JP6735690B2 - Grain harvester - Google Patents

Description

The present invention relates to a grain harvester including a threshing device that performs threshing treatment on grain culms cut from a field, and a grain tank that stores grains sent from the threshing device.

For example, Patent Document 1 discloses a farm work management technique that manages production management and production history information from the production of agricultural products to the hands of consumers using a computer system. In the management system according to Patent Document 1, the growth diagnosis machine executes growth diagnosis in a predetermined production unit section, and the measurement diagnosis result and position information at each measurement point are recorded in the memory card. The recorded contents are later transmitted to the farm management computer system. Also, in the harvesting work by the harvester in the work unit section, the yield of the work unit section is measured by the measuring device attached to the harvester, and the yield of the harvested work unit section and the position information obtained by the GPS module are Is recorded on the memory card, and the recorded contents are transmitted to the farm management computer system. For example, near-infrared rays are radiated to the agricultural products in the process of growth in each work unit section within the production unit section, and the reflected light is analyzed to perform the measurement. For example, in the case of rice, the content of measurement includes leaf color, length, number of stems, number of ears, and the like. With this farm work management technique, since the position and the yield are recorded during the harvesting work, it is possible to grasp the relationship between the position of the field and the yield. However, it is not possible to grasp the relationship between the quality data relating to the taste of agricultural products, which is important information for agricultural products, and the position of the field.

In addition, an agricultural work machine management device that divides a field and records the work of an agricultural work vehicle in units of partitions is known from Patent Document 2. In this management device, a work management terminal capable of communicating with the controller of the work vehicle is provided with a DVD reading device for storing map data, a GPS module and a gyro sensor, and takes in the outline of the work space from the map data. The captured map data of the workplace is partitioned and local information (existence of obstacles such as telephone poles) is stored. For example, when the farm vehicle is a combine harvester, the total amount of paddy discharged from the harvesting operation is input as the yield of the entire field. Further, if the farm vehicle is a tractor, the detection value of the tilling depth sensor obtained in the tilling work is automatically recorded as the tilling depth value for each field section. However, even this management device handles the yield of agricultural products, but does not handle quality data related to the taste of agricultural products.

Patent Document 3 discloses a combine equipped with a detecting device for detecting grain quality and notifying a combine operating state to be adopted based on a detection result of the detecting device. Specifically, the optimal threshing value is displayed based on the detection result of the moisture content of the grain, and the operator can adjust the driving speed of the handling cylinder based on the optimal threshing value. It is not disclosed to use the moisture content of the grains obtained during the harvesting work as quality data related to the taste after the threshing work.

JP, 2002-149744, A JP, 2004-213239, A JP-A-11-32550

It is planned or practiced to carry out more efficient agricultural management by utilizing IT technology. The most important crops for such IT-based farming are rice and wheat, and these crops may be related to quality at the time of harvest, location of harvest, etc. Grain evaluation at the time of harvest is important. .. However, under the present circumstances, the grains harvested by the grain harvester are once transported to a management center or the like, and the taste and the like of the grains are evaluated for the first time, and the grain evaluation at the time of harvest is realized. Not not.
From this, an object of the present invention is to provide a grain harvester capable of proceeding the harvesting work while immediately evaluating the yield, taste and the like of the harvested grain.

The grain harvester according to the present invention, a grain tank for storing grains sent from a threshing device that performs threshing treatment on a grain culm cut from a field, a yield sensor for measuring the yield of the grain, and A quality sensor for measuring the water content of the grain, a measurement data management unit for time-series management of the yield measurement data input from the yield sensor and the quality data input from the quality sensor, a minute section of the field and the Harvesting grain characteristic information is generated by linking the yield measurement data and the quality data, and a harvesting evaluation unit that evaluates the yield and quality of the grain harvested in the microdivision is provided, and the harvesting is performed in the microdivision. Yield of the grain was calculated based on the micro-division, travel loci included in the range of the micro-division, travel distance or travel time, the time-series managed yield measurement data, The quality of the grain harvested in the minute section is based on the minute section, a traveling locus included in the range of the minute section, a traveling distance or a traveling time, and the quality data managed in time series. And the yield and quality of the kernels harvested in each of the micro-compartments are calculated regardless of the number of passes through the corresponding micro-compartment .

