Work vehicles

Abstract

To provide a work vehicle that reduces the amount of position information correction required due to the installation conditions of the receiving unit, thereby improving positioning accuracy. [Solution] The work vehicle (combine harvester 110) comprises a control unit, a harvesting unit for harvesting the target material, a storage unit for storing the target material, and a receiving unit for receiving radio waves for measuring position. The receiving unit is positioned so as to be below the highest point of the roof 94 of the cabin 91 of the control unit.

Description

Technical Field

[0001] The present invention relates to a work vehicle provided with a receiving unit that receives radio waves from positioning satellites.

Background Art

[0002] Patent Document 1 discloses a configuration in which an antenna unit including a GPS antenna and a line communication antenna is arranged on the upper part of the vehicle body, while a communication unit including a GPS module and a line communication module is connected to the antenna unit by a cable and then arranged in an electrical equipment box together with an ECU or the like.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The configuration described in Patent Document 1 improves the layout of the antenna unit with respect to the vehicle body by separately arranging the antenna unit and the communication unit. However, by arranging these two units separately, it is necessary to clear installation conditions such as the routing of the cable for connecting the antenna unit and the communication unit, the limitation of the space in the electrical equipment box, and the limitation of the installation space of the communication unit. As a result, there is a problem that installation becomes difficult depending on the vehicle body.

[0005] An object of the present invention is to provide a work vehicle capable of reducing the correction amount of position information caused by the installation conditions of the receiving unit and improving the positioning accuracy.

Means for Solving the Problems

[0006] A work vehicle according to one aspect of the present invention comprises a control unit, a cutting unit for cutting a target object, a storage unit for storing the target object, and a receiving unit for receiving radio waves for measuring position. The receiving unit is positioned so as to be at a height below the top of the roof of the cabin of the control unit. [Effects of the Invention]

[0007] According to the present invention, the amount of position information correction required due to the installation conditions of the receiving unit can be reduced, thereby reducing positioning errors and improving positioning accuracy. [Brief explanation of the drawing]

[0008] [Figure 1] Side view of a combine harvester. [Figure 2] Plan view of a combine harvester. [Figure 3] A diagram showing the positioning unit. [Figure 4] A diagram showing the mounting structure of the positioning unit. [Figure 5] A diagram showing another embodiment of the mounting position of the positioning unit. [Figure 6] A side view showing another embodiment of the combine harvester. [Figure 7] A plan view showing another embodiment of the combine harvester. [Modes for carrying out the invention]

[0009] The combine harvester with the positioning unit installed will be described with reference to Figures 1 to 4. Figure 1 is a side view of the combine harvester 1. Figure 2 is a top view of the combine harvester 1. Figure 3 shows the positioning unit 100. Figure 4 shows the positioning unit 100 attached to the combine harvester 1.

[0010] The combine harvester 1 comprises a driving unit 2, a harvesting unit 3, a threshing unit 4, a sorting unit 5, a storage unit 6, a straw waste processing unit 7, a power unit 8, and a control unit 9. The combine harvester 1 moves using the driving unit 2, while the harvesting unit 3 cuts the grain stalks, the threshing unit 4 threshes them, the sorting unit 5 separates the grain, and the storage unit 6 stores it. The straw waste after threshing is processed by the straw waste processing unit 7. The power unit 8 supplies power to the driving unit 2, harvesting unit 3, threshing unit 4, sorting unit 5, storage unit 6, and straw waste processing unit 7.

[0011] The running unit 2 comprises a pair of left and right running devices (hereinafter referred to as "crawler-type running devices") 21 located below the machine frame 20, and a transmission (not shown). The transmission transmits the power (hereinafter referred to as "rotational power") from the engine 81 of the power unit 8 to the crawler-type running devices 21 after changing the speed.

[0012] The harvesting unit 3 is located in front of the traveling unit 2. The harvesting unit 3 comprises a divider 31, a lifting device 32, a cutting device 33, and a conveying device 34. The divider 31 guides the stalks in the field to the lifting device 32. The lifting device 32 lifts the stalks guided by the divider 31. The cutting device 33 cuts the stalks that have been lifted by the lifting device 32. The conveying device 34 conveys the stalks cut by the cutting device 33 to the threshing unit 4.

[0013] The threshing unit 4 is located behind the harvesting unit 3. The threshing unit 4 comprises a feed chain 41 and a threshing drum 42. The feed chain 41 receives the stalks from the conveying device 34 and conveys them to the straw removal unit 7. The threshing drum 42 threshes the stalks being conveyed by the feed chain 41.

