JP6991467B2 - Root vegetable harvester - Google Patents

Description

The present invention relates to a root vegetable harvester for harvesting root vegetables such as carrots.

Patent Document 1 discloses a root vegetable harvester that transports root vegetables harvested by a harvesting unit from the left and right end sides to the other end side of the machine and stores them in the storage unit. This storage section is provided with a mounting table on which a storage bag for storing root vegetables is placed.

This mounting table is in a horizontal position with the mounting surface horizontal when the storage bag is placed and the harvesting work is performed, but when the storage bag is removed from the machine after the harvesting work, it is forward. It is configured so that the storage bag can be slid down by its own weight by changing to a forward leaning posture. As a result, the worker can completely lower the storage bag from the machine to the field by sliding the storage bag down and grounding it at the front end of the mounting table and then moving the root vegetable harvester's body backward. ing.

Japanese Unexamined Patent Publication No. 2005-333917

However, according to the root vegetable harvester disclosed in Patent Document 1, in a place where the reverse movement of the machine is restricted, for example, at the end of a field, the mounting table is tilted and the storage bag is slid down to touch the ground. Even if it is allowed to move, it is difficult to completely lower the storage bag from the aircraft to the field because the aircraft cannot move backward. In this way, according to the configuration in which the storage bag is lowered from one direction of the mounting table to the outside of the machine, it may be inconvenient to try to lower the storage bag to the outside of the machine in a place where the movement of the aircraft is restricted. .. In that case, the worker had to move the aircraft to a place where he could move freely, and then unload the storage bag from the aircraft to the field, which was inconvenient.

Therefore, an object of the present invention is to solve such a conventional problem and improve the convenience of the root vegetable harvester.

In order to achieve the above object, the invention of claim 1 is to harvest root vegetables from a field on the left and right end sides of the traveling unit (A) for traveling the aircraft, the control unit (B) on which the worker is boarded, and the left and right ends of the aircraft. Then, the root vegetables harvested by the harvesting part (C) and the root vegetables harvested by the harvesting part (C) are taken over to the left and right ends of the machine. A sorting and transporting unit (E) that transports root vegetables from the left and right ends to the left and right ends so that an auxiliary worker can sort the root vegetables being transported, and a storage unit (G) that accommodates carrots released from the sorting and transporting unit (E). In the root vegetable harvester provided with, the storage unit (G) rotates a mounting table (g1) on which a storage bag (P) for storing root vegetables can be placed and a mounting table (g1) described above in a substantially front-back direction. It controls the rotation of the posture switching mechanism (g3) that enables movement, the mounting mechanism (g5) that mounts the above-mentioned stand (g1) to the machine body so as to be rotatable in the substantially left-right direction, and the posture switching mechanism (g3). The control device (M) is provided with a control device (M), and the control device (M) detects a storage posture in which the mounting surface (g11) of the above-mentioned stand (g1) is substantially vertical by a storage posture detecting member (g55), and front. When the description stand (g1) is in the retracted posture, even if the work operation lever (b5) for operating the rotation of the front description stand (g1) is operated, the front description stand (g1 ) by the posture switching mechanism (g3) is operated. ) Is a root vegetable harvester that is configured not to rotate .

According to the invention of claim 2, in the root vegetable harvester according to claim 1, the above-mentioned stand (g1) is rotatably supported by a stand rotation shaft (g2) extending substantially in the left-right direction from the machine body side. The control device (M) is detected by a horizontal posture detecting member (g54) that detects a horizontal posture in which the mounting surface (g11) of the above-mentioned stand (g1) is horizontal, and the posture switching mechanism (g3) is used. When the previously described pedestal (g1) is in the horizontal posture during the rotation of the previously described pedestal (g1), the rotation of the previously described pedestal (g1) is temporarily stopped, and the previously described pedestal rotation shaft (g2) is configured to temporarily stop the rotation of the previously described pedestal (g1). ), The horizontal posture detecting member (g54) and the stowed posture detecting member (g55) are provided between the machine body and the above-mentioned stand (g1).

According to the third aspect of the present invention, in the root vegetable harvester according to the second aspect, the pre-described stand (g1) is arranged on the side of the machine body, and the end portion of the pre-described stand (g1) on the machine body side is arranged. The mounting mechanism (g5) is provided so as to be separated from the machine body from the rear to the front, and the mounting mechanism (g5) is a storage rotation shaft (g52) which is a rotation axis when rotating the mounting table (g1) in the front-rear direction. The storage rotation shaft (g52) is provided above the above-mentioned pedestal rotation shaft (g2).

According to the invention of claim 4, in the root vegetable harvester according to any one of claims 1 to 3, the above-mentioned stand (g1) has a pinch prevention member (g4) having flexibility at the rear portion on the machine body side. The pinching prevention member (g4) that is vertically installed is characterized by having an inclined portion (g42) that is provided with a narrower vertical width toward the rear.

The invention of claim 5 is the root vegetable harvester according to any one of claims 1 to 4.
The harvesting section (C) is configured to be able to move up and down, and is provided with an image pickup device (K) for photographing root vegetables (W) being transported.
The control device (M) is configured to be able to control the raising and lowering of the harvesting section (C).
When the area of the foliage portion (W1) of the root vegetable (W) in the image data taken by the image pickup apparatus (K) is equal to or larger than a predetermined threshold value, the harvest portion (C) is controlled to descend.
When the area of the foliage portion (W1) of the root vegetable (W) in the image data is smaller than a predetermined threshold value , the harvest portion (C) is controlled to rise.

According to the first aspect of the present invention, the direction in which the storage bag (P) is lowered can be selected back and forth by the posture switching mechanism (g3) that allows the mounting table (g1) to rotate substantially in the front-back direction. Even in places where the movement of the aircraft is restricted, the storage bag (P) can be smoothly removed from the aircraft, and as a result, the convenience of the root vegetable harvester is improved and the workload of the operator is reduced. And work efficiency is improved. In addition, the control device (M) detects the storage posture in which the mounting surface (g11) of the mounting table (g1) is substantially vertical by the storage posture detecting member (g55), and the mounting table (g1) is in the storage posture. In this case, even if the work operation lever (b5) for operating the rotation of the previously described pedestal (g1) is operated, the previously described pedestal (g1) is not rotated by the posture switching mechanism (g3). As a result , it is possible to prevent the mounting table (g1) from rotating due to an erroneous operation and causing a problem when the mounting table (g1) is in the stowed posture.

In addition, the front-described pedestal (g1) is arranged on the side of the aircraft, and the end of the front-described pedestal (g1) on the aircraft side is provided so as to be separated from the aircraft from the rear to the front. As a result, the contact between the storage bag (P) and the machine body is prevented, and the root vegetables stored in the storage bag (P) are prevented from being damaged.

