Harvesting Machine

Abstract

To provide a harvesting machine which is capable of reducing an operation load on an operator and suppressing the occurrence of a harvest omission and a flow of a crop.SOLUTION: The harvesting machine comprises: a machine body X; a traveling device 5 which travels the machine body; a harvesting device Y which harvests a crop in a farm field; a crop detection device 50 which is provided at the harvesting device Y and directly detects the crop in the farm field; and a travel control part which controls the traveling device so that the harvesting device Y and the crop may come into a proper positional relation based on an output from the crop detection device 50.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a harvester. [Background technology]

[0002] Patent Document 1 describes a walk-behind onion harvester. This onion harvester is equipped with a pair of left and right rear wheels driven by power from an engine. Steering is performed by an operator holding a steering handle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2003-102226 A Summary of the Invention [Problem to be solved by the invention]

[0004] Conventional harvesters require the operator to steer the machine, which places a heavy burden on the operator. In addition, if the operator makes a steering error, crops may not be harvested or may be damaged.

[0005] An object of the present invention is to provide a harvester that can reduce the workload of an operator and prevent crops from being left unharvested or damaged. [Means for solving the problem]

[0006] As a means for solving the above-mentioned problems, the harvester of the present invention comprises a machine body, a traveling device for traveling the machine body, a harvesting device for harvesting a crop in a field, a crop detection device provided on the harvesting device for detecting the crop in the field, and a traveling control unit for controlling the traveling device based on an output of the crop detection device so that the harvesting device and the crop are in an appropriate positional relationship, The device comprises a lever that comes into contact with crops in a field, and a main body that is provided below the lever and detects when the lever swings beyond a predetermined angle and outputs a signal indicating that the crop has been detected; Farm field 2A plurality of contact sensors that directly detect crops in a field when they come into contact with each crop in a row. The crop detection device is configured to be capable of harvesting the crop having a main body and a leaf stem extending upward from the main body, and the crop detection device is configured to be capable of contacting the leaf stem. It is characterized by:

[0007] According to this configuration, the crops in the field are directly detected by the crop detection device, and the traveling device is controlled based on the output of the crop detection device so that the harvesting device and the crops are in an appropriate positional relationship, thereby reducing the operator's workload and preventing crops from being missed or damaged. Furthermore, according to this configuration, the crops in the field are reliably detected, so that the harvesting device and the crops are reliably positioned in an appropriate relationship, thereby reliably preventing the crops from being left unharvested or being damaged. Furthermore, according to this configuration, the crop detection device detects the crop by contacting the leaves and stems of the crop, thereby preventing damage to the main body of the crop.

[0008]

[0009]

[0010] In the present invention, the crop detection device includes a right sensor that is capable of contacting the right side of the crop in the field, and a left sensor that is capable of contacting the left side of the crop in the field, and the right sensor and the left sensor are positioned so as to contact the crop when the harvesting device and the crop are in an appropriate positional relationship, and it is preferable that the traveling control unit controls the traveling device so that the body moves to the left when the right sensor does not detect a crop, and controls the traveling device so that the body moves to the right when the left sensor does not detect a crop.

[0011] According to this configuration, the traveling device is controlled based on the outputs of the right and left sensors so that the harvesting device and the crops are in an appropriate positional relationship, thereby preventing crops from being left unharvested or damaged.

[0012] In the present invention, the crop detection device includes a right sensor that is capable of contacting the right side of a crop in the field, and a left sensor that is capable of contacting the left side of a crop in the field, and the right sensor and the left sensor are positioned so as not to come into contact with the crop when the harvesting device and the crop are in an appropriate positional relationship, and it is preferable that the traveling control unit controls the traveling device so that the body moves to the right in response to the right sensor detecting a crop, and controls the traveling device so that the body moves to the left in response to the left sensor detecting a crop.

[0013] According to this configuration, the traveling device is controlled based on the outputs of the right and left sensors so that the harvesting device and the crops are in an appropriate positional relationship, thereby preventing crops from being left unharvested or damaged.

