Harvesting machine

Abstract

To address such a problem that conventionally, a harvesting machine is equipped with a thresher with a layer thickness sensor for detecting a layer thickness of processing objects, on a swinging sorting shelf, however, conventionally one layer thickness sensor is installed toward one side of the left / right sides of the swinging sorting shelf, error thereof is large to calculate a yield by the one layer thickness sensor, and it is impossible to calculate the yield accurately, and to provide a harvesting machine for accurately calculating the yield.SOLUTION: A harvesting machine equipped with a thresher 3 for separating and sorting grains from grain culms conveyed by being reaped by a reaper, includes a plurality of grain amount sensors 25 for detecting an amount of grains passing through a sorter 16 for sorting grains of the thresher 3 from foreign materials such as waste straw. The grain amount sensors 25 output larger sensor voltage values as the amount of grains increase, and a control device 27 calculates the amount of grains using a sensor voltage value.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a harvester equipped with a threshing device that threshes grain stalks harvested by a reaping device. [Background technology]

[0002] Conventionally, there is a harvester equipped with a threshing device in which a layer thickness sensor that detects the layer thickness of materials to be processed is provided on a swinging sorting shelf (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-052610 Summary of the Invention [Problem to be solved by the invention]

[0004] Conventional layer thickness sensors are installed at one location on either the left or right side of a swinging sorting shelf, and the error in calculating the yield using this single layer thickness sensor is large, making it impossible to accurately calculate the yield.

[0005] Therefore, the present invention provides a harvester that can accurately calculate the yield. [Means for solving the problem]

[0006] The invention described in claim 1 is a harvester equipped with a threshing device 3 that separates and sorts grains from the stalks harvested by the harvesting device 4 and transported thereto, in which a plurality of grain quantity sensors 25 are provided to detect the amount of grain passing through a sorting device 16 that separates the grains of the threshing device 3 from impurities such as straw waste, and the grain quantity sensors 25 output a larger sensor voltage value the greater the grain amount, and a control device 27 calculates the grain amount using the sensor voltage value.

[0007] According to the invention recited in claim 1, the control device 27 calculates the kernel amount from the sensor voltage values ​​of the plurality of kernel amount sensors 25, so that an accurate calculation of the kernel amount can be performed.

[0008] The invention described in claim 2 is a harvester as described in claim 1 in which a plurality of grain quantity sensors 25 are arranged horizontally in the left-right direction of the sorting device 16, and the grain quantity is calculated from the maximum sensor voltage value among the plurality of grain quantity sensors 25 from the start of harvesting until a predetermined time has elapsed from the start of harvesting and / or from the stop of harvesting, and the grain quantity is calculated from the average sensor voltage values ​​of the plurality of grain quantity sensors 25 from the start of harvesting until the stop of harvesting, and sensor voltage values ​​of the plurality of grain quantity sensors 25 that are less than a threshold value are excluded.

[0009] According to the invention described in claim 2, since the amount of grains entering the sorting device 16 is small for a while after the start of harvesting work, by calculating the grain amount from the maximum sensor voltage value among the multiple grain quantity sensors 25, there is no need to set the threshold value of the grain quantity sensor 25 excessively low, and erroneous detection is less likely to occur.

[0010] In addition, when moving to the next work position or grain discharge position after the harvesting work is completed, threshing continues for a while and the sorting device 16 processes a small amount of grains. Therefore, by calculating the grain amount from the maximum sensor voltage value among the multiple grain amount sensors 25, there is no need to set the threshold value of the grain amount sensor 25 excessively low, and erroneous detection is less likely to occur.

[0011] Furthermore, since the kernel amount is calculated from the average value of the sensor voltage values ​​of the multiple kernel amount sensors 25 from the time a predetermined time has elapsed since the start of harvesting work until the time harvesting work is stopped, an accurate calculation of the kernel amount can be performed.

[0012] In addition, since sensor voltage values ​​below the thresholds of the multiple grain quantity sensors 25 are excluded, erroneous detections by the grain quantity sensors 25 due to contact with impurities in areas on the sorting device 16 where few grains have passed can be eliminated, allowing accurate calculation of the grain quantity.