According to the invention of claim 2, in addition to the effect of the invention of claim 1, when the mounting table (g1) is in the horizontal posture, the rotation of the mounting table (g1) is temporarily stopped. Therefore, it becomes easy to set the mounting table (g1) in a horizontal posture, work efficiency is improved, erroneous operation can be prevented, and safety can be improved. Further, horizontal detection is provided by providing a horizontal posture detecting member (g54) and a storage posture detecting member (g55) between the machine body in front of the mounting table rotation shaft (g2) and the previously described table (g1). The switch (g54) and the storage detection switch (g55) are better prevented from coming into contact with the outside and adhering to mud. Further, since the horizontal detection switch (g54) and the storage detection switch (g55) can be arranged at a position close to the main electric wire on the machine body side, the maintainability is improved.

According to the invention of claim 3, in addition to the effect of the invention of claim 2 .
Since the end of the mounting table (g1) on the machine body side is provided so as to be separated from the machine body from the rear to the front, contact between the storage bag (P) and the machine body is prevented, and the storage bag (P) is provided. The contained root vegetables are prevented from being damaged. The mounting mechanism (g5) has a storage rotation shaft (g52) which is a rotation axis for rotating the mounting table (g1) in the front-rear direction, and the storage rotation shaft (g52) rotates the mounting table. Since it is arranged above the shaft (g2), it is possible to satisfactorily switch the mounting table (g1) to the storage posture.

According to the invention of claim 4, in addition to the effect of the invention of any one of claims 1 to 3, when the mounting table (g1) is rotated by the pinch prevention member (g4), sorting is performed. It prevents the operator from pinching his / her foot between the machine frame (a1) and the mounting table (g1), and the safety is improved. In addition, the inclined portion (g42) provided with a narrower vertical width toward the rear prevents the pinch prevention member g4 from coming into contact with the field when the mounting table (g1) is in the backward tilted posture. Even if the pinch prevention member g4 comes into contact with the field, since the pinch prevention member g4 has flexibility, it bends in response to an external force and rotates satisfactorily without hindering the rotation of the mounting table (g1). be able to. In addition, it is possible to prevent damage to the pinch prevention member (g4) itself.

According to the invention of claim 5, in addition to the effect of the invention of any one of claims 1 to 4, the harvesting section (C) is based on the image data taken by the image pickup apparatus (K). By controlling to move up and down, the worker can save the trouble of manually digging and adjusting the depth by operating the operation switch while visually observing the transport state of the carrot W, thereby reducing the work load. , Workability is improved.

FIG. 1 is a plan view of a root vegetable harvester according to a preferred embodiment of the present invention. FIG. 2 is a right side view of the root vegetable harvester of FIG. FIG. 3 is a left side view of the root vegetable harvester of FIG. FIG. 4 is a rear view of the root vegetable harvester of FIG. FIG. 5 is a plan view of a takeover transport section and a sorting transport section of the root vegetable harvester of FIG. FIG. 6 is a perspective view of the mounting table of the root vegetable harvester of FIG. FIG. 7 is a partially enlarged plan view of the periphery of the mounting mechanism of FIG. FIG. 8 is a cross-sectional view of the I-I cross section of FIG. 7 viewed in the direction of an arrow. 9 (A) is a partially enlarged front view of the periphery of the mounting mechanism when the mounting table g1 of FIG. 6 is in the deployed state, and FIG. 9 (B) is the mounting when the mounting table g1 of FIG. 6 is in the retracted state. It is a partially enlarged front view around the mechanism. 10A is a right side view showing a forward leaning posture of the mounting table of FIG. 6, and FIG. 10B is a right side view showing a backward leaning posture of the mounting table of FIG. be. FIG. 11 is a control block diagram of the control device for the root vegetable harvester of FIG. FIG. 12 is a schematic perspective view for explaining the arrangement position of the image pickup device of the root vegetable harvester of FIG. FIG. 13 is an explanatory diagram illustrating processing by the arithmetic processing unit of the image data acquired by the image pickup apparatus of FIG.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the description of the embodiment, the left-right direction is referred to as left and right, the forward direction is referred to as forward, and the reverse direction is referred to as rear toward the forward direction F of the aircraft, but the configuration of the present invention is not limited. Further, in the following, as one of the embodiments of the present invention, a root vegetable harvester for harvesting carrots will be described.

<Overall configuration>
1 is a plan view of a root vegetable harvester according to an embodiment of the present invention, FIG. 2 is a right side view, FIG. 3 is a left side view, and FIG. 4 is a rear view.
The root vegetable harvester 1 has a traveling unit A for traveling the aircraft, a control unit B for a worker to board, and carrots are pulled out from the field on the left and right ends (left side) of the aircraft and transported to the rear and upward of the aircraft and foliage. Harvesting part C that cuts the part and harvests the root of carrot, and left and right end side (right side) of the machine while processing the remaining leaves by receiving the carrot that fell from the rear part of the harvesting part C ), And the carrots are taken over from the takeover transport unit D and transported from the left and right end sides (left side) of the machine to the left and right other ends (right side), and the auxiliary worker selects the carrots being transported. It is composed of a sorting and transporting unit E that enables the carrots to be sorted and transported, and a housing unit G that receives the carrots transported by the sorting and transporting unit E and stores them in the storage bag P. The details of each part will be described in detail below.

<Running part>
First, the configuration of the traveling unit A will be described.
As shown in FIGS. 2 to 4, the traveling unit A includes a pair of left and right traveling crawlers a2 (a2L, a2R) below the aircraft frame a1 constituting the aircraft. In the traveling crawler a2 (a2L, a2R), the left and right belts a6 and a6 wound around the left and right drive sprocket a3, a3, the left and right driven wheels a4, a4, and the plurality of rolling wheels a5, a5, respectively, are left and right. It is configured to rotate by driving the drive sprocket a3 and a3 to run the machine. As shown in FIG. 1, the left and right drive sprockets a3 and a3 are attached to the left and right drive shafts a9 and a9 extending from the mission case a8 to which the power of the engine a7 is transmitted to the left and right sides of the engine. The power of a7 is transmitted.

<Control section>
Next, the configuration of the control unit B will be described.
As shown in FIGS. 1 and 2, the control unit B is provided with an engine cover b1 having an engine a7 built in on the upper right side of the fuselage frame a1, and a control seat b2 is attached to the upper part of the engine cover b1. ing. Further, in front of the control seat b2, a speed change operation lever b3 for switching the traveling speed, an aircraft operation lever b4 for operating the left / right turning operation of the aircraft and the working height of the harvesting unit C described later, a sorting and transporting unit E described later, and a later-described sorting and transporting unit E will be described later. A work operation lever b5 for operating the accommodating portion G and various operation switches b6 are arranged.

<Harvest Department>
Next, the configuration of the harvesting unit C will be described.
The harvesting section C is located on the left side of the machine body as shown in FIG. 1, and the carrot growing in the field is located on the transport starting end side T1 located on the front side of the traveling vehicle body A as shown in FIG. A pair of digging devices that dig up carrots by swinging up and down around the roots of carrots buried in the field, a vertical raising device c2 and a horizontal raising device c3 equipped with a large number of lugs c1 that raise the foliage of the carrot. Equipped with a pair of first pinching transport belts c5 that pinch the raising blade c4 (digging part) and the foliage portion W1 of the carrot W dug up by the raising blade c4, pull it out from the field, and transport it diagonally backward. There is.