[0014] The sorting unit 5 is located below the threshing unit 4. The sorting unit 5 includes an oscillating sorting device 51, an air sorting device 52, a grain conveying device and a straw waste discharge device (not shown). The oscillating sorting device 51 separates the threshed grain that has fallen from the threshing unit 4 into grain and straw waste, etc. The air sorting device 52 further separates the threshed grain separated by the oscillating sorting device 51 into grain and straw waste, etc. The grain conveying device conveys the grain separated by the oscillating sorting device 51 and the air sorting device 52 to the storage unit 6. The straw waste discharge device discharges the straw waste, etc. separated by the oscillating sorting device 51 and the air sorting device 52.

[0015] The storage unit 6 is located to the right of the threshing unit 4. The storage unit 6 comprises a grain tank 61 and a discharge auger 62. The grain tank 61 stores the grain transported from the sorting unit 5. The discharge auger 62 can discharge the grain stored in the grain tank 61 to any desired location. In addition, an auger rest 63 is provided on the machine to support the middle portion of the discharge auger 62 when it is retracted.

[0016] The straw removal section 7 is located behind the threshing section 4. The straw removal section 7 includes a straw conveying device and a straw cutting device (not shown). The straw conveying device receives grain stalks from the feed chain 41 and conveys them to the straw cutting device. The straw cutting device cuts the grain stalks conveyed by the straw conveying device and discharges them.

[0017] The control unit 9 is located on the right side of the machine. The control unit 9 comprises a cabin 91, a driver's seat 92, and operating devices such as a steering wheel 93. The cabin 91 houses the driver's seat 92 and various operating devices such as the steering wheel 93. The driver's seat 92 is the seat where the operator sits and is located in the center of the control unit 9 in the left-right direction. The steering wheel 93 is a steering wheel used to change the direction of travel of the combine harvester 1. The operator operates the combine harvester 1 by appropriately operating the various operating devices, including the steering wheel 93. With this configuration, the operator can operate the combine harvester 1 while seated in the driver's seat 92.

[0018] 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 vehicle body, and the driver's seat 92 is provided inside thereof. That is, the positioning unit 100 is arranged on the side of the driver's seat 92 closer to the center of the vehicle body. By attaching the positioning unit 100 to the left side of the roof 94, it does not affect the light distribution of the headlight and work light arranged on the front surface of the cabin 91, and does not affect the view from inside the cabin 91. Thereby, the visibility of the operator sitting on the driver's seat 92 can be ensured.

[0019] Also, a space is formed between the discharge auger 62 in the stored state on the left side of the cabin 91, and the positioning unit 100 is arranged using that space. When performing the discharge operation by the discharge auger 62, it is rotated from the storage position to the left side or above the vehicle body with the right rear of the vehicle body as the rotation fulcrum. By arranging the positioning unit 100 in the above space, interference with the discharge auger 62 can be prevented.

[0020] And by arranging the positioning unit 100 as described above, it is possible to arrange it on the tread center of the combine 1. Thereby, the position correction amount (positioning error) due to the installation conditions of the positioning unit 100 can be reduced, and the positioning accuracy can be improved. Also, by arranging the positioning unit 100 at a high position as described above, an empty space can be created above, and the positioning error can be reduced.

[0021] The positioning unit 100 is for receiving radio waves from positioning satellites and measuring the position of the combine 1. The positioning unit 100 includes a receiving device 101, an inertial navigation device 102, a wireless communication device 103, and a case 104 that integrally houses these.

[0022] The receiving device 101 receives radio waves from positioning satellites, converts the received radio waves into signals, and transmits them to the inertial navigation device 102. Examples of the receiving device 101 include a GNSS receiver that receives radio waves from a constellation of GNSS satellites and a GPS receiver that receives radio waves from GPS satellites.

[0023] The inertial navigation system 102 measures 3-axis gyroscopes and 3-directional acceleration to calculate attitude and heading data. The inertial navigation system 102 also calculates position data based on signals transmitted from the receiver 101. In other words, the inertial navigation system 102 functions as a calculation unit that calculates position data based on position information from the receiver 101. Furthermore, in this embodiment, the reliability of attitude and heading data from the inertial navigation system 102 is improved by mounting a GNSS receiver 105 on the inertial navigation system 102.

[0024] The positioning unit 100 is equipped with an inertial navigation device 102, which allows it to use inertial navigation to determine its position even in situations where it cannot receive radio waves from positioning satellites due to bad weather, radio interference, etc., by calculating the speed and distance traveled based on the acceleration in three directions detected by the inertial navigation device 102.

[0025] The wireless communication device 103 transmits position data and attitude / azimuth data calculated by the inertial navigation device 102 to an external device via wireless communication. The wireless communication device 103 is a data communication device that uses, for example, wireless LAN or mobile communication. The data transmitted from the wireless communication device 103 is received by, for example, a mobile terminal held by the operator or the ECU of the combine harvester 1, and is used for the operation of the combine harvester 1, such as confirming its position in the field and confirming the attitude of the combine harvester 1 (tilt to the front, back, left, and right).

