Harvester

Abstract

The present application is a harvester capable of automatic travel in a field, and includes a harvesting unit that harvests crops in the field, a conveying device (12) that conveys whole stalks of the harvested crops harvested by the harvesting unit toward the rear of the machine body, a detection sensor (37) that detects a driving speed of the conveying device (12), and a blockage determination unit (73) that determines blockage of the harvested crops in the conveying device (12) based on the driving speed, wherein when the driving speed is lower than a first threshold value set in advance during automatic travel, the blockage determination unit (73) outputs a stop command that stops the machine body.

Description

[0001] This application is a divisional application of the invention patent application filed on November 16, 2018, with application number 201880073464.1. Technical Field

[0002] This invention relates to a harvester capable of autonomously navigating fields. Background Technology

[0003] The harvester's conveyor continuously transports the harvested material from the harvesting section. Therefore, if the drive condition of the conveyor deteriorates, not only will proper harvesting operations be impossible, but the conveyor may also be damaged. To avoid this adverse situation, the harvester disclosed in Patent Document 1 includes a detection sensor (referred to as a "conveyor load detection component" in this document) that detects the load of the conveyor (referred to as "FH conveyor" in this document). When the detection value of the sensor reaches or exceeds a predetermined upper limit, the conveyor stops, thus interrupting the harvesting operation.

[0004] Furthermore, the combine harvester's auger continuously feeds out the harvested rice stalks; therefore, if the auger's drive condition deteriorates, not only will proper harvesting operations be impossible, but the auger will also be damaged. For example, if the harvested rice stalks become entangled in the auger, a significant load is placed on the auger shaft, which is the drive shaft that transmits power from the engine. Therefore, in the combine harvester of Patent Document 3, a spring-type torque limiter is provided on the auger shaft. If the harvested rice stalks or other debris clog the auger, causing a torque exceeding the limit torque to be generated on the torque limiter, the torque limiter idles, and the transmission of engine power to the auger shaft is cut off. This avoids placing excessive load on the drive shaft.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2014-183800

[0008] Patent Document 2: Japanese Patent Application Publication No. 2017-35017

[0009] Patent Document 3: Japanese Patent Application Publication No. 2014-33670 Summary of the Invention

[0010] The problem that the invention aims to solve

[0011] In the harvester described in Patent Document 2, the conveyor may become clogged due to harvesting rice stalks or other materials. In the event of a blockage, the operator needs to interrupt the harvester's work and perform tasks to clear the blockage.

[0012] Here, if the operator is skilled in the operation of the harvester, the blockage of the conveyor can be detected by the sound and vibration generated by the harvester.

[0013] However, inexperienced operators may find it difficult to detect blockages in the conveyor system based on sounds and vibrations emitted by the harvester.

[0014] Furthermore, even skilled harvesters may find it difficult to perceive the sounds and vibrations generated by the harvester, depending on the working environment. For example, in situations with strong winds or loud noise around the field, the harvester may not be able to detect these sounds and vibrations.

[0015] Furthermore, in the harvester conveying device disclosed in Patent Document 1, in order to convey the entire stalk of harvested material to the rear of the machine, the uneven application of load to the conveying device can be considered based on the stalk length of the harvested material. The harvester disclosed in Patent Document 1 uses a detection sensor to detect the load on the conveying device. Therefore, if the load on the conveying device is applied unevenly based on the harvested material, even when the conveying device is in normal driving condition, the possibility of the conveying device stopping due to false detection can be considered, potentially making the harvesting operation cumbersome.

[0016] Furthermore, it is difficult to set the limiting torque while avoiding overloading the torque limiter. If the limiting torque is increased, a large load is applied to the auger shaft before the torque limiter idles. Conversely, if the limiting torque is decreased, it will also cause the torque limiter to idle due to the immediate removal of such small stalk blockages, thus reducing harvesting efficiency.

[0017] To address the aforementioned problems, the present invention aims to accurately determine blockages in the harvested material within a conveying device or auger.

[0018] Solution for solving the problem

[0019] One embodiment of the harvester of the present invention is a harvester capable of automatic travel in a field, comprising: a harvesting section for harvesting crops from the field; a conveying device for conveying the whole stalks of the harvested crop from the harvesting section to the rear of the machine body; a detection sensor for detecting the drive speed of the conveying device; and a blockage determination unit for determining blockage of the harvested crop in the conveying device based on the drive speed, wherein when the drive speed is lower than a preset first threshold during automatic travel, the blockage determination unit outputs a stop command to stop the machine body.

[0020] According to this structure, the determination of blockage in the conveying device is based on the actual drive speed of the conveying device. Therefore, even if the load on the conveying device is unevenly applied due to the harvested material, the harvested material will still be conveyed normally if the drive speed of the conveying device is not reduced, and the stoppage of the conveying device due to false detection is less likely. Thus, a harvester can be developed that accurately determines blockage in the conveying device without false detection, thereby enabling appropriate handling when blockage occurs.

[0021] Alternatively, preferably, a second threshold is provided that is set to be higher than the first threshold. When the driving speed is a value between the first threshold and the second threshold, the blockage determination unit outputs a speed reduction command that causes the vehicle speed to decrease in stages according to the magnitude of the driving speed.

[0022] Even if blockages occur due to harvested material becoming entangled in the conveyor or a large influx of harvested material into the conveyor, the blockage may be eliminated if the amount of harvested material entering the conveyor is reduced, either by untangling the material or by gradually conveying it. With this structure, the vehicle speed can be reduced in stages by outputting a speed reduction command. Therefore, the amount of harvested material entering the conveyor decreases as the vehicle speed decreases, effectively eliminating blockages.

[0023] In addition, preferably, the harvester is equipped with a driving mode management unit, which can switch the driving mode to an automatic driving mode for performing automatic driving and a manual driving mode for performing manual driving. When the blockage determination unit outputs the stop command, the driving mode management unit switches the driving mode to the manual driving mode.

[0024] If a blockage occurs in the harvested material during automatic operation, continuous transport of the harvested material using the conveying device is impossible, and automatic operation cannot continue. In this configuration, the automatic operation mode is deactivated based on the determination of a blockage, thus appropriately interrupting automatic operation. It should be noted that the manual operation mode in this invention is not limited to the mode of manually operating the harvester, but also includes modes indicating an abnormal state or a preparation state for manual operation. In these abnormal state or preparation state modes, manual operation of the harvester may also be prohibited.

[0025] Preferably, the harvester includes: a driving mode management unit capable of switching the driving mode to an automatic driving mode for performing automatic driving and a manual driving mode for performing manual driving; and a notification unit capable of informing of a reduction in the drive speed. When the driving mode is the automatic driving mode, if the drive speed is lower than the first threshold, the congestion determination unit outputs the stop command and outputs a notification command to the notification unit to inform of the reduction in the drive speed. Furthermore, when the driving mode is the manual driving mode, if the drive speed is lower than the first threshold, the congestion determination unit does not output the stop command but outputs the notification command to the notification unit.

[0026] If the machine had to stop every time a blockage was detected in the harvest, the operator might find it cumbersome. According to this design, if a blockage is detected in manual mode, no stop command is issued, allowing the operator to continue driving the harvester. Furthermore, since a notification command is issued to the notification unit in manual mode, the operator can take measures to clear the blockage manually after recognizing it.

[0027] Furthermore, a harvester according to one embodiment of the present invention includes: a harvesting section for harvesting crops from a field; and a conveying device for conveying the crops harvested by the harvesting section, the conveying device having a conveying chain or a conveying screw device or both; the harvester includes: a speed acquisition section for acquiring information representing the rotational speed of the conveying chain or the conveying screw device, i.e., rotational speed information; and a blockage determination section for determining whether the conveying device is blocked based on the rotational speed information acquired by the speed acquisition section.

[0028] When a conveyor is blocked, the rotational speed of the conveyor chain or conveyor screw can easily become zero or very low. Based on this structure, it is determined whether the conveyor is blocked based on the rotational speed information. Therefore, this structure allows for highly accurate determination of whether a conveyor is blocked.

[0029] Furthermore, according to this structure, in the event of a blockage in the conveyor, the blockage determination unit determines that the conveyor is blocked. Therefore, when a blockage is determined, by performing actions corresponding to the determination result, such as informing the operator of the blockage or stopping the harvester, a structure that makes it easy to identify blockages in the conveyor regardless of the operator's skill level or the working environment can be achieved.

[0030] That is, based on this structure, it is possible to easily identify blockages in the conveying device regardless of the operator's skill level or the working environment.

[0031] Additionally, preferably, the conveying device has a rotating body that drives the conveying chain or the conveying screw device to rotate, and the rotation speed information is the rotation speed of the rotating body. If the rotation speed of the rotating body obtained by the speed acquisition unit is below a predetermined rotation speed, the blockage determination unit determines that the conveying device is blocked.