Further, as shown in FIG. 1, a pair of second pinching transport belts c6 that take over the carrot W from the first pinching transport belt c5 and transport the carrot W to the rear are provided on the transport terminal side T2 located on the rear side of the machine body. As shown in FIGS. 2 and 3, a left-right alignment device c7 that aligns the left-right cutting position of the carrot foliage portion W1 below the second sandwiching transport belt c6, and a pair of cutters c8 that cut the foliage portion W1. Is provided, and a leaf-removing shooter c9 that receives the foliage portion cut by the cutter c8 and drops it into the field is provided at the end portion of the second sandwiching transport belt c6. At the transport end side T2, the carrot W cut by the foliage portion W1 cut by the cutter c8 is dropped and supplied to the takeover transport portion D disposed below the cutter c8. With such a configuration, the harvesting unit C pulls out the carrot W from the field, transports it to the rear of the machine body, cuts the foliage portion W1 of the carrot W, and drops and supplies the carrot W to the takeover transport unit D.

Further, the harvesting portion C is provided with a harvesting portion cover c10 that covers the upper side and the left and right sides over the range from the front end to the rear end of the first sandwiching transport belt c5.

Here, as shown in FIG. 3, the harvesting unit C includes a harvesting unit elevating cylinder c41 configured so that expansion and contraction can be controlled by a control device M described later, and the expansion and contraction operation of the harvesting unit elevating cylinder c41. It is configured so that the harvesting unit C can be raised and lowered in conjunction with it. As a result, the height of the excavation blade c4 can be adjusted up and down to adjust the excavation depth L of the carrot W. Further, the control device M, which will be described later, is configured to acquire this operation information when the operation switch b6 is operated and control the extension or shortening of the harvesting section elevating cylinder c41, and as a result, the operator can control the extension or shortening. The harvesting unit C can be raised and lowered by operating the operation switch b6. Thereby, the operator can set the desired excavation depth L by operating the operation switch b6 in the harvesting operation.

<Takeover transport unit>
Next, the configuration of the takeover transfer unit D will be described.
FIG. 5 is a plan view of the takeover transport section D and the sorting transport section E of the root vegetable harvester 1 of FIG. 1. As shown in FIG. 5, the takeover transport section D is a carrot that is dropped and supplied from the harvest section C. The first conveyor d1 that receives W and transports it toward the right side of the machine, and the residue of cutting the foliage W1 of the carrot W that remains uncut by the cutter c8 on the transport path of the first conveyor d1. It is equipped with a leaf processing roller d2.

The first conveyor d1 is configured such that an endless belt d13 made of rubber, urethane, or the like is wound around a drive roller d11 and a driven roller d12, and the upper surface side (conveyor surface side) thereof moves toward the right side of the machine body. Has been done. Further, since the first conveyor d1 is conveyed by the second sandwiching transport belt c6 and receives the drop supply of the carrot W whose foliage portion W1 has been cut by the cutter c8, the second sandwiching transport belt c6 and the cutter of the harvesting portion C are received. It is arranged below c8.

Although not shown, the residual leaf processing roller d2 is arranged with a gap between the upper surface side (transport surface side) of the first conveyor d1 and the root portion of the carrot W so as not to pass through. The lower surface side of the conveyor d1 facing the upper surface side (transport surface side) is configured to move toward the right side of the machine body. As a result, the residual leaves of the foliage portion W1 of the carrot W that has not been cut by the cutter c8 can be pulled in between the upper surface of the first conveyor d1 and the lower surface of the residual leaf processing roller d2, and can be torn off and removed.

Further, the residual leaf processing roller d2 is arranged so as to be inclined so that the front end faces the right side of the machine and the rear end faces the left side of the machine with respect to the front-rear direction of the machine, whereby the first conveyor d1 The ginseng W, which is conveyed by the frictional force of the above and comes into contact with the residual leaf processing roller d2, is guided to the front of the machine body, and the conveying conveyor of the sorting and conveying section E arranged so as to be parallel to the front of the first conveyor d1. It is configured to be transferred to e1. The takeover transport unit D configured in this way takes over the carrot W from the harvesting unit C and transfers the carrot W to the sorting and transport unit E while processing the remaining leaves of the carrot W.

<Sorting and transporting unit>
Next, the configuration of the sorting and transporting unit E will be described.
As shown in FIG. 1, the transport sorting unit E is located behind the control unit B, and is a transport conveyor e1 that is continuous in the left-right direction of the machine and a sorting worker can be boarded on the machine frame a1. It is provided with a step floor e2 provided on the upper part and a sorting work seat e3 provided on the step floor e2.

As shown in FIG. 5, in the conveyor e1, the transport start end side S1 is on the left side of the machine body, the transport end side S2 is on the right side of the machine body, and the transport start end side S1 takes over and transports. The carrot W is taken over from the portion D and transported to the right side of the machine body, and the carrot W is discharged from the transport end portion e125, which is the right end of the transport conveyor e1, to the accommodating portion G described later on the transport end side S2. The transport conveyor e1 is configured by connecting a cleaning conveyor e11 having a different function and a rotary conveyor e12 integrally in the left-right direction, and the cleaning conveyor e11 is arranged on the transport start end side S1 and is a rotary conveyor. The e12 is arranged on the transport end side S2. The middle portion S3 of the conveyor e1 located near the right end of the takeover conveyor D serves as the transport end of the cleaning conveyor e11 and the transport start end of the rotary conveyor e12.

As shown in FIG. 1, a sorting work seat e3 is arranged behind the rotary conveyor e12, and the sorting worker gets on the step floor e2, sits on the sorting work seat e3, and is on the conveyor e1. Of the carrots W to be transported, for example, the carrots W which are determined to be defective due to damage or bad shape can be manually sorted.

The cleaning conveyor e11 transports the carrot W inherited from the transfer transport unit D to the right side of the machine by a plurality of transport rollers e111 ... Distributed at predetermined intervals in the left-right direction, and the carrots are passed through the gaps between the transport rollers e111. Drop and remove contaminants such as foliage, attached soil, and broken carrot debris. Further, the contaminants that have fallen from the gaps between the transport rollers e111 ... Are collected by the waste shooter e112 arranged so as to cover the lower side of the transport rollers e111 ... Will be discarded. The left end of the cleaning conveyor e11 is located below the first pinching conveyor belt c5 of the harvesting portion C, whereby the carrot W that has fallen from the first pinching conveyor belt c5 in front of the cutter c8. It can be returned to the transport path by receiving. Further, in front of the left end of the cleaning conveyor e11, there is a collection shooter e113 that receives the carrot W and impurities that have fallen from the first pinching conveyor belt c5 in front of the cleaning conveyor e11 and moves them to the cleaning conveyor e11. It is provided.

The rotary conveyor e12 takes over the carrot W from the cleaning conveyor e11, and conveys the carrot W to the right side of the machine by a plurality of transport rollers e121 ... Arranged at predetermined intervals in the left-right direction, and transports the carrot W to the right side of the transport end side S2. It is discharged from the transport end portion e125 to the accommodating portion G. The plurality of transport rollers, the transport rollers e121 ... Are provided with a plurality of transport lugs e122 ... To prevent the backflow of carrots to the upper side in the transport direction at intervals of several, whereby the rotary conveyor e12 is provided with the rotary conveyor e12. The carrot W can be transported while preventing backflow to the upper side in the transport direction.

