Harvesting machinery

Abstract

To provide harvesting machinery that minimizes blind spots. [Solution] The harvesting machine 4 comprises a machine body 40, a lateral conveying path 492, and an antenna device 1. The machine body 40 has an operating section 47. The lateral conveying path 492 has a length along the horizontal plane and is rotatable around a pivot point 495 located behind the operating section 47 in a plan view, and discharges the harvested material from the end opposite to the pivot point 495. The antenna device 1 is supported by the machine body 40. In a plan view, the antenna device 1 is positioned between the operating section 47 and the pivot point 495.

Description

Technical Field

[0001] The present invention relates to a harvesting machine provided with an antenna device.

Background Art

[0002] As a related technique, there is known a harvesting machine (combine) provided with an antenna device (GPS antenna unit) that receives position information from a satellite and measures the position of the machine based on the received position information (see, for example, Patent Document 1). The harvesting machine according to the related technique uses the position of the machine measured by the antenna device, for example, when automatically traveling along a target travel route, or when performing precision agriculture for managing a field by associating the quality of grains with the cutting position.

[0003] The harvesting machine according to the above related technique includes a cutting unit disposed at the front of the machine body, a driving unit disposed on the right side of the machine body and behind the cutting unit, a conveying device disposed on the left side of the machine body and adjacent to the left of the driving unit, and a threshing device disposed behind the conveying device. The conveying device conveys the cut grain straws backward, and the threshing device threshes the cut grain straws conveyed by the conveying device. A grain storage tank for storing grains obtained by the threshing process of the threshing device is provided adjacent to the right of the threshing device. In this harvesting machine, the antenna device is disposed above the front part of the side part (left side part) of the driving unit in the left-right direction where the conveying device is located at the left-right center part of the machine body of the harvesting machine. A frame for supporting the antenna device is provided in the driving unit.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the configuration of the related technologies described above, the antenna device and the frame (supporting the antenna device) are located at the front of the driver's seat. As a result, the operator's field of vision may be obstructed by the antenna device and the frame, creating a blind spot.

[0006] The objective of the present invention is to provide a harvesting machine that is less prone to creating blind spots. [Means for solving the problem]

[0007] A harvesting machine according to one aspect of the present invention comprises a machine body, a lateral conveying path, and an antenna device. The machine body has an operating section. The lateral conveying path has a length along a horizontal plane and is rotatable about a pivot point located behind the operating section in a plan view, and discharges the harvested material from the end opposite to the pivot point. The antenna device is supported by the machine body. In a plan view, the antenna device is positioned between the operating section and the pivot point. [Effects of the Invention]

[0008] According to the present invention, it is possible to provide a harvesting machine that is less likely to create blind spots. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is a schematic left side view of a harvesting machine relating to the basic configuration of Embodiment 1. [Figure 2] Figure 2 is a schematic plan view of the harvesting machine relating to the basic configuration of Embodiment 1. [Figure 3] Figure 3 is a schematic perspective view of the main parts of the harvesting machine according to Embodiment 1. [Figure 4] Figure 4 is a schematic plan view of the main parts of the harvesting machine according to Embodiment 1. [Figure 5] Figure 5 is a schematic plan view of the main parts of the harvesting machine according to Embodiment 1. [Figure 6] Figure 6 is a schematic left side view of the main part of the harvesting machine according to Embodiment 1. [Figure 7]Figure 7 is a schematic front view of the main parts of the harvesting machine according to Embodiment 1. [Figure 8] Figure 8 is a schematic perspective view of the main parts of the harvesting machine according to Embodiment 1. [Figure 9] Figure 9 is a schematic perspective view showing another example of the main parts of the harvesting machine according to Embodiment 1. [Modes for carrying out the invention]

[0010] The embodiments of the present invention will be described below with reference to the attached drawings. The following embodiments are examples that embody the present invention and are not intended to limit the technical scope of the present invention.

[0011] (Embodiment 1) [1] Basic configuration First, the basic configuration of the harvesting machine 4 according to this embodiment will be described with reference to Figures 1 and 2. The harvesting machine 4 according to this embodiment is equipped with an antenna device 1 (see Figure 3), but here, the basic configuration of the harvesting machine 4 will be described using a harvesting machine 4 in which the antenna device 1 and peripheral structures such as the support structure for the antenna device 1 are omitted as an example. Furthermore, although the harvesting machine 4 shown in Figures 1 and 2 differs from the harvesting machine 4 according to this embodiment shown in Figure 3, etc., in terms of details such as the capacity and shape of the grain tank 2, the basic configuration is the same as that of the harvesting machine 4 according to this embodiment.

[0012] The harvesting machine 4 according to this embodiment is equipped with a traveling device 41, a cutting unit 42, a threshing device 431, a sorting device 432, a conveying device 45, a power unit 46, an operating unit 47, a straw waste disposal device 48, a straw waste conveying device 44, and a discharge device 49, etc., on the main body 40 of the harvesting machine 4. In addition, the harvesting machine 4 is further equipped with a grain tank 2 for storing grain, a fuel tank 3, a battery, electrical equipment, etc.

