Work vehicle

Abstract

To provide a work vehicle which can reduce the correction amount of positional information resulted from an installation condition of a reception part to improve a positioning accuracy.SOLUTION: A work vehicle (combine 110) includes: an operation part; a harvesting part for harvesting an object; a storage part for storing the object; and a reception part for receiving a radio wave for measuring a position. The reception part is arranged at a position on a lateral side of the operation part and on a center side in a right-left direction of a machine body, and lower than an upper end of a discharge auger 113 in a stored state.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a work vehicle equipped with a receiving unit that receives radio waves from a positioning satellite. [Background technology]

[0002] Patent Document 1 discloses a configuration in which an antenna unit including a GPS antenna and an antenna for line communication is placed on the top of the aircraft, while a communication unit including a GPS module and a line communication module is connected to the antenna unit by a cable and placed in an electrical box together with an ECU, etc. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2015-20674 A Summary of the Invention [Problem to be solved by the invention]

[0004] The configuration described in Patent Document 1 improves the ease of placement of the antenna section on the aircraft by arranging the antenna unit and the communication unit separately. However, by arranging these two units separately, it is necessary to clear installation conditions such as the management of the cable for connecting the antenna unit and the communication unit, the space restrictions in the electrical box, and the space restrictions for installing the communication unit. This poses the problem that installation can be difficult depending on the aircraft.

[0005] An object of the present invention is to provide a work vehicle that can reduce the amount of correction of position information caused by installation conditions of the receiving unit and improve positioning accuracy. [Means for solving the problem]

[0006] A work vehicle according to one aspect of the present invention includes a control unit, a cutting unit that cuts objects, a storage unit that stores the objects, and a receiver that receives radio waves for measuring a position. The receiver is disposed to the side of the control unit and toward the center in the left-right direction of the vehicle body, and at a position lower than the top end of the discharge auger in a stored state.

[0007] A work vehicle according to one aspect of the present invention includes a control section, a cutting section for cutting objects, a storage section for storing the objects, and a receiving section for receiving radio waves for measuring a position of the objects. The receiving section is disposed at a height equal to or lower than the top of a roof of a cabin in the control section. Effect of the Invention

[0008] According to the present invention, the amount of correction of position information caused by the installation conditions of the receiving unit can be reduced, so that positioning errors can be reduced and the positioning accuracy can be improved. [Brief description of the drawings]

[0009] [Figure 1] Side view of a combine harvester. [Diagram 2] Top view of a combine harvester. [Diagram 3] FIG. [Figure 4] FIG. 4 is a diagram showing a mounting structure of the positioning unit. [Diagram 5] FIG. 11 is a diagram showing another embodiment of the mounting position of the positioning unit. [Figure 6] FIG. [Figure 7] FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] A combine harvester equipped with a positioning unit will be described with reference to Fig. 1 to Fig. 4. Fig. 1 is a side view of the combine harvester 1. Fig. 2 is a plan view of the combine harvester 1. Fig. 3 is a diagram showing the positioning unit 100. Fig. 4 is a diagram showing the attachment of the positioning unit 100 to the combine harvester 1.

[0011] The combine harvester 1 comprises a traveling section 2, a reaping section 3, a threshing section 4, a sorting section 5, a storage section 6, a straw waste processing section 7, a power section 8, and a steering section 9. While traveling on the traveling section 2, the combine harvester 1 threshes the stalks harvested by the reaping section 3 in the threshing section 4, and sorts the grains in the sorting section 5 and stores them in the storage section 6. In addition, the straw waste after threshing is processed by the straw waste processing section 7. The power section 8 supplies power to the traveling section 2, the reaping section 3, the threshing section 4, the sorting section 5, the storage section 6, and the straw waste processing section 7.

[0012] The traveling unit 2 includes a pair of left and right traveling devices (hereinafter referred to as "crawler-type traveling devices") 21 provided below the machine frame 20, and a transmission (not shown). The transmission changes the speed of the power of the engine 81 of the power unit 8 (hereinafter referred to as "rotational power") and transmits it to the crawler-type traveling devices 21.