Further, as shown in FIG. 4, the rotating conveyor e12 is provided so as to be rotatable on the right side with the conveyor rotating shaft e124 provided on the left side as a fulcrum, and further, the right side is a step floor. It is connected to and supported by an electric elevating cylinder e123 provided on the e2. As a result, the rotary conveyor e12 rotates to the right side by the expansion and contraction of the elevating cylinder e123, moves up and down the transport end portion e125 at the right end of the rotary conveyor e12, and discharges the carrot W to the accommodating portion G for accommodating. It is configured so that the height position when it is stored in the bag P can be changed. Further, an operation pedal e4 for operating the extension of the elevating cylinder e123 is provided in the vicinity of the lower part of the sorting work seat e3, whereby the sorting worker can operate by stepping on the operation pedal e4 with his / her foot. The elevating cylinder e123 is extended so that the transport end portion e125 can be raised. With such a configuration, as the number of carrots W stored in the storage bag P increases as the work progresses, the sorting worker operates by stepping on the operation pedal e4 with his / her foot to gradually raise the transport end portion e125 from below. As a result, the falling distance when the carrot W falls from the transport end portion e125 into the storage bag P can be minimized, and the carrot W can be satisfactorily prevented from being damaged by the drop impact.

Support arms e126 and e126 are connected to the transport end portion e125 of the rotary conveyor e12, and hanging hangers e127 and e127 are attached to the support arms e126 and e126. The hanging hangers e127 and e127 support the upper opening of the storage bag B in a wide open state, whereby the carrot W discharged from the transport end portion e125 of the rotary conveyor e12 can be accurately stored in the storage bag P. Can be accommodated inside.

<Overall configuration of the containment unit>
Next, the configuration of the accommodating portion G will be described.
As shown in FIG. 1, the accommodating portion G mounts a mounting table g1 on which the accommodating bag P is placed, and a mounting mechanism that allows the mounting table g1 to be mounted on the machine body and switched between an expanded state and a stored state, which will be described later. It is provided with g5 and a posture switching mechanism g3 that can switch between a forward leaning posture and a backward leaning posture, which will be described later.

<Mounting stand>
FIG. 6 is a perspective view of the mounting table g1 of the root vegetable harvester 1 of FIG. As shown in FIG. 6, the mounting table g1 is inserted through the mounting table rotating shaft g2 and rotatably supported, and the mounting table rotating shaft g2 is attached to a mounting mechanism g5 described later. Has been done.

The mounting table g1 includes a mounting surface g11 on which the storage bag P is placed, and the mounting surface g11 is formed in a rectangular shape having a substantially front-back direction as a longitudinal direction in a plan view. Left and right side wall portions g12 (g12L, g12R) projecting above the mounting surface g11 by a predetermined height are provided on the left and right side edges of the mounting surface g11. The left and right side wall portions g12 (g12L, g12R) prevent the storage bag P from falling off from the left and right sides of the mounting surface g11, and accommodate the storage bag P when the mounting surface g11 is tilted to slide the storage bag P. I can guide you to the bag P. Further, the left and right side wall portions g12 are provided with substantially trapezoidal extending portions g13 (g13L, g13R) which are further extended upward on the left and right, respectively. The extended portion g13 (g13L, g13R) further better prevents the storage bag P from falling off from the left and right sides of the mounting surface g11, and when the mounting surface g11 is tilted to slide the storage bag P. In addition, the storage bag P can be guided even better. In addition, the storage bag P is prevented from coming into contact with the engine cover b1, the mounting mechanism g2 described later, and the posture switching mechanism g3.

Here, the mounting table rotation shaft g2 pivotally supports the mounting table g1 so as to pass through the central position of the mounting table g1 in the substantially front-rear direction, whereby the mounting table rotating shaft g2 is in front of the mounting table rotating shaft g2. The front part of the mounting table g1 and the rear part of the mounting table g1 rearward from the mounting table rotation shaft g2 are configured to have substantially the same front-back and left-right widths. With this configuration, the weight balance of the machine body when the mounting table g1 is attached becomes good, and the posture switching mechanism g3, which will be described later, changes the posture of the mounting table g1 between a forward leaning posture and a backward leaning posture. At that time, the mounting table g1 can be rotated stably.

<Mounting mechanism for mounting table>
Next, the mounting mechanism g5 of the mounting table g1 with respect to the machine frame a1 will be described in detail. In FIG. 1, the mounting table g1 is in a horizontal posture in which the mounting surface g11 is substantially horizontal, and for the sake of explanation, the lateral direction DR1, the longitudinal direction DR2, and the machine body front-rear direction DR3 of the mounting table g1 are shown. Shows. Here, as shown in FIG. 1, the mounting table g1 is arranged so that the longitudinal direction DR2 of the mounting table g1 has an inclination of a predetermined angle φ with respect to the front-rear direction DR3 of the machine body in a plan view. As a result, the left end of the mounting table g1 is provided so as to be separated from the machine body from the rear to the front. By arranging the mounting table g1 in this way, an appropriate distance for preventing contact between the engine cover b1 protruding to the right in front of the machine and the left end of the mounting table g1 can be secured, and further, the work can be performed. Occasionally, it is possible to prevent the storage bag P from coming into contact with the engine cover b1. As a result, it is possible to suitably prevent the carrot contained in the storage bag P from being damaged by contact. The lateral direction DR1 of the mounting table g1 is parallel to the axial direction of the mounting table rotating shaft g2.

Further, since the DR2 in the longitudinal direction of the mounting table g1 is arranged so as to have an inclination of a predetermined angle φ, the mounting table rotation shaft provides a space for arranging the horizontal detection switch g54 and the storage detection switch g55, which will be described later. It can be provided between the machine body and the mounting table g1 in front of g2. As a result, the horizontal detection switch g54 and the storage detection switch g55 are prevented from coming into contact with the outside such as the feet of the operator, and failure is prevented. Further, the left side wall portion g12L and the extension portion g13L provided so as to be located on the machine body side in the mounting table g1 serve as a cover, and the horizontal detection switch g54 and the storage detection switch g55 come into contact with the outside. And the adhesion of mud is even better prevented. Further, since the horizontal detection switch g54 and the storage detection switch g55 can be arranged at a position close to the main electric wire on the machine body side, the maintainability is improved.

FIG. 7 is a partially enlarged plan view around the mounting mechanism g5, and FIG. 8 is a cross-sectional view of the I-I cross section of FIG. 7 as viewed in the direction of an arrow.
As shown in FIG. 7, the mounting mechanism g5 includes a fixed plate g51 mounted on a traveling frame a11 constituting a part of the machine body, a storage rotation shaft g52 connected to the fixed plate g51, and a storage rotation. It is configured to include a rotating plate g53 rotatably attached to the moving shaft g52, and a horizontal detection switch g54 and a storage detection switch g55 attached to the rotating plate 3.