[0013] As used in this disclosure, a "harvesting machine" is a machine that performs crop harvesting operations in a field. As an example, it includes a combine (combine harvester) that performs threshing and sorting in addition to the harvesting operation. A combine as the harvesting machine 4 is mainly used for harvesting grains. While moving (traveling) in the field, it cuts the crops and harvests the cut crops. In particular, there are two types of combines: a general-purpose (universal) combine that feeds the entire cut crop into a threshing machine (threshing device 431), and a self-threshing combine that feeds only the ear tips of the cut crops into the threshing machine. In this embodiment, the self-threshing combine will be described as an example of the harvesting machine 4.

[0014] This type of harvesting machine 4 is compatible with multiple rows of cutting operations and has a working width corresponding to the number of rows in the width direction (left-right direction D1). That is, for example, a harvesting machine 4 compatible with four rows of cutting operations can simultaneously cut the grain straws of up to four rows in the width direction (left-right direction D1). In FIG. 2, as an example, a harvesting machine 4 consisting of a relatively small combine for two rows (two-row cutting) corresponding to two rows is shown.

[0015] Also, in this embodiment, as an example, the harvesting machine 4 is operated by a person (operator) (including remote operation), but it is not limited to this. The harvesting machine 4 may be a drone that operates by automatic driving. Furthermore, in this embodiment, the harvesting machine 4 is a "vehicle" that travels in the field by a traveling device 41, but the harvesting machine 4 is not limited to a "vehicle".

[0016] As used in this disclosure, a "field" is an area where the harvesting machine 4 performs harvesting operations, and includes, for example, paddy fields, fields, orchards, and pastures where crops (agricultural products) such as rice, wheat, soybeans, or buckwheat to be harvested grow. In this embodiment, as an example, the case where the harvesting target by the harvesting machine 4 is "rice" and the field is an outdoor paddy field where rice grows will be described.

[0017] In addition, in the present embodiment, for convenience of explanation, the vertical direction in the state where the harvesting machine 4 can be used is defined as the up-down direction D3. Further, as shown in FIG. 2, the left-right direction D1 and the front-back direction D2 are defined based on the direction seen from a person (operator) riding on the harvesting machine 4 (the operating unit 47 thereof). In other words, each direction used in the present embodiment is a direction defined based on the machine body 40 of the harvesting machine 4. When the harvesting machine 4 moves forward, the direction in which the machine body 40 moves is the "front", and when the harvesting machine 4 moves backward, the direction in which the machine body 40 moves is the "rear". Similarly, when the harvesting machine 4 turns right, the direction in which the front end portion of the machine body 40 moves is the "right", and when the harvesting machine 4 turns left, the direction in which the front end portion of the machine body 40 moves is the "left".

[0018] The machine body 40 has a machine body frame 401 (see FIG. 1) and constitutes the vehicle body of the harvesting machine 4. The machine body 40 is equipped with a cutting unit 42, a threshing device 431, a sorting device 432, a conveying device 45, a power unit 46, an operating unit 47, a straw processing device 48, a straw conveying device 44, a discharging device 49, etc.

[0019] The traveling device 41 can move the machine body 40 of the harvesting machine 4 in the front-back direction D2 and the left-right direction D1. For example, the harvesting machine 4 performs a harvesting operation while moving within a field such as a paddy field or a farmland. As an example, the harvesting machine 4 may move while turning right (or left) from the outside to the inside within the field. In this case, the movement locus of the harvesting machine 4 is a spiral path.

[0020] Specifically, the traveling device 41 includes a pair of crawlers 411 (tracks) arranged in the left-right direction D1. These pair of crawlers 411 include, for example, an actuator such as a hydraulic motor and are driven in a state where independent speed change is possible. That is, the traveling device 41 is a crawler type (infinite track type) traveling device that causes the machine body 40 to travel by driving the endless belt-shaped crawler 411 with an actuator.

[0021] Therefore, the machine 40 enters a forward state where it moves straight forward when the pair of crawlers 411 are driven at a constant speed in the forward direction, and a reverse state where it moves straight backward when the pair of crawlers 411 are driven at a constant speed in the reverse direction. In addition, the machine 40 enters a forward-turning state where it turns while moving forward when the pair of crawlers 411 are driven at an uneven speed in the forward direction, and a reverse-turning state where it turns while moving backward when the pair of crawlers 411 are driven at an uneven speed in the reverse direction. Furthermore, the machine 40 enters a pivot turn (pivot turn) state when one of the pair of crawlers 411 is de-driven and the other is driven, and a spin turn (super pivot turn) state when the pair of crawlers 411 are driven at a constant speed in both the forward and reverse directions. Finally, the machine 40 enters a stopped state when the pair of crawlers 411 are de-driven.

[0022] The harvesting unit 42 cuts the crops in the field (rice as an example in this embodiment). The harvesting unit 42 is positioned in front of the main body 40 of the harvesting machine 4 and is coupled to the main body 40. Together with the main body 40, the harvesting unit 42 constitutes the harvesting machine 4. In other words, the harvesting machine 4 according to this embodiment comprises the harvesting unit 42 and the main body 40. When the harvesting unit 42 is attached to the main body 40, the harvesting unit 42 forms part of the components of the harvesting machine 4. The grain stalks cut by the harvesting unit 42 are sent to the threshing device 431 located behind the harvesting unit 42.

[0023] The threshing device 431 performs threshing on the stalks of grain cut by the harvesting unit 42. In the threshing process, the grain containing the grain is separated from the stalks. The threshing device 431 performs threshing on the stalks of grain, for example, while transporting them from the front to the rear of the device. The threshed grain falls from the threshing device 431 to the sorting device 432 below. Meanwhile, the stalks (straw) after threshing are sent to the straw disposal device 48.