[0013] The reaping unit 3 is provided in front of the traveling unit 2. The reaping unit 3 includes a divider 31, a raising device 32, a cutting device 33, and a conveying device 34. The divider 31 guides the culms in the field to the raising device 32. The raising device 32 raises the culms guided by the divider 31. The cutting device 33 cuts the culms raised by the raising device 32. The conveying device 34 conveys the culms cut by the cutting device 33 to the threshing unit 4.

[0014] The threshing unit 4 is provided behind the reaping unit 3. The threshing unit 4 includes a feed chain 41 and a threshing drum 42. The feed chain 41 takes over the stew from the conveying device 34 and conveys it to the straw waste processing unit 7. The threshing drum 42 threshes the stew being conveyed by the feed chain 41.

[0015] The sorting section 5 is provided below the threshing section 4. The sorting section 5 includes an oscillating sorting device 51, a wind sorting device 52, and a grain conveying device and straw dust discharge device (not shown). The oscillating sorting device 51 sorts the threshed grains that have fallen from the threshing section 4 into grains, straw dust, etc. The wind sorting device 52 further sorts the threshed grains sorted by the oscillating sorting device 51 into grains, straw dust, etc. The grain conveying device transports the grains sorted by the oscillating sorting device 51 and the wind sorting device 52 to the storage section 6. The straw dust discharge device discharges the straw dust, etc. sorted by the oscillating sorting device 51 and the wind sorting device 52.

[0016] The storage section 6 is provided to the right of the threshing section 4. The storage section 6 includes a grain tank 61 and a discharge auger 62. The grain tank 61 stores grains transported from the sorting section 5. The discharge auger 62 can discharge the grains stored in the grain tank 61 to any desired location. In addition, an auger rest 63 is provided on the machine body to support the middle part of the discharge auger 62 when it is stored.

[0017] The straw waste processing section 7 is provided behind the threshing section 4. The straw waste processing section 7 is equipped with a straw waste conveying device and a straw waste cutting device (not shown). The straw waste conveying device takes over the stew from the feed chain 41 and conveys it to the straw waste cutting device. The straw waste cutting device cuts and discharges the stew conveyed by the straw waste conveying device.

[0018] The control unit 9 is provided on the right side of the machine body. The control unit 9 includes a cabin 91, a driver's seat 92, and operating tools such as a handle 93. The cabin 91 houses the driver's seat 92 and various operating tools such as the handle 93. The driver's seat 92 is a seat where an operator sits, and is located in the center of the control unit 9 in the left-right direction. The handle 93 is a steering handle that changes the direction of travel of the combine harvester 1. The operator operates the combine harvester 1 by appropriately operating each operating tool including the handle 93. With this configuration, the operator can operate the combine harvester 1 while seated in the driver's seat 92.

[0019] The positioning unit 100 is attached to the left side of the roof 94 of the cabin 91. As described above, the cabin 91 is provided on the right side of the aircraft body, and the driver's seat 92 is provided inside the cabin 91. In other words, the positioning unit 100 is disposed to the side of the driver's seat 92 on the center side of the aircraft body. By attaching the positioning unit 100 to the left side of the roof 94, there is no effect on the light distribution of the headlights and work lights disposed in front of the cabin 91, and there is no effect on the field of view from inside the cabin 91. This ensures visibility for the operator sitting in the driver's seat 92.

[0020] Moreover, a space is formed to the left of the cabin 91 between the discharge auger 62 in the stored state, and the positioning unit 100 is disposed using this space. When performing discharge work using the discharge auger 62, the positioning unit 100 is rotated from the stored position to the left side or upward of the machine body with the right rear of the machine body as the rotation fulcrum. By disposing the positioning unit 100 in the space, interference with the discharge auger 62 can be prevented.

[0021] By arranging the positioning unit 100 as described above, it is possible to arrange it on the center of the tread of the combine harvester 1. This makes it possible to reduce the amount of position correction (positioning error) caused by the installation conditions of the positioning unit 100, and improve the positioning accuracy. In addition, by arranging the positioning unit 100 at a high position as described above, it is possible to leave the space above empty, thereby reducing the positioning error.

