the later data DC E In the judgment, it is considered to be below the threshold.

[0071] As described above, in this embodiment, the control device 100 uses the reference conditions RF, which are reference data, to select, for example, data DC from among the data DC included in the load cell data D2, data whose flags match those of the data DR included in the reference conditions RF. A When the flag of data DR0 in the judgment range R0 and data DC A Data DC corresponding to the previous judgment range R0 A0 If they match, the control device 100 determines whether the data DC A The control device 100 also includes data DC as data whose flags match those of the data DR. C When the flag of data DR0 in the judgment range R0 and data DC C Data DC corresponding to the previous judgment range R0 C0If they do not match, the control device 100 determines whether the flag of the data DC C is not included in the load cell data D3. The above process is performed on all data DC whose flag is "1" and which is included in the load cell data D2.

[0072] Next, a detailed description will be given of the abnormality determination process in step S5 shown in Fig. 9. Fig. 16 is a flowchart of the abnormality determination process.

[0073] The control device 100 judges whether the load cell data D2 has been generated (step S501). If the load cell data D2 has been generated (step S501: YES), the control device 100 judges whether an abnormality has occurred based on the load cell data D2 (step S502: judgment process). If it is judged that an abnormality has occurred (step S502: YES), the control device 100 causes the buzzer 95 to emit a buzzer sound to notify the abnormality (step S503).

[0074] If the load cell data D2 has not been generated (step S501: NO), or if it is determined that there is no abnormality (step S502: NO), the control device 100 returns to the main routine shown in FIG.

[0075] In step S502, the control device 100 preferably estimates the rotation speed (rotation frequency) of the rotor 61 based on the load cell data D2, and determines that an abnormality has occurred if the difference ΔM between the estimated rotation speed of the rotor 61 and the rated rotation speed of the rotor 61 is greater than a predetermined value M2. One example of a cause of an abnormality in the rotation speed of the rotor 61 is when a grain gets caught between the first vertical spiral 59 of the rotor 61 and the grain lifting tube 58. Another example of a cause of an abnormality in the rotation speed of the rotor 61 is when there is a large difference between the engine rotation speed and the rated rotation speed of the engine, a loose belt, or a mistake in switching the moisture meter model. The operator can quickly respond to such abnormalities.

[0076] Here, the estimated rotation speed of the rotating body 61 corresponds to the number of consecutive times that the data DC is 0 in the load cell data D2 shown in Fig. 15. Therefore, the control device 100 may count the number of consecutive times that the data DC is 0, obtain the difference between this count number and the number corresponding to the rated rotation speed of the rotating body 61, and determine that an abnormality has occurred if the difference is greater than a value corresponding to a predetermined value M2.

[0077] As described above, in the first embodiment, the control device 100 calculates the offset amount D based on the calculation data D01 for the portion where the state in which the difference ΔD is equal to or smaller than the predetermined value M1 continues for a predetermined time (Δt×N1). O Since the offset amount D is calculated, there is no need to provide a separate sensor such as a pickup sensor that generates a pulse signal every time the rotor 61 rotates. O It is possible to ensure the accuracy of the kernel amount calculated by the processes in steps S405 to S407.

[0078] In addition, the offset amount D for the load cell data D0 O Since it changes depending on the environment in which the yield sensor 80 is placed, the offset amount D used for offset correction O The data during the harvesting operation is accurate. Since the control device 100 can execute the offset amount calculation process at least during the harvesting operation, the offset amount D used for the offset correction O This data can be obtained based on the load cell data D0 acquired during harvesting, and the grain quantity can be calculated with higher accuracy.

[0079] In addition, since the control device 100 can execute the offset amount calculation process even when the harvesting work is not in progress, for example, the control device 100 can calculate a new offset amount D O This data can be used to calculate the kernel weight with high accuracy.

[0080] In addition, since the control device 100 can automatically and repeatedly execute the offset amount calculation process, the offset amount D that changes depending on the environment in which the yield sensor 80 is placed can be calculated. O is repeatedly calculated, and the offset amount D O The data is updated frequently. This allows you to get a newer offset value D O The load cell data D0 can be offset corrected using this data, allowing the kernel weight to be calculated with higher accuracy.

[0081] In this embodiment, the control device 100 generates the load cell data D3 by extracting data of the waveform W0 that exceeds the threshold value H1 and appears at the predetermined period P0 from the load cell data D2 using the reference condition RF stored in the storage unit 103 in the filter process of step S404. As a result, the load cell data D3 from which the waveform W1 other than the waveform W0 that appears at the predetermined period P0 is removed is generated without detecting the rotation of the rotor 61, so there is no need to provide a separate sensor such as a pickup sensor. In this way, the load cell data D3 from which the waveform W1 is removed can be generated with an inexpensive configuration, and the grain amount is calculated based on the load cell data D3 from which the waveform W1 is removed by the process of steps S405 to S407, so that the accuracy of the calculated grain amount can be ensured.

[0082] Furthermore, for data DC that is included in the load cell data D2 and exceeds the threshold value TH1, if none of the data in the judgment range R0 before the data DC exceeds the threshold value TH1, the data DC is included in the load cell data D3, and if even one of the data in the judgment range R0 exceeds the threshold value TH1, the data DC is not included in the load cell data D3. This makes it possible to more reliably remove the waveform W1 without using a sensor such as a pickup sensor, and to more accurately extract the waveform W0 that appears at the predetermined period P0. This makes it possible to more accurately calculate the kernel weight.