[0024] The sorting device 432 is positioned below the threshing device 431. The sorting device 432 performs a sorting process on the threshed grain obtained by the threshing device 431. In the sorting process, grains are separated from the threshed grain. The sorting device 432 performs the sorting process on the threshed grain, for example, while transporting the threshed grain from the front to the rear of the sorting device 432.

[0025] The grains (first grade) contained in the first conveying chamber of the sorting device 432 are transported to the grain tank 2 by the conveying device 45. Meanwhile, the grains (second grade) contained in the second conveying chamber of the sorting device 432 are transported by the second reduction device to the threshing drum of the threshing device 431 or to the second reduction port above the sorting device 432, where they are threshed or not threshed and then re-sorted by the sorting device 432.

[0026] The conveying device 45 conveys the grain sorted by the sorting device 432 to the grain tank 2 and loads the grain into the grain tank 2. The conveying device 45 includes a horizontal conveying section 451 (see Figure 2), a vertical conveying section 452 (see Figure 1), and a loading section 453, etc.

[0027] The horizontal conveying section 451 is located in the first conveying chamber of the sorting device 432 and is a horizontal feed screw (first screw) that conveys the grain (first grade) contained in the first conveying chamber along the left-right direction D1. In this embodiment, as an example, the horizontal conveying section 451 is a screw conveyor that conveys the grain threshed by the threshing device 431 to the entrance of the vertical conveying section 452.

[0028] The vertical conveying section 452 connects the outlet of the horizontal conveying section 451 to the input section 453 located at the top of the grain tank 2, and conveys the grain along the vertical direction D3. In other words, the vertical conveying section 452 conveys the grain from its lower end, which is connected to the outlet of the horizontal conveying section 451, to its upper end, which is connected to the input section 453, thereby further conveying the grain conveyed by the horizontal conveying section 451 upwards along the vertical direction D3.

[0029] The input section 453 is connected to the outlet (upper end) of the vertical conveying section 452, and the grain conveyed by the vertical conveying section 452 is fed into the grain tank 2. In other words, the grain conveyed to the upper end of the vertical conveying section 452 is fed into the grain tank 2 at the input section 453. As a result, the grain is conveyed from the sorting device 432 to the input section 453 by the horizontal conveying section 451 and the vertical conveying section 452, and then fed into the grain tank 2 at the input section 453.

[0030] The grain tank 2 is a tank (container) for storing the threshed grain (grains, etc.) obtained from the threshing process in the threshing device 431 and the sorting process in the sorting device 432, that is, the material to be harvested by the harvesting machine 4. The grain tank 2 is arranged in the left-right direction D1, which is the width direction of the machine body 40, relative to the threshing device 431. In this embodiment, as an example, when the machine body 40 is divided approximately equally in the left-right direction D1, the threshing device 431 (and sorting device 432) is located on the left side, and the grain tank 2 is located on the right side.

[0031] Here, the vertical conveying section 452 and the input section 453 of the conveying device 45 are positioned between the threshing device 431 and the grain tank 2 in the left-right direction D1. Therefore, the input section 453 inputs grain into the grain tank 2 from an input opening formed on the side of the grain tank 2 on the side of the threshing device 431 (left side).

[0032] The discharge device 49 discharges the harvesting material (grain in this embodiment) from the grain tank 2 to any location around the harvesting machine 4. The discharge device 49 includes a discharge conveying path 490 and a conveying mechanism 493, etc. The discharge conveying path 490 is a path for discharging the stored material (grain) from the grain tank 2. The discharge conveying path 490 includes a vertical conveying path 491 extending in the vertical direction D3 and a horizontal conveying path 492 extending in a direction perpendicular to the vertical direction D3 (horizontal direction). The vertical conveying path 491 is located behind the grain tank 2. The lower end of the vertical conveying path 491 is connected to the grain tank 2, and the upper end of the vertical conveying path 491 is connected to the horizontal conveying path 492. As a result, the stored material (harvesting material) from the grain tank 2 is conveyed upward through the vertical conveying path 491, then conveyed horizontally through the horizontal conveying path 492, and discharged from the front end of the horizontal conveying path 492.

[0033] The conveying mechanism 493 is, for example, a screw that conveys grain through the discharge conveying path 490 by rotating within the discharge conveying path 490. In other words, within the vertical conveying path 491, the screw, acting as the conveying mechanism 493, conveys grain by rotating, and within the horizontal conveying path 492, the screw, acting as the conveying mechanism 493, conveys grain by rotating.

[0034] In particular, the lateral conveying path 492 has a discharge section 494 at its leading edge (front end), and constitutes a discharge auger that discharges the harvested material (grains) to the outside from the discharge section 494. The lateral conveying path 492 as a discharge auger is configured to allow rotation in a plan view (hereinafter also called "lateral rotation") and rotation in a side view (hereinafter also called "vertical rotation"), with the end opposite to the discharge section 494 in the longitudinal direction (rear end) serving as a pivot point 495 (see Figure 2).