According to this configuration, since the yield sensor for measuring the yield of the grains sent from the threshing device and the taste sensor for measuring the taste of the grains are provided in the grain harvester, the grains are harvested at the time of harvest. It is possible to measure the yield and taste of the. Moreover, since the yield measurement data and the taste measurement data obtained by the measurement are time-series managed, the grain evaluation at the harvest time can be performed not only at the harvest time but also at an appropriate time after the harvest. The yield measurement data and the taste measurement data are linked to a field as a harvesting place and treated as harvested grain characteristic information, which can contribute to IT-based farming.
Further, in one of the preferred embodiments of the present invention, the yield of the grain harvested in the minute section is calculated as the total value of the yield measurement data corresponding to the measurement points included in the range of the minute section. Then, the quality of the grain harvested in the minute section is calculated as an average value of the quality data corresponding to the measurement points included in the range of the minute section.

In one of the preferred embodiments of the present invention, the yield sensor is a load cell provided in the grain tank, and the quality sensor is an optical non-contact sensor for measuring a moisture value of grain. The quality sensor is arranged in the grain tank or in a grain conveying path from the threshing device to the grain tank. By measuring the weight of the stored grain with a load cell provided in the grain tank, which is the storage location of the grain harvester, not only the yield is measured, but also the yield per hour or per work run. Can also be calculated. Further, by using the optical non-contact sensor, it is possible to measure the water content important for the taste of the grain without damaging the grain. Further, since it is a non-contact sensor, its measuring location can be freely selected from the grain transportation route including the grain tank and reaching the grain tank from the threshing device.

By further dividing the field into smaller areas and measuring the yield and water content of the grains harvested in the divided areas, we considered differences in environmental conditions such as sunlight in the field, and differences in soil and fertilizer distribution in the field. It is also important to conduct precise farming.
Similarly, as another more flexible technique for assessing the yield and water content of the grain harvested in the divided predetermined area, in another embodiment of the present invention, in another embodiment of the present invention, the cutting position of the grain culm is used. Is provided in the harvested grain characteristic information, and based on the harvested grain characteristic information, the yield and quality of the grain harvested in the minute section are calculated. By using the GPS module for position measurement, the cutting position can be reliably acquired without depending on the traveling locus of the grain harvester.

If the harvested grain characteristic information is transmitted to the management center or the like at the same time as it is generated, it is not necessary for the grain harvester side to store this harvested grain characteristic information. However, it is also preferable to provide a recording unit for recording the harvested grain characteristic information in consideration of occurrence of communication failure or in consideration of successive confirmation on the grain harvester side.

A general grain harvester is not equipped with a line communication unit capable of performing data communication with a computer system of a remote management center through a communication line. In such a case, it is convenient to use the mobile communication terminal brought by the operator of the grain harvester as the line communication unit. At that time, data communication between the grain harvester and the mobile communication terminal is performed between the data input/output unit provided in the vehicle-mounted LAN of the grain harvester and the data input/output unit provided in the mobile communication terminal. Can be done at. As such data communication, wired communication such as USB connection or wireless communication such as Wi-Fi can be used. In order to achieve such an object, in a preferred embodiment of the present invention, a data input/output unit capable of performing data communication with a mobile communication terminal is provided, and the measurement data management unit and the harvest evaluation unit are provided in the mobile communication terminal. The configuration is such that the harvested grain characteristic information is sent to the management center via the line communication unit of the mobile communication terminal.

It is a schematic diagram explaining the basic composition of the present invention. It is a schematic diagram explaining an example of the process which allocates a yield and taste to a field area. It is a side view of a combine which is one of the concrete embodiments of the present invention. It is a top view of a combine. It is a schematic diagram which shows arrangement|positioning of a yield sensor and a taste sensor. It is a functional block diagram which shows the function part in the control system of a combine, and the smart phone incorporated in this combine. It is a schematic diagram which shows another embodiment of a taste measuring mechanism.

