combine

Abstract

To provide a combine capable of creating a yield map by executing simple control while suppressing a time lag from reaping to the detection of yield, solving a problem with a conventional combine in which positional coordinates are measured by GNSS, a weight measuring device is provided in a grain tank, a yield of grains is measured from the weight, and recorded for each position that since there is a time lag from the time grains are reaped by a reaping machine to the time the grains are accumulated in the grain tank, it is necessary to correct the positional information and record the yield, which requires complicated control.SOLUTION: In a combine equipped with a travelling device, a reaping device, a thresher 6, and a GNSS antenna, a first grain amount sensor 55 for detecting an amount of grains is provided on a conveyance start end side of a first conveyance screw 47 for conveying grains provided below an oscillation separation shelf 45 of the thresher 6. The amount of grains detected by the first grain amount sensor 55 and a machine body position calculated by the input from the GNSS antenna are associated with each other and recorded.SELECTED DRAWING: Figure 5

Description

[Technical Field]

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

[0002] There is a combine harvester that measures position coordinates using GNSS, installs a weight measuring device in a grain tank that stores grain, measures the grain harvest amount from the weight, and records it for each location (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2017-018014 Summary of the Invention [Problem to be solved by the invention]

[0004] Because there is a time lag between when the grain is harvested by the harvesting device and when it is stored in the grain tank, it is necessary to correct the positional information and record the harvest yield, which makes for complex control.

[0005] Therefore, the present invention provides a combine harvester that can reduce the time lag between harvesting and detecting the harvest yield, and create a yield map with simple control. [Means for solving the problem]

[0006] The invention described in claim 1 is a combine harvester equipped with a running device 4, a harvesting device 15, a threshing device 6 and a GNSS antenna 27, in which a first grain quantity sensor 55 is provided at the starting end of the first conveying spiral 47 that transports grains and is located below the oscillating sorting shelf 45 of the threshing device 6, to detect the amount of grain, and the amount of grain detected by the first grain quantity sensor 55 is linked to the machine position calculated from input from the GNSS antenna 27 and recorded.

[0007] According to the invention of claim 1, by detecting the amount of grains below the swinging sorting shelf 45, it becomes difficult for impurities to be erroneously detected as the amount of grains, and the amount of grains can be measured accurately.

[0008] Furthermore, since the amount of grains is detected at a position where the grains have traveled a short distance from the reaping device 15, the deviation of the grain amount detection point from the reaping point when creating the yield map is small, and a more appropriate yield map can be created with simple control.

[0009] The invention described in claim 2 is a combine described in claim 1 in which the first grain quantity sensor 55 is positioned in a position that includes the vicinity of the lower part of the first conveying spiral 47 within the guide 47a of the first conveying spiral 47 in its detection range, and when the grain quantity per detection unit time is less than a certain amount, a correction is made to reduce the grain quantity by the number of rotations of the first conveying spiral 47 per detection unit time.

[0010] According to the invention described in claim 2, by including the lower part of the first conveying spiral 47 in the detection range, detection is possible even when the amount of entering grains is small.

[0011] Furthermore, if the amount of grains per unit detection time is less than a certain value, the exposed first conveying spiral 47 will be erroneously detected as a grain, so accuracy can be ensured by making a correction to reduce the amount of grains.

[0012] The invention described in claim 3 is a combine harvester equipped with a running device 4, a harvesting device 15, a thresher 6 and a GNSS antenna 27, in which a first grain quantity sensor 57 consisting of a pressure-sensitive sensor that detects the amount of grain in an inclined position toward the first conveying spiral 47 is installed across the entire width of the oscillating sorting shelf 45 or multiple sensors are installed in the left and right width directions between the oscillating sorting shelf 45 of the thresher 6 and the first conveying spiral 47 that transports the grain, and the amount of grain detected by the first grain quantity sensor 57 is linked to the machine position calculated from input from the GNSS antenna 27 and recorded.

[0013] According to the invention of claim 3, by detecting the amount of grains below the swinging sorting shelf 45, it becomes difficult for impurities to be erroneously detected as the amount of grains, and the amount of grains can be measured accurately.

[0014] Furthermore, since the amount of grains is detected at a position where the grains have traveled a short distance from the reaping device 15, the deviation of the grain amount detection point from the reaping point when creating the yield map is small, and a more appropriate yield map can be created with simple control.