[0022] The positioning unit 100 receives radio waves from positioning satellites and measures the position of the combine 1. The positioning unit 100 includes a receiving device 101, an inertial navigation system 102, a wireless communication device 103, and a case 104 that houses these devices together.

[0023] The receiving device 101 receives radio waves from positioning satellites, converts the received radio waves into signals, and transmits them to the inertial navigation system 102. Examples of the receiving device 101 include a GNSS receiver that receives radio waves from a group of GNSS satellites, and a GPS receiver that receives radio waves from GPS satellites.

[0024] The inertial navigation system 102 measures acceleration in three directions using a three-axis gyro and calculates attitude and orientation data. The inertial navigation system 102 also calculates position data based on a signal transmitted from the receiving device 101. In other words, the inertial navigation system 102 functions as a calculation unit that calculates position data based on position information from the receiving device 101. Furthermore, in this embodiment, the inertial navigation system 102 is equipped with a GNSS receiver 105, thereby improving the reliability of the attitude and orientation data provided by the inertial navigation system 102.

[0025] By including the inertial navigation system 102, the positioning unit 100 can utilize inertial navigation to calculate positioning by calculating moving speed, moving distance, etc. based on the acceleration in three directions detected by the inertial navigation system 102, even in situations where radio waves from a positioning satellite cannot be received due to bad weather, radio interference, etc.

[0026] The wireless communication device 103 transmits the position data and attitude direction data calculated by the inertial navigation system 102 to the outside by wireless communication. The wireless communication device 103 is, for example, a data communication device using wireless LAN or mobile communication. The data transmitted from the wireless communication device 103 is received, for example, by a mobile terminal carried by an operator or the ECU of the combine harvester 1, and is used for operation of the combine harvester 1, such as checking the position in the field and checking the attitude of the combine harvester 1 (tilts forward, backward, left and right, etc.).

[0027] As described above, the positioning unit 100 of this embodiment integrally houses the receiving device 101 as a receiving section, the inertial navigation system 102 as a computing section, and the wireless communication device 103 as a communication section within the case 104. In other words, all of the components necessary for positioning are housed as units within the case 104. This configuration improves the ease of mounting the positioning unit 100 to an aircraft. Furthermore, when applying the positioning unit 100 to a different model, it can be mounted simply by appropriately attaching the case 104, achieving high versatility.

[0028] In addition, as described above, by disposing the positioning unit 100 on the tread center of the combine harvester 1, it is possible to improve the accuracy of acquiring the position information and attitude direction information of the combine harvester 1 while it is running. In other words, since it is not necessary to correct the receiving device 101 and the inertial navigation system 102 in the vehicle width direction, it is possible to use reliable data and reduce the calculation load during calculation.

[0029] In this embodiment, the inertial navigation system 102 is used as a calculation unit that calculates position data, but a calculation unit having a function as a calculation unit that calculates position data from position information received by the receiving device 101, which is a receiving unit, may be provided separately, or the receiving device 101 may have that function. Also, the inertial navigation system 102 is provided to realize high-precision positioning by combining attitude and direction data with position data, but when it is sufficient to use the position data from the receiving device 101, such as when communicating with a reference station having known position information during positioning, the inertial navigation system 102 may be omitted and the receiving device 101 itself may have the function as a calculation unit as described above, or a separate calculation unit may be provided.

[0030] The case 104 has a shape extending in the fore-and-aft direction of the body of the combine harvester 1. Inside the case 104, the receiving device 101, the inertial navigation system 102, and the wireless communication device 103 are arranged on a fixed plate 106 in this order from the front with a predetermined distance between them. By arranging the receiving device 101, which receives signals from positioning satellites, at the very front of the case 104 in this way, the receiving device 101 is arranged at the front of the combine harvester 1 (i.e., in the direction of travel), and the positioning accuracy can be improved.