[0035] Therefore, the position of the discharge section 494 in a plan view changes with the lateral rotation (rotation) of the lateral conveying path 492, and the height of the discharge section 494 in a plan view changes with the vertical rotation (displacement of elevation angle) of the lateral conveying path 492. Thus, the lateral conveying path 492 as a discharge auger can be driven using the pivot point 495 as a pivot, and the discharge section 494 at its tip can be moved to any position.

[0036] The pivot point 495 is located at the connection point between the horizontal conveying path 492 and the vertical conveying path 491, that is, at the upper end of the vertical conveying path 491. In other words, the horizontal conveying path 492 can rotate in a plan view (lateral rotation) and in a side view (vertical rotation) around the pivot point 495, which is located further behind the grain tank 2, which is located behind the driver's unit 47. As a result, the position of the discharge section 494 at the tip (front end) of the horizontal conveying path 492 changes three-dimensionally in a polar coordinate system with the pivot point 495 as the pole.

[0037] More specifically, the lateral conveyor path 492 rotates laterally around a first rotation axis Ax1 (see Figure 3) along the vertical direction D3, and rotates vertically around a second rotation axis Ax2 (see Figure 3) along the horizontal plane. The first rotation axis Ax1 is located on the extension of the central axis of the vertical conveyor path 491, and the second rotation axis Ax2 is located on a straight line that passes through the upper end of the vertical conveyor path 491 and is perpendicular to the first rotation axis Ax1. The intersection of these first rotation axis Ax1 and second rotation axis Ax2 forms the pivot point 495.

[0038] In short, the harvesting machine 4 is equipped with a lateral conveying path 492 having a length along the horizontal plane. The lateral conveying path 492 is rotatable (rotates laterally) around a pivot point 495 located behind the driver's unit 47, at least in a plan view. The lateral conveying path 492 then discharges the harvested material from the end opposite the pivot point 495 (discharge section 494).

[0039] The straw conveying device 44 conveys the straw and other discharged materials to the straw disposing device 48. In other words, the straw and other materials separated from the threshed grain (including grains) during the threshing process in the threshing device 431 are conveyed by the straw conveying device 44 from the threshing device 431 to the straw disposing device 48 as discharged materials.

[0040] The straw discharge device 48 discharges waste materials such as straw generated during the threshing process. The straw discharge device 48 has an outlet 481 (see Figure 1) for discharging the waste materials to the outside of the machine body 40. The straw discharge device 48 is located, for example, behind the threshing device 431, that is, at the left rear of the machine body 40, and below the straw conveying device 44, with the outlet 481 opening downwards. The straw discharge device 48 has a straw cutter or the like, and after performing cutting or other processing on the waste materials, it discharges the waste materials from the outlet 481. However, it is not essential for the straw discharge device 48 to perform cutting or other processing.

[0041] The power unit 46 is the drive source for the traveling device 41, the harvesting unit 42, the threshing device 431, the sorting device 432, the conveying device 45, the straw waste processing device 48, the straw waste conveying device 44, and the discharge device 49. The power unit 46 has an engine, such as a diesel engine, as its power source. Alternatively, the power unit 46 may have a hybrid power source that includes both an engine and a motor (electric motor).

[0042] The driver's unit 47 is equipped with a driver's seat 471 where the operator sits, and operating devices 472 such as a handle, various operating levers, and various operating switches that are operated by the operator. In this embodiment, the driver's unit 47 is located in front of the grain tank 2 on the right side of the body 40 of the harvesting machine 4 (see Figure 2).

[0043] Here, the types of operating units 47 for the harvesting machine 4 include cabin type, canopy type, and floor type. The cabin type operating unit 47 has a cabin, and the operator sits in the cabin space inside the cabin. The canopy type operating unit 47 has a canopy (roof), and the operator sits in the space below the canopy. The floor type operating unit 47 does not have a cabin or canopy, and the operator sits in an open space above. In this embodiment, as an example, the case where the operating unit 47 is of the floor type will be described.

[0044] The fuel tank 3 is mounted on the aircraft frame 401, behind the sorting device 432 and below the straw disposal device 48. The battery is mounted on the aircraft frame 401, behind the grain tank 2 and below the straw disposal device 48.

[0045] Electrical components include, for example, a control device, headlights, display units such as meters, an engine starting motor, a communication device, and various sensors, which are installed on the harvesting machine 4. Electrical components are devices that operate by receiving power from the battery.

[0046] The control device controls the traveling device 41, the harvesting unit 42, the threshing device 431, the sorting device 432, the conveying device 45, the power unit 46, the straw waste processing device 48, the straw waste conveying device 44, and the discharge device 49, etc., in response to operations received by the operating device. The control device mainly consists of a computer system having one or more processors such as a CPU (Central Processing Unit) and one or more memories such as ROM (Read Only Memory) and RAM (Random Access Memory), and performs various processes (information processing). In this embodiment, the control device is an integrated controller that controls the entire harvesting machine 4, and consists of, for example, an electronic control unit (ECU).

[0047] Here, the control device controls the discharge device 49 by controlling at least the lateral and vertical rotation of the lateral conveying path 492. This allows the control device to drive the lateral conveying path 492 and move the discharge section 494 at the leading edge of the lateral conveying path 492 to any desired position.