[0015] Furthermore, by detecting the grains falling from the swinging sorting shelf 45 by bringing them into contact with the first grain quantity sensor 57, detection omissions are less likely to occur and accuracy is improved.

[0016] The invention described in claim 4 is a combine described in claim 1, in which the bottom part of the guide 47a of the first conveying spiral 47 at the conveying starting end side is configured to be movable up and down, a first grain quantity sensor 60 consisting of a weight sensor is provided below the up and down movable part of the guide 47a, and a covering member 63 made of an elastic body is provided across the up and down movable part and the fixed part of the guide 47a.

[0017] According to the invention of claim 4, the amount of kernels is detected by the load applied to the vicinity of the conveyance start end of the first guide 47a, so that detection omissions are unlikely to occur and accuracy is improved.

[0018] The invention described in claim 5 is a combine harvester described in claim 1 in which a second grain quantity sensor 56 that detects the amount of grain in the second conveying spiral 48, which recovers grains that have fallen from the rear of the oscillating sorting shelf 45, is positioned at the starting end of the conveying of the second conveying spiral 48, and the amount of grain in the first conveying spiral 47 is corrected by the amount of grain in the second conveying spiral 48.

[0019] According to the invention of claim 5, the amount of grains that are returned to the oscillating sorting shelf 45 by the second conveying spiral 48 and join together can be roughly excluded, improving the accuracy of the amount of grains at each location. [Brief explanation of the drawings]

[0020] [Figure 1] 1 is a side view of a combine harvester showing an embodiment of the present invention. [Figure 2] 1 is a plan view of a combine harvester showing an embodiment of the present invention. [Figure 3]1 is a plan cross-sectional view of a main part of a cabin of a combine harvester showing an embodiment of the present invention. [Figure 4] FIG. 1 is a control flow diagram of a combine harvester showing an embodiment of the present invention. [Figure 5] 1 is a side cross-sectional view of a main part of a threshing device of a combine showing an embodiment of the present invention. [Figure 6] 1 is a side cross-sectional view of the first (second) conveying spiral portion of a combine harvester showing an embodiment of the present invention. [Figure 7] FIG. 10 is an explanatory diagram of the operation of grain amount correction in a combine harvester according to an embodiment of the present invention. [Figure 8] FIG. 10 is an explanatory diagram of the operation of grain amount correction in a combine harvester according to an embodiment of the present invention. [Figure 9] FIG. 4 is a side cross-sectional view of the main part of a threshing device of a combine harvester, showing a second embodiment of the present invention. [Figure 10] FIG. 10 is a side cross-sectional view of the main part of a threshing device of a combine harvester, showing a third embodiment of the present invention. [Figure 11] FIG. 10 is a plan view of the first (second) conveying spiral portion of a combine harvester showing a third embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0021] A combine harvester 1 according to one embodiment of the present invention will be described below with reference to the accompanying drawings. To facilitate understanding, the directions are described by referring to the front as the front side, the rear as the rear side, the right side as the right side, and the left side as the left side, as seen from the operator, but the configuration is not limited to these directions.

[0022] <Overall configuration of the combine> As shown in Figures 1 and 2, a combine harvester 1 has a traveling device 4 mounted on the lower side of a chassis 2, with a pair of left and right traveling crawlers 3 that travel on the soil surface. On the left and right sides of the chassis 2, a threshing device 6 that threshes and sorts the stalks that are held between feed chains 5 and transported, a grain tank 7 as a storage device for temporarily storing the grains, and a threshing auger 8 that discharges the grain stored in the grain tank 7 outside the machine. A straw disposal device 9 is mounted on the rear end of the threshing device 6. The threshing auger 8 raises and lowers by operating an auger lifting cylinder when discharging grain.

[0023] In front of the threshing device 6, a harvesting device 15 having a grass dividing body 11 that divides unharvested stalks from the front end, a raising section 12 that raises the divided stalks, a cutting blade section 13 that cuts the raised stalks, and a supply adjustment transport section that rakes in the harvested stalks and adjusts the handling depth during transport and hands it over to the feed chain 5 is suspended from the front end of the chassis 2 so that it can be raised and lowered freely relative to the soil surface by a harvesting lifting cylinder.