[0032] As mentioned above, when the conveying device is blocked, the rotational speed of the conveyor chain or conveyor screw device tends to be zero or very low. Therefore, in a harvester equipped with a blockage detection unit that determines whether the conveying device is blocked, if a structure determines that the conveying device is blocked when the rotational speed of the conveyor chain or conveyor screw device is relatively low, the blockage of the conveying device can be determined with high accuracy.

[0033] Here, according to the above structure, the rotational speed of the rotating body corresponds to the rotational speed of the conveyor chain or the conveyor screw device. Furthermore, if the rotational speed of the rotating body is below a predetermined rotational speed, it is determined that the conveyor device is blocked.

[0034] That is, based on the above structure, the following structure can be achieved: when the rotational speed of the conveyor chain or conveyor screw device becomes relatively low, it is determined that the conveyor device is blocked. Moreover, this allows for high-precision determination of conveyor device blockage.

[0035] In addition, preferably, the harvester is equipped with a blockage control unit, which stops the movement or reduces the movement speed when the blockage determination unit determines that the conveying device is blocked.

[0036] According to this structure, the harvester will stop or slow down when the conveyor system is blocked. Therefore, regardless of the operator's skill level or the working environment, the operator can identify a blockage in the conveyor system by observing whether the harvester stops or slows down.

[0037] Therefore, according to this structure, regardless of the operator's skill level or the working environment, the operator can reliably identify blockages in the conveying device.

[0038] In addition, as mentioned above, in the event of a blockage in the conveyor system, the operator needs to interrupt the work being performed by the harvester and carry out work to clear the blockage in the conveyor system.

[0039] Here, according to the above structure, in the event of a blockage in the conveyor, the harvester stops or slows down. Therefore, the operator can easily and smoothly begin work to clear the blockage in the conveyor.

[0040] Preferably, the conveying device has a rotating body that drives the conveying chain or the conveying screw device to rotate, and the rotation speed information is the rotation speed of the rotating body. The harvester includes: a first determination unit that determines whether the rotation speed of the rotating body is below a predetermined first speed; and a deceleration control unit that decelerates the travel speed when the first determination unit determines that the rotation speed of the rotating body is below the first speed. The blockage determination unit is configured to determine that the conveying device is blocked when the rotation speed of the rotating body obtained by the speed acquisition unit is below a predetermined second speed that is lower than the first speed. When the blockage is detected, the control unit stops the travel when the blockage determination unit determines that the conveying device is blocked.

[0041] According to this structure, when the rotational speed of the rotating body decreases and falls below the first speed, the harvester's travel speed decelerates. Furthermore, if the rotational speed of the rotating body further decreases and falls below the second speed, the harvester stops traveling. Thus, the operator can know the degree to which the rotational speed of the rotating body has decreased.

[0042] Furthermore, the harvester does not stop moving if the rotational speed of the rotating body falls below the first speed but does not fall below the second speed and instead returns to a speed higher than the first speed. Therefore, compared to structures where the harvester stops moving when the rotational speed of the rotating body falls below the first speed, it is easier to resume the harvester's movement. Thus, the deterioration of work efficiency caused by frequent stops of the harvester can be avoided.

[0043] Furthermore, a harvester according to one embodiment of the present invention includes: an engine; a harvesting section having a cutting device for harvesting upright rice stalks from a field and an auger driven by the power of the engine to laterally convey the harvested rice stalks in the width direction of the machine body; a conveying device for conveying the harvested rice stalks toward the rear of the machine body; a threshing device for receiving the harvested rice stalks conveyed by the conveying device and performing threshing processing; a speed detection sensor for detecting the speed of the auger; and an auger state determination unit for determining an abnormality in the driving of the auger based on the detection signal from the speed detection sensor.

[0044] According to this structure, the auger's rotational speed is detected by a speed detection sensor, and the auger's drive status is checked by an auger status determination unit. Thus, for example, if the auger's rotational speed decreases, it is determined that a load has been applied to the auger. Furthermore, if the rotational speed suddenly drops to zero, it is determined that a fault has occurred in the power transmission path from the engine to the auger. By determining such auger drive abnormalities, appropriate measures can be taken to address these abnormalities.

[0045] The main reason for the decrease in auger speed is blockage caused by harvested rice stalks becoming entangled in the auger and unable to be moved to the conveying device. Therefore, in a preferred embodiment of the present invention, the auger state determination unit is configured to determine the blockage in the auger based on the decrease in the auger speed. That is, based on the decrease in speed detected by the speed detection sensor, it is determined that the load applied to the auger has increased, i.e., the auger is blocked.

[0046] Screw clogging is determined by the screw speed decreasing below a preset threshold. However, if the engine speed is variable and proportional to the screw speed, then even if the screw is not clogged, a decrease in engine speed will also decrease the screw speed. To avoid misjudging screw clogging due to this situation, clogging can be determined by the decrease in screw speed based on a comparison with the engine speed, i.e., by the decrease in the ratio of engine speed to screw speed (reduction rate: the decrease in screw speed standardized based on engine speed). Based on the above, in a preferred embodiment of the present invention, the screw state determination unit is configured to determine screw clogging based on the rate of decrease in screw speed relative to the engine speed.

[0047] Even if harvested rice stalks become entangled in the auger, causing a blockage, reducing the amount of harvested rice stalks entering the auger may untangle the stalks and eliminate the blockage. To reduce the amount of harvested rice stalks entering the auger, the vehicle speed can be reduced. Based on the above, in a preferred embodiment of the present invention, the vehicle speed is reduced when the auger state determination unit determines that a blockage has occurred. It should be noted that when the planted rice stalks are locally dense, the amount of harvested rice stalks entering the auger temporarily increases, sometimes leading to blockage at the auger. In this case, if the planted rice stalks are too dense, the amount of harvested rice stalks entering the auger returns to its original amount, thus increasing the likelihood of eliminating the blockage. Considering this, after a blockage is determined, the execution of blockage response measures, such as slowing down the vehicle, can be temporarily delayed.

[0048] After a blockage is determined, even if the vehicle speed is reduced as a blockage response measure, the auger remains under high load without eliminating the blockage and maintaining a reduced rotational speed. To avoid this situation, in a preferred embodiment of the invention, the vehicle is stopped when the blockage persists for a certain period of time.

[0049] If a traffic jam is detected and congestion mitigation measures such as a sudden reduction in vehicle speed are implemented, the driver may become anxious. Furthermore, a decrease in the auger's rotational speed can negatively impact harvesting operations; therefore, it is important to inform the driver of this situation. Thus, in a preferred embodiment of the present invention, the auger status determination unit is configured to issue a drive malfunction alarm when it determines that a drive malfunction has occurred. Attached Figure Description

[0050] Figure 1 This is a right view of the combine harvester according to the first embodiment.

[0051] Figure 2 This is a top view of the combine harvester according to the first embodiment.

[0052] Figure 3 This is a power transmission diagram showing the power transmission system of the combine harvester according to the first embodiment.

[0053] Figure 4 This is a longitudinal rear view showing the torque limiter and speed detection sensor of the auger installed in the first embodiment.

[0054] Figure 5 This is a right view of the conveying device, which represents the annular chain used to drive the conveying device of the first embodiment.

[0055] Figure 6 This is a functional block diagram representing the control system of the combine harvester according to the first embodiment.

[0056] Figure 7 This is a graph showing the relationship between the drive of the conveying device in the first embodiment and the vehicle speed.

[0057] Figure 8 This is a flowchart illustrating the processing flow of the vehicle speed reduction command, stop command, and notification command of the congestion determination unit in the first embodiment.

[0058] Figure 9 This is a schematic diagram illustrating the power transmission from the engine in the first embodiment to the conveying device, auger, reel, etc.

[0059] Figure 10 This is a left view of the combine harvester according to the second embodiment.

[0060] Figure 11 This is a diagram showing the outline of the automatic driving of the combine harvester according to the second embodiment.

[0061] Figure 12 This is a block diagram showing the structure related to the control unit in the second embodiment.

[0062] Figure 13This is a diagram showing the driving path during automatic driving in the second embodiment.

[0063] Figure 14 This is a flowchart of the blockage determination procedure in the second embodiment.

[0064] Figure 15 This is a block diagram showing the structure related to the control unit in a first other embodiment of the second embodiment. Detailed Implementation

[0065] [First Implementation]

[0066] The embodiments for carrying out the present invention will be described with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the following description will use the terms "invention" or "implementation". Figure 1 as well as Figure 2 The direction of arrow F is set to "forward," and the direction of arrow B is set to "backward." "Forward" indicates the front of the aircraft in the forward / backward direction (direction of travel), and "backward" indicates the rear of the aircraft in the forward / backward direction (direction of travel). Additionally, [the text continues with further details about arrow F and arrow B, which are not directly related to the arrow description and can be omitted.] Figure 1 Arrow U is designated as "up," and arrow D as "down." "Up" or "down" represents the vertical position of the machine, indicating its height relative to the ground. Furthermore, [the text continues with further details about arrow U and arrow D, which are not directly related to the arrow description and can be omitted.] Figure 2 The direction of arrow L is set to "left", and the direction of arrow R is set to "right". The left and right direction is also called the lateral direction, which refers to the transverse direction of the aircraft (the width direction of the aircraft) that is orthogonal to the front-back direction of the aircraft.