[0048] [2] Configuration around the antenna device Next, the configuration around the antenna device 1 in the harvesting machine 4 according to this embodiment will be described with reference to Figures 3 to 8. In Figures 3 to 7, the parts other than the area around the antenna device 1, specifically the traveling device 41, the harvesting unit 42, the threshing device 431, the sorting device 432, the conveying device 45, the power unit 46, the straw waste processing device 48, and the straw waste conveying device 44, are not shown. In Figure 8, the grain tank 2 and the driver's seat 471 are also not shown. In addition, in Figures 4 and 5, the general outline of the machine body 40 of the harvesting machine 4 is shown by dashed lines.

[0049] As shown in Figure 3, the harvesting machine 4 according to this embodiment includes, in addition to the configuration of the harvesting machine 4 relating to the basic configuration described above (see Figures 1 and 2), peripheral structures such as an antenna device 1 and a support structure for the antenna device 1. The antenna device 1 is supported by the machine body 40 by a support frame 32. Here, the antenna device 1 is located behind the driver's unit 47 in the machine body 40.

[0050] In other words, the harvesting machine 4 according to this embodiment comprises a machine body 40 having an operating unit 47, and an antenna device 1 supported by the machine body 40. The antenna device 1 includes an antenna element, which is an electrical element used for receiving and / or transmitting electromagnetic waves (including radio waves), and circuits (receiving circuit and / or transmitting circuit) electrically connected to the antenna element. In this embodiment in particular, the antenna device 1 is unitized by housing various components in a case that is substantially triangular in plan view.

[0051] Here, the antenna device 1 is used to determine the current position of the machine 40. In other words, the antenna device 1 functions as a positioning device that determines the current position (latitude, longitude, altitude, etc.) of the harvesting machine 4. The current position of the machine 40 measured by the antenna device 1 can be used, for example, for the automatic driving of the harvesting machine 4 along a target route, and / or for precision agriculture, which manages fields by associating the quality of the harvested material (grain) with the harvesting position.

[0052] More specifically, the antenna device 1 uses a satellite positioning system such as GNSS (Global Navigation Satellite System) to detect the current position and direction of the machine 40. Once the current position and direction of the machine 40 are determined, it becomes possible, for example, to automatically drive the harvesting machine 4 and to manage the work status (progress, etc.), including recording the driving trajectory of the harvesting machine 4. The automatic driving of the harvesting machine 4 referred to here includes "autonomous driving," in which the harvesting machine 4 drives autonomously without operator intervention, and "semi-automatic driving," in which only steering is automated, such as straight-line assist. In "semi-automatic driving," the harvesting machine 4 cannot drive without operator intervention, but the burden of steering is reduced for the operator, and it is possible to drive along a target path such as a straight line, leading to improved work efficiency.

[0053] Antenna device 1 receives satellite signals (GNSS signals, etc.) from positioning satellites of a satellite positioning system such as GNSS. In other words, antenna device 1 is a positioning antenna for determining the position of the aircraft 40, and performs positioning processing to determine (calculate) the current position and current bearing of the aircraft 40 using satellite signals transmitted from the satellite. Furthermore, antenna device 1 includes an inertial sensor and can also detect the attitude of the aircraft 40, such as its current bearing.

[0054] The antenna device 1 may include, for example, a mobile phone terminal, a smartphone, a tablet terminal, or a quantum compass. Here, the antenna device 1 is positioned on the top surface (ceiling) of the aircraft body 40 to facilitate reception of signals from satellites (GNSS signals, etc.).

[0055] As shown in Figure 3, the antenna device 1 is supported by a support frame 32 fixed to a frame 31 located behind the driver's seat 471 of the driver's section 47. The support frame 32 is located behind the frame 31 and in front of the grain tank 2, that is, between the frame 31 and the grain tank 2 in the longitudinal direction D2. The upper end of the support frame 32 supports the antenna device 1.

[0056] Between the frame 31 and the grain tank 2 in the longitudinal direction D2, a pre-cleaner and the like are located in the supply path 33 for supplying air to the engine, which serves as the power source 16. The supply path 33 is located to the right when viewed from the antenna device 1. In other words, the supply path 33 and the antenna device 1 are arranged side by side in the lateral direction D1 behind the control section 47 (frame 31) of the aircraft body 40.

[0057] Furthermore, the harvesting machine 4 according to this embodiment is further equipped with an auger rest 34. The auger rest 34 holds the lateral conveying path 492, which serves as a discharge auger, when the discharge device 49 is not in use. The auger rest 34 has a substantially U-shape that is open upwards, and supports the lateral conveying path 492 as it descends from above. The auger rest 34 is located on the opposite side (i.e., to the left) from the supply path 33 in the left-right direction D1 when viewed from the antenna device 1.

[0058] Here, the upper ends of the antenna device 1 and the supply path 33, located behind the frame 31, are both higher than the upper end of the frame 31 of the operating unit 47. In this embodiment, the upper ends of the antenna device 1 and the supply path 33 are higher than the upper end of the grain tank 2. The lower end of the antenna device 1 is higher than the upper end of the supply path 33 (see Figure 7). Therefore, the lateral conveying path 492, which acts as a discharge auger movable above the operating unit 47, is configured to be able to rise to a position higher than the upper end of the antenna device 1 by vertical rotation, thereby avoiding interference with the antenna device 1 and the supply path 33, etc.