[0031] A fixed plate 106 of the case 104 is supported by a support frame 107. After the fixed plate 106 is attached and fixed to the support frame 107, the inside of the case 104 is sealed by covering it with a housing part.

[0032] The support frame 107 is a member extending in the fore-and-aft direction of the aircraft body, and is fixed to the left side wall 95 of the cabin 91. The support frame 107 is formed to be longer than the fore-and-aft length of the case 104, and its front end is fixed to the front part of the left side wall 95 of the cabin 91 via a front stay 108, and its rear end is fixed to the rear part of the left side wall 95 via a rear stay 109. The rear end of the support frame 107 is bent toward the left side wall 95 at a midpoint so as not to come into contact with the discharge auger 62, and extends away from the discharge auger 62 in the stored state. In this way, the case 104 is fixed to the roof 94 of the cabin 91 as a rigid body by the support frame 107.

[0033] The positioning data (position data and attitude direction data) acquired by the positioning unit 100 configured as described above can be used to control the operation of an autonomous combine harvester that determines a route in advance, travels autonomously along the route, and performs work. For example, the position data can be used to determine whether the autonomous combine harvester is traveling along the route, and the attitude direction data can be used to recognize the inclination of the autonomous combine harvester to check the traveling state and the state of the field. In addition, an operator can receive data transmission from the wireless communication device 103 included in the positioning unit 100 and send real-time instructions to the autonomous combine harvester.

[0034] As shown in Fig. 5, the positioning unit 100 can be disposed not only on the left side of the roof 94, but also in the front, rear, or rear of the roof 94 along the width direction of the vehicle body. In this case, too, by taking into consideration the distance from the tread center of the combine 1, it is possible to realize positioning with sufficient accuracy while taking advantage of the high installability of the positioning unit 100. In addition, the positioning unit 100 can be installed by embedding it in the roof 94.

[0035] In the above embodiment, a combine harvester with a cabin has been described as an example, but the positioning unit 100 can also be arranged on a floor-type combine harvester 110 as shown in Figures 6 and 7 with a similar concept.

[0036] That is, the positioning unit 100 is disposed to the side of the driver's seat 111 toward the center of the machine body. In the floor-type combine harvester 110, a support frame 112 for mounting the positioning unit 100 is provided to the left of the driver's seat 111. The support frame 112 stands on a side column to the left of the driver's seat 111. The support frame 112 is also provided on the tread center of the combine harvester 110, and the positioning unit 100 is also disposed on the tread center.

[0037] As described above, the positioning unit 100 can be easily attached to the floor-type combine harvester 110 as well as the combine harvester 1 equipped with the cabin 91. In other words, the positioning unit 100 of this embodiment has high versatility for different models. In addition, by disposing the positioning unit 100 in the space provided between the discharge auger 113 in the stored state and the driver's seat 111, contact between the positioning unit 100 and the discharge auger 113 can be prevented.

[0038] <Notes on the invention> The present invention is a combine harvester comprising a cabin, a harvesting section for harvesting stalks, a threshing section for threshing grain from the stalks, a storage section for storing the grain after threshing, and a receiving section for receiving radio waves from a positioning satellite, the receiving section being supported by a support member fixed to the cabin and being located in the center of the left-right direction of the body.

[0039] A combine harvester comprising a cabin, a harvesting section which harvests stalks, a threshing section which threshes the grain from the stalks, a storage section which stores the grain after threshing, a pair of left and right running devices, and a receiving section which receives radio waves from a positioning satellite, the receiving section being supported by a support member fixed to the cabin and being located in a central position between the left and right running devices in the left-right direction of the body.

[0040] A combine harvester comprising a cabin, a cutting section for cutting stalks, a threshing section for threshing grain from the stalks, a storage section for storing the grain after threshing, and a receiving section for receiving radio waves from a positioning satellite, wherein the receiving section is supported by a support member fixed to the cabin and is provided at the center position of the cutting section in the left-right direction of the body.