[0067] Next, one specific embodiment of the harvester of the present invention will be described. Figure 1 This is a side view of a full-feed combine harvester, which is an example of a harvester. Figure 2 This is a top view. The combine harvester includes a harvesting section 11 as the harvesting unit, a conveying device 12, a cab 13, a threshing device 14, a grain bin 15, and a grain discharge device 16. The harvesting section 11 harvests crops from the field. The harvesting section 11 includes a cutting device 21 for harvesting the upright stalks of crops from the field, a reel 22, and an auger 3 for laterally conveying the harvested stalks in the width direction of the machine body. The threshing device 14 is located behind the conveying device 12. In addition, the grain bin 15 is located to the right of the threshing device 14.

[0068] The harvesting section 11 is located forward of the combine harvester body 1 and harvests upright rice stalks from the field via the cutting device 21. The harvested rice stalks are conveyed laterally along the machine body by the auger 3 to the front of the conveying device 12, where they are gathered. The conveying device 12 transports the whole harvested rice stalks towards the rear of the machine and into the threshing device 14. The threshing device 14 threshes the received harvested rice stalks. The threshed grains are collected in the grain bin 15. The grains accumulated in the grain bin 15 are discharged out of the machine as needed via the grain discharge device 16.

[0069] The combine harvester is equipped with a tracked running gear 18. Furthermore, an engine 4 is located below the driver's seat 23, which is situated within the cab 13. The running gear 18 is driven by power from the engine 4. Moreover, the combine harvester's body 1 can be supported by the running gear 18 for movement.

[0070] Figure 3 The power transmission system of a combine harvester is shown. For example... Figure 3 As shown, the power of engine 4 is transmitted to the traveling device 18 and the working device. The working device includes: a harvesting section 11 including auger 3, a threshing cylinder 14a in the threshing device 14, and a sorting section 14b, etc.

[0071] The power from the output shaft 4a of the engine 4 is input to the transmission 42 via the belt transmission mechanism 41, and output from the transmission 42 to the drive wheels 18a of the left and right driving devices 18. In the transmission 42, the power from the engine 4 is input to the hydrostatic continuously variable transmission unit 42a, and the power after being changed by the hydrostatic continuously variable transmission unit 42a is transmitted to the distribution transmission (not shown) via the auxiliary transmission unit (not shown), and output from the distribution transmission to the left and right drive wheels 18a.

[0072] The power from the output shaft 4a of engine 4 is transmitted to the grain bin 15 via belt transmission mechanism 43 (see reference). Figure 1 The bottom screw device 15a of the grain discharge device 16 (see reference) Figure 1 The longitudinal conveying section 16b and the transverse conveying section 16a transmit the material.

[0073] The power from the output shaft 4a of engine 4 is transmitted via belt transmission mechanism 44 to the rotating support shaft 14d of air separator 14c in sorting section 14b, and from the rotating support shaft 14d to the input shaft 46a of threshing drum speed change device 46 via belt transmission mechanism 45. The power from the output shaft 46b of threshing drum speed change device 46 is transmitted via belt transmission mechanism 47a to the input shaft 48a of threshing drum drive box 48. Threshing drum speed change device 46 has three speed change functions: high, medium, and low speed.

[0074] A belt conveyor mechanism 47b for forward rotation is provided across one end of the input shaft 46a of the threshing drum speed changer 46 and the drive shaft 12a of the conveying device 12. A belt conveyor mechanism 49 for reverse rotation is provided across the other end of the reverse output shaft 48b of the threshing drum drive box 48 and the drive shaft 12a of the conveying device 12. The reverse output shaft 48b is connected to the input shaft 48a via a bevel gear mechanism 48c and is driven in the opposite direction of rotation to the input shaft 48a.

[0075] When the forward-rotating belt transmission mechanism 47b is operated to the tension side and switched to the transmission on state, and the reverse-rotating belt transmission mechanism 49 is operated to the slack side and switched to the transmission off state, the power of the input shaft 46a is transmitted to the drive shaft 12a of the conveying device 12 via the forward-rotating belt transmission mechanism 47b, and the conveying device 12 is driven in the conveying rotation direction. At this time, regardless of the speed change of the threshing cylinder 14a by the threshing cylinder speed change device 46, the conveying device 12 is driven at a constant rotational speed (assuming the engine 4 speed is constant). When the forward-rotating belt transmission mechanism 47b is operated to the slack side and switched to the transmission off state, and the reverse-rotating belt transmission mechanism 49 is operated to the tension side and switched to the transmission on state, the power of the output shaft 46b of the threshing cylinder speed change device 46 is transmitted to the drive shaft 12a of the conveying device 12 via the bevel gear mechanism 48c of the threshing cylinder drive box 48, the reverse output shaft 48b, and the reverse-rotating belt transmission mechanism 49. Thus, the conveying device 12 is driven in the opposite direction of rotation to the conveying rotation direction, thereby performing reverse conveying of the conveying device 12.

[0076] The power transmitted to the drive shaft 12a of the conveying device 12 is transmitted via the relay transmission mechanism 12c to the relay shaft 12b, which is supported on the right side of the harvesting section 11. The power transmitted to the relay shaft 12b is transmitted via the auger power transmission mechanism 50 to the auger shaft 30, which serves as the drive shaft of the auger 3. Furthermore, the power transmitted to the relay shaft 12b is transmitted to the cutting device 21 via the cutting device power transmission mechanism 21a, and also to the reel 22 via the reel power transmission mechanism 22a.

[0077] Figure 4 The torque limiter 8 installed on the auger shaft 30 is shown, and the auger speed detection sensor 9 is used to detect the speed of the auger shaft 30 as the speed of the auger 3.

[0078] like Figure 3 and Figure 4As shown, the auger power transmission mechanism 50 includes a drive sprocket 51, a driven sprocket 52, and an annular rotating chain 53. The drive sprocket 51 is mounted on the relay shaft 12b, and the driven sprocket 52 is mounted on the auger shaft 30, which rotates integrally with the auger drum 31 of the auger 3. Furthermore, the annular rotating chain 53 for driving the auger is wound across the drive sprocket 51 and the driven sprocket 52. As the auger shaft 30 rotates, the harvested straw is moved laterally along the machine body and delivered to the conveyor 12.

[0079] like Figure 4 As shown, a torque limiter 8 is provided between the auger power transmission mechanism 50 and the auger shaft 30, allowing relative rotation if a torque exceeding a set value is applied. A driven sprocket 52 is externally fitted onto the torque limiter 8, allowing free rotation relative to the auger shaft 30 of the auger 3. A meshing portion 81 is formed between the driven sprocket 52 and the linkage member 80, which rotates integrally with the auger shaft 30, engaging along the shaft axis direction. A spring 82 is provided to apply a pushing force to the driven sprocket 52 in the direction of their meshing.

[0080] Because the harvested rice stalks are entangled in the auger 3, a load is applied to the auger 3. If a torque exceeding a set value is applied to the auger shaft 30, the driven sprocket 52 will displace against the force of the spring 82, and the meshing part 81 will rotate freely. In this way, the torque limiter 8 has the function of releasing the torque.

[0081] The auger speed detection sensor 9 is a magnetic sensor that detects the speed by magnetically detecting the toothed protrusions 80a set on the outer peripheral surface of the linkage component 80.

[0082] like Figure 5As shown, an output sprocket 32 ​​is provided on the drive shaft 12a, and an input sprocket 33 is provided on the relay shaft 12b. As a relay transmission mechanism 12c, a ring chain 34 is wound across the output sprocket 32 ​​and the input sprocket 33. The output sprocket 32, the input sprocket 33, and the ring chain 34 are respectively arranged adjacent to the right side of the right side wall of the conveying device 12. A tension adjustment mechanism 35 and multiple auxiliary sprockets 36 are provided between the location of the input sprocket 33 and the location of the output sprocket 32. The multiple auxiliary sprockets 36 are engaged with the ring chain 34. When viewed from the side, the tension adjustment mechanism 35, located on the inner circumference of the ring chain 34, is supported on the right side wall of the conveying device 12, allowing it to swing up and down. A sprocket 35A, engaged with the ring chain 34, is provided at the free end of the tension adjustment mechanism 35. The tension adjustment mechanism 35 is forced by the spring mechanism 35B to swing upwards, and the sprocket 35A pushes the annular chain 34 from the inner circumference side, thereby applying tension to the annular chain 34. Furthermore, the vibration of the annular chain 34 is suppressed by auxiliary sprockets 36 engaging with the annular chain 34 from both the inner and outer circumference sides. This alleviates concerns about wear and tear and potential detachment of the annular chain 34, and also prevents uneven rotational speed of the input sprocket 33.