[0013] The invention described in claim 3 is a harvester as described in claim 1 in which multiple grain quantity sensors 25 are arranged shifted forward and backward across the left and right width of the sorting device 16, and the grain quantity is calculated from the maximum sensor voltage value among the multiple grain quantity sensors 25 from the start of harvesting until a predetermined time has elapsed from the start of harvesting and / or from the stop of harvesting, and the grain quantity is calculated from the average sensor voltage values ​​of the multiple grain quantity sensors 25 from the start of harvesting until the stop of harvesting, and sensor voltage values ​​of the multiple grain quantity sensors 25 that are less than a threshold value are excluded. A harvester as claimed in claim 1.

[0014] According to the invention described in claim 3, since the amount of grains entering the sorting device 16 is small for a while after the start of harvesting work, by calculating the grain amount from the maximum sensor voltage value among the multiple grain quantity sensors 25, there is no need to set the threshold value of the grain quantity sensor 25 excessively low, and erroneous detection is less likely to occur.

[0015] In addition, when moving to the next work position or grain discharge position after the harvesting work is completed, threshing continues for a while and the sorting device 16 processes a small amount of grains. Therefore, by calculating the grain amount from the maximum sensor voltage value among the multiple grain amount sensors 25, there is no need to set the threshold value of the grain amount sensor 25 excessively low, and erroneous detection is less likely to occur.

[0016] Furthermore, since the kernel amount is calculated from the average value of the sensor voltage values ​​of the multiple kernel amount sensors 25 from the time a predetermined time has elapsed since the start of harvesting work until the time harvesting work is stopped, an accurate calculation of the kernel amount can be performed.

[0017] In addition, since sensor voltage values ​​below the thresholds of the multiple grain quantity sensors 25 are excluded, erroneous detections by the grain quantity sensors 25 due to contact with impurities in areas on the sorting device 16 where few grains have passed can be eliminated, allowing accurate calculation of the grain quantity.

[0018] The invention described in claim 4 is a harvester described in any one of claims 1 to 3, which determines that the grain quantity sensor 25 has failed if the fluctuation in the sensor voltage value of the grain quantity sensor 25 does not exceed a set value for a predetermined time, stops calculating the grain quantity, and activates an alarm device to alarm the abnormality of the grain quantity sensor 25.

[0019] According to the invention described in claim 4, if the fluctuation in the sensor voltage value of the grain quantity sensor 25 does not exceed the set value for a predetermined time, it is determined that the grain quantity sensor 25 has failed, the calculation of the grain quantity is stopped, and an alarm device is activated to notify of an abnormality in the grain quantity sensor 25, thereby preventing an erroneous calculation of the grain quantity and preventing work from being continued without calculating the grain quantity.

[0020] The invention described in claim 5 is the harvester described in any one of claims 1 to 3, which records the calculated grain amount for each predetermined travel distance.

[0021] According to the invention described in claim 5, the amount of grain calculated for each specified distance traveled is recorded, making it possible to know the amount of grain for each specified section of the field and making it easier to obtain information such as the fertility of the field, which can be used as a reference for creating work plans for the next and subsequent periods, and can also lead to improvements in the quality and yield of the harvested crop. [Brief description of the drawings]

[0022] [Figure 1] FIG. 1 is a side view of a combine harvester according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a side cross-sectional view of the threshing device of the combine harvester. [Diagram 3] FIG. 2 is a side cross-sectional view of the main parts of the threshing device. [Figure 4] FIG. 2 is a cross-sectional plan view of the main parts of the threshing device. [Diagram 5] FIG. 4 is a side view for explaining the operation of the layer thickness sensor. [Figure 6] FIG. 11 is a control flow diagram for calculating the amount of kernels. [Figure 7] FIG. 11 is a control flow diagram for recording the amount of grains per predetermined distance. [Figure 8]FIG. 11 is a control flow diagram when the layer thickness sensor fails. [Figure 9] A cross-sectional plan view of the main parts of a threshing device showing another embodiment of the present invention. [Figure 10] FIG. [Figure 11] FIG. [Figure 12] FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] Hereinafter, a combine harvester as one embodiment of the harvester of the present invention will be described in detail with reference to the drawings.

[0024] For ease of understanding, the following description will refer to the front as the front side, the rear as the rear side, the right hand side as the right side, and the left hand side as the left side, as viewed from the pilot's perspective; however, the present invention is not limited to these terms.

[0025] As shown in Figure 1, reference numeral 1 denotes the machine frame, 2 denotes a running gear mounted on the lower part of the machine frame 1, 3 denotes a threshing device mounted on the machine frame 1, 4 denotes a reaping device, 5 denotes a grain tank, and 6 denotes a control unit mounted on one side in front of the threshing device 3.

