Harvesting work machine

Abstract

To provide a harvesting work machine capable of preventing a discharge device from coming into contact with an electric wire at a discharge position that can solve the problem with a combine which autonomously travels along a work route, performs harvesting work automatically, moves to a discharge position when a grain tank is filled, turns / lifts / expands a discharge auger, and discharges grains to a recovery container waiting outside a farm field that in the case where an electric wire is laid around the farm field, there is a risk of the discharge auger coming into contact with the electric wire when the discharge auger is turned / lifted / expanded at the discharge position, and the discharge auger and electric wire being damaged.SOLUTION: In the case where work map data is not selected when the work map data is available, or in the case where electric wire position information is not registered when the work map data is not available, the work mode is not brought into an automatic harvesting work mode, and a predetermined regulation is applied to operation of a discharge device 8 in the vicinity of an electric wire D recorded in the work map data.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a harvesting work machine such as a combine harvester.

Background Art

[0002] There is a combine harvester that autonomously travels along a work path to automatically perform a harvesting operation. When the grain tank is full, it moves to a discharge position, rotates, raises, and extends a discharge auger, and discharges grains into a collection container that waits outside the field. (See Patent Document 1)

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, if there are electric wires installed around the field, when rotating, raising, and extending the discharge auger at the discharge position, there is a risk of contacting the electric wires, which may damage the discharge auger or the electrical system. Also, if the electric wire breaks, there is a risk of a power outage occurring in the vicinity.

[0005] The present invention has been made in view of the above, and provides a harvesting work machine that prevents the discharge device from contacting an electric wire at the discharge position.

Means for Solving the Problems

[0006] The invention according to claim 1 is a harvester comprising a traveling device 4, a harvesting device 15 for cutting crops from a field, a threshing device 6 for threshing the crops taken over, a storage device 7 for storing grains, a discharging device 8 for discharging the grains from the storage device 7 to the outside of the machine body, and a positioning device 27 for acquiring the position information of the machine body. A harvesting mode switching switch is provided to put the control device 26, which automatically performs harvesting work by autonomously traveling along the working path of the work map data while calculating the position information by the positioning device 27, into the automatic harvesting work mode. When the harvesting mode switching switch sets the automatic harvesting work mode, if there is work map data in which the wire position information is recorded, a work map data selection screen is displayed on the monitor. If there is no work map data in which the wire position information is recorded, a wire position information input screen is displayed on the monitor. When the work map data is not selected when there is work map data or when the wire position information is not registered when there is no work map data, the automatic harvesting work mode is not entered, and a harvesting work machine that imposes a predetermined restriction on the operation of the discharging device 8 in the vicinity of the wire D recorded in the work map data.

[0007] According to the invention described in claim 1, when the work map data in which the wire position information is recorded is not selected or when the wire position information is not registered when there is no work map data in which the wire position information is recorded, the automatic harvesting work mode is not entered, so the safety during automatic work is improved.

[0008] Also, since a predetermined restriction is imposed on the operation of the discharging device 8 in the vicinity of the wire D recorded in the work map data, it is possible to prevent damage to the discharging device 8 or the wire D due to contact between the discharging device 8 and the wire D, and to prevent a power outage from occurring in the vicinity.

[0009] The invention according to claim 2 is the harvesting work machine according to claim 1, which downloads map information in which the position of the wire is recorded as means for registering the wire position information, manually inputs it into the work map data, or records the wire D detected by the wire detection device 28 equipped on the machine body.

[0010] According to the invention described in claim 2, by downloading map information in which the positions of the electric wires are recorded as the electric wire position information registration means or recording the electric wires D detected by the electric wire detection device 28 equipped on the aircraft, the work of inputting the positions of the electric wires D can be omitted, resulting in labor saving.

[0011] Also, by manually inputting into the work map data as the electric wire position information registration means, predetermined restrictions can be imposed on the operation of the discharge device 8 at a position corresponding to the actual field environment.

[0012] The invention described in claim 3 displays on the monitor, as candidates for discharge positions where grain can be discharged without restricting the operation of the discharge device 8, positions at the edge of the field F and where there are no electric wires D in the work map data, and enables any position to be selected and operated as the discharge position. The harvesting machine according to claim 1 or claim 2.

[0013] According to the invention described in claim 3, since the discharge position candidates are displayed and any position can be selected from the candidates as the discharge position, it is easy to wait for the recovery means 31 for recovering the discharged grain, and the grain can be automatically discharged at a position where it is easy to move the aircraft, improving the work efficiency.