[0014] In the present invention, the crop detection device includes a right sensor and a left sensor that are arranged to pass between two rows of crops, the right sensor is capable of contacting the left side portion of the crop located on the right, and the left sensor is capable of contacting the right side portion of the crop located on the left, and the right sensor and the left sensor are arranged to contact the crop when the harvesting device and the crop are in an appropriate positional relationship, and it is preferable that the traveling control unit controls the traveling device so that the body moves to the right when the right sensor does not detect a crop, and controls the traveling device so that the body moves to the left when the left sensor does not detect a crop.

[0015] According to this configuration, the traveling device is controlled based on the outputs of the right and left sensors so that the harvesting device and the crops are in an appropriate positional relationship, thereby preventing crops from being left unharvested or damaged.

[0016] In the present invention, the crop detection device includes a right sensor and a left sensor that are arranged to pass between two rows of crops, the right sensor is capable of contacting the left side portion of the crop located on the right, and the left sensor is capable of contacting the right side portion of the crop located on the left, and the right sensor and the left sensor are arranged so as not to come into contact with the crop when the harvesting device and the crop are in an appropriate positional relationship, and it is preferable that the travel control unit controls the travel device so that the body moves to the left in response to the right sensor detecting a crop, and controls the travel device so that the body moves to the right in response to the left sensor detecting a crop.

[0017] According to this configuration, the traveling device is controlled based on the outputs of the right and left sensors so that the harvesting device and the crops are in an appropriate positional relationship, thereby preventing crops from being left unharvested or damaged.

[0018]

[0019]

[0020]

[0021] [Brief description of the drawings]

[0022] [Figure 1] FIG. 2 is a right side view of the onion harvester. [Diagram 2] FIG. 2 is a plan view of the onion harvester. [Diagram 3] 1A to 1C are diagrams illustrating a manner in which a crop is detected by a crop detection device. [Figure 4] FIG. 2 is a functional block diagram showing the manner of control of the onion harvester. [Diagram 5] 5 is a diagram showing the relationship between a crop detection state by a crop detection device and travel control. FIG. [Figure 6] 5 is a diagram showing the relationship between a crop detection state by a crop detection device and travel control. FIG. [Figure 7] 5 is a diagram showing the relationship between a crop detection state by a crop detection device and travel control. FIG. [Figure 8]5 is a diagram showing the relationship between a crop detection state by a crop detection device and travel control. FIG. [Figure 9] 1A to 1C are diagrams illustrating a manner in which a crop is detected by a crop detection device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] [First embodiment] Hereinafter, a walk-behind onion harvester according to an embodiment of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the following embodiment, and various modifications are possible without departing from the gist of the present invention.

[0024] In the following description, the direction of the arrow FR shown in the figure is referred to as "forward," the direction of the arrow BK is referred to as "backward," the direction of the arrow RH is referred to as "right," the direction of the arrow LH is referred to as "left," the direction of the arrow UP is referred to as "up," and the direction of the arrow DW is referred to as "down."

[0025] The onion harvester body X includes a transmission case 1, an engine 2, an axle case 3, a transmission case 4, left and right rear wheels 5, left and right support frames 6, and a front wheel 7.

[0026] An engine 2 is supported on a transmission case 1. Right and left rear wheels 5 are supported on an axle case 3 and a transmission case 4, which extend to the right and left from the transmission case 1. A front wheel 7 is supported on the right support frame 6 of right and left support frames 6, which extend forward. The axle of the front wheel 7 is rotatably supported by a U-shaped support part 20. A front wheel shaft 21 is connected to the support part 20. The front wheel shaft 21 is fitted inside a front wheel support tube 22 and supported in a state where the length protruding from the front wheel support tube 22 is variable. The front wheel support tube 22 is supported by the support frame 6.