[0083] The conveyor speed detection sensor 37 is disposed adjacent to one of the plurality of auxiliary sprockets 36. The conveyor speed detection sensor 37 is a magnetic sensor that detects the drive speed, i.e., rotational speed, of the auxiliary sprocket 36 and the annular chain 34 by magnetically detecting the toothed protrusions disposed on the outer peripheral surface of the auxiliary sprocket 36.

[0084] Figure 6 The functional modules illustrate the control functions of the auger 3 and conveyor 12 in the control system of the combine harvester. Various signals are input to the control unit 7 via the input signal processing unit 61. The control unit 7 sends various control signals to the operating equipment via the equipment control unit 62. This operating equipment includes a gear shifting device 65 that adjusts the gear shift value of the transmission 42 to change the vehicle speed, and various devices mounted on the working device. Signals from the travel operating component 91, the working operating component 92, and the speed setting component 93 are input to the input signal processing unit 61. Furthermore, signals from various sensors and switches, such as the auger speed detection sensor 9 (detecting the rotational speed of the auger shaft 30), the engine speed detection sensor 90 (detecting the rotational speed of the engine 4), and the vehicle speed sensor 94, are input to the input signal processing unit 61.

[0085] The driving control unit 91 is a general term for the equipment used by the driver to operate driving-related motion devices, including the gear shift lever, steering lever, etc. The driving control unit 91 is used to adjust the drive wheels 18a of the left and right tracks constituting the driving device 18 (see reference). Figure 1The driving speed is determined by the speed of the engine. The driving control element 91 can be a multi-functional lever with multiple functions, a single-function lever, or a combination thereof. The work control element 92 is a general term for the equipment used by the driver to operate the work device, including the harvesting clutch lever, threshing clutch lever, and discharge lever. The work control element 92 can also be a multi-functional lever with multiple functions, a single-function lever, or a combination thereof. The speed setting element 93 is a general term for the accelerator lever, accelerator pedal, and accelerator dial, used to adjust and set the engine speed.

[0086] The engine control unit 63 adjusts the amount of fuel supplied to the engine 4 based on instructions from the control unit 7, so as to drive the engine 4 at a specified engine speed or a specified torque.

[0087] The notification device 64, connected to the equipment control unit 62, informs the driver and monitor of various phenomena occurring in the combine harvester. It is a general term for lights, buzzers, speakers, displays, etc.

[0088] The control unit 7 includes a driving control unit 71, a work control unit 72, a blockage determination unit 73, a notification control unit 74 as a notification unit, an engine speed command unit 75, and a driving mode management unit 76.

[0089] To control the drive of the traveling device 18, the travel control unit 71 outputs control signals to operate the transmission operation device 65 via the equipment control unit 62. These control signals are used to adjust the vehicle speed and to steer left and right (turn left and right). The travel mode management unit 76 is configured to switch the travel mode of the control unit 7 between an automatic travel mode (for automatic driving) and a manual travel mode (for manual driving). In automatic travel mode, the combine harvester travels along a pre-set path in the field for harvesting.

[0090] The operation control unit 72 generates control commands to be sent to the operation device based on the instructions from the operation unit 92, and outputs them to the operation device via the equipment control unit 62.

[0091] The blockage determination unit 73 includes an auger status determination unit 73A and a conveying status determination unit 73B. The auger status determination unit 73A determines a driving abnormality of the auger 3 based on a detection signal from the auger speed detection sensor 9. The conveying status determination unit 73B determines a driving abnormality of the conveying device 12 based on a detection signal from the conveying speed detection sensor 37. In other words, the conveying status determination unit 73B of the blockage determination unit 73 determines the blockage of the harvest in the conveying device 12 based on the driving speed of the conveying device 12.

[0092] The abnormalities in the drive of auger 3 include: the power transmission mechanism 50 for the auger (hereinafter referred to as...). Figure 4 Mechanical failures such as chain breakage and chain detachment, torque limiter 8 (hereinafter referred to as...) Figure 4 The auger 3 may experience blockages, such as clogging of the harvested straw, preventing proper lateral transport of the harvested straw. In cases of mechanical power cutting failure, operation must be temporarily halted for repairs, but the blockage may resolve itself naturally or by reducing the vehicle speed. When the harvested straw is blocked in the auger 3, the torque limiter 8 activates, reducing the rotational speed of the auger shaft 30 to approximately zero or completely zero. Based on the above, the auger state determination unit 73A can determine the status of the auger shaft 30 (hereinafter referred to as...) based on... Figure 4 The decrease in the rotational speed of the screw conveyor is used to determine the blockage in the screw conveyor 3.

[0093] It should be noted that the rotational speed of the auger 3 depends on the engine speed. Therefore, even if the engine speed is reduced by operating the speed setting unit 93, the rotational speed of the auger 3 will decrease regardless of the degree of blockage in the harvested straw. To avoid misjudging blockages caused by this, the following structure can be used: the auger state determination unit 73A obtains the ratio of the engine speed 4 to the auger shaft speed 30, and uses a threshold value of this ratio (reduction rate; reduction of the auger shaft speed after standardizing the engine speed) to determine blockages in the auger 3. Alternatively, the engine speed 4 can be divided into multiple regions, and a auger speed for determining blockage can be set for each region.

[0094] The drive malfunction of the conveyor 12 includes: the ring chain 34 (hereinafter referred to as...) Figure 5 Mechanical malfunctions such as chain breakage or chain detachment, and blockage of harvested straw inside the conveyor 12, can occur. In the event of a mechanical power cut-off malfunction, operation must be temporarily halted for repairs, but blockage of harvested straw may resolve itself naturally or by reducing the vehicle speed. When harvested straw becomes blocked inside the conveyor 12, for example in the forward-rotating belt conveyor 47b (see reference...),... Figure 3 ) and drive shaft 12a (refer to Figure 3 Slippage occurs between the ring chain 34 and the auxiliary sprocket 36 (hereinafter referred to as...). Figure 5 The rotational speed of the auxiliary sprocket 36 decreases to approximately zero or completely zero. Based on the above, the conveying status determination unit 73B can determine the blockage in the conveying device 12 based on the decrease in the rotational speed of the auxiliary sprocket 36.

[0095] It should be noted that in this embodiment, the rotational speeds of the annular chain 34 and the auxiliary sprocket 36 depend on the engine speed. Therefore, even when the engine speed is reduced by operating the speed setting unit 93, the rotational speeds of the annular chain 34 and the auxiliary sprocket 36 will decrease regardless of the degree of blockage in the harvested straw. To avoid misjudging blockages caused by this, the following structure can also be used: the conveying state determination unit 73B obtains the ratio of the engine speed 4 to the rotational speed of the auxiliary sprocket 36, and uses a threshold value of this ratio (reduction rate; the reduction in the rotational speed of the auxiliary sprocket 36 after standardizing the engine speed) to determine blockages in the conveying device 12. Alternatively, the engine speed 4 can be divided into multiple regions, and a rotational speed of the auxiliary sprocket 36 for determining blockages can be set for each region.

[0096] Even if a blockage occurs due to the harvested material becoming entangled in the conveyor 12 or a large amount of harvested material flowing into the conveyor 12, the blockage may be eliminated by untangling the harvested material or by gradually conveying it if the amount of harvested material input relative to the conveyor 12 is reduced. That is, an effective method to eliminate blockage of harvested straw is to reduce the vehicle speed to decrease the amount of harvested straw fed into the auger 3 or the conveyor 12. Therefore, if the blockage determination unit 73 determines that there is a blockage in at least one of the auger 3 and the conveyor 12, it will output a speed reduction command to the driving control unit 71 to reduce the vehicle speed. Furthermore, if the blockage in at least one of the auger 3 and the conveyor 12 persists for a certain period of time, the blockage determination unit 73 will output a stop command to the driving control unit 71 to stop the vehicle body 1 in order to avoid damage to the auger 3 and the conveyor 12 or engine stalling. This is particularly advantageous when the auger power transmission mechanism 50 is constructed from a belt drive mechanism that is relatively prone to slippage due to blockage, as the rate of reduction in rotational speed varies over a wide range depending on the degree of blockage when blockage occurs.

[0097] When the blockage determination unit 73 determines that there is a drive abnormality in at least one of the auger 3 and the conveyor 12, it outputs a notification command to the notification control unit 74. Based on this notification command, a drive abnormality alarm is issued via the notification device 64. Thus, the notification control unit 74, as the notification unit, can notify of a reduction in the drive speed of the conveyor 12. Examples of drive abnormality alarms include, for example, a blockage alarm when a blockage is determined, a speed reduction notification when a speed reduction command is issued, and a stop notification when a stop command is issued.