The end of the fixing plate g51 on the machine body side is locked to the traveling frame a11 and fixed by the bolt g56, and the storage rotation shaft g52 is provided on the end on the mounting table g1 side. The traveling frame a11 is a frame material having a rectangular cross section with the longitudinal direction in the front-rear direction, and is provided at an appropriate position on the right end side of the machine frame a1.

The storage rotation shaft g52 is a shaft member extending substantially in the front-rear direction, and is connected so as to horizontally insert the fixing plate g51.

The rotating plate g53 includes a front plate portion g531 and a rear plate portion g532 extending in the vertical direction, a horizontal plate portion g533 extending in the horizontal direction so as to connect the front plate portion g531 and the rear plate portion g532, and a front plate portion g531. It is provided with a horizontal detection switch g54 and a storage portion g534 of the storage detection switch g55 provided in the front. As shown in FIG. 8, the upper ends of the front plate portion g531 and the rear plate portion g532 are inserted into the storage rotation shaft g52, whereby the rotation plate g53 is rotatably supported by the storage rotation shaft g52. ing. Further, a mounting table rotation shaft g2 and a mounting stay g32, which will be described later, are fixed to the back surface of the rear plate portion g532.

The storage portion g534 is integrally formed with the front plate portion g531, and includes an installation surface g5341 on which the horizontal detection switch g54 and the storage detection switch g55 are installed, and a peripheral wall surface g5342 that protects the horizontal detection switch g54 and the storage detection switch g55. The horizontal detection switch g54 and the storage detection switch g55 are housed on the installation surface g5341 so as to be surrounded by the peripheral wall surface g5342.

FIG. 9A is a partially enlarged front view of the periphery of the mounting mechanism g5 when the mounting table g1 is in the deployed state, and FIG. 9B is a partially enlarged front view of the mounting table g1 in the retracted state. .. As shown in FIGS. 9A and 9B, the accommodating portion G rotates the mounting table g51 substantially in the left-right direction around the accommodating rotation axis g52 of the mounting mechanism g5, that is, It is possible to switch between the deployed state and the stored state by rotating around the axis along the substantially front-back direction. Here, since the storage rotation shaft g52 is arranged above the mounting table rotation shaft g2, it is possible to satisfactorily switch the mounting table g1 to the storage posture.

The unfolded state of the mounting table g1 is a state in which the mounting surface g11 is substantially horizontal in front view, and in the unfolded state, the storage bag P can be stably mounted. At this time, the end portions of the front plate portion g531 and the rear plate portion g532 on the machine body side are in contact with the traveling frame a11, and the mounting mechanism g5 and the mounting table g1 are fixedly supported (see FIG. 7). On the other hand, in the stored state of the mounting table g1, the mounting surface g11 is rotated toward the machine body so that the right end of the mounting table g1 faces upward from the deployed state, and the mounting surface g11 is substantially vertical when viewed from the front. be. As a result, when the mounting table g1 is not in use, the mounting table g1 can be stored and the vehicle width of the machine body can be made compact.

Further, in the deployed state of the mounting table g1, the tip end portion of the storage detection switch g55 protruding from the peripheral wall surface g5342 is configured to abut on the traveling frame a11, and is configured to be separated in the stored state. As a result, the storage detection switch g55 can detect the deployed state and the stored state of the mounting table g1. Further, the horizontal detection switch g54 is configured to come into contact with the left end of the mounting table g1 when the mounting table g1 is in the horizontal posture described later, thereby detecting that the mounting table g1 is in the horizontal posture. It is possible.

<Posture switching mechanism for the mounting table>
Subsequently, the posture switching mechanism g3 for switching the posture of the mounting table g1 will be described.
10 (A) is a right side view showing the forward leaning posture of the mounting table g1 of FIG. 6, and FIG. 10 (B) is a right side view showing the backward leaning posture of the mounting table g1 of FIG. This posture switching mechanism g3 rotates the mounting table g1 in a substantially front-back direction with the mounting table rotation axis g2 as an axis from a horizontal posture in which the mounting surface g11 is horizontal, that is, along a substantially left-right direction. It rotates about the axis line, and as a result, the mounting surface g11 can be switched between a forward tilted posture in which the mounting surface g11 is tilted forward and a backward tilted posture in which the mounting surface g11 is tilted backward.

The posture switching mechanism g3 is configured to rotate the mounting table g1 substantially in the front-rear direction by expanding and contracting the electric hydraulic cylinder g31 arranged on the right side of the mounting table g1, and the detailed configuration thereof is shown in FIG. As shown in the above, one end side (left end) of the mounting stay g32 arranged below the mounting table g1 at a predetermined interval is fixed to the mounting mechanism g5, and stands up approximately vertically on the other end side (right end). The plate-shaped mounting plate g34 is fixed. The mounting plate g34 is arranged on the right side of the mounting table g1 with a predetermined gap so as not to interfere with the right end of the mounting table g1, and the mounting table rotating shaft g2 is inserted and fixed to the upper portion. ..

An upright plate-shaped electric hydraulic cylinder mounting member g35 is fixed to the upper right side of the mounting plate g34. The electric hydraulic cylinder mounting member g35 has a mounting table rotation shaft g2 inserted in the lower portion and is fixed to the machine frame a1 together with the mounting plate g34.

The rear end of the electric hydraulic cylinder g31 is connected to the upper end of the mounting plate g34 via a hinge mechanism g36, whereby the electric hydraulic cylinder g31 can rotate around the upper end of the mounting plate g34. ing. Further, the front end portion g37 of the electric hydraulic cylinder g31 is rotatably connected (pin-coupled) to the right side wall portion g12R of the mounting table g1.

As shown in FIG. 10A, the posture switching mechanism g3 configured in this way includes a rotation fulcrum O1 by the mounting table rotation shaft g2, a rotation fulcrum O2 by the hinge mechanism g36, and an electric hydraulic pressure. It constitutes a three-node chain link mechanism having a rotation fulcrum O3 by the front end portion g37 of the cylinder g31. With such a configuration, the mounting table g1 is provided so as to be rotatable around the mounting table rotating shaft g2 (O1) by the expansion and contraction of the electric hydraulic cylinder g31, and the electric hydraulic cylinder g31 is fixed so as not to expand and contract. In the state, it is fixed to the body frame a1 and can maintain the posture.

That is, as shown in FIG. 10A, when the electric hydraulic cylinder g31 is extended, the front end portion of the mounting table g1 rotates downward and the mounting table g1 is in a forward leaning posture (position D). .. Here, the rotation angle θ from the horizontal posture (position S) of the mounting surface g11 of the mounting table g1 to the forward leaning posture (position D) is such that the front end portion of the mounting table g1 is on the ground (field) GL when the mounting table g1 is in the forward leaning posture. It is set to the angle to touch the ground.