[0027] The onion harvester body X also includes a steering handle 8 and an adjustment handle 9. The steering handle 8 extends to the rear of the body X. The adjustment handle 9 provided on the steering handle 8 makes it possible to adjust the height of the front wheels 7 relative to the right support frame 6. By operating the adjustment handle 9, the length of the front wheel shaft 21 protruding from the front wheel support cylinder 22 is adjusted, thereby adjusting the height of the front wheels 7 relative to the support frame 6. Furthermore, by adjusting the height of the front wheels 7 relative to the right support frame 6 with the adjustment handle 9, the longitudinal attitude (tilt) of the body X can be adjusted.

[0028] The onion harvester also includes a leaf stalk pull-up device 10, a raking device 11, a lifting device 12, right and left soil breakers 13, a transport device 14, a cutting device 15 and a discharge device 16 as harvesting devices Y that harvest crops in the field. The harvesting devices Y are supported on the front parts of the right and left support frames 6. The right and left rear wheels 5, the leaf stalk pull-up device 10, the raking device 11, the lifting device 12, the right and left soil breakers 13, the transport device 14, the cutting device 15 and the discharge device 16 are driven by the power of the engine 2. The right and left rear wheels 5 are travelling devices that make the machine body X travel.

[0029] In this embodiment, the onion harvester is equipped with a leaf / stalk pulling device 10 including a left device 10A, a middle device 10B, and a right device 10C.

[0030] As shown in Figures 1 and 2, multiple ridges A are formed in a field with furrows A1 between them, and four rows of onions W (crop) are planted in each ridge A.

[0031] The onion harvester moves across the furrow A with the front wheels 7 and rear wheels 5 in contact with the furrow A1. Of the four rows of onions W (an example of a crop) on the furrow A, the onion harvester harvests the two rows of onions W on the right in the direction of movement of the machine.

[0032] As shown in Figures 1 and 2, as the machine body X progresses, the right and left soil-breaking bodies 13 progress through the soil of the ridge A below the onions W planted in the ridge A, breaking up the soil and creating conditions that make it easier for the onions W to be pulled up from the ridge A. The lifting device 12 clamps the leaves and stems Wa of the onions W planted in the ridge A and pulls the onions W upward from the ridge A. The portion of the leaves and stems Wa of the pulled up onions W that is below the lifting device 12 is cut by the cutting device 15, and the onions W with their leaves and stems Wa cut are dropped into the ridge A.

[0033] After this, the onions W from ridge A are collected by a crop collection vehicle, or a worker collects the onions W from ridge A.

[0034] In this embodiment, the onion harvester is equipped with a crop detection device 50 that directly detects crops in the field. "Direct detection" means detecting crops in the field by a direct method, rather than an indirect method such as analyzing images captured by a camera or the like to detect the presence or absence and position of crops. In this embodiment, the crop detection device 50 is a contact sensor that detects crops in the field when it comes into contact with the crops in the field.

[0035] 1 and 2, the crop detection device 50 is provided on the harvesting device Y. In this embodiment, the onion harvester is equipped with a left sensor 50L and a right sensor 50R as the crop detection device 50.

[0036] In the illustrated example, the right sensor 50R is provided in the front portion of the right device 10C of the leaf-stalk pulling device 10. The left sensor 50L is provided in the front portion of the left device 10A of the leaf-stalk pulling device 10.

[0037] FIG. 3 shows how the crop detection device 50 of this embodiment detects a crop. In this embodiment, the crop detection device 50 is a lever-type contact sensor, and includes a main body 50a and a lever 50b. The lever 50b is supported by the main body 50a in a state in which it can swing around a vertical axis C. The onion W has a main body Wm and a leaf stalk Wa extending upward from the main body Wm. The crop detection device 50 is disposed so that the lever 50b can contact the upper part of the main body Wm. When the onion harvester travels and the lever 50b comes into contact with the onion W, the lever 50b is pushed by the onion W and swings backward. When the main body 50a detects that the lever 50b has swung beyond a predetermined angle, the main body 50a outputs a signal indicating that the crop has been detected.