[0014] The invention described in claim 4 is the harvesting machine according to claim 1 or claim 2, which is provided with a distance sensor 30 for detecting the distance from the aircraft to the electric wire D, and calculates the height of the electric wire D from the detected distance from the aircraft to the electric wire D by the distance sensor 30.

[0015] According to the invention described in claim 4, by calculating the height of the electric wire D in advance, it is possible to determine the restrictions on the upward rotation amount and the extension amount above the discharge device 8 during automatic operation, so that work can be performed according to the environment of the field F.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Embodiments for Carrying Out the Invention

[0017] Hereinafter, a combine 1 as a harvesting machine according to an embodiment of the present invention will be described with reference to the accompanying drawings. For ease of understanding, for the sake of convenience, the front side is referred to as the front side, the rear side as the rear side, the right hand side as the right side, and the left hand side as the left side when viewed from the operator, but the configuration is not limited thereby.

[0018] As shown in FIGS. 1 and 2, the combine 1 is provided with a traveling device 4 having a pair of left and right traveling crawlers 3 that travel on the soil surface on the lower side of the vehicle body 2, and on the left and right on the vehicle body 2, a threshing device 6 that threshes and separates the cereal straws that are conveyed and supplied while being sandwiched by the feed chain 5, a grain tank 7 as a storage device that temporarily stores the grains, and as a discharge device that discharges the grains stored in this grain tank 7 to the outside of the machine, a grain discharge auger 8, also called a discharge auger, is placed and disposed, and a straw discharge processing device 9 is mounted on the rear end portion of this threshing device 6.

[0019] When discharging the grains, the grain discharge auger 8 operates the auger lifting cylinder to rotate up and down, operates the auger turning electric motor to turn, and operates the auger telescoping electric motor to telescope.

[0020] In front of the threshing device 6, there is a weeding body 11 that weeds uncut cereal straws from the front end side, a raising part 12 that raises the weeded cereal straws, a cutting blade part 13 that cuts the raised cereal straws, and a supply adjustment conveyor part that scrapes in the cut cereal straws and adjusts the handling depth during conveyance and transfers them to the feed chain 5. The cutting device 15 having the like is suspended and disposed at the front end of the vehicle body 2 so as to be movable up and down with respect to the soil surface by a cutting elevation cylinder.

[0021] An operating device 20 for operating and controlling the combine 1 and an operator's seat 21 on which the operator sits are provided at the upper rear side of the cutting device 15. An engine is mounted below the operator's seat 21, and the grain tank 7 is disposed at the rear side. A cabin 23 that covers the operating device 20 and the operator's seat 21 is provided, and the traveling device 4, the threshing device 6, the cutting device 15, the operating device 20, the engine, the cabin 23, etc. are mounted on the vehicle body 2 of the combine.

[0022] The grain tank 7 is provided with a full cup sensor for detecting that the grain tank 7 is full of grains. Further, the fuel tank of the engine is provided with a fuel cut-off sensor for detecting that the fuel remaining in the fuel tank is running low.

[0023] In addition, on the monitor provided on the operation panel in the cabin 23, when the full cup sensor detects that the grain tank 7 is full of grains, an alarm for the full grain tank and when the fuel cut-off sensor detects that the fuel remaining in the fuel tank is running low, an alarm for fuel cut-off, etc. are displayed.

[0024] The operating device 20 includes a main shift lever that operates a shift actuator to perform forward / backward movement, stop switching, and main shift switching by the forward / backward operation of the operator seated on the operator's seat 21; a steering lever that operates a left / right traveling actuator for operating the left / right side clutches and left / right side brakes of the left / right traveling crawlers 3, 3 by tilting operations to the left and right sides to perform left / right steering during straight travel and turning in various turning modes, and operates a mowing lift cylinder by an operation in the front / rear direction to raise and lower the mowing device 15; a threshing clutch lever that operates a threshing clutch actuator to turn on and off the drive of the mowing device 15 and the threshing device 6; an auger operation lever that moves the position of the discharge port 8a at the tip of the grain discharge auger 8 vertically by the operation of the auger lift cylinder and horizontally by the operation of a left / right turning actuator; and various operating tools such as an auger drive switching lever that operates an auger drive electromagnetic clutch for turning on and off the drive of the grain discharge auger 8 to discharge the grain in the grain tank 7 to the outside of the machine through the discharge port 8a.