[0059] Figure 3 shows the horizontal transport path 492 in the "upper position" (upper part of Figure 3) and in the "lower position" (lower part of Figure 3). The horizontal transport path 492 can move between the upper and lower positions by vertical rotation, which moves its tip (discharge section 494) in the vertical direction D3. The upper position is the position of the horizontal transport path 492 that avoids interference with the antenna device 1, etc., when the horizontal transport path 492 is rotated horizontally. The lower position is the position of the horizontal transport path 492 when it is lowered from the upper position by vertical rotation and supported by the auger rest 34.

[0060] Incidentally, as shown in Figure 4, the antenna device 1 is positioned between the driver unit 47 and the pivot unit 495 in a plan view. Here, "position between the driver unit 47 and the pivot unit 495" means a position on the line segment connecting the driver unit 47 and the pivot unit 495 in a plan view. Since the driver unit 47 has a certain area, there are many line segments connecting the driver unit 47 and the pivot unit 495. Therefore, in a plan view, all positions within a triangular region with the pivot unit 495 side edge (rear edge) of the driver unit 47 as the base and the pivot unit 495 as the vertex correspond to "position between the driver unit 47 and the pivot unit 495".

[0061] Thus, in this embodiment, the antenna device 1 is positioned between the driver's unit 47 and the pivot point 495 in a plan view. With this configuration, the view of the operator riding in the driver's unit 47 is less likely to be obstructed by the antenna device 1 and the support frame 32 compared to when the antenna device 1 and the support frame 32 (which supports the antenna device 1) are positioned in front of the driver's unit 47. As a result, the aim is to provide a harvesting machine 4 that is less likely to create blind spots.

[0062] Furthermore, when the lateral conveying path 492 is located above the driver's unit 47, the lateral conveying path 492 is usually in an elevated position with its leading edge (discharge section 494) raised to avoid contact between the lateral conveying path 492 and the operator (and grain tank 2). Moreover, when the lateral conveying path 492 is located above the driver's unit 47, the harvesting unit 42 is located below the discharge section 494, so it is not possible to place a truck or rice bags, etc., which will be the destination for the harvested material, below the discharge section 494. In fact, no harvested material is discharged at all, and there is no need to lower the lateral conveying path 492.

[0063] Therefore, even if the height of the antenna device 1, which is positioned between the driver unit 47 and the pivot point 495, is set relatively high, it is possible to avoid the lateral transport path 492 coming into contact with the antenna device 1. As a result, the installation height of the antenna device 1 can be set relatively high, and it is easier to create a situation where there are no obstructions above the antenna device 1, thereby improving the reliability of signal reception at the antenna device 1.

[0064] In this embodiment, as shown in Figure 5, a restricting area R2 is set within a portion of the movable range R1 of the lateral transport path 492 in a plan view, in which the downward movement of the lateral transport path 492 is restricted. The antenna device 1 is located within the restricting area R2.

[0065] In other words, as described above, when the lateral conveyor 492 is located above the driver's unit 47, it is preferable that the lateral conveyor 492 is in an elevated position with its leading edge (discharge section 494) raised in order to avoid contact between the lateral conveyor 492 and the operator (and the grain tank 2). Therefore, within the movable range R1 of the lateral conveyor 492, the area in which the lateral conveyor 492 is located above the driver's unit 47 is designated as a restricted area R2, and the downward movement of the lateral conveyor 492 is restricted (regulated) in the restricted area R2 to maintain the lateral conveyor 492 in the elevated position. The restriction of the downward movement of the lateral conveyor 492 in the restricted area R2 may be done by software using a control device, or by hardware using a mechanism or the like.

[0066] Furthermore, by positioning the antenna device 1 within this restricted area R2, even if the height of the antenna device 1 is set relatively high, contact between the lateral transport path 492 and the antenna device 1 can be avoided. In other words, as shown in Figure 6, the downward movement of the lateral transport path 492 is restricted, and the lateral transport path 492 is maintained in the raised position, so even if the lateral transport path 492 rotates laterally, contact between the lateral transport path 492 and the antenna device 1 can be avoided. As a result, the installation height of the antenna device 1 can be made relatively high, and it is easier to create a situation where there are no obstructions above the antenna device 1, thus improving the reliability of signal reception at the antenna device 1.

[0067] Furthermore, the machine body 40 has an auger rest 34 capable of holding the lateral transport path 492 within the movable range R1 of the lateral transport path 492 in a plan view. Here, the antenna device 1 is positioned at a distance from the auger rest 34 in the rotational direction of the lateral transport path 492 in a plan view. In other words, the machine body 40 is provided with an auger rest 34 that holds the lateral transport path 492 as a discharge auger when the discharge device 49 is not in use. And in the rotational (lateral rotation) direction of the lateral transport path 492, the antenna device 1 and the auger rest 34 are positioned at a distance from each other.

[0068] In short, in a plan view, at positions where the lateral transport path 492 overlaps with the auger rest 34, it needs to descend to a lowered position so that it is held by the auger rest 34. Therefore, at least in positions where the lateral transport path 492 overlaps with the auger rest 34 in a plan view, the restriction on the downward movement of the lateral transport path 492 as described above needs to be released. In the rotation (lateral rotation) direction of the lateral transport path 492, if the auger rest 34 and the antenna device 1 are positioned without separation, the lateral transport path 492 may come into contact with the antenna device 1 when the restriction on the downward movement of the lateral transport path 492 is released in order to be held by the auger rest 34. In contrast, in this embodiment, in the rotation (lateral rotation) direction of the lateral transport path 492, the auger rest 34 and the antenna device 1 are positioned with separation, making it easier to avoid contact between the lateral transport path 492 and the antenna device 1.