[0098] An example related to the output of vehicle speed reduction and stop commands by the congestion determination unit 73 is in Figure 7 As shown in the image. Figure 7 The horizontal axis in the figure represents the rotational speed Rv of the auxiliary sprocket 36, but it can also be the aforementioned reduction rate (rotational speed Rv divided by engine 4 (see reference)). Figure 6 The value is obtained by measuring the rotational speed of the rotation. Figure 7 The vertical axis in the figure represents the vehicle speed V of the vehicle body 1. If used for the conveyor device 12 (refer to...), Figure 6 When the rotational speed of the annular chain 34 driven by the internal feeding device decreases, the rotational speed Rv of the auxiliary sprocket 36 also decreases. In this embodiment, a parking threshold R1 is set as a first threshold, and speed reduction thresholds R2, R3, and R4 are provided as a second threshold that is set higher than the parking threshold R1.

[0099] The output of the speed reduction command and stop command by the congestion determination unit 73 is performed when the driving mode of the driving control unit 71 is set to automatic driving mode. Therefore, as Figure 6 as well as Figure 8 As shown, in the processing of the control unit 7, the driving mode of the driving control unit 71 is determined (step #01). Next, if the driving mode of the driving control unit 71 is automatic driving mode (step #01: automatic driving mode), a blockage determination based on the rotational speed Rv is performed (steps #02 to #05). If the rotational speed Rv is higher than the vehicle speed reduction threshold R4 (step #02: no), the blockage determination unit 73 determines that no blockage for harvesting rice straw has occurred in the conveyor 12. Furthermore, the blockage determination unit 73 does not output a vehicle speed reduction command or a stop command to the driving control unit 71, and the driving control unit 71 controls the drive of the driving device 18 to make the vehicle speed V of the vehicle body 1 become the original operating speed V0.

[0100] If the rotational speed Rv is lower than (or below) the vehicle speed reduction threshold R4 (step #02: Yes), the blockage determination unit 73 determines that a blockage of harvested rice straw has occurred in the conveyor 12. When the rotational speed Rv is maintained at a value higher than (or above) the parking threshold R1, the blockage of harvested rice straw may be eliminated naturally or by reducing the vehicle speed. Therefore, when the drive speed becomes a value between the vehicle speed reduction threshold R4 (pre-set to be higher than the parking threshold R1) and the parking threshold R1, the blockage determination unit 73 outputs a vehicle speed reduction command to the driving control unit 71, based on the magnitude of the rotational speed Rv, which is the drive speed of the conveyor 12, to progressively reduce the vehicle speed V of the vehicle body 1.

[0101] When the rotational speed Rv is within the range of the vehicle speed reduction threshold R3 and the vehicle speed reduction threshold R4 (step #02: Yes, step #03: No), the congestion determination unit 73 outputs a vehicle speed reduction command to the driving control unit 71, so that the vehicle speed V of the vehicle body 1 becomes a first low speed V1, which is lower than the original operating speed V0 (step #06). Furthermore, when the rotational speed Rv is within the range of the vehicle speed reduction threshold R2 and the vehicle speed reduction threshold R3 (step #03: Yes, step #04: No), the congestion determination unit 73 outputs a vehicle speed reduction command to the driving control unit 71, so that the vehicle speed V of the vehicle body 1 becomes a second low speed V2, which is lower than the first low speed V1 (step #07). When the rotational speed Rv is within the range between the parking threshold R1 and the vehicle speed reduction threshold R2 (step #04: Yes, step #05: No), the congestion determination unit 73 outputs a vehicle speed reduction command to the driving control unit 71 so that the vehicle speed V of the vehicle body 1 becomes a third low speed V3, which is lower than the second low speed V2 (step #08).

[0102] When the engine speed Rv is lower than the parking threshold R1 (step #05: Yes), the congestion determination unit 73 outputs a parking command to the driving control unit 71 (step #09). Therefore, the driving device 18 stops, and the vehicle body 1 stops. If the congestion determination unit 73 outputs a parking command, the driving mode management unit 76 switches the driving mode to manual driving mode (step #10).

[0103] After performing any of the processes from steps #06 to #09, the congestion determination unit 73 outputs a notification command to the notification control unit 74 (step #12). Additionally, when the driving mode of the driving control unit 71 is manual driving mode (step #01: manual driving mode), when the engine speed Rv is lower than (or below) the parking threshold R1 (step #11: yes), the congestion determination unit 73 outputs a notification command to the notification control unit 74 (step #12). Thus, when the driving mode is automatic driving mode, the congestion determination unit 73 outputs a parking command and a notification command to the notification control unit 74 to inform of the decrease in engine speed Rv when the engine speed Rv is lower than the parking threshold R1. Furthermore, when the driving mode is manual driving mode, the congestion determination unit 73 does not output a parking command but outputs a notification command to the notification control unit 74 when the engine speed Rv is lower than the parking threshold R1.

[0104] exist Figure 9 The schematic diagram shows the path of power transmission from the engine to the conveyor 12, auger 3, reel 22, and cutter 21. Power transmitted to the conveyor 12 is then transmitted via relay drive mechanism 12c to relay shaft 12b, and from relay shaft 12b to the auger 3, reel 22, and cutter 21. In this power transmission path, blockages in the conveyor 12 and auger 3 due to stalk harvesting can easily occur.

[0105] When the auger 3 becomes blocked, the detection speed of the auger speed detection sensor 9 decreases.

[0106] Furthermore, the blockage of auger 3 is determined by the auger status determination unit 73A and notified by the notification device 64. At this time, the detection speed of the conveying speed detection sensor 37 does not decrease. If the conveying status determination unit 73B does not determine that the conveying device 12 is blocked, the driver and manager can determine that only auger 3 is blocked.

[0107] When the conveyor 12 becomes blocked, the detection speed of the conveyor speed detection sensor 37 decreases. At this time, the speed of the ring chain 34, i.e., the relay transmission mechanism 12c, decreases to approximately zero or completely zero. Therefore, the rotational power from the engine 4 is not transmitted to the auger shaft 30, which is located at the end of the relay shaft 12b, and the auger 3 cannot rotate. Consequently, in conjunction with the decrease in the detection speed of the conveyor speed detection sensor 37, the detection speed of the auger speed detection sensor 9 also decreases. Furthermore, the notification device 64 notifies the driver of both the blockage of the auger 3 determined by the auger status determination unit 73A and the blockage of the conveyor 12 determined by the conveyor status determination unit 73B. In this case, the driver or manager can determine whether the blockage occurs only in the conveyor 12 or in both the conveyor 12 and the auger 3. Based on the above, as a measure to remove the blockage of the conveyor 12 and the auger 3, the driver or manager can take actions such as reversing the conveyor 12.

[0108] Furthermore, by observing the movement of the reel 22, which can be visually confirmed from the driver's seat, the driver can determine whether a blockage occurs in the auger 3, the conveyor 12, or both. When the reel 22 is rotating properly, the conveyor 12 rotates normally; therefore, the driver can determine that the blockage is only in the auger 3. When the reel 22 is not rotating, the driver can determine that the blockage is only in the conveyor 12 or in both the conveyor 12 and the auger 3.

[0109] [Other embodiments of the first embodiment] (1) In the above embodiment, the conveying speed detection sensor 37 is composed of a magnetic sensor that magnetically detects the toothed protrusions provided on the outer peripheral surface of the auxiliary sprocket 36, but other than that, various commonly used speed detection sensors (optical sensors, etc.) may also be used.

[0110] (2) In the above embodiment, a conveying speed detection sensor 37 that detects the rotational speed of the auxiliary sprocket 36 is used to detect the drive speed of the conveying device 12, but it is not limited to this embodiment. For example, in addition to the auxiliary sprocket 36, a sensor that detects the rotation of components that rotate at a speed corresponding to the drive speed of the conveying device 12, such as the output sprocket 32 ​​or the input sprocket 33, may also be used as the conveying speed detection sensor 37. Alternatively, it may have the following structure: a mark that can be detected by the conveying speed detection sensor 37 is provided at a part of the ring chain 34, and the conveying speed detection sensor 37 detects the number of rotation pulses of the mark.

[0111] (3) In the above embodiment, the blockage determination unit 73 includes the auger state determination unit 73A and the conveying state determination unit 73B, but it may not include the auger state determination unit 73A.

[0112] (4) The conveying state determination unit 73B can also calculate the deceleration rate in accordance with the reduction rate of the driving speed of the conveying device 12, so as to reduce the vehicle speed, and output a vehicle speed reduction command based on the deceleration rate.

[0113] (5) In the above embodiment, the driving mode management unit 76 is configured to switch between automatic driving mode and manual driving mode, but the driving mode is not limited to automatic driving mode and manual driving mode. For example, it may be structured as follows: when the driving mode management unit 76 switches from automatic driving mode to manual driving mode, the driving mode management unit 76 first switches to manual preparation mode, and then switches to manual driving mode after the conditions for manual driving are met. Alternatively, it may be structured as follows: when it is determined that the harvest is blocked during automatic driving, the driving mode management unit 76 switches from automatic driving mode to abnormal mode.

[0114] (6) In the above embodiment, three vehicle speed reduction thresholds R2, R3 and R4 are provided as the second threshold, but the number of the second thresholds can be one or more (e.g. two or four).