[0025] In addition, the combine 1 is switchable between an automatic harvesting operation mode in which it autonomously travels and automatically performs harvesting operations and a manual operation mode in which the onboard operator performs harvesting operations manually.

[0026] A harvesting mode switching switch is provided on the operation panel in the cabin 23, and the automatic harvesting operation mode and the manual operation mode are switched by this harvesting mode switching switch.

[0027] A control device 26 is provided inside the cabin 23, and a GNSS antenna 27 as a positioning device is provided on the upper surface of the cabin 23.

[0028] The control device 26 operates a shift actuator to perform main shift switching and automatically controls forward / backward movement, stop, and vehicle speed shift, and operates a left / right traveling actuator to automatically control left / right turning.

[0029] In addition, the control device 26 operates a mowing lift cylinder to control the raising and lowering of the mowing device 15, and operates a threshing clutch actuator to automatically control the drive of the mowing device 15 and the threshing device 6.

[0030] Further, the control device 26 operates the auger lifting cylinder, the auger turning electric motor, and the auger telescopic electric motor to automatically control the vertical rotation, turning, and telescopic movement of the grain discharging auger 8, and operates the auger drive clutch actuator to automatically control the drive of the grain discharging auger 8.

[0031] In addition, the control device 26 stores work map data (map data) with the reciprocating mowing work path or the rotary mowing work path of the field F added, and can record wire position information indicating the position of the electric wire D around the field F in the work map data.

[0032] To record the wire position information in the work map data stored by the control device 26, the wire position information of the map information created by the Geospatial Information Authority of Japan or municipalities is downloaded and registered in the work map data.

[0033] Alternatively, the operator manually enters the wire position information into the work map data using a mobile terminal such as a tablet, transmits it to the control device 26, and registers it in the work map data.

[0034] Alternatively, a wire detection device 28 (in the embodiment, equipped with a camera) such as a camera or radar equipped on the machine body (above the cabin 23) detects the electric wire D around the field and registers the wire position information in the work map data.

[0035] Note that a camera 29 is also provided at the tip of the grain discharging auger 8 to detect whether the grain discharging auger 8 interferes with obstacles such as the electric wire D.

[0036] In addition, a distance sensor 30 for detecting the distance from the machine body to the electric wire D is provided on the machine body (above the cabin 23).

[0037] Here, the working process of automatically performing the harvesting work by autonomously traveling by the control device 26 in the automatic harvesting work mode will be described in detail.

[0038] First, the operator operates the combine 1 to move it to the harvesting work start position in the field F.

[0039] Next, the operator sets the harvesting mode switch on the operation panel to the automatic harvesting operation mode.

[0040] Then, when the control device 26 receives a signal from the positioning satellite by the GNSS antenna 27 and calculates the current position information by GNSS (Global Navigation Satellite System), and there is work map data in which the wire position information around the field F at the current position is recorded, the control device 26 displays a work map data selection screen on the monitor of the operation panel, and the operator selects the work map data of the corresponding field F.

[0041] When there is no work map data in which the wire position information around the field F is recorded, the control device 26 sets the monitor to the wire position information input screen.

[0042] The operator downloads the wire position information of the map information created by the Geospatial Information Authority of Japan or municipalities and registers it in the work map data, manually inputs the wire position information into the work map data with a portable terminal such as a tablet and transmits it to the control device 26 for registration in the work map data, or detects the wire D around the field with a wire detection device 28 such as a camera or radar equipped on the aircraft and registers the wire position information in the work map data.

[0043] At this time, if the wire position information of the map information created by the Geospatial Information Authority of Japan or municipalities is downloaded and registered in the work map data, or the wire D around the field is detected by the wire detection device 28 and the wire position information is registered in the work map data, the work of inputting the wire position information can be omitted, and labor saving can be achieved.

[0044] When there is work map data in which the wire position information is recorded but the work map data is not selected, or when there is no work map data in which the wire position information is recorded and the wire position information is not registered, the control device 26 does not enter the automatic harvesting operation mode.

[0045] Therefore, when the work map data with the wire position information recorded is not selected or when there is no work map data with the wire position information recorded and the wire position information is not registered, the automatic harvesting operation mode is not entered, so the safety during automatic operation is improved.

[0046] When there is work map data with the wire position information recorded and the work map data is selected or when there is no work map data with the wire position information recorded and the wire position information is registered, the control device 26 enters the automatic harvesting operation mode.