Further, as shown in FIG. 10B, when the electric hydraulic cylinder g31 is shortened, the rear end portion of the mounting table g1 is rotated downward to be in a backward tilting posture (position U). Here, the front and rear widths of the front part of the mounting table g1 in front of the mounting table rotation shaft g2 and the rear part of the mounting table g1 behind the mounting table rotating shaft g2 are configured to be substantially the same. Therefore, the rotation angle θ'from the horizontal posture (position S) of the mounting surface g11 of the mounting table g1 to the forward leaning posture (position D) is such that the rear end of the mounting table g1 is on the ground (field) in the backward tilting posture. ) It is set to an angle of contact with the GL, and the magnitudes of the rotation angle θ and the rotation angle θ'are substantially the same.

With such a configuration, the mounting table g1 has a horizontal posture (position S) in which the mounting surface g11 is horizontal, a forward leaning posture (position D) in which the mounting surface g11 is horizontal, and a backward tilting in which the mounting surface g11 is tilted backward by the posture switching mechanism g3. The posture (position U) can be switched between each other. That is, when the mounting table g1 is in the horizontal posture, the mounting table g1 can store the carrot W in the storage bag P while stably mounting the storage bag P, and the storage bag P is filled with the carrot W. In this case, by changing the mounting table g1 from the horizontal posture to the forward leaning posture or the backward leaning posture, the storage bag P can be slid on the mounting table g1 and moved to the ground GL, and as a result, the storage bag P can be moved to the ground GL. The work of lowering the bag to the ground can be easily performed. Further, when the storage bag P is grounded with the mounting table g1 in the forward leaning posture, the aircraft is moved backward, and when the storage bag P is grounded with the mounting table g1 in the backward leaning posture, the aircraft is accommodated by moving forward. The bag P can be completely separated from the mounting table g1 and can be erected on the ground.

Further, as shown in FIGS. 6, 10 (A) and 10 (B), a substantially trapezoidal pinch prevention member formed of a flexible plate-shaped member is provided at the rear portion of the left end of the mounting table g1. g4 is vertically installed. The pinch prevention member g4 prevents the sorting operator from pinching his / her feet between the machine frame a1 and the mounting table g1 when the mounting table g1 rotates, and the safety is improved.

Further, as shown in FIG. 6, the pinch prevention member g4 is rotatably attached to the mounting table g1 by the hinge member g41, whereby the pinch prevention member g4 can be folded and made compact when not in use. It is possible to do.

Further, the pinching prevention member g4 has an inclined portion g42 provided with a narrower vertical width toward the rear, whereby the pinching prevention member g4 is pinched in the backward tilted posture of the mounting table g1 shown in FIG. 10 (B). The prevention member g4 is prevented from coming into contact with the field. Further, even if the pinch prevention member g4 comes into contact with the field, since the pinch prevention member g4 has flexibility, it bends according to an external force so that it can rotate satisfactorily without hindering the rotation of the mounting table g1. It is configured. In addition, it is configured to prevent damage to the pinch prevention member g4 itself due to contact with the field.

FIG. 11 is a control block diagram relating to the control of the control device M of the root vegetable harvester 1.
The control device M is an information processing device including a CPU, a main storage device, an auxiliary storage device, and the like. As shown in FIG. 10, in the control device M of the root vegetable harvester 1, an operation switch b6, a work operation lever b5, and an operation pedal e4 are connected to the input side, and information on these operations can be acquired. Further, the rotation angle of the mounting table g1 can be determined by being connected to the tilt sensor M1 provided at an appropriate position and capable of detecting the rotation angle of the mounting table g1 and acquiring the detection information of the tilt sensor M1. It has become.

Further, the control device M raises and lowers the harvesting portion C by controlling the harvesting portion raising and lowering cylinder c41 connected to the output side, whereby the height of the excavated portion c4 can be adjusted up and down. Further, it is possible to control the rotation of the rotary conveyor e12 by controlling the elevating cylinder e123, and to control the rotation of the mounting table g1 by controlling the electric hydraulic cylinder g31. Further, a notification device M2 that can output various information to the operator by outputting voice or an alarm by a speaker or the like is connected to the output side. Further, the control device M is configured to be able to send and receive information to and from the arithmetic processing unit U for automatically adjusting and setting the height of the excavated portion c4.

Next, specific control of the control device M will be described.
The control unit M acquires the operation information of the operation switch b6, controls the excavation unit upper and lower cylinder c41 connected to the output side based on the acquired operation information, and adjusts the height of the excavation unit c4 up and down. do. Further, by a predetermined operation of the operation switch b6, it is possible to switch to the excavation portion height automatic adjustment mode in which the height of the excavation portion c4 can be automatically adjusted and set without manually adjusting the height. The automatic excavation height adjustment mode will be described later.

Here, the work operation lever b5 can input in four directions of front input, rear input, left input, and right input, the control device M controls the elevating cylinder e123, and the work operation lever b5 is on the right. When input, the rotary conveyor e12 rotates downward, and when input to the left, it rotates upward. Further, when the work operation lever b5 is input in advance, the control device M controls to extend the electric hydraulic cylinder g31 while acquiring the detection information of the tilt sensor M1 during the input, and the front portion of the mounting table g1. Rotates downward. Further, when it is determined that the mounting table g1 is in the forward leaning posture, the rotation of the mounting table g1 is stopped. Further, when the work operation lever b5 is post-input, during the input, the electric hydraulic cylinder g31 is controlled to be shortened while acquiring the detection information of the tilt sensor M1, and the rear portion of the mounting table g1 is rotated downward. do. Further, when it is determined that the mounting table g1 is in the backward tilted posture, the rotation of the mounting table g1 is stopped.

With such a configuration, the operator operates the work operation lever b5 to select the mounting table g1 in the forward leaning posture or the backward leaning posture, and the carrot is housed in either the front or the rear of the mounting table g1. The storage bag P can be freely lowered. As a result, for example, when it is desired to lower the storage bag P from the mounting table g1 at a place such as a field edge where it is difficult for the root vegetable harvester 1 to move backward, the storage bag P is placed behind the mounting table g1 with the mounting table g1 in a backward tilted posture. By moving the aircraft forward after lowering P, the storage bag P can be completely separated from the mounting table g1 and stood up. On the contrary, when it is desired to lower the storage bag P from the mounting table g1 at the field edge where it is difficult to move forward, the mounting table g1 may be in a forward leaning posture. In this way, the worker can smoothly place the storage bag P by selecting the forward leaning posture or the backward leaning posture of the mounting table g1 even in a place where the forward or backward movement of the root vegetable harvester 1 is restricted. It can be unloaded from the pedestal g1 to the outside of the machine, and as a result, the extra movement for unloading the storage bag P from the pedestal g1 is eliminated, the work load is reduced, the work efficiency is improved, and as a result, root vegetables The convenience of the harvester 1 is improved.

Further, the control device M controls the expansion and contraction of the electric hydraulic cylinder g31 in response to the operation of the work operation lever b5, and the front part of the mounting table g1 is rotated downward by the front input of the work operation lever b5. It is configured to rotate the rear part of the mounting table g1 downward by the post-input, but the horizontal detection switch g54 detects the horizontal posture of the mounting table g1 during the operation, so that the mounting table g1 is rotated. When it is determined that the mounting table g1 is in the horizontal position during operation, the rotation of the mounting table g1 is temporarily stopped, and the mounting table g1 is not rotated until the work operation lever b5 is input again. As described above, the configuration in which the mounting table g1 is temporarily stopped in the horizontal posture makes it easy to set the mounting table g1 in the horizontal posture, improves work efficiency, prevents erroneous operation, and improves safety. ..