[0026] The reaping device 4 is attached so as to be movable up and down by a reaping up and down cylinder.

[0027] As shown in Figures 2 and 3, a threshing chamber 10 is provided above the threshing device 3 to thresh the stalks harvested by the harvesting device 4 and transported by the feed chain 9, and a threshing drum 11 is mounted on a threshing drum shaft 12 within the threshing chamber 10.

[0028] The lower side of the handling drum 11 is mainly surrounded by a handling net 15.

[0029] A transfer shelf 17 at the start end of a swinging sorting shelf 16 serving as a sorting device is provided below the handling net 15. A sieve 18 for separating grains from foreign objects is provided below the transfer shelf 17, and a straw rack 19 for transporting straw scraps is provided below the sieve 18.

[0030] A winnower 20 is provided below the transfer shelf 17 of the oscillating sorting shelf 16, and the winnower 20 blows air toward the oscillating sorting shelf 16.

[0031] 21 is conveyor number 1 and 22 is conveyor number 2.

[0032] As shown in Figures 3 to 5, at a predetermined position above the oscillating sorting shelf 16, layer thickness sensors 25 as grain quantity sensors that detect the layer thickness of grains (material to be processed) on the oscillating sorting shelf 16 are arranged in a straight line in the left-right direction at a predetermined interval.

[0033] Each layer thickness sensor 25 has a sensor body 25a mounted at equal intervals on a mounting stay 26 fixed to the left and right machine frames of the threshing device 3, and a detection arm 25b, the base of which is freely rotatable, is attached to each sensor body 25a and extends toward the oscillating sorting shelf 16, and the detection arm 25b is freely rotatable upward from an initial angle A.

[0034] The layer thickness sensor 25 has a detection arm 25b which rotates upward from an initial angle A depending on the layer thickness of the grains on the oscillating sorting shelf 16, and the sensor body 25a sends a detection voltage to the control device 27 according to the rotation angle.

[0035] In other words, when the layer thickness of the grains on the oscillating sorting shelf 16 is thin (the amount of grains is small), a low detection voltage is sent to the control device 27, and as the layer thickness increases (the amount of grains increases), a high detection voltage is sent, so that the control device 27 can recognize the layer thickness of the grains on the oscillating sorting shelf 16 based on the detection voltage from the layer thickness sensor 25.

[0036] Specifically, the threshold value is the range in which the detection arm 25b of the layer thickness sensor 25 rotates upward from the initial angle A by less than 5 degrees, the noise region in which impurities and the like are moving on the oscillating sorting shelf 16 is defined, and the sensor voltage value output by the layer thickness sensor 25 is less than 1 V.

[0037] The range in which the detection arm 25b of the layer thickness sensor 25 rotates upward from the initial angle A by 5 degrees or more but less than 15 degrees is the small grain amount area where a small amount of grains are moving on the oscillating sorting shelf 16, and the sensor voltage value output by the layer thickness sensor 25 is 1V or more but less than 3V.

[0038] The range in which the detection arm 25b of the layer thickness sensor 25 rotates upward from the initial angle A by 15 degrees or more but less than 30 degrees is the medium grain amount region in which a medium amount of grains are moving on the oscillating sorting shelf 16, and the sensor voltage value output by the layer thickness sensor 25 is 3V or more but less than 5V.

[0039] The range in which the detection arm 25b of the layer thickness sensor 25 rotates upward from the initial angle A by 30 degrees or more but less than 45 degrees is the grain volume region where a large number of grains are moving on the oscillating sorting shelf 16, and the sensor voltage value output by the layer thickness sensor 25 is 5 V or more.

[0040] The control device 27 calculates the amount of grains harvested per unit (yield) based on the sensor voltage value output by the layer thickness sensor 25 using the following formula.

[0041] Yield (Kg) = Sensor voltage value (V) x Crop coefficient Next, a method for calculating the yield when a combine harvests will be described with reference to the control flow diagrams of Figs. 6 to 8.

[0042] FIG. 6 is an overall control flow diagram. When the combine engine is started, the vehicle speed sensor provided on the machine body starts detecting the vehicle speed, and the lever potentiometer provided on the control unit 6 starts detecting the operating position of the main shift lever.