[0069] Furthermore, as shown in Figure 7, the antenna device 1 can change its orientation between a first orientation, which is the orientation when the antenna device 1 is in use, and a second orientation, which is the orientation when the antenna device 1 is not in use. In Figure 7, the antenna device 1 in the second orientation is shown by a dashed line. In the example in Figure 7, the support frame 32 is configured to bend in the middle, allowing switching between a state where the top surface of the antenna device 1 is facing upward (first orientation) and a state where the antenna device 1 is tilted and the top surface of the antenna device 1 is facing to the side (for example, to the right) (second orientation).

[0070] Specifically, the harvesting machine 4 is equipped with a posture changing unit 35 (see the outlet in Figure 7) that changes the posture of the antenna device 1 between a first posture and a second posture. The posture changing unit 35 shown in the outlet in Figure 7 has a support plate 350 that supports the upper part of the support frame 32 and a knob 354. The support plate 350 is fixed to the upper end of the lower part of the support frame 32.

[0071] The support plate 350 rotatably supports the upper portion of the support frame 32 around the pivot point 351. The support plate 350 has an elongated hole 352 that penetrates through it in the thickness direction. The elongated hole 352 is arc-shaped with the pivot point 351 as the center, and has widened portions 353 formed at both ends and the center in the direction of extension.

[0072] The knob 354 fastens the upper part of the support frame 32 to the support plate 350 by being tightened through the elongated hole 352 to the upper part of the support frame 32. Here, the cylindrical portion 355 of the knob 354 has a diameter that allows it to pass through only the widened portion 353 of the elongated hole 352. Therefore, the knob 354 can only be fastened to the upper part of the support frame 32 at the widened portion 353 of the elongated hole 352. In other words, the upper part of the support frame 32 can only be fixed at the position corresponding to the widened portion 353. By tightening the knob 354 using the widened portion 353 in the center of the elongated hole 352 in the direction of extension, the antenna device 1 is held in a first position, and by tightening the knob 354 using the widened portions 353 at both ends of the elongated hole 352 in the direction of extension, the antenna device 1 is held in a second position.

[0073] In this embodiment, as an example, the upper end of the antenna device 1 in the first position is higher than the upper end of the supply path 33. The upper end of the antenna device 1 in the second position is lower than the upper end of the supply path 33. Therefore, by storing the antenna device 1 in the second position, the overall height of the machine body 40 can be kept the same as that of a harvesting machine without the antenna device 1.

[0074] With this configuration, it is possible to set the height of the antenna device 1 in the first attitude to a relatively high position, while keeping the overall height of the aircraft 40, including the antenna device 1, low by moving the antenna device 1 to the second attitude.

[0075] Furthermore, in this embodiment, as an example, as shown in Figure 8, the support frame 32 supporting the antenna device 1 is fixed to the upper end of the frame 31 of the operating unit 47 and to approximately the center of the frame 31 in the left-right direction D1.

[0076] Specifically, the frame 31 comprises a pair of vertical frames 311 and a connecting frame 312. Each pair of vertical frames 311 has a length in the vertical direction D3 and is positioned behind the driver's seat 471, spaced apart in the left-right direction D1. The connecting frame 312 connects the upper ends of the pair of vertical frames 311. Therefore, the frame 31 as a whole is formed in a roughly inverted U-shape that is open downwards.

[0077] The support frame 32 has a stay portion 321 and a column portion 322. The stay portion 321 is, for example, a roughly L-shaped angle fitting and is fixed to the approximate center of the connecting frame 312 in the longitudinal direction (left-right direction D1). The column portion 322 is fixed to the stay portion 321 in such a way that it protrudes upward from the upper surface of the stay portion 321. The antenna device 1 is supported by the support frame 32 by being fixed to the upper end of the column portion 322.

[0078] Here, frame 31 functions as a rops frame to protect the operator in the event of the harvesting machine 4 tipping over. Therefore, the connecting frame 312 that forms the upper end of frame 31 is positioned at least higher than the head of the operator sitting in the driver's seat 471. Behind such frame 31, a gap is secured between it and the grain tank 2 for arranging the supply path 33, etc. The support frame 32 is attached to the rear surface of the connecting frame 312 so as to utilize this gap.

[0079] Thus, in this embodiment, the operating unit 47 includes a pair of vertical frames 311 having a length in the vertical direction D3, and a connecting frame 312 that connects the upper ends of the pair of vertical frames 311. The antenna device 1 is supported by the connecting frame 312. In other words, the antenna device 1 is directly or indirectly supported by the connecting frame 312 of the frame 31. This makes it possible to firmly fix the antenna device 1 using the existing structure (frame 31).

[0080] As another example, as shown in Figure 9, the antenna device 1 may be directly or indirectly supported by the supply path 33. Specifically, the supply path 33 includes a resonator 331, piping 332, and a housing 333. The piping 332 extends downward from the resonator 331 and is connected to the housing 333. The housing 333 has an air passage formed inside and connects the piping 332 to an engine, which serves as a power source 16. The antenna device 1 is supported by a support frame 32 with respect to at least one of the resonator 331, the piping 332, and the housing 333. In the example in Figure 9, the support frame 32 is fixed to the housing 333 by a stay portion 321 so as to protrude from the top surface of the housing 333.