[0038] Fig. 4 shows the manner in which driving force is transmitted to the left and right rear wheels 5. Power from the engine 2 is changed in speed by a transmission 1a inside the transmission case 1 and transmitted to the left and right rear wheels 5 via left and right steering clutches 1b. As shown in Fig. 1, left and right steering clutch levers 8a are provided on the steering handle 8. The left and right steering clutch levers 8a are connected to the left and right steering clutches 1b.

[0039] When the right steering clutch lever 8a is operated, the right steering clutch 1b is disengaged and the transmission of driving force to the right rear wheel 5 is stopped. This causes the machine X to turn to the right. When the left steering clutch lever 8a is operated, the left steering clutch 1b is disengaged and the transmission of driving force to the left rear wheel 5 is stopped. This causes the machine X to turn to the left. In this manner, the turning of the onion harvester machine X is controlled by the operator using the steering clutch lever 8a.

[0040] An actuator 1c is connected to the left and right steering clutches 1b. The actuator 1c is controlled by a control device 80, which will be described later, to turn the left and right steering clutches 1b on and off. Therefore, the turning of the body X of the onion harvester can be controlled by the control device 80 using the actuator 1c. The actuator 1c is, for example, an electric motor, a hydraulic cylinder, an air cylinder, or the like. The actuator 1c may be configured to operate an operating wire that connects the steering clutch 1b and the steering clutch lever 8a.

[0041] The onion harvester includes a control device 80. The control device 80 is a so-called ECU, and includes a memory (such as a HDD or non-volatile RAM, not shown) that stores programs corresponding to functional units described below, and a CPU (not shown) that executes the programs. The functions of each functional unit are realized by the CPU executing the programs. In other words, the control device 80 includes a non-transitory recording medium that stores the programs.

[0042] As shown in FIG. 4, the control device 80 includes a driving control unit 83 as a functional unit.

[0043] The travel control unit 83 controls the travel device so that the harvester Y and the onions W (crop) have an appropriate positional relationship based on the output of the crop detection device 50. In this embodiment, the travel control unit 83 controls the drive of the left and right rear wheels 5 by operating the actuator 1c to turn on and off the steering clutch 1b. The appropriate positional relationship is a positional relationship between the harvester Y and the onions W (crop) such that the onions W (crop) are appropriately harvested by the harvester Y. For example, when the middle device 10B of the leaf stem pulling device 10 is located between two rows of onions W to be harvested, the harvester Y and the onions W (crop) have an appropriate positional relationship. For example, when the left device 10A, the middle device 10B, and the right device 10C of the leaf stem pulling device 10 do not contact the onions W in the field, the harvester Y and the onions W (crop) have an appropriate positional relationship.

[0044] The detection state of onions W (crops) and travel control by the crop detection device 50 of this embodiment will be described with reference to Fig. 5. In this embodiment, the right sensor 50R is disposed to the right of the right onion W so as to be able to come into contact with the right side portion of the right onion of the two onions W to be harvested. The left sensor 50L is disposed to the left of the left onion W so as to be able to come into contact with the left side portion of the left onion of the two onions W to be harvested.

[0045] The right sensor 50R and the left sensor 50L are disposed so as to come into contact with the crop when the harvesting device Y and the onions W (crop) are in the appropriate positional relationship (upper part of FIG. 5). That is, in this embodiment, when the right sensor 50R and the left sensor 50L detect the crop, the harvesting device Y and the onions W (crop) are in the appropriate positional relationship. Therefore, at this time, the traveling control unit 83 controls the traveling device so that the machine body X moves straight. Specifically, the traveling control unit 83 does not operate the actuator 1c and does not disengage the steering clutch 1b.

[0046] When the machine body X travels to the right of the onions W to be harvested, the left sensor 50L detects the crop, and the right sensor 50R does not detect the crop (middle part of FIG. 5). At this time, the harvester Y and the onions W (crop) are not in an appropriate positional relationship. In this case, the travel control unit 83 controls the travel device so that the machine body X turns left. Specifically, the travel control unit 83 activates the actuator 1c to disengage the left steering clutch 1b.