Before describing the specific embodiment of the grain harvester according to the present invention, the basic configuration characterizing the present invention will be described with reference to FIG.
As shown in FIG. 1, this grain harvesting machine 1 passes through a grain transfer route 3 from a threshing device 14 that performs threshing processing on a grain culm that has been cut from a field by a mowing unit 12 while running. It is equipped with a grain tank 15 that stores the grains that have been sent. Furthermore, a yield sensor 21 that measures the yield of the harvested grains and a taste sensor 22 (corresponding to the “quality sensor” according to the present invention) that measures the taste of the grains are provided. The yield sensor 21 can be configured by a load cell provided in the grain tank 15. By providing the load cell so as to support the grain tank 15, the weight (yield) of the grain stored in the grain tank 15 can be measured. In this case, it is possible to obtain the yield per unit travel distance that can be converted per unit time, that is, per unit area, from the yield measured by the load cell sequentially from the start of harvesting work. As the taste sensor 22, an optical non-contact sensor that measures moisture and protein of grain by using a spectroscopic method is arranged in the grain tank 15 or arranged in the grain transport path 3. The measurement by the taste sensor 22 is performed in a batch manner or continuously by a sampling method. It may be configured to calculate an average of a plurality of measurement results.

In the electronic control unit (ECU) of the grain harvester 1, a measurement data management unit 61 and a harvest evaluation unit 62 are constructed by a program as functional units of the data processing module 6. The measurement data management unit 61 can time-series manage the yield measurement data input from the yield sensor 21 and the taste measurement data input from the taste sensor 22. The harvest evaluation unit 62 generates harvested grain characteristic information by linking data on a field as a harvesting place, yield measurement data, and taste measurement data. In addition, a harvested grain characteristic information recording unit 63 is also provided for at least temporarily recording the generated harvested grain characteristic information.

The data relating to the field includes the field name, the field position on the map, and, if the field is divided into predetermined sections, the section number and the like. A harvesting position acquisition unit 23 is provided in order to acquire the data related to the position out of the data related to the field, not manually or mechanically.

The yield measurement data and the taste measurement data managed by the measurement data management unit 61, or the harvested grain characteristic information generated by the harvest evaluation unit 62 are transmitted from the line communication unit 66 to the management center 7 at a remote place via the communication line. Can be sent to. In the management center 7, the received yield measurement data, the taste measurement data, or the harvested grain characteristic information is converted into a database and stored in the harvested grain characteristic information database 71, which can be utilized for farm management.

The general grain harvester 1 is not provided with a line communication unit 66 capable of data communication with the management center 7 through a communication line. In that case, the data processing module 6 is constructed by a mobile communication terminal such as a personal computer, a tablet, or a smart phone, and the data input/output unit 60 and the data input/output unit 50 of the electronic control unit of the grain harvester 1 are connected. It is possible to adopt a configuration in which the data transmission is possible. Wired communication such as USB connection and wireless communication such as Wi-Fi are suitable for the connection between the data input/output unit 60 and the data input/output unit 50.

When the data processing module 6 is constructed by a mobile communication terminal with a GPS module, the harvest position acquisition unit 23 can also be constructed in the data processing module 6. The harvest position acquisition unit 23 as described above acquires the position data obtained by the GPS module of the mobile communication terminal as the harvest position. The GPS module can output the position data in the field with considerably high accuracy. Therefore, since the cutting position of the grain culm as such an accurate harvesting position can be included in the harvested grain characteristic information, the grain harvested in the predetermined region of the field based on the harvested grain characteristic information. It is also possible to calculate the yield and water content and use it for farm management.

It is convenient to use a GPS module for position information regarding the mowing position or the harvesting position, but if the mowing traveling locus of the grain harvesting machine 1 in the field is determined, the traveling locus and traveling distance or traveling time are used. , The cutting position can be calculated. As an example, a method of calculating the yield and taste (here, moisture) of grains harvested in a predetermined area of a field from the traveling locus, the yield per unit traveling distance, and the average moisture by using FIG. explain. In FIG. 2, it is assumed that the grain harvesting machine 1 performs harvesting work in a zigzag traveling locus by repeating straight line traveling and 180° turning in the field.
First, the field is divided into a plurality of minute sections: A1, A2, A3,.... Along with the harvesting operation of the combine 1, the yield data and the moisture data are input every predetermined time: t1, t2, t3,... Or every predetermined distance: D1, D2, D3,. , Yield in that time interval: V1, V2, V3,... And its water content: Q1, Q2, Q3,.
Here, when the time points where the traveling of the grain harvester 1 belongs to the minute section: A1 are t1, t6, and t7, the yield of the minute section: A1: V[A1] is
V[A1]=V1+V6+V7
Next to
Micro compartment: A1 average water content: Q[A1]
Q[A1]=(Q1+Q6+Q7)/3
Becomes
Further, when the time points belonging to the microcompartment: A2 are t2, t5, and t8, the yield of the microcompartment: A2: V[A2] is
V[A2]=V2+V5+V8
Next to
Micro compartment: Average water content of A2: Q[A2]
Q[A2]=(Q2+Q5+Q8)/3
Becomes In this way, the yield and the water content can be assigned to each of the minute sections.