[0047] When entering the automatic harvesting operation mode, the control device 26 monitors and displays, as candidate discharge positions, positions at the edge of the field facing the road or the ridge path R and without the wire D in the work map data, where the discharge of grain is possible without restricting the operation of the grain discharge auger 8.

[0048] The operator selects an arbitrary position from the candidate discharge positions displayed on the monitor as the discharge position.

[0049] Therefore, since the candidate discharge positions are displayed on the monitor and an arbitrary position can be selected from the candidates as the discharge position, it is easy to wait for a vehicle 31 such as a truck, which is a recovery means for recovering the discharged grain, a container, or a flexible container bag on the loading platform 31a, and it is possible to automatically discharge the grain at a position where it is easy to move the combine 1, thereby improving the work efficiency.

[0050] Also, when there are no candidate discharge positions where the discharge of grain is possible without restricting the operation of the grain discharge auger 8 without the wire D, the control device 26 displays the edge of the field facing the road or the ridge path R, the road or the ridge path R, and the wire D on the monitor, and the operator selects the discharge position.

[0051] When the discharge position where the electric wire D is located is selected, the control device 26 receives a signal from the positioning satellite by the GNSS antenna 27, calculates the horizontal distance from the aircraft to the electric wire D from the current position calculated by GNSS (Global Navigation Satellite System) and the position information of the electric wire D in the work map data, detects the distance from the aircraft to the electric wire D with the distance sensor 30, and calculates the height of the electric wire D.

[0052] Therefore, by calculating the height from the ground to the electric wire D in advance, it is possible to determine the upper rotation amount and the extension amount limit of the discharge auger 8 during automatic operation, so that the operation can be performed according to the environment of the farmland F.

[0053] When the operator turns on the start switch of the operation panel, the control device 26 automatically performs the harvesting operation while traveling autonomously along the work path while receiving a signal from the positioning satellite in the farmland by the GNSS antenna 27 and calculating the position information by GNSS (Global Navigation Satellite System). When the full sensor detects that the grains in the grain tank 7 are full, it automatically travels toward the above-selected discharge position (a vehicle 31 such as a truck waiting on the ridge path R which is a road facing the farmland F).

[0054] When the aircraft reaches the discharge position, the control device 26 stops the combine 1 with the rear of the aircraft facing the vehicle 31 that performs the recovery of the electric wire D and the grains (see Fig. 3).

[0055] As shown in Fig. 4, the above discharge position is automatically set to a distance where the distance from the front end of the aircraft to the rear end of the vehicle 31 is the sum of the full length of the aircraft, the length of the discharge auger 8, and the set value. If this distance cannot be achieved, the control of automatic discharge is aborted.

[0056] When the aircraft reaches the discharge position, the control device 26 performs the discharge operation according to the following procedure.

[0057] First, as shown in Fig. 3(A), the control device 26 operates the auger lift cylinder to extend the discharge auger 8 from the storage position (move it upward by a predetermined amount), and operates the auger telescopic electric motor to return the discharge auger 8 to the retracted state.

[0058] Next, as shown in FIG. 3(B), the control device 26 operates the auger turning electric motor to direct the discharge auger 8 toward the vehicle 31 for recovering the electric wire D and the grains, and operates the auger lifting cylinder to make the discharge auger 8 lower than the height of the electric wire D and higher than the loading platform 31a of the vehicle 31.

[0059] Next, as shown in FIG. 3(C), the control device 26 drives the traveling device 4 in reverse to move the machine body backward, and passes the discharge auger 8 below the electric wire D.

[0060] When the inclination sensor provided on the machine body detects the inclination of the machine body while the discharge auger 8 is passing below the electric wire D, the control device 26 stops the machine body.

[0061] Then, when the machine body is moving backward with the discharge auger 8 passing below the electric wire D, the control device 26 restricts the operation of the auger expansion and contraction electric motor to prohibit the expansion and contraction of the discharge auger 8. After the discharge auger 8 passes below the electric wire D, the control device 26 operates the auger expansion and contraction electric motor and the auger turning electric motor to expand, contract, and turn the discharge auger 8 so that the discharge port 8a at the tip of the discharge auger 8 is aligned with the loading platform 31a of the vehicle 31.

[0062] Note that after the discharge auger 8 passes below the electric wire D, the control device 26 operates the auger lifting cylinder only in the direction in which the discharge auger 8 moves downward, and prohibits the upward movement of the discharge auger 8.

[0063] Also, the control device 26 prohibits the automatic storage of the discharge auger 8 while the discharge auger 8 is passing below the electric wire D and after passing.