[0026] As described above, the positioning unit 100 of this embodiment integrates a receiving device 101 as a receiving unit, an inertial navigation device 102 as a calculation unit, and a wireless communication device 103 as a communication unit within a case 104. In other words, all the components necessary for positioning are unitized and housed 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 attaching the case 104 as appropriate, thus achieving high versatility.

[0027] Furthermore, as described above, by positioning the positioning unit 100 on the center of the tread of the combine harvester 1, the accuracy of acquiring positional and attitude / direction information of the combine harvester 1 while it is in motion can be improved. In other words, by eliminating the need for correction in the width direction of the receiving device 101 and the inertial navigation device 102, reliable data can be used, and the computational load during calculations can also be reduced.

[0028] In this embodiment, the inertial navigation system 102 is used as the calculation unit for calculating position data. However, a separate calculation unit may be provided that has the function of calculating position data from position information received by the receiving device 101, which is the receiving unit, or the receiving device 101 may have that function. Furthermore, although the inertial navigation system 102 is provided to achieve high-precision positioning by combining attitude and direction data with position data, if it is sufficient to use the position data from the receiving device 101, such as when communicating with a reference station that has known position information during positioning, the inertial navigation system 102 may be omitted, and the receiving device 101 itself may have the function of a calculation unit as described above, or a separate calculation unit may be provided.

[0029] Case 104 has a shape that extends in the front-to-rear direction of the combine harvester 1. Inside case 104, the receiving device 101, inertial navigation device 102, and wireless communication device 103 are arranged on a fixed plate 106 at predetermined intervals from the front. By placing the receiving device 101, which receives signals from positioning satellites, at the very front of case 104, the receiving device 101 is positioned at the front of the combine harvester 1 (i.e., on the side facing the direction of travel), thereby improving positioning accuracy.

[0030] The fixing plate 106 of case 104 is supported by the support frame 107. After attaching and securing the fixing plate 106 to the support frame 107, the housing is placed over it to seal the inside of case 104.

[0031] The support frame 107 is a member that extends in the longitudinal direction of the aircraft and is fixed to the left side wall 95 of the cabin 91. The support frame 107 is formed to be longer than the longitudinal length of the case 104, with its front end fixed to the front of the left side wall 95 of the cabin 91 via a front stay 108, and its rear end fixed to the rear 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 in the middle section and extends away from the discharge auger 62 in its stowed state so as not to come into contact with the discharge auger 62. In this way, the case 104 is fixed as a rigid body to the roof 94 of the cabin 91 by the support frame 107.

[0032] The positioning data (location data and attitude / direction data) acquired by the positioning unit 100 configured as described above can be used to control an autonomous combine harvester that operates on a predetermined route, autonomously traveling along that route and performing tasks. 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 tilt of the autonomous combine harvester and check its driving status and field conditions. In addition, by receiving data transmissions from the wireless communication device 103 included in the positioning unit 100, the operator can send real-time instructions to the autonomous combine harvester.

[0033] As shown in Figure 5, the positioning unit 100 can be positioned not only on the left side of the roof 94, but also at the front, rear, or rear of the roof 94 along the width direction of the machine. In this case as well, by considering the distance from the center of the combine harvester 1's tread, it is possible to achieve sufficiently accurate positioning while taking advantage of the high installation flexibility of the positioning unit 100. It is also possible to embed the positioning unit 100 within the roof 94.

[0034] In the embodiments described above, a combine harvester with a cabin was used as an example, but the same concept can be applied to positioning the positioning unit 100 in a floor-type combine harvester 110 as shown in Figures 6 and 7.

[0035] In other words, the positioning unit 100 is positioned to the side of the driver's seat 111, on the side facing the center of the machine. 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 is erected on the side column to the left of the driver's seat 111. Furthermore, the support frame 112 is located on the center of the tread of the combine harvester 110, and the positioning unit 100 is also positioned on the center of the tread.

[0036] As described above, the positioning unit 100 can be easily installed on the floor-type combine harvester 110, just as it can be installed on the combine harvester 1 equipped with a cabin 91. In other words, the positioning unit 100 of this embodiment has high versatility for different models. Furthermore, by arranging the positioning unit 100 in the space provided between the discharge auger 113 in its stowed state and the driver's seat 111, contact between the positioning unit 100 and the discharge auger 113 can be prevented.