[0043] When the vehicle speed sensor detects the vehicle speed and detects the start of forward driving or the lever potentiometer detects that the main shift lever has reached the forward operating position, and the harvesting sensor detects that the harvesting device 4 and the threshing device 3 have been driven (at the start of harvesting work), all of the layer thickness sensors 25 begin detection.

[0044] If a predetermined time (e.g., 30 to 60 seconds) has not elapsed since the start of travel (the start of harvesting work) (before a certain amount of time has elapsed), the sensor voltage values ​​of all layer thickness sensors 25 are detected and compared, and the yield (grain amount) is calculated from the maximum sensor voltage value using the above calculation formula.

[0045] When a predetermined time (e.g., 30 to 60 seconds) has elapsed (after a certain time has elapsed) since the start of travel (the start of harvesting work) and the sensor voltage values ​​of all layer thickness sensors 25 are detected and all sensor voltage values ​​are not equal to or greater than the threshold value of 1 V, the sensor voltage values ​​less than the threshold value of 1 V are excluded, and the yield (grain amount) is calculated using the above formula from the average value of the sensor voltage values ​​that are equal to or greater than the threshold value of 1 V.

[0046] When a predetermined time (e.g., 30 to 60 seconds) has elapsed (a certain amount of time has elapsed) since the start of travel (the start of harvesting work), and the sensor voltage values ​​of all layer thickness sensors 25 are detected and all sensor voltage values ​​are equal to or greater than the threshold value of 1 V, the yield (grain amount) is calculated using the average value of all sensor voltage values ​​using the above formula.

[0047] Then, when the vehicle speed sensor detects the vehicle speed and detects that driving has stopped, or when the lever potentiometer detects that the main shift lever has reached the neutral operating position (when harvesting work has stopped), the sensor voltage values ​​of all layer thickness sensors 25 are detected and compared, and the yield (grain amount) is calculated from the maximum sensor voltage value using the above-mentioned formula.

[0048] Figure 7 is a control flow diagram for storing the yield over a specified distance. When the combine engine is started, the vehicle speed sensor installed on the body of the machine begins to detect the vehicle speed, and the lever potentiometer installed on the control unit 6 begins to detect the operating position of the main shift lever.

[0049] When the vehicle speed sensor detects the vehicle speed and detects the start of forward travel, or when the lever potentiometer detects that the main shift lever has been placed in the forward operating position, the travel distance sensor starts detecting the travel distance and calculates the yield (grain amount) as shown in the control flow diagram of Figure 6. The travel distance sensor is a general type that detects the rotation speed of the drive gear of the traveling device 2.

[0050] Then, each time the traveled distance reaches a predetermined distance, the yield (grain amount) for the predetermined distance is stored sequentially.

[0051] Therefore, since the yield (grain amount) calculated for each specified distance traveled is recorded, the yield (grain amount) for each specified section of the field can be determined, making it easier to obtain information such as the fertility level of the field, which can be used as a reference for creating work plans for the next and subsequent periods, and can also help improve the quality and yield of the harvested crop.

[0052] Figure 8 is a control flow diagram when a layer thickness sensor 25 fails. All layer thickness sensors 25 start detection, and the sensor voltage values ​​of all layer thickness sensors 25 are monitored. If the fluctuation in the sensor voltage value within a specified time (e.g., 15 to 20 seconds) does not exceed a set value, it is determined that the layer thickness sensor 25 has failed, detection (calculation) of the yield (grain amount) is stopped, and an alarm device such as a monitor, buzzer, audio alarm, or lamp is activated to notify an operator of an abnormality in the layer thickness sensor 25 (yield) detection.

[0053] Therefore, if the fluctuation in the sensor voltage value of the layer thickness sensor 25 does not exceed the set value for a specified time, it is determined that the layer thickness sensor 25 has failed, the calculation of the grain amount is stopped, and an alarm device is activated to notify of an abnormality in the layer thickness sensor 25, thereby preventing an erroneous calculation of the grain amount and preventing work from being continued without calculating the grain amount.

[0054] In summary, multiple layer thickness sensors 25 for detecting the layer thickness of the grains on the oscillating sorting shelf 16 are provided at predetermined positions above the oscillating sorting shelf 16, and the control device 27 calculates the yield (grain amount) from the sensor voltage values ​​of the multiple layer thickness sensors 25, allowing an accurate calculation of the yield and a more accurate setting of the work schedule for post-harvest processes (drying, etc.).