[0041] A combine harvester comprising a harvesting unit that harvests stalks, a threshing unit that threshes the grain from the stalks, a storage unit that stores the grain after threshing, and a receiving unit that receives radio waves from a positioning satellite, wherein the harvesting unit has a lifting device that lifts the stalks, and at least a portion of the receiving unit is disposed above the lifting device so as to overlap with the lifting device in a planar view.

[0042] A combine harvester comprising a harvesting unit that harvests stalks, a threshing unit that threshes grain from the stalks, a storage unit that stores the grain after threshing, and a receiving unit that receives radio waves from a positioning satellite, wherein the harvesting unit has a cutting device that cuts the stalks, and at least a part of the receiving unit is provided in the same position as the cutting device in the fore-and-aft direction of the machine body.

[0043] This combine harvester is equipped with a harvesting section that harvests stalks, a threshing section that threshes the grain from the stalks, a storage section that stores the grain after threshing, a pair of left and right running devices, and a receiving section that receives radio waves from a positioning satellite, and at least a portion of the receiving section is located at the same position as the front end of the running device in the fore-and-aft direction of the body.

[0044] The storage section further includes a grain tank for storing grain and a discharge auger for discharging the grain stored in the grain tank, and at least a portion of the receiving section is located at a higher position than the discharge auger in the stored state.

[0045] A combine harvester according to one aspect of the present invention includes a steering unit, a reaping unit for reaping stalks, a threshing unit for threshing grains from the stalks, a storage unit for storing the threshed grains, and a receiving unit for receiving radio waves for measuring a position. The receiving unit is disposed in front of the steering unit.

[0046] A work vehicle according to one aspect of the present invention includes a control unit, a reaping unit that reaps objects, a storage unit that stores the objects, and a receiving unit that receives radio waves for measuring a position. The receiving unit is disposed at a position toward the center of the vehicle body of the control unit. At least a portion of the receiving unit is disposed at a position outside the control unit in a plan view.

[0047] A work vehicle according to one aspect of the present invention includes a control unit, a cutting unit that cuts objects, a storage unit that stores the objects, and a receiving unit that receives radio waves to measure their position. The control unit is disposed offset to one side in the left-right direction of the vehicle body. The receiving unit is disposed to the other side of the center of the control unit in the left-right direction of the vehicle body.

[0048] A work vehicle according to one aspect of the present invention includes a control unit, a reaping unit that reaps an object, a storage unit that stores the object, and a receiving unit that receives radio waves for measuring a position. The receiving unit is disposed at a position toward the center of the vehicle body of the control unit. At least a portion of the receiving unit is disposed at a position that is outside the outer periphery of the control unit in a plan view. [Explanation of symbols]

[0049] 1: combine, 62: discharge auger, 91: cabin, 92: driver's seat, 94: roof, 100: positioning unit, 101: receiving device (receiving section), 102: inertial navigation system (calculating section), 103: wireless communication device (communication section), 104: case

Claims

1. The mowing device includes a control unit, a mowing unit that mows an object, a storage unit that stores the object, and a receiving unit that receives radio waves to measure a position of the object, The receiving unit is disposed on the side of the control unit, at a position on the center side in the left-right direction of the aircraft body, and at a position lower than the upper end of the discharge auger in the stored state. Work vehicle.

2. The receiving unit is supported on the aircraft by a support frame including a vertical frame extending in the vertical direction of the aircraft. A work vehicle according to claim 1.

3. The mowing device includes a control unit, a mowing unit that mows an object, a storage unit that stores the object, and a receiving unit that receives radio waves to measure a position of the object, The receiving unit is arranged so as to be located at a height equal to or lower than the top of the cabin roof in the cockpit. Work vehicle.

4. The receiving unit is supported in the cabin by a support frame. A work vehicle according to claim 3.

5. At least a portion of the receiving unit is located between the control unit and the discharge auger in a stored state in a plan view. A work vehicle according to claim 1 or 2.

6. The receiving unit is disposed forward of the center of the control unit in the longitudinal direction of the aircraft. A work vehicle according to any one of claims 1 to 5.

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