[0064] Then, the control device 26 operates the auger drive electromagnetic clutch to turn on the drive of the discharge auger 8 and discharges the grains in the grain tank 7 from the discharge port 8a to the loading platform 31a of the vehicle 31. When the discharge of the grains in the grain tank 7 is completed, the control device 26 operates the auger drive electromagnetic clutch to turn off the drive of the discharge auger 8.

[0065] When the discharging operation is completed as described above, the control device 26 moves the combine 1 to the discharging position in the reverse order of the above procedure, sets the grain discharging auger 8 to the storage position, returns to the original working path, and resumes the automatic harvesting operation.

[0066] In short, when the work map data is not selected when there is work map data, or when the wire position information is not registered when there is no work map data, the automatic harvesting operation mode is not entered, so the safety during automatic operation is improved.

[0067] Also, near the wire D recorded in the work map data such as the discharging position, by applying predetermined restrictions to the turning movement, extension, and vertical movement of the grain discharging auger 8, it is possible to prevent damage to the grain discharging auger 8 and the wire D caused by the grain discharging auger 8 contacting the wire D, and to prevent a power outage from occurring in the vicinity.

[0068] Also, when the operating device 20 such as the main transmission lever, steering lever, or threshing lever is operated by the operator during automatic traveling, the automatic harvesting operation mode is switched to the manual operation mode, and thereafter, the operator operates the combine 1 manually.

[0069] When the harvesting mode changeover switch is set to the manual operation mode, the operator can operate the operating device 20 to perform the harvesting operation manually.

[0070] Also, as a means for calculating the height of the wire D, a camera 29 provided at the tip of the grain discharging auger 8 may be used.

[0071] As shown in FIG. 5, the control device 26 operates the auger turning electric motor at the discharging position to turn the grain discharging auger 8 and position the camera 29 provided at the tip of the grain discharging auger 8 on the side of the wire D, operates the auger lifting cylinder to move the grain discharging auger 8 upward, operates the auger telescoping electric motor to extend the grain discharging auger 8, and calculates the height of the wire D from the body position where the camera 29 recognizes the wire D at the horizontal position, the upward movement amount of the grain discharging auger 8, and the extension amount.

Explanation of Signs

[0072] 4 Travel device 6 Threshing device 7 Storage device (grain tank) 8 Discharge device (grain discharge auger) 15 Reaping device 26 Control device 27 Positioning device (GNSS antenna) 28 Wire detection device 30 Distance sensor 31 Recovery means (vehicle) D Electric wire F Field

Claims

1. In a harvester comprising a traveling device (4), a cutting device (15) for cutting crops from a field, a threshing device (6) for threshing the crops taken over, a storage device (7) for storing grains, a discharging device (8) for discharging the grains from the storage device (7) to the outside of the machine body, and a positioning device (27) for acquiring the position information of the machine body, A harvesting mode switching switch is provided to set the control device (26) that automatically performs harvesting work by autonomously traveling along the work route of the work map data while calculating the position information by the positioning device (27) to the automatic harvesting work mode. When the harvesting mode switching switch sets the automatic harvesting work mode, if there is work map data in which the electric wire position information is recorded, a work map data selection screen is displayed on the monitor, and if there is no work map data in which the electric wire position information is recorded, an electric wire position information input screen is displayed on the monitor. When the work map data is not selected when there is work map data or when the electric wire position information is not registered when there is no work map data, the automatic harvesting work mode is not entered, and a predetermined restriction is imposed on the operation of the discharging device (8) near the electric wire (D) recorded in the work map data. A harvesting work machine characterized by this.

2. As a means for registering the electric wire position information, map information in which the position of the electric wire is recorded is downloaded, manually input into the work map data, or the electric wire (D) detected by an electric wire detection device (28) equipped on the machine body is recorded. The harvesting work machine according to Claim 1, characterized by this.

3. From the work map data, a position at the end of the field F and without an electric wire (D) is displayed on the monitor as a discharge position candidate where the discharge of grains is possible without restricting the operation of the discharging device (8), and any position can be selected and operated as the discharge position. The harvesting work machine according to Claim 1 or Claim 2, characterized by this.

4. A distance sensor (30) for detecting the distance from the machine body to the electric wire (D) is provided, and the height of the electric wire (D) is calculated from the detected distance from the machine body to the electric wire (D) by the distance sensor (30). The harvesting work machine according to Claim 1 or Claim 2, characterized by this.

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