[0055] Furthermore, if the calculated yield is successively displayed on the monitor of the operation unit 6, the worker can work while checking the yield in real time, and can determine that the work speed is fast when the yield is high and that the work speed is slow when the yield is low.

[0056] In addition, since the amount of grains entering the sorting device 16 is small for a while after the start of harvesting work, by calculating the amount of grains from the maximum sensor voltage value among the multiple layer thickness sensors 25, there is no need to set the threshold value of the layer thickness sensor 25 excessively low, and erroneous detection is less likely to occur.

[0057] In addition, when moving to the next work position or grain discharge position after the harvesting work is completed, threshing continues for a while and the sorting device 16 processes a small amount of grains. Therefore, by calculating the amount of grains from the maximum sensor voltage value among the multiple layer thickness sensors 25, there is no need to set the threshold value of the layer thickness sensor 25 excessively low, and erroneous detection is less likely to occur.

[0058] If the threshold value of the layer thickness sensor 25 is set too low, it may detect only impurities such as straw that are not grains, resulting in many false positives.

[0059] Furthermore, since the kernel quantity is calculated from the average value of the sensor voltage values ​​of the multiple layer thickness sensors 25 from the start of harvesting work until the end of harvesting work after a predetermined time has elapsed, an accurate kernel quantity can be calculated.

[0060] In addition, since sensor voltage values ​​below the thresholds of the multiple layer thickness sensors 25 are excluded, erroneous detections by the layer thickness sensors 25 due to contact with impurities in areas on the sorting device 16 where few grains have passed can be eliminated, and the grain quantity can be calculated accurately.

[0061] <Other embodiments>

[0062] (1) FIG. 9 shows a second embodiment in which the arrangement of the layer thickness sensor 25 is changed.

[0063] That is, at a predetermined position above the oscillating sorting shelf 16, a plurality of layer thickness sensors 25 for detecting the layer thickness of the grains (material to be processed) on the oscillating sorting shelf 16 are provided at a predetermined interval in the left-right direction and shifted a predetermined distance in the front-to-back direction at a predetermined front-to-back interval.

[0064] The layer thickness sensors 25 may be arranged at predetermined intervals in the left-right direction and at predetermined intervals in the front-rear direction, irregularly.

[0065] Furthermore, the layer thickness sensors 25 may be provided in the center of the left and right of the oscillating sorting shelf 16 where the flow rate of grains is high.

[0066] Furthermore, the layer thickness sensors 25 may be disposed further forward in the flow direction than the center in the front-rear direction of the oscillating sorting shelf 16, where the start of grain detection can be determined relatively early.

[0067] (2) A yield calculation formula may be provided for each of the multiple layer thickness sensors 25 to calculate the yield.

[0068] In addition, when the sensor voltage values ​​of all layer thickness sensors 25 are detected and all of the sensor voltage values ​​are not equal to or greater than the threshold value of 1 V, the sensor voltage values ​​less than the threshold value of 1 V are excluded, and the yield (grain amount) is calculated using the above formula from the average value of the sensor voltage values ​​equal to or greater than the threshold value of 1 V. A correction may be made based on either the vehicle speed, working time, or traveling distance.

[0069] In addition, if the vehicle speed sensor detects the vehicle speed and detects the start of forward driving, or the lever potentiometer detects that the main shift lever has reached the forward operating position, and the harvesting sensor detects that the harvesting device 4 and the threshing device 3 have been driven, and a sensor voltage value greater than or equal to a predetermined value is detected for a predetermined time even though the operating conditions are not met, it is possible to determine that the layer thickness sensor 25 is faulty, exclude that sensor voltage value, and calculate the yield (grain amount).

[0070] (3) FIGS. 10 to 12 show the configuration of a fuel tank 31 provided on the machine frame 1 below the threshing device 3.

[0071] The fuel tank 31 is fixed to the machine frame 1 below the threshing device 3 by bolts 32.

[0072] Fuel tank 31 has a stainless steel fuel filler pipe 33 that extends upward in an L-shape with its base fixed to the upper part of one side wall of stainless steel tank body 31a, and has a fuel filler port 33b with a removable lid 33a at its upper end.