[0024] An operating device for controlling the operation of the combine 1 and an operating seat 21 where the operator sits are provided at the upper rear of the reaping device 15, an engine is mounted below this operating seat 21, the grain tank 7 is located at the rear, and a cabin 23 is provided to cover the operating device and operating seat 21, and these traveling devices 4, threshing device 6, reaping device 15, operating device, engine, cabin 23, etc. are attached to the chassis 2 of the combine.

[0025] A monitor installed in the cabin 23 displays a grain tank full alarm when the full sensor detects that the grain tank 7 is full of grain, a fuel low alarm when the fuel low sensor detects that there is little fuel remaining in the fuel tank, and various other support messages from the control device.

[0026] The operating device is equipped with various operating tools such as a main speed change lever that is operated forward and backward by the operator seated in the operating seat 21 to operate a speed change actuator that switches between forward and backward travel and stopping and switches the main speed, a left and right traveling actuator that is operated by tilting left and right to operate the left and right side clutches and left and right side brakes of the left and right traveling crawlers 3, 3, allowing left and right steering when traveling straight and turning in various turning modes, a steering lever that is operated forward and backward to operate the reaping lifting cylinder to raise and lower the reaping device 15, a reaping and de-reaping lever that operates the reaping and de-reaping clutch actuator to turn the drive of the reaping device 15 and the threshing device 6 on and off, an auger operating lever that moves the threshing auger 8 up and down by operating the auger lifting cylinder and moves it left and right by operating the left and right turning actuator, and an auger drive switch lever that operates the auger drive electromagnetic clutch that turns the drive of the threshing auger 8 on and off, thereby discharging the grain in the grain tank 7 out of the machine.

[0027] A seat sensor is provided in the operating seat 21 to detect whether the operator is seated or away from the seat, and when the seat sensor detects that the operator has left the seat and the parking brake is operated and actuated, pressing the manual threshing operation switch drives only the threshing device 6.

[0028] Then, when the manual threshing operation switch is pressed again, the operation of the threshing device 6 stops.

[0029] In addition, when the manual threshing operation switch is pressed and the threshing device 6 is operating (during manual threshing operation), if the seating sensor detects that the operator is seated in the operating seat 21, the manual threshing operation switch is turned OFF, the operation of the threshing device 6 is stopped, and the machine becomes operable, sounding an alarm device such as a buzzer.

[0030] In addition, when the release of the parking brake is detected, the manual threshing switch is turned OFF, the operation of the threshing device 6 is stopped, and the machine becomes operable, so an alarm device such as a buzzer sounds.

[0031] Also, when the emergency stop switch is pressed, the clamping rod cover opens and the engine stops.

[0032] In addition, a momentary switch is provided on the main shift lever as an intention device, and the driving of the reaping device 15, threshing device 6 and running device 4, which are stopped when the seat sensor detects that the operator has left the seat, is allowed to operate only while the operator is pressing the momentary switch.

[0033] When the seat sensor detects that the worker who pressed the momentary switch to perform the work is seated, the condition in which the worker pressed the momentary switch to perform the work is continued.

[0034] When the seat sensor detects that the worker is seated, the rotation of the drive unit is damped, and when the momentary switch is released, the rotation is restored.

[0035] In addition, when the seat sensor detects that the operator has left their seat, a timer relay is used to delay the activation of the PTO interlock (it takes 3 seconds for the PTO interlock to activate after the operator has left their seat).

[0036] Then, if the momentary switch is pressed within the grace period, the work can be carried out continuously.

[0037] <Cabin 23> As shown in Figure 3, the cabin 23 is configured in a box shape with a cabin roof 25 attached to the top of a cabin frame 24 whose base is fixed to the chassis 2, and is equipped with a door 26 on the right side that opens and closes at the front, a left glass window on the left side, a windshield window on the front side, and a rear glass window on the rear side, and a GNSS antenna 27 is attached to the top of the cabin roof 25.

[0038] The control device 31 stores map data, calculates the current aircraft position based on input from the GNSS antenna 27, and stores the calculated position in the map data in chronological order.

[0039] An air conditioning unit 30 is provided in the upper left corner of the cabin 23, in the center position between the front and rear, and a control device 31 equipped with a GNSS unit as a position information acquisition device is provided behind the air conditioning unit 30, and an inside / outside air switching unit 32 and a switching electric motor 33 are provided behind the operating seat 21.