[0037] <Notes on the invention> The present invention relates to a combine harvester comprising a cabin, a harvesting unit for cutting grain stalks, a threshing unit for threshing grain from the grain stalks, a storage unit for storing the threshed grain, and a receiving unit for receiving radio waves from positioning satellites, wherein the receiving unit is supported by a support member fixed to the cabin and is located in the center of the machine in the left-right direction.

[0038] A combine harvester comprising a cabin, a harvesting unit for cutting grain stalks, a threshing unit for threshing grain from the stalks, a storage unit for storing the threshed grain, a pair of left and right traveling devices, and a receiving unit for receiving radio waves from positioning satellites, wherein the receiving unit is supported by a support member fixed to the cabin and is located at the center between the left and right traveling devices in the left-right direction of the machine.

[0039] A combine harvester comprising a cabin, a harvesting unit for cutting grain stalks, a threshing unit for threshing grain from the stalks, a storage unit for storing the threshed grain, and a receiving unit for receiving radio waves from positioning satellites, wherein the receiving unit is supported by a support member fixed to the cabin and is located at the center of the harvesting unit in the left-right direction of the machine.

[0040] A combine harvester comprising a cutting unit for cutting grain stalks, a threshing unit for threshing grain from the grain stalks, a storage unit for storing the threshed grain, and a receiving unit for receiving radio waves from a positioning satellite, wherein the cutting unit has a lifting device for raising the grain stalks, and at least a part of the receiving unit is provided above the lifting device in a state that it overlaps with the lifting device in a plan view.

[0041] A combine harvester comprising a harvesting unit for cutting grain stalks, a threshing unit for threshing grain from the grain stalks, a storage unit for storing the threshed grain, and a receiving unit for receiving radio waves from a positioning satellite, wherein the harvesting unit has a cutting device for cutting the grain stalks, and at least a part of the receiving unit is provided at the same position as the cutting device in the front-rear direction of the machine.

[0042] A combine harvester comprising a cutting unit for cutting grain stalks, a threshing unit for threshing grain from the grain stalks, a storage unit for storing the threshed grain, a pair of left and right traveling devices, and a receiving unit for receiving radio waves from positioning satellites, wherein at least a portion of the receiving unit is provided at the same position as the front end of the traveling device in the longitudinal direction of the machine body.

[0043] Furthermore, the storage unit comprises 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 unit is positioned higher than the discharge auger when it is stored.

[0044] A combine harvester according to one aspect of the present invention comprises a control unit, a cutting unit for cutting grain stalks, a threshing unit for threshing grain from the grain stalks, a storage unit for storing the grain after threshing, and a receiving unit for receiving radio waves for measuring position. The receiving unit is located in front of the control unit.

[0045] A work vehicle according to one aspect of the present invention comprises a control unit, a cutting unit for cutting a target object, a storage unit for storing the target object, and a receiving unit for receiving radio waves for measuring position. The receiving unit is positioned on the center side of the control unit. At least a portion of the receiving unit is provided in a position outside the control unit in a plan view.

[0046] A work vehicle according to one aspect of the present invention comprises a control unit, a cutting unit for cutting a target object, a storage unit for storing the target object, and a receiving unit for receiving radio waves for measuring position. The control unit is positioned off-center to one side in the left-right direction of the vehicle. The receiving unit is positioned on the other side of the center of the control unit in the left-right direction of the vehicle.

[0047] A work vehicle according to one aspect of the present invention comprises a control unit, a cutting unit for cutting a target object, a storage unit for storing the target object, and a receiving unit for receiving radio waves for measuring position. The receiving unit is positioned on the center side of the control unit. At least a portion of the receiving unit is provided at a position outside the outer edge of the control unit in a plan view.

[0048] A work vehicle according to one aspect of the present invention comprises a control unit, a cutting unit for cutting a target object, a storage unit for storing the target object, and a receiving unit for receiving radio waves for measuring position. The receiving unit is located to the side of the control unit and towards the center in the left-right direction of the machine, and is positioned lower than the upper end of the discharge auger in its stowed state. [Explanation of Symbols]

[0049] 1: Combine harvester, 62: Discharge auger, 91: Cabin, 92: Driver's seat, 94: Roof, 100: Positioning unit, 101: Receiving device (receiving section), 102: Inertial navigation device (calculation unit), 103: Wireless communication device (communication unit), 104: Case

Claims

1. It comprises a control unit, a cutting unit for cutting the target object, a storage unit for storing the target object, and a receiving unit for receiving radio waves for measuring position. The receiving unit is positioned so as to fit at a height below the top of the roof of the cabin in the control unit. Work vehicle.

2. The receiving unit is supported in the cabin by a support frame. The work vehicle according to claim 1.

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

4. The receiving unit is positioned forward of the center of the aircraft in the longitudinal direction of the control unit. A work vehicle according to any one of claims 1 to 3.

Images