In the example shown in FIG. 2, after the field surrounded by ridges or the like is divided into a plurality of minute sections, the yield evaluation unit 62 evaluates the yield and quality of each harvest position (field). Therefore, the harvested grain characterization information enables a micro-evaluation of yield and moisture in such fields. However, it is also possible to evaluate a field in the entire region such as a town or village as a field to be processed. The harvested grain characteristic information in this case enables macro evaluation of yield and moisture in the field in the entire region.

Next, one of the concrete embodiments of the grain harvester according to the present invention will be described with reference to the drawings. Here, the grain harvester is a crawler type self-removing combine (hereinafter simply referred to as combine) 1. FIG. 3 shows a side view of the combine 1, and FIG. 4 shows a plan view of the combine 1.

The combine 1 is provided with a machine body frame 10 in which a plurality of steel materials such as square pipe materials are connected. A pair of left and right crawlers 11 are provided at the bottom of the machine body frame 10. An engine E is mounted on the front side of the right half portion of the machine body frame 10, and an operating portion 13 is formed on the upper portion thereof. A driver's seat 16 and a control lever 17 are arranged in the driver 13. At the front end on the left side of the machine body frame 10, there is provided a reaping section 12 for cutting the crop culm to be harvested located in front of the machine body and carrying it to the rear during work traveling. The left half of the machine frame 10 receives the harvested culm conveyed by the reaper 12 and conveys the culm to the rear while performing the threshing treatment on the graining part of the harvested culm. A threshing device 14 that performs a sorting process is installed. On the rear side of the right half of the machine frame 10, a grain tank 15 made of sheet metal is mounted, which stores the grains that are unloaded from the threshing device 14 via the screw-lifting type supply conveyor 31. The grain tank 15 is equipped with a grain discharge device 19 that discharges the grain stored in the grain tank 15 to the outside of the machine. Although only schematically shown in FIGS. 3 and 4, a yield sensor 21 for detecting the weight of the grain is provided below the grain tank 15, and a taste sensor 22 is provided inside the grain tank 15. The incorporated taste measuring mechanism 30 is equipped. The taste sensor 22 outputs the measurement data of the moisture value and protein value of the grain as quality data.

As schematically shown in FIG. 5, the yield sensor 21 is a load cell attached to the body frame 10, and the grain tank 15 is mounted on the load cell. That is, this yield sensor 21 measures the yield of the harvested grain by measuring the weight of the grain stored therein, including the grain tank 15. The yield per predetermined time is obtained by calculating the increase amount by the yield sensor 21 at each predetermined sampling time. At that time, if the traveling speed is taken into consideration, it is also possible to obtain the yield per predetermined distance. As schematically shown in FIG. 4, the taste sensor 22 is incorporated in a taste measuring mechanism 30 mounted on the side wall of the grain tank 15 from the outside in this embodiment, as schematically shown. The taste measuring mechanism 30 includes a measurement table 30a that opens and closes between a parallel posture and a hanging posture inside the grain tank. The measuring table 30a is covered with a cylindrical case having an upper opening and a lower opening. Further, the measuring table 30a is arranged at a position where a part of the grain, which is conveyed from the threshing device 14 by the supply conveyor 31 and discharged from the charging port 15a to the grain tank 15 by the impeller, reaches. As a result, the horizontal measuring table 30a can receive the grains flying from the charging port 15a. The measurement by the taste sensor 22 is performed when a predetermined amount of grains are placed on the measurement table 30a. Here, the spectroscopic analysis is used, and it is possible to measure the water content of the grain and the protein value, and the taste value obtained from the water content and the protein, and the component ratio thereof can be used as the measurement value. When the measurement by the taste sensor 22 is completed, the measuring table 30a is swung in a hanging posture, whereby the grains placed on the measuring table 30a are discharged. When the grains are discharged and the next measurement sampling time comes, the measuring table 30a is swung again in the horizontal posture.