Further, the control device M does not control the expansion and contraction of the electric hydraulic cylinder g31 even if the work operation lever b5 is operated when the storage detection switch g55 detects the stored state of the mounting table g1. Therefore, it is configured to stop the rotation of the mounting table g1. As a result, it is possible to prevent the mounting table g1 from rotating due to an erroneous operation and causing a problem when the mounting table g1 is in the stored posture.

Further, when the operation pedal e4 is pressed, the control device M acquires the operation information and obtains the operation information.
It is configured to control the elevating cylinder e123 and rotate the rotary conveyor e12 upward. As a result, the sorting worker confirms the storage status of the carrot in the storage bag P while performing the sorting work with both hands, and when the carrot W is stored near the upper opening of the storage bag P, the operation pedal e4 is pressed. Since the transport end portion e125 of the rotary conveyor e12 can be lifted by operating with a foot, work efficiency is improved. Further, since the operation pedal e4 only performs the ascending operation, the operation is simple and can be easily and quickly operated even during the sorting operation, and the operability and workability are improved.

<Automatic excavation height adjustment mode>
When the operation switch b6 receives a predetermined operation by the operator, the control device M executes an automatic adjustment mode in which the arithmetic processing unit U automatically adjusts the excavation depth L of the excavation unit c4.

The arithmetic processing unit U includes a CPU, RAM, and ROM.
, An electronic circuit unit composed of an interface circuit and the like. The arithmetic processing unit U has an image processing unit u1, a foliage extraction unit u2, a root extraction unit u3, a contaminant extraction unit u4, and an excavation depth as functions realized by an implemented program or the like. It is provided with a determination unit u5.

As shown in FIG. 12, a camera K (imaging device) for photographing the carrot W being transported by the first sandwiching transport belt c5 of the harvesting section C is provided at an appropriate position in the harvesting section C, and image processing is performed. The unit u1 acquires image data (the size of the image is XY pixels) obtained by shooting with the camera K (imaging device) at predetermined time intervals, and performs image processing to obtain a predetermined noise component. The removal process is performed, and the image data from which the noise component has been removed is passed to the foliage extraction unit u2, the root extraction unit u3, and the contaminant extraction unit u4. Image with noise component removed Image with noise component removed

FIG. 13 is an explanatory diagram illustrating processing by the arithmetic processing unit U of the image data acquired by the image pickup apparatus K.
As shown in FIG. 13, the foliage extraction unit u2 acquires image data from the image processing unit u1 and extracts a predetermined area using the RGB values and the hue / saturation / brightness values given to each pixel. By the processing, the region Dw1 of the foliage portion W1 of the ginseng W in the XY pixels is extracted, and the area of the foliage portion W1 of the ginseng W in the XY pixels is calculated. Further, the upper end Tw1 and the lower end Bw1 of the foliage portion W1 are calculated from the region Dw1 of the foliage portion W1, and the vertical width of the foliage portion W1 is calculated. The area and vertical width of the foliage portion W1 of the ginseng W may be calculated by the total sum of the ginseng W contained in the image data or by the average value divided by the number of ginseng W included in the image data. ..

The root extraction unit u3 acquires image data from the image processing unit u1 and performs a predetermined region extraction process using the RGB values and the hue / saturation / brightness values given to each pixel to perform ginseng in the XY pixels. The region Dw2 of the root portion W2 of W is extracted, and the area of the root portion W2 of the carrot W in the XY pixels is calculated. Further, the upper end Tw2 and the lower end Bw2 of the root portion W2 are calculated from the region Dw2 of the foliage portion W1, and the vertical width of the root portion W2 is calculated. The area and vertical width of the root portion W2 of the carrot W may be calculated by the total sum of the carrots W contained in the image data or by the average value divided by the number of the carrots W contained in the image data.

The contaminant extraction unit u4 acquires image data from the image processing unit u1 and performs a predetermined region extraction process using the RGB values, hue, saturation, and brightness values given to each pixel in the XXY pixels. The region Dk of the contaminants (for example, soil) is extracted, and the area of the contaminants of the carrot W in the XY pixels is calculated.

The excavation section depth determination section u5 acquires the calculation results of the foliage extraction section u2, the root extraction section u3, and the contaminant extraction section u4, and based on this, moves the harvesting section C up and down via the control device M. The position of the excavation portion c4 is adjusted up and down, and the excavation depth L is adjusted. It should be noted that such processing may be performed based on one calculation result, or may be performed by calculating an average value from a plurality of calculation results. Further, the average value may be calculated from a plurality of calculation results for each reciprocating step of the ridge, and the excavation depth L may be adjusted. Further, the depth L may be adjusted by comparing a plurality of calculation results and digging from the rate of change of the value of the calculation result.

Specifically, the excavation portion depth determination unit u5 sets the harvest portion C when the area of the foliage portion W1 of the carrot W in the XY pixels calculated by the foliage extraction unit u2 is equal to or larger than a predetermined threshold value. It is lowered to adjust the position of the excavated portion c4 downward from the current position. This is because when the area of the foliage portion W1 of the carrot W is equal to or larger than a predetermined threshold value, the carrot W being transported by the first pinching transport belt c5 of the harvesting portion C is above the foliage portion W1 from the position suitable for cutting. This is because it is determined that the side is pinched, and by adjusting the position of the excavated portion c4 downward from the current position, the lower side of the foliage portion W1 of the carrot W is pinched, and the cutter c8 is surely held. This is because the carrot portion W1 is cut from the root to reduce the remaining leaves and reduce the work load. On the contrary, in the excavation part depth determination part u5, when the area of the foliage part W1 of the carrot W in the XY pixels is smaller than a predetermined threshold value, the first pinching transfer belt c5 is more than the position suitable for cutting. It is determined that the lower side of the foliage portion W1 is sandwiched, and the excavated portion c4 is adjusted upward from the current position in order to realize an appropriate sandwiching position of the foliage portion W1.

Further, when the region of the foliage portion W1 of the carrot W extracted by the foliage extraction portion u2 has a vertical width equal to or larger than a predetermined threshold value, the excavation portion depth determination unit u5 lowers the harvesting portion C to dig. The position of the raised portion c4 is adjusted downward from the current position. This is because it is determined that the carrot W being transported by the first pinching transport belt c5 of the harvesting section C is pinched above the foliage portion W1 from the position suitable for cutting in the same manner as described above. be. On the contrary, the excavated portion depth determining portion u5 adjusts the excavated portion c4 upward when the area of the foliage portion W1 of the carrot W in the XY pixels is smaller than a predetermined threshold value.