[0115] (7) In the above embodiment, the screw conveyor speed detection sensor 9 is composed of a magnetic sensor that magnetically detects the toothed protrusion 80a, but in addition, various commonly used speed detection sensors (optical sensors, etc.) can also be used.

[0116] (8) In the above embodiment, an auger speed detection sensor 9 that detects the rotational speed of the auger shaft 30 is used to detect the rotational speed of the auger 3. Alternatively, the above structure can be replaced by a sensor that detects the rotational speed of a component, such as the auger cylinder 31, which rotates at a speed corresponding to the rotational speed of the auger 3, other than the auger shaft 30.

[0117] (9) The auger state determination unit 73A can also reduce the vehicle speed by calculating the deceleration rate corresponding to the reduction rate of the auger rotation speed.

[0118] It should be noted that the structures disclosed in the above embodiments (including other embodiments, the same below) can be combined with the structures disclosed in other embodiments as long as they do not create contradictions. In addition, the embodiments disclosed in this specification are illustrative, and the embodiments of the present invention are not limited thereto, and can be appropriately modified within the scope of the purpose of the present invention.

[0119] [Second Implementation]

[0120] The second embodiment for implementing the present invention will be described with reference to the accompanying drawings. It should be noted that in the following description, [the following will be used to describe the second embodiment]. Figure 10 The direction of arrow F is set to "forward," and the direction of arrow B is set to "backward." Additionally, [the following text is incomplete and requires further context: "to set the direction of arrow F to "forward," "to set the direction of arrow B to "back ... F to "forward," "to set the direction of arrow B to "backward," and "to set the direction of arrow F to "backward"]." Figure 10 The direction of arrow U is set to "up", and the direction of arrow D is set to "down".

[0121] [The overall structure of a combine harvester]

[0122] like Figure 10 as well as Figure 11 As shown, the full-feed combine harvester 101 (equivalent to the "harvester" of this invention) includes a tracked traveling device 111, a driver's unit 112, a threshing device 113, a grain bin 114, a harvesting unit H (equivalent to the "harvesting unit" of this invention), a conveying device 116, a grain discharge device 118, and a satellite positioning module 180. Additionally, the combine harvester 101 includes an engine 151 and a transmission 152.

[0123] like Figure 10 As shown, the travel unit 111 is located at the lower part of the combine harvester 101. Furthermore, the driving force of the engine 151 is transmitted to the travel unit 111 via a transmission device 152. With this configuration, the combine harvester 101 can move independently using the travel unit 111.

[0124] Additionally, the driver's unit 112, threshing device 113, and grain bin 114 are located on the upper side of the traveling unit 111. An operator monitoring the operation of the combine harvester 101 can ride in the driver's unit 112. It should be noted that the operator can also monitor the operation of the combine harvester 101 from outside the machine.

[0125] A grain discharge device 118 is located on the upper side of the grain bin 114. In addition, a satellite positioning module 180 is mounted on the upper surface of the driver's unit 112.

[0126] The harvesting device H is located at the front of the combine harvester 101. Furthermore, the conveying device 116 is located at the rear of the harvesting device H. Additionally, the harvesting device H includes a harvesting section 115 and a reel 117.

[0127] The harvesting section 115 harvests the upright stalks of grain in the field. Additionally, the reel 117, while rotating, gathers the upright stalks of the grain to be harvested. With this configuration, the harvesting device H harvests the grain in the field. Furthermore, the combine harvester 101 is capable of harvesting while simultaneously traveling via the travel device 111, harvesting the grain (equivalent to the "harvest" of this invention) in the field through the harvesting device H.

[0128] Thus, the combine harvester 101 is equipped with a harvesting device H for harvesting the harvested crops from the field.

[0129] The harvested rice stalks, harvested by the harvesting section 115, are conveyed to the threshing unit 113 via the conveying device 116. In the threshing unit 113, the harvested rice stalks are threshed. The resulting grains are stored in the grain bin 114. The grains stored in the grain bin 114 are discharged from the machine as needed via the grain discharge device 118.

[0130] Thus, the combine harvester 101 is equipped with a conveying device 116 for conveying the grain harvested by the harvesting device H.

[0131] In addition, such as Figure 10 as well as Figure 11 As shown, a communication terminal 104 is disposed in the driver's unit 112. In this embodiment, the communication terminal 104 is fixed to the driver's unit 112. However, the present invention is not limited thereto, and the communication terminal 104 may also be configured to be detachable from the driver's unit 112, or the communication terminal 104 may be located outside the combine harvester 101.

[0132] [Structures related to autonomous driving]

[0133] like Figure 12 As shown, the combine harvester 101 includes a control unit 120. Furthermore, the control unit 120 includes a vehicle position calculation unit 121, a travel path setting unit 122, and a travel control unit 123.

[0134] In addition, such as Figure 11 As shown, the satellite positioning module 180 receives GPS signals from the artificial satellite GS used in GPS (Global Positioning System). Then, as... Figure 12 As shown, the satellite positioning module 180 sends the positioning data to the vehicle position calculation unit 121 based on the received GPS signal.

[0135] The vehicle position calculation unit 121 calculates the position coordinates of the combine harvester 101 based on the positioning data received from the satellite positioning module 180. The calculated position coordinates of the combine harvester 101 are then sent to the driving control unit 123.

[0136] In addition, the driving path setting unit 122 sets the driving path in the field. The set driving path is sent to the driving control unit 123.

[0137] Next, the driving control unit 123 controls the driving of the combine harvester 101 based on the position coordinates of the combine harvester 101 received from the vehicle position calculation unit 121 and the driving path received from the driving path setting unit 122. More specifically, the driving control unit 123 controls the combine harvester 101 to drive along the driving path set by the driving path setting unit 122.

[0138] With the above structure, the combine harvester 101 in this embodiment is configured to move automatically in the field. The steps for harvesting operations in the field using this combine harvester 101 are described below.

[0139] First, the operator manually operates the combine harvester 101, such as... Figure 11 As shown, the harvesting vehicle travels around the perimeter of the field, circling the field's boundary line. The harvested area is designated as the outer perimeter area SA. Furthermore, the area inside the outer perimeter area SA, which remains unharvested, is designated as the target area CA.

[0140] Additionally, to ensure a sufficiently wide outer perimeter area SA, the operator travels the combine harvester 101 for 2-3 revolutions. During this travel, the width of the outer perimeter area SA increases by the amount of working width of the combine harvester 101 each revolution. That is, at the end of 3-4 revolutions, the width of the outer perimeter area SA becomes approximately 2-3 times the working width of the combine harvester 101.

[0141] When harvesting within the target area CA, the outer perimeter area SA serves as a space for the combine harvester 101 to change direction. Additionally, the outer perimeter area SA is also used for movement when temporarily ending harvesting and moving towards the grain discharge point, or towards the fuel replenishment point, etc.

[0142] It should be noted that, Figure 11 The transport vehicle CV shown is capable of collecting and transporting the grains discharged from the grain discharge device 118 by the combine harvester 101. During grain discharge, the combine harvester 101 moves to the vicinity of the transport vehicle CV and discharges the grains to the transport vehicle CV through the grain discharge device 118.

[0143] If we define the outer perimeter area SA and the work object area CA, then as follows: Figure 13 As shown, the driving path in the work target area CA is set. This driving path is set by the driving path setting unit 122.

[0144] Furthermore, when a travel path is set, the travel control unit 123 controls the movement of the combine harvester 101, thereby enabling the combine harvester 101 to automatically travel along the travel path. For example... Figure 10 as well as Figure 11 As shown, the automatic driving of the combine harvester 101 is monitored by the operator.

[0145] [Structures related to the conveyor chain]

[0146] like Figure 10 As shown, the combine harvester 101 is equipped with a gathering auger 161. The gathering auger 161 pulls the harvested rice stalks harvested by the harvesting section 115 toward the conveying device 116.

[0147] In addition, the conveying device 116 includes a conveying chain 162, a sprocket 163 (equivalent to the "rotating body" of the present invention), a driven wheel body 164, and a tensioning wheel body 165.

[0148] like Figure 10 As shown, sprocket 163 is located at the rear end of conveyor 116. Driven wheel 164 is located at the front end of conveyor 116. Furthermore, conveyor chain 162 is wound across sprocket 163 and driven wheel 164. Additionally, tension wheel 165 applies tension to conveyor chain 162.

[0149] The sprocket 163 is fixed to a drive shaft 163a extending in the left-right direction of the machine body. Rotational driving force from the engine 151 is transmitted to the drive shaft 163a. ​​According to this structure, the sprocket 163 rotates due to the rotational driving force from the engine 151. Furthermore, the conveyor chain 162 is driven to rotate by the rotational driving force of the sprocket 163.

[0150] Furthermore, the driven wheel 164 is configured to rotate freely about an axis running along the left-right direction of the machine body. Moreover, the driven wheel 164 also rotates as the conveyor chain 162 rotates.

[0151] The harvested rice stalks gathered by the auger 161 are conveyed to the front end of the threshing cylinder 113a in the threshing device 113 via a rotating conveyor chain 162.