[0073] Fuel tank 31 is provided with an L-shaped, transparent resin fuel gauge pipe 34 whose base is fixed to the lower part near the bottom surface of the same side wall and extends upward, and whose upper end is connected to the upper part of fuel filler pipe 33 at a height near the top surface of fuel tank 31.

[0074] Therefore, the upper liquid level of the fuel in the fuel gauge pipe 34 is at the same position as the upper liquid level of the fuel stored in the fuel tank 31, and the amount of fuel stored in the fuel tank 31 can be recognized from outside.

[0075] In addition, a refueling indication line 34a is drawn on the lower part of the fuel gauge tube 34 at a position where there is a possibility of the engine stalling when the aircraft tilts significantly forward / backward and left / right, making it easy to know when it is time to refuel.

[0076] In addition, a connection position 34b between the upper end of the fuel gauge pipe 34 and the fuel fill pipe 33 is provided at a position slightly above the air bleed hose position 31b provided at the top of the tank body 31a, so that the fuel tank 31 can be filled to the brim and overfilling can be prevented.

[0077] In addition, the fuel supply pipe 33 protrudes to the right from a hole provided in the right side plate 3a of the threshing device 3, and the fuel gauge pipe 34 extends to the right of the right side plate 3a, bypassing the bottom of the right side body frame 1 below the threshing device 3, making it easy to refuel and check the remaining fuel level without opening the cover of the threshing device 3.

[0078] The gap between the fuel gauge tube 34 that passes through a hole provided in the right side plate 3a and the hole is filled with a sealant.

[0079] The bottom of the fuel tank 31 is covered with a lid that is detachably fixed to the vehicle frame 1 from below.

[0080] Therefore, when the lid is removed, the bottom surface of the fuel tank 31 is exposed, making it easy to clean the area around the fuel tank 31 and to attach and detach the fuel tank 31.

[0081] Furthermore, if the lid body is made concave and bulges downward, it can be equipped with a large-capacity fuel tank 31, and furthermore, the center of gravity can be lowered, which contributes to improving the balance of the vehicle and improves its driving performance on wet fields. [Explanation of symbols]

[0082] 3. Threshing equipment 4 Reaping device 16 Sorting device (swinging sorting shelf) 25 Grain quantity sensor (layer thickness sensor) 27 Control Device

Claims

1. This harvester is equipped with a threshing device (3) that separates and sorts grains from the stalks that have been cut by a harvesting device (4) and transported thereto, and is characterized in that a plurality of grain amount sensors (25) are provided for detecting the amount of grains passing through a sorting device (16) that sorts the grains of the threshing device (3) from impurities such as waste straw, and the grain amount sensors (25) output a larger sensor voltage value as the amount of grains increases, and a control device (27) calculates the amount of grains using the sensor voltage value.

2. The harvester according to claim 1, characterized in that a plurality of grain quantity sensors (25) are arranged side by side in the left-right direction of the sorting device (16), the grain quantity is calculated from the maximum sensor voltage value among the plurality of grain quantity sensors (25) from the start of harvesting work until a predetermined time has elapsed and / or from the stop of harvesting work until a predetermined time has elapsed, and the grain quantity is calculated from the average sensor voltage values ​​of the plurality of grain quantity sensors (25) from the start of harvesting work until the stop of harvesting work, and sensor voltage values ​​of the plurality of grain quantity sensors (25) that are less than a threshold value are excluded.

3. The harvester according to claim 1, characterized in that a plurality of grain quantity sensors (25) are arranged shifted forward and backward across the left and right width of the sorting device (16), the grain quantity is calculated from the maximum sensor voltage value among the plurality of grain quantity sensors (25) from the start of harvesting work until a predetermined time has elapsed and / or from the stop of harvesting work until a predetermined time has elapsed, and the grain quantity is calculated from the average sensor voltage value of the plurality of grain quantity sensors (25) from the start of harvesting work until the stop of harvesting work, and sensor voltage values ​​of the plurality of grain quantity sensors (25) that are less than a threshold value are excluded.

4. A harvester as described in any one of claims 1 to 3, characterized in that if the fluctuation in the sensor voltage value of the grain quantity sensor (25) does not exceed a set value for a predetermined time, it is determined that the grain quantity sensor (25) has a malfunction, calculation of the grain quantity is stopped, and an alarm device is activated to alarm the abnormality of the grain quantity sensor (25).

5. The harvester according to any one of claims 1 to 3, characterized in that the calculated amount of grains is recorded for each predetermined travel distance.

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