[0040] During harvesting work with the combine harvester 1, a lot of dust is generated, so the cabin 23 is made more airtight. However, when the airtightness is increased, the door 26 becomes difficult to close, resulting in the door remaining ajar.

[0041] Therefore, by utilizing the fact that a filter for preventing dust from entering is attached to the outside air inlet of the inside / outside air switching part 32, the inside / outside air switching part 32 is switched to outside air introduction when the door 26 is closed, thereby preventing the intrusion of dust and reducing the airtightness, making it easier to close the door 26 and preventing the door from being left half-open.

[0042] That is, an opening / closing detection sensor is provided to detect the opening / closing of the door 26, and when the opening / closing detection sensor detects that the door 26 is open, the control device 31 operates the switching electric motor 33 to switch the inside / outside air switching unit 32 to introduce outside air.

[0043] Therefore, when the door 26 is closed from an open state, the inside / outside air switching part 32 is set to introduce outside air, so that the airtightness is reduced while preventing the intrusion of dust, making it easier to close the door 26 and preventing the door from being left half-open.

[0044] When the controller of the air conditioning unit 30 is set to inside air introduction, after the open / close detection sensor detects that the door 26 is closed, the switching electric motor 33 is operated to switch the inside / outside air switching part 32 to inside air introduction.

[0045] When the key switch is OFF, harvesting work is not being performed, so the control device 31 operates the switching motor 33 to switch the inside / outside air switching unit 32 to introduce outside air, regardless of whether the door 26 is open or closed.

[0046] The above-described switching between outside air and inside air by the inside / outside air switching unit 32 can be summarized as shown in the flow chart of FIG.

[0047] <Threshing Device 6> As shown in Figure 5, a threshing chamber 40 is provided above the threshing device 6 to thresh the stalks harvested by the harvesting device 15 and transported by the feed chain 5, and a threshing drum 41 is mounted within the threshing chamber 40 on a threshing drum shaft 42.

[0048] The driving force to the threshing device 6 is input to the threshing body shaft 42 and transmitted to each part of the threshing device 6.

[0049] The threshing cylinder shaft 42 is provided with a threshing rotation sensor 43, which detects the driving rotation speed and inputs it to the control device 31.

[0050] The lower side of the threshing drum 41 is mainly surrounded by a threshing net 44 .

[0051] A transfer shelf 45a at the start end of a swinging sorting shelf 45 serving as a sorting device is located below the handling net 44. A sieve 45b for separating grains from foreign matter is provided on the downstream side of the transfer shelf 45a, and a straw rack 45c for transporting straw scraps is provided on the downstream side of the sieve 45b.

[0052] A winnower 46 is provided below the transfer shelf 45a of the oscillating sorting shelf 45, and the winnower 46 blows air toward the oscillating sorting shelf 45.

[0053] Below the sieve 45b of the swinging sorting shelf 45, a first conveying spiral 47 is provided to convey the sorted grains to the grain tank 7.

[0054] A second conveying spiral 48 is provided below the straw rack 45c at the rear of the oscillating sorting shelf 45 to convey the mixture of straw scraps and grains to the handling chamber 40.

[0055] At a predetermined position above the oscillating sorting shelf 45, a layer thickness sensor 50 serving as a grain amount sensor for detecting the layer thickness of grains (material to be processed) on the oscillating sorting shelf 45 is provided at the center position in the left and right direction.

[0056] The layer thickness sensor 50 rotates upward from an initial angle depending on the layer thickness of the grains on the swinging sorting shelf 45, and sends a detection voltage to the control device 31 according to the rotation angle.

[0057] In other words, when the layer thickness of the grains on the oscillating sorting shelf 45 is thin (the amount of grains is small), a low detection voltage is sent to the control device 31, and as the layer thickness increases (the amount of grains increases), a high detection voltage is sent, so that the control device 31 calculates the layer thickness of the grains on the oscillating sorting shelf 45 based on the detected voltage from the layer thickness sensor 50.

[0058] The control device 31 then controls the wind force of the winnower 46 and the opening degree of the sieve 45b according to the calculated layer thickness of the grains on the oscillating sorting shelf 45 (the larger the detection value of the layer thickness sensor 50 (the thicker the layer thickness), the stronger the wind force of the winnower 46 and the larger the opening degree of the sieve 45b).