The control system of this combine 1 is shown in FIG. This control system is substantially based on the basic principle shown in FIG. 1, but the data processing module 6 is constructed by a smartphone which is a portable communication terminal carried by the driver. Further, the harvest position acquisition unit 23 that acquires the harvest position is substituted by the GPS module 65 mounted on the smartphone. Therefore, the control system on the combine 1 side is constructed by standard constituent elements connected by the vehicle-mounted LAN.

That is, the functional unit related to the present invention, which is built in the control system on the combine 1 side, is a traveling control ECU (electronic control unit) 53, a work device ECU 54, a sensor management module 5, an in-vehicle display 18, The data input/output unit 50. The traveling control ECU 53 is an ECU that handles various control information relating to vehicle traveling. For example, the traveling control ECU 53 converts traveling speed, engine speed, traveling distance, fuel consumption, and other data acquired from the sensor management module 5 through the in-vehicle LAN into traveling information. The driving information generation unit 53a is provided. The work device ECU 54 is an ECU that controls the mowing and harvesting device such as the mowing unit 12 and the threshing device 14. Based on the sensor information acquired from the sensor management module 5, the work device ECU 54 provides data indicating the operating state and operating state of the mowing and harvesting device to the ground. A work information generation unit 54a for converting into work information is provided.

The sensor management module 5 inputs measurement signals from various sensors such as a traveling speed sensor and a traveling distance sensor in addition to the taste sensor 22 (taste measuring mechanism 30) and the yield sensor 21 described above, and transfers them to other functional units. Have the function to In particular, the sensor management module 5 uses the yield measurement data generation unit 51 that generates yield measurement data based on the measurement signal from the yield sensor 21 and the measurement signal from the taste sensor 22 (taste measurement mechanism 30). A taste measurement data generation unit 52 that generates measurement data is provided.

The data input/output unit 50 is a wireless communication unit that performs communication at a relatively short distance for exchanging data with a smartphone brought by a driver, and operates by a protocol such as Wi-Fi or Bluetooth (registered trademark). To do.

The measurement data management unit 61 and the harvest evaluation unit 62 described in the basic principle of FIG. 1 are constructed here as smartphone applications. The harvest grain characteristic information recording unit 63 that records the harvest grain characteristic information generated by the harvest evaluation unit 62 is built in an external memory of the smartphone. Therefore, the measurement data management unit 61 receives the yield measurement data and the taste measurement data from the yield measurement data generation unit 51 and the taste measurement data generation unit 52 through the data input/output unit 60 of the smartphone that can exchange data with the data input/output unit 50. And receive. The smartphone originally has an owner ID management unit 67 and a line communication unit 66. By using the function of the owner ID management unit 67 to authenticate the driver, the security of the information generated by the combine 1 can be ensured. Further, it is possible to transmit the harvested grain characteristic information to the management center 7 using the line communication unit 66 and store it in the harvested grain characteristic information database 71.

In the above-described embodiment, the combine 1 is provided with a sensor for measuring the yield, taste, and the like of the harvested grain, and the harvest grain characteristics in which the yield measurement data and the taste measurement data are linked to the field as the harvest place. Information can be generated during the harvesting operation, allowing for a harvest-time evaluation of the grain.

[Another embodiment]

(1) In the above-described embodiment, the measuring table 30a of the taste measuring mechanism 30 incorporating the taste sensor 22 swings between the horizontal posture and the sagging posture, but other structures may be adopted. Is. For example, as schematically shown in FIG. 7, a structure may be adopted in which the measuring table 30a is moved back and forth from the box-shaped case of the taste measuring mechanism 30. At that time, the taste measuring mechanism 30 is arranged such that the measuring table 30a in the extended state can receive the grains conveyed from the threshing device 14 by the supply conveyor 31 and discharged from the input port 15a of the grain tank 15. To be done. In this structure, when a predetermined amount of grains are placed on the measuring table 30a, the measuring table 30a is pulled into the taste measuring mechanism 30 and the taste sensor 22 performs the measurement.
Further, the location of the taste measuring mechanism 30 is not limited to the grain tank 15, and the taste measuring mechanism 30 may be placed at an appropriate location on the grain transport path 3 from the threshing device 14 to the grain tank 15. Further, when the taste measuring mechanism 30 capable of high-speed measurement processing is adopted, it is possible to measure the grain being conveyed, especially the grain being ejected from the charging port 15a in flight.
(2) In the above-described embodiment, the yield sensor 21 is composed of a single load cell arranged near the center of the bottom surface of the grain tank 15, but in order to perform more accurate measurement, the grain tank is You may employ|adopt the structure which arrange|positions a load cell in each of four corner areas of the bottom face of 15.