[0047] When the machine body X travels to the left of the onions W to be harvested, the left sensor 50L does not detect the crop, and the right sensor 50R detects the crop (lower part of FIG. 5). At this time, the harvester Y and the onions W (crops) are not in an appropriate positional relationship. In this case, the travel control unit 83 controls the travel device so that the machine body X turns right. Specifically, the travel control unit 83 activates the actuator 1c to disengage the right steering clutch 1b.

[0048] That is, in this embodiment, the travel control unit 83 controls the travel gear so that the machine body X heads left when the right sensor 50R does not detect a crop (middle part of FIG. 5), and controls the travel gear so that the machine body X heads right when the left sensor 50L does not detect a crop (lower part of FIG. 5).

[0049] Second Embodiment The detection state of onions W (crops) and travel control by the crop detection device 50 of this embodiment will be described with reference to FIG. 6. In the following description, the same components as those in the embodiment described above are given the same reference numerals, and detailed description will be omitted. In this embodiment, the right sensor 50R is disposed to the right of the right onion W so as to be able to contact the right side portion of the right onion among the two onions W to be harvested. The left sensor 50L is disposed to the left of the left onion W so as to be able to contact the left side portion of the left onion among the two onions W to be harvested.

[0050] The right sensor 50R and the left sensor 50L are positioned so as not to come into contact with the crop when the harvesting device Y and the onions W (crop) are in the appropriate positional relationship (upper part of FIG. 6). That is, in this embodiment, when the right sensor 50R and the left sensor 50L do not detect the crop, the harvesting device Y and the onions W (crop) are in the appropriate positional relationship. Therefore, at this time, the traveling control unit 83 controls the traveling device so that the machine body X moves straight. Specifically, the traveling control unit 83 does not operate the actuator 1c and does not disengage the steering clutch 1b.

[0051] When the machine body X travels to the left of the onions W to be harvested, the left sensor 50L does not detect the crop, and the right sensor 50R detects the crop (middle part of FIG. 6). At this time, the harvester Y and the onions W (crops) are not in an appropriate positional relationship. In this case, the travel control unit 83 controls the travel device so that the machine body X turns right. Specifically, the travel control unit 83 activates the actuator 1c to disengage the right steering clutch 1b.

[0052] When the machine body X travels to the right of the onions W to be harvested, the left sensor 50L detects the crop, and the right sensor 50R does not detect the crop (lower part of FIG. 6). At this time, the harvester Y and the onions W (crop) are not in an appropriate positional relationship. In this case, the travel control unit 83 controls the travel device so that the machine body X turns left. Specifically, the travel control unit 83 activates the actuator 1c to disengage the left steering clutch 1b.

[0053] That is, in this embodiment, the travel control unit 83 controls the travel gear so that the machine body X moves to the right in response to the right sensor 50R detecting crops, and controls the travel gear so that the machine body moves to the left in response to the left sensor 50L detecting crops.

[0054] Third Embodiment With reference to FIG. 7, the detection state and travel control of onions W (crops) by the crop detection device 50 of this embodiment will be described. In this embodiment, the right sensor 50R and the left sensor 50L are arranged so as to pass between two rows of crops. For example, the right sensor 50R and the left sensor 50L are arranged in the front part of the middle device 10B of the leaf and stem pulling device 10. The right sensor 50R is arranged so as to be able to contact the left part of the crop located on the right. The left sensor 50L is arranged so as to be able to contact the right part of the crop located on the left.

[0055] The right sensor 50R and the left sensor 50L are positioned so as to come into contact with the crop when the harvesting device Y and the onions W (crop) are in the appropriate positional relationship (upper part of FIG. 7). That is, in this embodiment, when the right sensor 50R and the left sensor 50L detect the crop, the harvesting device Y and the onions W (crop) are in the appropriate positional relationship. Therefore, at this time, the traveling control unit 83 controls the traveling device so that the machine body X moves straight. Specifically, the traveling control unit 83 does not operate the actuator 1c and does not disengage the steering clutch 1b.