[0152] [Structure related to the blockage determination unit]

[0153] like Figure 10 as well as Figure 12As shown, the combine harvester 101 includes a rotational speed sensor 166 (equivalent to the "speed acquisition unit" of the present invention). Additionally, the control unit 120 includes a blockage determination unit 167 and a travel stop unit 168 (equivalent to the "blockage control unit" of the present invention).

[0154] A rotational speed sensor 166 is disposed near the sprocket 163. Furthermore, the rotational speed sensor 166 detects the rotational speed of the sprocket 163 over time. According to this configuration, the rotational speed sensor 166 obtains the rotational speed of the sprocket 163. The rotational speed of the sprocket 163 obtained by the rotational speed sensor 166 is sent to the blockage determination unit 167.

[0155] It should be noted that the rotational speed of sprocket 163, the rotational speed of drive shaft 163a, and the rotational speed of driven wheel 164 all represent information indicating the rotational speed of conveyor chain 162. Therefore, the rotational speed of sprocket 163, the rotational speed of drive shaft 163a, and the rotational speed of driven wheel 164 are all equivalent to the "rotational speed information" of this invention.

[0156] In this embodiment, the rotational speed sensor 166 is configured to obtain the rotational speed of the sprocket 163 as the "rotational speed information" of the present invention. That is, in this embodiment, the "rotational speed information" is the rotational speed of the sprocket 163.

[0157] However, the present invention is not limited thereto. The information obtained by the rotational speed sensor 166 can be any information indicating the rotational speed of the conveyor chain 162, or it can be information other than the rotational speed of the sprocket 163. For example, the rotational speed sensor 166 can be configured to obtain the rotational speed of the drive shaft 163a, or it can be configured to obtain the rotational speed of the driven wheel 164. In addition, the rotational speed sensor 166 can also be configured to directly detect and obtain the rotational speed of the conveyor chain 162.

[0158] Thus, the combine harvester 101 is equipped with a rotational speed sensor 166, which acquires information representing the rotational speed of the conveyor chain 162, i.e., the rotational speed of the sprocket 163.

[0159] The blockage determination unit 167 determines whether the conveyor device 116 is blocked based on the rotational speed of the sprocket 163 obtained by the rotational speed sensor 166. More specifically, the blockage determination unit 167 determines that the conveyor device 116 is blocked if the rotational speed of the sprocket 163 is below a predetermined rotational speed RS. Conversely, the blockage determination unit 167 determines that the conveyor device 116 is not blocked if the rotational speed of the sprocket 163 is above the predetermined rotational speed RS.

[0160] Then, the determination result of the blockage determination unit 167 is sent to the driving stop unit 168.

[0161] Thus, the combine harvester 101 includes a blockage determination unit 167, which determines whether the conveying device 116 is blocked based on the rotational speed of the sprocket 163 obtained by the rotational speed sensor 166. Furthermore, if the rotational speed of the sprocket 163 obtained by the rotational speed sensor 166 is below a predetermined rotational speed RS, the blockage determination unit 167 determines that the conveying device 116 is blocked.

[0162] It should be noted that the specified rotational speed RS can also be set to a fixed value. Alternatively, the specified rotational speed RS can be changed depending on the conditions. For example, it can be configured such that the specified rotational speed RS varies according to the rotational speed of the engine 151. According to this configuration, the following structure can be achieved: even if the rotational speed of the engine 151 meets the reference for properly driving the conveyor 116, the conveyor 116 is still determined to be blocked if the rotational speed of the sprocket 163 is relatively low.

[0163] If the blockage determination unit 167 determines that the conveyor 116 is blocked, the travel stop unit 168 stops the combine harvester 101 from traveling. More specifically, if the blockage determination unit 167 determines that the conveyor 116 is blocked, the travel stop unit 168 controls the transmission device 152 to stop the drive of the travel device 111.

[0164] [Regarding the congestion determination procedure]

[0165] While the combine harvester 101 is in motion, the following actions are performed: Figure 14 The blockage determination procedure is shown. It should be noted that the blockage determination procedure is stored in the control unit 120.

[0166] The following is an explanation. Figure 14 The blockage determination procedure is shown. When the blockage determination procedure is executed, firstly, the processing of step S01 is performed. In step S01, the blockage determination unit 167 determines whether the rotational speed of the sprocket 163 obtained by the rotational speed sensor 166 is below the specified rotational speed RS.

[0167] If the rotational speed of sprocket 163 is higher than the specified rotational speed RS, the blockage determination is not made in step S01, and the blockage determination procedure is temporarily terminated.

[0168] If the rotational speed of sprocket 163 is below the specified rotational speed RS, the process is determined to be yes in step S01, and the process is transferred to step S02.

[0169] In step S02, the travel stop unit 168 controls the transmission device 152, thereby stopping the drive of the travel device 111. As a result, the combine harvester 101 stops traveling. Furthermore, the blockage determination procedure is temporarily terminated.

[0170] In the event of a blockage in the conveyor 116, the rotational speed of the conveyor chain 162 can easily become zero or very low. Here, with the structure described above, the blockage of the conveyor 116 is determined based on the rotational speed of the sprocket 163. Therefore, with the structure described above, it is possible to determine with high accuracy whether the conveyor 116 is blocked.

[0171] Furthermore, if the structure described above is used, then in the event of a blockage in the conveyor 116, the blockage determination unit 167 determines that the conveyor 116 is blocked. Therefore, in the event that the conveyor 116 is determined to be blocked, by performing processing corresponding to the determination result, such as informing the operator that the conveyor 116 is blocked or stopping the combine harvester 101, a structure can be achieved that makes it easy to identify the blockage of the conveyor 116 regardless of the operator's skill level or the working environment.

[0172] That is, if the structure described above is adopted, it is possible to easily identify blockages in the conveyor 116 regardless of the operator's skill level or the working environment.

[0173] [First Other Embodiments of the Second Embodiment]

[0174] In the above embodiment, the blockage determination unit 167 determines that the conveyor 116 is blocked when the rotational speed of the sprocket 163 is below a predetermined rotational speed RS. Furthermore, when the blockage determination unit 167 determines that the conveyor 116 is blocked, the travel stop unit 168 stops the travel of the combine harvester 101.

[0175] However, the present invention is not limited thereto. Hereinafter, a first other embodiment of the second embodiment will be described, focusing on the differences from the embodiments described above. The structures other than those described below are the same as those in the embodiments described above. Furthermore, the same reference numerals are used to denote structures identical to those in the embodiments described above.

[0176] Figure 15 This diagram illustrates the structure related to the control unit 120 in a first other embodiment of the second embodiment. In this first other embodiment, the control unit 120 includes a first determination unit 169 and a deceleration control unit 170.

[0177] like Figure 15 As shown, the rotational speed of the sprocket 163 obtained by the rotational speed sensor 166 is sent to the blockage determination unit 267 and the first determination unit 169.

[0178] The first determination unit 169 determines whether the rotational speed of the sprocket 163 is below a predetermined first speed RS1. Then, the determination result of the first determination unit 169 is sent to the deceleration control unit 170.

[0179] Thus, the combine harvester 101 includes a first determination unit 169 that determines whether the rotational speed of the sprocket 163 is below a predetermined first speed RS1.

[0180] If the first determination unit 169 determines that the rotational speed of the sprocket 163 is below the first speed RS1, the deceleration control unit 170 reduces the travel speed of the combine harvester 101. More specifically, if the first determination unit 169 determines that the rotational speed of the sprocket 163 is below the first speed RS1, the deceleration control unit 170 controls the transmission device 152 to reduce the travel speed of the combine harvester 101.

[0181] Thus, the combine harvester 101 includes a deceleration control unit 170, which decelerates the travel speed when the first determination unit 169 determines that the rotational speed of the sprocket 163 is below the first speed RS1.

[0182] Furthermore, the blockage determination unit 267 determines whether the conveyor device 116 is blocked based on the rotational speed of the sprocket 163 obtained by the rotational speed sensor 166. More specifically, the blockage determination unit 267 determines that the conveyor device 116 is blocked if the rotational speed of the sprocket 163 is below a predetermined second speed RS2. Conversely, the blockage determination unit 267 determines that the conveyor device 116 is not blocked if the rotational speed of the sprocket 163 is higher than the predetermined second speed RS2. It should be noted that the second speed RS2 is a speed lower than the first speed RS1.

[0183] Then, the determination result of the blockage determination unit 267 is sent to the driving stop unit 268 (equivalent to the "blockage control unit" of the present invention).

[0184] Thus, the blockage determination unit 267 is configured to determine that the conveying device 116 is blocked when the rotational speed of the sprocket 163 obtained by the rotational speed sensor 166 is below a predetermined second speed RS2, which is lower than the first speed RS1.