[0081] In short, the aircraft body 40 is positioned behind the driver's unit 47 and has a supply path 33 for supplying air to the power source 16. The antenna device 1 may be supported by the supply path 33. This makes it possible to fix the antenna device 1 at a relatively high position using the existing structure (supply path 33).

[0082] [3] Variant The following lists some modifications of Embodiment 1. The modifications described below can be combined and applied as appropriate.

[0083] Furthermore, the harvesting machine 4 is not limited to a self-propelled combine harvester; it may also be a conventional combine harvester or any other type of harvesting machine.

[0084] Furthermore, when the machine body 40 is divided approximately equally in the left-right direction D1, it is not essential that the threshing device 431 be located on the left side and the grain tank 2 on the right side. For example, the grain tank 2 may be located on the left side of the machine body 40 and the threshing device 431 on the right side.

[0085] Furthermore, it is not essential that the harvesting machine 4 is equipped with a grain tank 2. The harvesting machine 4 may be of a type that does not have a grain tank 2 and directly discharges the grain into rice bags, for example, as in a top-sucker specification.

[0086] Furthermore, the antenna device 1 may have a communication function in addition to, or instead of, the function of determining the current position of the aircraft 40. In other words, the antenna device 1 may be a communication antenna for wireless communication via a communication network such as a public telephone line, a mobile phone network, a packet network, or a wireless LAN (Local Area Network).

[0087] Furthermore, the driver's unit 47 is not limited to a floor type; for example, it may be a canopy type or a cabin type. If the driver's unit 47 is a canopy type, the canopy (roof) is fixed to the frame 31.

[0088] [Notes on the invention] The following is an overview of the invention extracted from the above-described embodiments. Note that each configuration and processing function described below can be selected and combined as desired.

[0089] <Note 1> A vehicle having an operating section, A lateral conveying path having length along the horizontal plane, rotatable around a pivot point located behind the operating section in a plan view, and discharging the harvested material from the end opposite to the pivot point, The aircraft comprises an antenna device supported by the aforementioned aircraft, The antenna device is positioned in a plan view between the operating unit and the pivot point. Harvesting machine.

[0090] <Note 2> A restriction area is set within a portion of the movable range of the lateral transport path in a plan view, in which the downward movement of the lateral transport path is restricted. The antenna device is located within the restricted area. The harvesting machine described in Appendix 1.

[0091] <Note 3> The machine has an organ rest capable of holding the lateral transport path within the movable range of the lateral transport path in a plan view, The antenna device is positioned in a plan view at a distance from the organest in the rotational direction of the lateral transport path. Harvesting machinery as described in Appendix 1 or 2.

[0092] <Note 4> The operating unit includes a pair of vertical frames having length in the vertical direction, and a connecting frame that connects the upper ends of the pair of vertical frames. The antenna device is supported by the connecting frame. A harvesting machine as described in any of the appendices 1 to 3.

[0093] <Note 5> The aforementioned aircraft is positioned behind the driver's unit and has a supply path for supplying air to the power source. The antenna device is supported in the supply path. A harvesting machine as described in any of the appendices 1 to 4.

[0094] <Note 6> The antenna device is capable of changing its orientation between a first orientation, which is the orientation when the antenna device is in use, and a second orientation, which is the orientation when the antenna device is not in use. A harvesting machine as described in any of the appendices 1 to 5.

[0095] <Note 7> The aforementioned antenna device is for determining the current position of the aircraft. A harvesting machine as described in any of the appendices 1 to 6. [Explanation of Symbols]

[0096] 1. Antenna equipment 33. Supply routes 34 Ogrest 40 aircraft 47 Driver's Unit 311 Vertical Frame 312 Connecting Frame 492 Lateral transport path 495 Pivot point R1 Range of motion R2 Restricted Area D3 Vertical Direction

Claims

1. A vehicle having an operating section, A lateral conveying path having length along the horizontal plane, rotatable around a pivot point located behind the operating section in a plan view, and discharging the harvested material from the end opposite to the pivot point, The aircraft comprises an antenna device supported by the aforementioned aircraft, The antenna device is positioned in a plan view between the operating unit and the pivot point. Harvesting machine.

2. A restriction area is set within a portion of the movable range of the lateral transport path in a plan view, in which the downward movement of the lateral transport path is restricted. The antenna device is located within the restricted area. The harvesting machine according to claim 1.

3. The machine has an organ rest capable of holding the lateral transport path within the movable range of the lateral transport path in a plan view, The antenna device is positioned in a plan view at a distance from the organest in the rotational direction of the lateral transport path. The harvesting machine according to claim 1 or 2.

4. The operating unit includes a pair of vertical frames having length in the vertical direction, and a connecting frame that connects the upper ends of the pair of vertical frames. The antenna device is supported by the connecting frame. The harvesting machine according to claim 1 or 2.

5. The aforementioned aircraft is positioned behind the driver's unit and has a supply path for supplying air to the power source. The antenna device is supported in the supply path. The harvesting machine according to claim 1 or 2.

6. The antenna device is capable of changing its orientation between a first orientation, which is the orientation when the antenna device is in use, and a second orientation, which is the orientation when the antenna device is not in use. The harvesting machine according to claim 1 or 2.

7. The aforementioned antenna device is for determining the current position of the aircraft. The harvesting machine according to claim 1 or 2.

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