[0056] When the machine body X travels to the left of the onions W to be harvested, the left sensor 50L detects the crop, and the right sensor 50R does not detect the crop (middle part of FIG. 7). At this time, the harvester Y and the onions W (crop) are not in an appropriate positional relationship. In this case, the travel control unit 83 controls the travel device so that the machine body X turns right. Specifically, the travel control unit 83 activates the actuator 1c to disengage the right steering clutch 1b.

[0057] When the machine body X travels to the right of the onions W to be harvested, the left sensor 50L does not detect the crop, and the right sensor 50R detects the crop (lower part of FIG. 7). At this time, the harvester Y and the onions W (crops) are not in an appropriate positional relationship. In this case, the travel control unit 83 controls the travel device so that the machine body X turns left. Specifically, the travel control unit 83 activates the actuator 1c to disengage the left steering clutch 1b.

[0058] That is, in this embodiment, the travel control unit 83 controls the travel gear so that the machine body X heads to the right when the right sensor 50R does not detect a crop (middle part of FIG. 7), and controls the travel gear so that the machine body X heads to the left when the left sensor 50L does not detect a crop (lower part of FIG. 7).

[0059] [Fourth embodiment] With reference to FIG. 8, the detection state and travel control of onions W (crops) by the crop detection device 50 of this embodiment will be described. In this embodiment, the right sensor 50R and the left sensor 50L are arranged so as to pass between two rows of crops. For example, the right sensor 50R and the left sensor 50L are arranged in the front part of the middle device 10B of the leaf and stem pulling device 10. The right sensor 50R is arranged so as to be able to contact the left part of the crop located on the right. The left sensor 50L is arranged so as to be able to contact the right part of the crop located on the left.

[0060] The right sensor 50R and the left sensor 50L are positioned so as not to come into contact with the crop when the harvesting device Y and the onions W (crop) are in the appropriate positional relationship (upper part of FIG. 8). That is, in this embodiment, when the right sensor 50R and the left sensor 50L do not detect the crop, the harvesting device Y and the onions W (crop) are in the appropriate positional relationship. Therefore, at this time, the traveling control unit 83 controls the traveling device so that the machine body X moves straight. Specifically, the traveling control unit 83 does not operate the actuator 1c and does not disengage the steering clutch 1b.

[0061] When the machine body X travels to the right of the onions W to be harvested, the left sensor 50L does not detect the crop, and the right sensor 50R detects the crop (middle part of FIG. 8). At this time, the harvester Y and the onions W (crops) are not in an appropriate positional relationship. In this case, the travel control unit 83 controls the travel device so that the machine body X turns left. Specifically, the travel control unit 83 activates the actuator 1c to disengage the left steering clutch 1b.

[0062] When the machine body X travels to the left of the onions W to be harvested, the left sensor 50L detects the crop, and the right sensor 50R does not detect the crop (lower part of FIG. 8). At this time, the harvester Y and the onions W (crop) are not in an appropriate positional relationship. In this case, the travel control unit 83 controls the travel device so that the machine body X turns right. Specifically, the travel control unit 83 activates the actuator 1c to disengage the right steering clutch 1b.

[0063] That is, in this embodiment, the travel control unit 83 controls the travel gear so that the machine body X heads left in response to the right sensor 50R detecting a crop (middle part of FIG. 8), and controls the travel gear so that the machine body X heads right in response to the left sensor 50L detecting a crop (lower part of FIG. 8).

[0064] Other Embodiments (1) Fig. 9 shows a state in which the crop is detected by the crop detection device 50 when the crop is a carrot Z having a leaf stem Za and a main body Zm. In this embodiment, the crop detection device 50 is disposed so that the lever 50b can come into contact with the leaf stem Za.

[0065] (2) The right sensor 50R and the left sensor 50L may be configured to output the swing angle of the lever 50b. The travel control unit 83 may be configured to control the travel device based on the swing angle of the lever 50b outputted by the right sensor 50R and the left sensor 50L.

[0066] (3) The number of the crop detection devices 50 is not limited to two. The onion harvester may be configured to include one of the right sensor 50R and the left sensor 50L. The onion harvester may be configured to include three or more crop detection devices 50.