[0059] As shown in Figures 5 and 6, a first distance sensor 55 is provided at the starting end of the first guide 47a of the first conveying spiral 47 (towards the left outer side of the body of the threshing device 6) as a first grain quantity sensor to detect the distance toward the bottom of the first guide 47a, detects the height L1 (grain quantity) of the grains in the first guide 47a conveyed by the first conveying spiral 47, and sends the detected value to the control device 31.

[0060] By providing the first distance sensor 55 at the starting end side of the first guide 47a of the first conveying spiral 47, the amount of grains can be detected accurately without being affected by changes in layer thickness when grains are discharged from the first conveying spiral 47.

[0061] By including the lower part of the first conveying spiral 47 in the detection range, detection is possible even when the amount of grains entering is small.

[0062] When the amount of grains in the detection unit time is less than a certain value, the first distance sensor 55 detects grains of height L2 or less, which results in a false detection by detecting the first conveying spiral 47. Therefore, a correction is made to reduce the amount of grains by the number of rotations of the first conveying spiral 47 calculated from the number of drive rotations detected by the threshing rotation sensor 43 in the detection unit time.

[0063] That is, the correction is performed as shown in FIG.

[0064] Therefore, when the amount of grains per unit detection time is less than a certain amount, the first distance sensor 55 detects the first conveying spiral 47 and the erroneous detection of the amount of grains can be corrected, thereby ensuring accuracy.

[0065] The control device 31 then records the amount of grains and the aircraft position calculated based on the input from the GNSS antenna 27 in association with each other.

[0066] In addition, a second distance sensor 56 is provided at the starting end of the second guide 48a of the second conveying spiral 48 (towards the left outer side of the body of the threshing device 6) as a second grain quantity sensor that detects the distance toward the bottom of the second guide 48a, detects the height L1 (grain quantity) of the grains in the second guide 48a being conveyed by the second conveying spiral 48, and sends the detected value to the control device 31.

[0067] When the amount of grains in the detection unit time is less than a certain value, the second distance sensor 56 detects the grain height L2 or less, resulting in a false detection by detecting the second conveying spiral 48. Therefore, a correction is made to reduce the amount of grains by the number of rotations of the second conveying spiral 48 calculated from the number of drive rotations detected by the threshing rotation sensor 43 in the detection unit time.

[0068] That is, the correction is performed as shown in FIG.

[0069] The control device 31 records the amount of grains conveyed by the second conveying spiral 48 in association with the aircraft position calculated from the input from the GNSS antenna 27.

[0070] When the control device 31 stores the amount of grain in the map data and creates a yield map, it corrects the amount of grain in the first conveying spiral 47 with the amount of grain transported by the second conveying spiral 48, and then completes and stores the yield map.

[0071] The amount of grains on the first conveying spiral 47 is corrected by the amount of grains conveyed by the second conveying spiral 48 as shown in FIG.

[0072] Therefore, the amount of grain that is returned to the oscillating sorting shelf 45 by the second conveying spiral 48 and joins the rack can be largely excluded, improving the accuracy of the amount of grain at each location and enabling the creation of an accurate yield map.

[0073] Furthermore, since the amount of grains is detected at a position where the grains have traveled a short distance from the reaping device 15, the deviation of the grain amount detection point from the reaping point when creating the yield map is small, and a more appropriate yield map can be created with simple control.

[0074] In addition, if the first distance sensor 55 or the second distance sensor 56 detects the amount of grain a predetermined time after the stalk sensor provided in the harvesting device 15 stops detecting stalks, the monitor and alarm device in the cabin 23 will notify the user that the first distance sensor 55 or the second distance sensor 56 is dirty and making a false detection, prompting them to clean it.

[0075] Figure 9 shows a second embodiment of a threshing device 6, which uses a first pressure sensor 57 and a second pressure sensor 58 as first grain quantity sensors instead of the first distance sensor 55 and second distance sensor 56 that detect the grain quantity in the first embodiment.

[0076] That is, a first pressure-sensitive sensor 57 is provided below the oscillating sorting shelf 45, near the top of the first conveying spiral 47, spanning the entire width of the oscillating sorting shelf 45 (the entire width of the threshing device 6), to detect the amount of grain and send the detected value to the control device 31.