[0083] In step S503, the control device 100 causes the buzzer 95 to emit a buzzer sound to notify the operator of the abnormality. This allows the operator to notice the abnormality and quickly respond to the abnormality. In addition, since it is determined whether an abnormality has occurred based on the load cell data D2, there is no need to provide a separate sensor for detecting the abnormality, which reduces costs.

[0084] Furthermore, an abnormality in the number of rotations of the rotor 61 may also appear as an abnormality in the voltage of the detection signal Sn1, i.e., the value of the load cell data D0. Also, if a fullness sensor (not shown) of the grain tank 9 fails, this may also appear as an abnormality in the value of the load cell data D0. Therefore, in this embodiment, the control device 100 may be configured to cause the buzzer 95 to emit a buzzer sound to notify of an abnormality when a predetermined number (e.g., 10) of consecutive sampling data DA of the load cell data D0 exceeds the threshold value TH2 (FIG. 13) while the threshing clutch 98 is engaged. This allows the operator to notice the abnormality and quickly respond to it.

[0085] The control device 100 may also be configured to cause the buzzer 95 to emit a buzzer sound when the inclination angle of the machine body 3 detected by the machine body inclination sensor 94 exceeds a predetermined angle. This allows the operator to operate the combine 1 so that the machine body 3 is horizontal, thereby reducing calculation errors in the grain amount. The control device 100 may also correct the calculated grain amount according to the inclination angle of the machine body 3 detected by the machine body inclination sensor 94. This further improves the accuracy of the grain amount.

[0086] <Second embodiment> Next, a second embodiment of the present invention will be described. The second embodiment differs from the first embodiment in the timing at which the offset amount included in the load cell data is calculated. The configuration of the combine harvester of the second embodiment is the same as that of the first embodiment, so illustrations and descriptions thereof will be omitted.

[0087] FIG. 17 is a flowchart showing the calculation process (main routine) of the control device 100 according to the second embodiment. When the measurement switch 91 shown in FIG. 8 is turned on by the operator (step S11: YES), and when harvesting is in progress (step S12: YES), the control device 100 executes the processes of steps S13 to S16. The process of step S13 is the same as the process of step S1 in FIG. 9, the process of step S14 is the same as the process of step S2 in FIG. 9, the process of step S15 is the same as the process of step S4 in FIG. 9, and the process of step S16 is the same as the process of step S5 in FIG. 9. That is, in the second embodiment, when the measurement switch 91 shown in FIG. 8 is turned on by the operator and harvesting is in progress, the offset amount calculation process described in the first embodiment is executed. In this way, the offset amount calculation process can be instructed to the control device 100 at the discretion of the operator.

[0088] Although the buzzer 95 has been described as an example of an alarm unit that alerts to an abnormality, this is not limited to this, and may be, for example, the liquid crystal monitor 30, a speaker (not shown), or an alarm lamp (not shown), and an image alerting to an abnormality may be displayed on the liquid crystal monitor 30, a sound alerting to an abnormality may be output from a speaker (not shown), or an alarm lamp (not shown) may be turned on, or a combination of these processes may be used.

[0089] Furthermore, the yield sensor 80 is not limited to using a column-type load cell 82, but may use other means, such as a beam-type load cell or an acceleration sensor, as long as it can detect the amount of grains colliding with the detection plate 81. [Explanation of symbols]

[0090] 1. Combine Harvester 35 Threshing Department 61 Rotating Body 80 Yield sensor (detection means) 100 Control device (calculation means) 103 Storage unit (storage means)

Claims

1. a threshing section for threshing the harvested stalks; A rotating body that rotates to scatter grains supplied from the threshing unit into a storage unit; a detection means for outputting a detection signal corresponding to an impact force of grains that are scattered by the rotor and come into contact with the grains; A storage means for storing reference conditions; A filtering process for generating second detection data by filtering first detection data based on the detection signal, and a grain amount calculation process for calculating the amount of grains stored in the storage section based on the second detection data. The calculation means extracts, from the first detection data, data that exceeds a threshold and appears at a predetermined period using the reference condition as the second detection data in the filtering process; the first detection data includes a plurality of data sampled at a predetermined sampling period; The reference condition is a condition that, for a first data item included in the plurality of data items and exceeding the threshold, if all of a predetermined number of second data items acquired prior to the first data item do not exceed the threshold, the first data item is included in the second detection data, and if any one of the predetermined number of second data items exceeds the threshold, the first data item is not included in the second detection data. A combine harvester characterized by the above.

2. The calculation means is capable of executing a determination process of determining whether or not an abnormality has occurred based on the first detection data, and causing a notification unit to notify the occurrence of an abnormality when it is determined that an abnormality has occurred. The combine harvester according to claim 1 .

3. The calculation means, in the determination process, estimates a rotation speed of the rotating body based on the first detection data, and determines that an abnormality has occurred if a difference between the estimated rotation speed of the rotating body and a rated rotation speed is greater than a predetermined value. The combine harvester according to claim 2 .

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