[0185] It should be noted that the specified first speed RS1 and the specified second speed RS2 can also be set to fixed values. Furthermore, the specified first speed RS1 and the specified second speed RS2 can also be varied depending on the conditions. For example, the specified first speed RS1 and the specified second speed RS2 can be configured to vary according to the rotational speed of the engine 151.

[0186] If the blockage determination unit 267 determines that the conveyor 116 is blocked, the travel stop unit 268 stops the combine harvester 101 from traveling. More specifically, if the blockage determination unit 267 determines that the conveyor 116 is blocked, the travel stop unit 268 controls the transmission device 152 to stop the drive of the travel device 111.

[0187] In this way, the travel stop unit 268 stops the travel when the blockage determination unit 267 determines that the conveyor 116 is blocked.

[0188] Alternatively, a second deceleration control unit (not shown) can be provided instead of the driving stop unit 268.

[0189] In this structure, the determination result of the blockage determination unit 267 is sent to the second deceleration control unit.

[0190] If the blockage determination unit 267 determines that the conveyor 116 is blocked, the second deceleration control unit reduces the travel speed of the combine harvester 101. More specifically, if the blockage determination unit 267 determines that the conveyor 116 is blocked, the second deceleration control unit controls the transmission device 152 to reduce the travel speed of the combine harvester 101.

[0191] That is, in this structure, the second deceleration control unit is equivalent to the "blockage control unit" of the present invention. Furthermore, in this structure, when the rotational speed of the sprocket 163 is below the first speed RS1, the deceleration control unit 170 reduces the travel speed of the combine harvester 101. Moreover, when the rotational speed of the sprocket 163 further decreases and becomes below the second speed RS2, the second deceleration control unit further reduces the travel speed of the combine harvester 101.

[0192] It should be noted that the above-described embodiments are merely examples, and the present invention is not limited thereto and can be appropriately modified.

[0193] [Other embodiments of the second embodiment]

[0194] (1) The driving device 111 can be either wheeled or half-tracked.

[0195] (2) The travel stop unit 168 may also be configured to stop the travel of the combine harvester 101 by controlling elements other than the transmission device 152. For example, the travel stop unit 168 may also be configured to stop the travel of the combine harvester 101 by stopping the drive of the engine 151.

[0196] (3) It can also be structured as follows: after the combine harvester 101 is stopped by the travel stop unit 168, the conveyor chain 162 automatically reverses.

[0197] (4) A notification device may also be provided, which notifies the operator of the blockage of the conveyor 116 when the blockage determination unit 167 determines that the conveyor 116 is blocked. For example, the communication terminal 104 may also function as such a notification device. In this case, the communication terminal 104 may be configured to notify the operator of the blockage of the conveyor 116 through a screen display, alarm sound, etc. It should be noted that light and sound are effective for notification to the outside of the combine harvester 101.

[0198] (5) In the above embodiment, the rotational speed sensor 166 is configured to acquire the rotational speed of the sprocket 163 as the "rotational speed information" of the present invention. However, the present invention is not limited thereto, and the rotational speed sensor 166 may also be configured to acquire the rotational speed of components on the power transmission path from the engine 151 to the drive shaft 163a. ​​The rotational speed of the components on this power transmission path is equivalent to the "rotational speed information" of the present invention. Alternatively, it may be configured to include a torque sensor that detects the torque of the drive shaft 163a, and the blockage determination unit 167 determines that the conveyor 116 is blocked when the torque detected by the torque sensor is relatively large. This torque sensor is equivalent to the "speed acquisition unit" of the present invention, and the torque of the drive shaft 163a is equivalent to the "rotational speed information" of the present invention.

[0199] (6) Alternatively, the driving stop section 168 may not be provided.

[0200] (7) A rotation stop sensor may also be provided to acquire information indicating whether the rotation of the conveyor chain 162 has stopped. Furthermore, the blockage determination unit 167 may be configured to determine that the conveyor device 116 is blocked when the rotation of the conveyor chain 162 has stopped. It should be noted that the information indicating whether the rotation of the conveyor chain 162 has stopped is equivalent to the "rotation speed information" of the present invention. Additionally, the rotation stop sensor is equivalent to the "speed acquisition unit" of the present invention.

[0201] (8) The vehicle position calculation unit 121, the driving path setting unit 122, and the driving control unit 123 may not be provided. That is, the "combine harvester" of the present invention may not be able to drive automatically.

[0202] (9) Alternatively, communication terminal 104 may not be set.

[0203] (10) In the above embodiment, the operator manually operates the combine harvester 101, such as... Figure 11 As shown, the harvester travels around the perimeter of the field, circling the field's boundary line. However, the invention is not limited to this; it can also be configured such that the combine harvester 101 travels automatically, circling the perimeter of the field, to harvest.

[0204] (11) In the above embodiment, a conveying device 116 is provided as the "conveying device" of the present invention. However, the present invention is not limited to this. For example, devices for conveying harvested materials, such as winnowing devices, secondary reduction devices, and grain discharge devices 118, are all equivalent to the "conveying device" of the present invention. Moreover, when these devices have screw devices, these screw devices are equivalent to the "conveying screw device" of the present invention. In addition, the rotation speed sensor 166 may also be configured to detect the rotation speed of the screw device in these devices or the rotation speed of a rotating body such as a gear that drives the screw device to rotate over time. In this case, the blockage determination unit 167 may also be configured to determine whether these devices are blocked based on the rotation speed obtained by the rotation speed sensor 166.

[0205] (12) In the above embodiment, when the blockage determination unit 167 determines that the conveyor 116 is blocked, the travel stop unit 168 stops the combine harvester 101 from traveling. However, the present invention is not limited thereto. For example, a travel deceleration unit may be provided to reduce the travel speed when the blockage determination unit 167 determines that the conveyor 116 is blocked. In this case, the travel deceleration unit is equivalent to the "blockage control unit" of the present invention.

[0206] Industrial applicability

[0207] This invention can be used not only in full-feed combine harvesters, but also in semi-feed combine harvesters.

[0208] In addition, it can also be used in various harvesters such as corn harvesters, potato harvesters, carrot harvesters, and sugarcane harvesters.

[0209] Explanation of reference numerals in the attached figures

[0210] 3 Screw

[0211] 30 auger shaft

[0212] 31 Screwdriver

[0213] 4 engines

[0214] 7 control units

[0215] 8 Torque limiters

[0216] 9 Screwdriver Speed ​​Detection Sensor

[0217] 11 Harvesting Department

[0218] 12 Conveying Devices

[0219] 14 Threshing device

[0220] 37. Conveyor speed detection sensor (detection sensor)

[0221] 50 auger power transmission mechanism

[0222] 51 drive sprocket

[0223] 52 driven sprocket

[0224] 63 Engine Control Unit

[0225] 64. Notification Equipment

[0226] 73 Blockage Determination Department

[0227] 73A Screwdriver Status Determination Unit

[0228] 73B Conveying Status Determination Unit (Blockage Determination Unit)

[0229] 74 Notification to the Control Department

[0230] 75 engine speed command unit

[0231] 76 Driving Mode Management Department

[0232] 90 engine speed detection sensor

[0233] 101 Combine Harvester (Harvester)

[0234] 116 Conveying Device

[0235] 162 Conveyor Chain

[0236] 163 sprocket (rotating body)

[0237] 166 Rotary Speed ​​Sensor (Speed ​​Acquisition Unit)

[0238] 167, 267 Blockage Determination Department

[0239] 168, 268 Driving Stop Unit (Control Unit in Case of Congestion)

[0240] 169 First Judgment Department

[0241] 170 deceleration control unit

[0242] H Harvesting Device (Harvesting Section)

[0243] RS-specified rotational speed

[0244] R1 Parking Threshold (First Threshold)

[0245] R2 speed reduction threshold (second threshold)

[0246] R3 speed reduction threshold (second threshold)

[0247] R4 speed reduction threshold (second threshold)

[0248] RS1 First Speed

[0249] RS2 Second Speed

[0250] V speed

Claims

1. A harvester, wherein, have: engine; The harvesting section has a cutting device for harvesting upright rice stalks from the field and an auger cylinder that extends from the left end to the right end of the cutting device in a non-separated integrated state. The auger is driven by the power of the engine via a torque limiter to laterally transport the harvested rice stalks in the width direction of the machine body. A conveying device that transports the harvested straw toward the rear of the machine body; A threshing device that receives the harvested rice stalks conveyed by the conveying device and performs threshing processing on them; A speed detection sensor detects the speed of the auger on the downstream side of the torque limiter; as well as The auger status determination unit determines the auger's driving abnormality based on the detection signal from the speed detection sensor. The auger status determination unit determines the blockage in the auger based on the rate of decrease in the auger's rotational speed relative to the engine's rotational speed. If the auger status determination unit determines that there is a blockage, the vehicle speed is reduced.

2. The harvester as described in claim 1, wherein, When the blockage persists for a certain period of time, the vehicle will come to a stop.

3. The harvester as described in claim 1 or 2, wherein, If the auger status determination unit determines that the drive is abnormal, a drive abnormality alarm will be issued.

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