[0077] The control device 31 then records the amount of grains and the aircraft position calculated based on the input from the GNSS antenna 27 in association with each other.

[0078] In addition, a second pressure sensor 58 is provided below the oscillating sorting shelf 45, near the top of the second conveying spiral 48, spanning the entire width of the oscillating sorting shelf 45 (the entire width of the threshing device 6), to detect the amount of grain and send the detected value to the control device 31.

[0079] The control device 31 records the amount of grains and the aircraft position calculated based on the input from the GNSS antenna 27 in association with each other.

[0080] Then, as in the first embodiment, when the control device 31 stores the grain amount in the map data and creates a yield map, it corrects the grain amount detected by the first pressure sensor 57 with the grain amount detected by the second pressure sensor 58, and completes and stores the yield map.

[0081] The first pressure sensor 57 and the second pressure sensor 58 are provided at an angle inclined toward the first conveying spiral 47 and the second conveying spiral 48, respectively, to prevent grains from piling up on their upper surfaces.

[0082] The first pressure sensitive sensor 57 and the second pressure sensitive sensor 58 may be small sensors arranged side by side at equal intervals across the entire width of the oscillating sorting shelf 45 on both sides.

[0083] By detecting the grains falling from the oscillating sorting shelf 45 by bringing them into contact with the first pressure sensitive sensor 57 and the second pressure sensitive sensor 58, detection omissions are less likely to occur and accuracy is improved.

[0084] Figures 10 and 11 show a third embodiment of a threshing device 6, which uses a first weight sensor 60 and a second weight sensor 61 as first grain quantity sensors instead of the first distance sensor 55 and the second distance sensor 56 that detect the grain quantity in the first embodiment.

[0085] That is, the first guide 47a of the first conveying spiral 47 is composed of a fixed guide 47b fixed to the threshing frame 6a and a rotating guide 47c whose starting end side (the left outer side of the body of the threshing device 6) is connected to the threshing frame 6a by a hinge 62 and whose inner end side is freely movable up and down, and a first weight sensor 60 is provided below the rotating guide 47c.

[0086] A rubber plate 63 serving as a covering member, the base of which (left outer part) is fixed to the threshing frame 6a, is provided extending from the inner surface of the rotating guide 47c to the inner surface of the fixed guide 47b facing inward of the machine, so as to close the gap between the fixed guide 47b and the rotating guide 47c, thereby preventing grains from leaking out of the first guide 47a even when the rotating guide 47c moves up and down.

[0087] Therefore, by weighing the rotary guide 47c with the first weight sensor 60, the amount of grains in the rotary guide 47c can be detected, and the detected value is sent to the control device 31.

[0088] By detecting at one location on the starting end side of the first guide 47a of the first conveying spiral 47, the configuration can be made simpler and less expensive than detecting at multiple locations.

[0089] The control device 31 then records the amount of grains and the aircraft position calculated based on the input from the GNSS antenna 27 in association with each other.

[0090] Similarly, the second guide 48a of the second conveying spiral 48 is composed of a fixed guide 48b fixed to the threshing frame 6a and a rotating guide 48c whose starting end (the left outer side of the body of the threshing device 6) is connected to the threshing frame 6a by a hinge 62 and whose inner end is freely movable up and down, and a second weight sensor 61 is provided below the rotating guide 48c.

[0091] A rubber plate 63, the base of which (left outer part) is fixed to the threshing frame 6a, is extended from the inner surface of the rotating guide 48c to the inner surface of the fixed guide 48b facing inward of the machine, so as to close the gap between the fixed guide 48b and the rotating guide 48c, preventing grains from leaking from the second guide 48a even when the rotating guide 48c moves up and down.

[0092] Therefore, the amount of grains in the rotating guide 48c can be detected by weighing the rotating guide 48c with the second weight sensor 61, and the detected value is sent to the control device 31.

[0093] The control device 31 records the amount of grains and the aircraft position calculated based on the input from the GNSS antenna 27 in association with each other.

[0094] Then, as in the first embodiment, when the control device 31 stores the amount of grain in the map data and creates a yield map, it corrects the amount of grain detected by the first weight sensor 60 with the amount of grain detected by the second weight sensor 61, and completes and stores the yield map.