(3) In the above-described embodiment, the harvested grain characteristic information generated by the harvest evaluation unit 62 is recorded in the harvested grain characteristic information recording unit 63, but the generated harvested grain characteristic information is directly recorded in real time. It may be transmitted to the management center 7.
(4) In the above-described embodiment, the data processing module 6 is built in the control system built in the grain harvesting machine 1 or the mobile communication terminal brought by the driver. It may be constructed in a computer system with a communication function installed at a remote place.
(5) In the above-described embodiment, the combine harvester is used as the grain harvesting machine, but it goes without saying that the present invention is applied to other grain harvesting machines. The grain harvesting machine used here has a broad meaning, and includes not only rice and wheat but also corn and other crops.

INDUSTRIAL APPLICATION This invention is applicable to the grain harvester provided with the sensor which measures the yield of the harvested grain, taste, etc.

1: Grain harvester (combine)
6: Data processing module 14: Threshing device 15: Grain tank 21: Yield sensor (load cell)
22: Taste sensor (quality sensor)
23: Harvest position acquisition unit 61: Measurement data management unit 62: Harvest evaluation unit 63: Harvest grain characteristic information recording unit 65: GPS module 66: Line communication unit 7: Management center 71: Harvest grain characteristic information database

Claims (6)

A grain tank that stores the grains sent from the threshing device that performs threshing processing on the grain culms cut from the field,
A yield sensor for measuring the yield of the grain,
A quality sensor for measuring the moisture value of the grain,
A measurement data management unit that manages the yield measurement data input from the yield sensor and the quality data input from the quality sensor in time series,
A crop evaluation unit that generates harvested grain characteristic information by linking the field micro-sections, the yield measurement data, and the quality data, and evaluates the yield and quality of the kernels harvested in the micro-sections. Prepare,
Yield of grains harvested in the micro-division, in the micro-division, travel loci included in the range of the micro-division, travel distance or travel time, the time-series managed yield measurement data, Calculated based on
The quality of the grain harvested in the minute section is based on the minute section, a traveling locus included in the range of the minute section, a traveling distance or a traveling time, and the quality data managed in time series. is calculated Te,
The yield and quality of the grains harvested in each of the micro-compartments are calculated regardless of the number of times the grain has passed through the corresponding micro-compartments . The yield of grains harvested in the micro-compartment is calculated as a total value of the yield measurement data corresponding to the measurement points included in the range of the micro-compartment,
The grain harvester according to claim 1, wherein the quality of the grain harvested in the micro-compartment is calculated as an average value of the quality data corresponding to measurement points included in the range of the micro-compartment. The yield sensor is a load cell provided in the grain tank, the quality sensor is an optical non-contact sensor for measuring the moisture value of the grain, the quality sensor is arranged in the grain tank The grain harvesting machine according to claim 1 or 2 , which is arranged or arranged in a grain conveying path from the threshing device to the grain tank. A GPS module for measuring a cutting position of the grain culm in the field is provided, and the cutting position is included in the harvested grain characteristic information, and the grain harvested in the minute section based on the harvested grain characteristic information. The grain harvester according to any one of claims 1 to 3, wherein the yield and the quality of the grain are calculated. The grain harvester according to any one of claims 1 to 4 , further comprising a recording unit that records the harvested grain characteristic information. A data input/output unit capable of data communication with a mobile communication terminal is provided, the measurement data management unit and the harvest evaluation unit are built in the mobile communication terminal, and the harvested grain characteristic information is stored in the mobile communication terminal. The grain harvester according to any one of claims 1 to 5 , which is sent to a management center via a line communication unit.

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