Further, the excavation portion depth determination unit u5 compares the region of the foliage portion W1 of the carrot W extracted by the foliage extraction portion u2 with the region of the root portion W2 of the carrot W extracted by the root extraction portion u3. When the gap between the region of the foliage portion W1 and the region of the root portion W2 is equal to or larger than a predetermined threshold value, the harvesting portion C is lowered and the excavated portion c4 is positioned below the current position. This is because it is determined that the carrot W being transported by the first pinching transport belt c5 of the harvesting portion C is sandwiching the upper side of the foliage portion W1 in the same manner as described above. On the other hand, when the gap between the region of the foliage portion W1 and the region of the root portion W2 is smaller than a predetermined value, the excavated portion c4 is positioned above the current position.

Further, the excavation section depth determination section u5 raises the harvesting section C when the area of the contaminants Kz in the XY pixels calculated by the contaminant extraction section u4 is equal to or larger than a predetermined threshold value, and the excavation section C is raised. Adjust the position of c4 above the current position. This is because when impurities having a color other than the foliage W1 and the root W2 (for example, soil) are recognized in the image, the excavation depth L is too deep, so the soil or the like is lifted and transported. This is because it is judged to be in a state of being.

In this way, the control device M and the arithmetic processing unit U raise and lower the harvesting unit C based on the image data acquired by the image pickup device K, and automatically adjust the excavation depth L of the excavation unit c4. According to the adjustment mode, the operator does not have to manually dig up and adjust the depth L by operating the operation switch b6 while visually recognizing the transport state of the carrot W, thereby reducing the work load. Workability is improved.

The present invention is not limited to the above embodiments, and various modifications can be made within the scope of the invention described in the claims, and these are also included in the scope of the present invention. Needless to say.

Although FIG. 11 shows a configuration in which the control device M and the arithmetic processing unit U are separately provided, they may be provided integrally and configured so that the control device M exerts the function of the arithmetic processing unit U.

A Traveling unit a1 Aircraft frame a2 Traveling crawler a3 Left and right drive sprocket a4 Left and right driven wheels a5 Rolling wheels a6 Left and right belt a7 Engine a8 Mission case a9 Left and right drive shaft B Control unit b1 Engine cover b2 Control seat b3 Speed change operation lever b4 Aircraft operation lever b5 Work operation lever b6 Operation switch C Harvesting part c1 Lag c2 Vertical rotation raising device c3 Horizontal rotation raising device c4 Excavation blade c5 First pinching transfer belt c6 Second pinching transfer belt c7 Left and right alignment device c8 Cutter c9 Leaf removal Shooter c41 Harvesting section Lifting cylinder D Takeover transfer section d1 First conveyor d11 Drive roller d12 Driven roller d13 Endless belt d2 Remaining leaf processing roller E Sorting and transporting section e1 Conveying conveyor e11 Cleaning conveyor e12 Rotating conveyor e111 Transporting roller e112 Disposal shooter e113 Collection Shooter e121 Conveying roller e122 Conveying lug e123 Elevating cylinder e124 Conveyor rotation shaft e125 Conveying end e126 Support arm e127 Suspended hanger e2 Step floor e3 Sorting work seat e4 Operation pedal G Accommodating part g1 Mounting table g11 Mounting surface g12 Side wall part g2 Mounting platform rotation shaft g3 Attitude switching mechanism g4 Pinching prevention member g31 Electric hydraulic cylinder g32 Mounting stay g33 Stay mounting part g34 Mounting plate g35 Electric hydraulic cylinder mounting member g36 Bowing mechanism g4 Pinching prevention member g5 Structure mounting mechanism g51 Fixed plate g52 Storage rotation shaft g53 Rotation plate g54 Horizontal detection switch g55 Storage detection switch M Control device M1 Tilt sensor M2 Notification device T1 Transport start end side T2 Transport end side S1 Transport start end side S2 Transport end side

Claims (5)

The traveling unit (A) that drives the aircraft and
The control unit (B) on which the worker boarded,
Harvesting section (C) where root vegetables are harvested from the field on the left and right ends of the machine and transported to the rear and upward of the machine, and the roots of the root vegetables are harvested by cutting the foliage.
With the sorting and transporting unit (E), the root vegetables harvested by the harvesting unit (C) are taken over and transported from the left and right end sides of the machine to the left and right other ends, and the root vegetables being transported can be sorted by the auxiliary worker. ,
In a root vegetable harvester provided with a storage unit (G) for accommodating carrots released from the sorting and transporting unit (E).
The storage unit (G) includes a storage table (g1) on which a storage bag (P) for storing root vegetables can be placed.
A posture switching mechanism (g3) that enables the above-mentioned stand (g1) to rotate substantially in the front-rear direction, and
The mounting mechanism (g5) that mounts the above-mentioned stand (g1) to the machine so that it can rotate substantially in the left-right direction,
A control device (M) for controlling the rotation of the posture switching mechanism (g3) is provided.
The control device (M) detects a storage posture in which the mounting surface (g11) of the previously described pedestal (g1) is substantially vertical by the storage posture detecting member (g55), and the previously described pedestal (g1) is in the storage posture. In this case, even if the work operation lever (b5) for operating the rotation of the previously described pedestal (g1) is operated , the previously described pedestal (g1) is not rotated by the posture switching mechanism (g3). A root vegetable harvester characterized by being done . The above-mentioned stand (g1) is rotatably supported by a stand rotation shaft (g2) extending substantially in the left-right direction from the machine body side.
The control device (M) is detected by a horizontal posture detecting member (g54) that detects a horizontal posture in which the mounting surface (g11) of the above-mentioned table (g1) is horizontal, and the front by the posture switching mechanism (g3). When the previously described pedestal (g1) is in the horizontal posture during the rotation of the described pedestal (g1), the rotation of the previously described pedestal (g1) is temporarily stopped.
The horizontal posture detecting member (g54) and the stowed posture detecting member (g55) are provided between the machine body in front of the previously described pedestal rotation shaft (g2) and the previously described pedestal (g1). The root vegetable harvester according to claim 1. The above-mentioned stand (g1) is arranged on the side of the machine body, and the end portion of the above-mentioned description stand (g1) on the machine body side is provided so as to be separated from the machine body from the rear to the front.
The mounting mechanism (g5) has a storage rotation shaft (g52) which is a rotation shaft for rotating the mounting table (g1) in the front-rear direction.
The root vegetable harvester according to claim 2 , wherein the storage rotation shaft (g52) is arranged above the above-mentioned stand rotation shaft (g2). In the above-mentioned stand (g1), a flexible pinch prevention member (g4) is vertically installed at the rear portion on the machine body side, and the pinch prevention member (g4) has an inclined portion whose vertical width becomes narrower toward the rear. The root vegetable harvester according to any one of claims 1 to 3, wherein the root vegetable harvester has (g42). The harvesting section (C) is configured to be able to move up and down, and is provided with an image pickup device (K) for photographing root vegetables (W) being transported.
The control device (M) is configured to be able to control the raising and lowering of the harvesting section (C).
When the area of the foliage portion (W1) of the root vegetable (W) in the image data taken by the image pickup apparatus (K) is equal to or larger than a predetermined threshold value, the harvest portion (C) is controlled to descend.
Claims 1 to 4 are characterized in that when the area of the foliage portion (W1) of the root vegetable (W) in the image data is smaller than a predetermined threshold value, the harvest portion (C) is controlled to rise. The root vegetable harvester according to any one of the above.

Images