[0095] By detecting the amount of grains based on the load applied to the vicinity of the conveyance start end of the first guide 47a and the second guide 48a, detection omissions are less likely to occur and accuracy is improved.

[0096] Furthermore, by comparing the amount of grain calculated by the first weight sensor 60 and the second weight sensor 61 with the amount of grain on the oscillating sorting shelf 45 detected by the layer thickness sensor 50, the flow of grain (sorted material) within the threshing device 6 can be grasped, and control can be performed to improve threshing performance (sorting performance).

[0097] In other words, if the amount of grain calculated by the first weight sensor 60 and the second weight sensor 61 is less than the amount of grain on the oscillating sorting shelf 45 detected by the layer thickness sensor 50, the control device 31 determines that there is a lot of straw dust, etc., and controls the winnower 46 to increase the wind force.

[0098] In addition, when the amount of grain calculated by the first weight sensor 60 and the second weight sensor 61 and the amount of grain on the oscillating sorting shelf 45 detected by the layer thickness sensor 50 are both large, the control device 31 determines that there is little straw dust, etc., and controls the winnower 46 to weaken its wind force.

[0099] Furthermore, if the amount of grain calculated by the first weight sensor 60 and the second weight sensor 61 is greater than the amount of grain on the oscillating sorting shelf 45 detected by the layer thickness sensor 50, the control device 31 determines that an abnormality has occurred, issues an alarm, and limits the vehicle speed, thereby preventing damage to the threshing device 6 and preventing loss of grain. [Explanation of symbols]

[0100] 4 Running gear 6. Threshing equipment 15 Reaping device 27 GNSS antenna 45 Swinging sorting shelf 47 First conveying spiral 47a Guide (First Guide) 48 Second conveying spiral 55 First grain quantity sensor (first distance sensor) 56 Second grain quantity sensor (second distance sensor) 57 Number 1 Grain Quantity Sensor (Number 1 Pressure Sensor) 60 First grain quantity sensor (first weight sensor) 63 Covering material (rubber plate)

Claims

1. A combine harvester equipped with a traveling device (4), a reaping device (15), a threshing device (6) and a GNSS antenna (27), A combine harvester characterized in that a first grain quantity sensor (55) for detecting the amount of grain is provided at the starting end of the first conveying spiral (47) for conveying grains, which is provided below the oscillating sorting shelf (45) of the threshing device (6), and the amount of grain detected by the first grain quantity sensor (55) is linked to the machine position calculated from input from the GNSS antenna (27) and recorded.

2. A combine harvester as described in claim 1, characterized in that the first grain quantity sensor (55) is positioned in a position that includes the vicinity of the lower part of the first conveying spiral (47) within the guide (47a) of the first conveying spiral (47) in its detection range, and when the grain quantity per detection unit time is less than a certain value, a correction is made to reduce the grain quantity by the number of rotations of the first conveying spiral (47) per detection unit time.

3. A combine harvester equipped with a traveling device (4), a harvesting device (15), a threshing device (6) and a GNSS antenna (27), characterized in that a first grain quantity sensor (57) consisting of a pressure-sensitive sensor that detects the amount of grain in an inclined position toward the first conveying spiral (47) is provided between the oscillating sorting shelf (45) of the threshing device (6) and the top and bottom of the first conveying spiral (47) that conveys the grains, and is provided across the entire width of the oscillating sorting shelf (45) or in multiple locations in the width direction, and the amount of grain detected by the first grain quantity sensor (57) is linked to the machine position calculated from the input from the GNSS antenna (27) and recorded.

4. A combine harvester as described in claim 1, characterized in that the bottom of the guide (47a) of the first conveying spiral (47) at the conveying starting end side is configured to be movable up and down, a first grain quantity sensor (60) consisting of a weight sensor is provided below the vertically movable part of the guide (47a), and a covering member (63) made of an elastic material is provided across the vertically movable part and fixed part of the guide (47a).

5. A combine harvester as described in claim 1, characterized in that a second grain quantity sensor (56) that detects the amount of grain in the second conveying spiral (48) that recovers grains that have fallen from the rear of the oscillating sorting shelf (45) is arranged at the starting end of the conveying of the second conveying spiral (48), and the amount of grain in the first conveying spiral (47) is corrected by the amount of grain in the second conveying spiral (48).

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