[0067] (4) The crop detection device 50 may be a non-contact sensor, such as an optical sensor.

[0068] (5) The harvester may be equipped with a travelling device of another form. For example, the harvester may be equipped with a crawler travelling device.

[0069] (6) The turning of the harvester may be controlled in other ways. For example, the turning may be controlled by changing the direction of the travel gear with an actuator. The turning may be controlled by making the drive speeds of the left and right travel gears different from each other. [Industrial Applicability]

[0070] The present invention is applicable to various types of harvesters, such as onion harvesters, vegetable harvesters, fruit harvesters, carrot harvesters, radish harvesters, etc. Furthermore, the present invention is applicable not only to walk-behind harvesters, but also to riding harvesters on which an operator rides, and other types of harvesters. [Explanation of symbols]

[0071] 5: Rear wheel (running gear) 50: Crop detection device 50L: Left sensor 50R: Right sensor 83: Driving control unit W: Onion (crop) Wa: Leaf stem Wm: Main body X: Aircraft Y: Harvesting device Z: Carrot (crop) Za: Leaf and stem Zm: Main body

Claims

1. The aircraft and A traveling device that causes the machine body to travel; A harvesting device for harvesting crops in a field; a crop detection device provided on the harvesting device and configured to detect a crop in the field; a travel control unit that controls the travel device based on an output of the crop detection device so that the harvesting device and the crop are in an appropriate positional relationship; the crop detection device is a plurality of contact-type sensors including a lever that comes into contact with crops in the field, and a main body that is provided below the lever and detects when the lever has swung beyond a predetermined angle and outputs a signal indicating that a crop has been detected, and that directly detects the crops in the field when the sensor comes into contact with each of the two rows of crops in the field; The crop harvester is configured to harvest the crop having a main body and a leaf stem extending upward from the main body, The crop detection device is configured to be able to contact the stems.

2. a right sensor as the crop detection device, the right sensor being capable of contacting a right portion of a crop in a field; a left sensor as the crop detection device, the left sensor being capable of contacting a left portion of a crop in a field; the right sensor and the left sensor are positioned to come into contact with the plant when the harvesting device and the plant are in a proper positional relationship; The harvester described in claim 1, wherein the travel control unit controls the travel device so that the body moves to the left when the right sensor does not detect a crop, and controls the travel device so that the body moves to the right when the left sensor does not detect a crop.

3. a right sensor as the crop detection device, the right sensor being capable of contacting a right portion of a crop in a field; a left sensor as the crop detection device, the left sensor being capable of contacting a left portion of a crop in a field; the right sensor and the left sensor are disposed so as not to come into contact with the crop when the harvesting device and the crop are in a proper positional relationship; The harvester described in claim 1, wherein the travel control unit controls the travel device so that the body moves to the right in response to the right sensor detecting a crop, and controls the travel device so that the body moves to the left in response to the left sensor detecting a crop.

4. The plant detection device includes a right sensor and a left sensor that are arranged to pass between two rows of plants, the right sensor is contactable with a left portion of a right-located plant; the left sensor is capable of contacting a right portion of a left-located plant; the right sensor and the left sensor are positioned to come into contact with the plant when the harvesting device and the plant are in a proper positional relationship; The harvester described in claim 1, wherein the travel control unit controls the travel device so that the body moves to the right when the right sensor does not detect a crop, and controls the travel device so that the body moves to the left when the left sensor does not detect a crop.

5. The plant detection device includes a right sensor and a left sensor that are arranged to pass between two rows of plants, the right sensor is contactable with a left portion of a right-located plant; the left sensor is capable of contacting a right portion of a left-located plant; the right sensor and the left sensor are disposed so as not to come into contact with the crop when the harvesting device and the crop are in a proper positional relationship; The harvester described in claim 1, wherein the travel control unit controls the travel device so that the body moves left in response to the right sensor detecting a crop, and controls the travel device so that the body moves right in response to the left sensor detecting a crop.

Images