Crop harvester

Abstract

To provide a crop harvester which can smoothly and easily unload a battery that supplies power to an electric motor as a power source of a machine body from the machine body and prevent suspension of the harvesting work due to a battery residual amount shortage.SOLUTION: There is provided a crop harvester 1 in which a crop placement area A where a storage container 13 that stores a crop is placed is arranged on the substantially center part in the width direction of a machine body, a first battery 1 and a second battery 2 being power sources of an electric motor 8 are arranged on the outer side of the crop placement area A in the width direction of the machine body, the second battery 2 is arranged on the rear part of the machine body and at a position on the rear side with respect to the first battery 1, and a battery management unit 12 configured to be able to be unloaded from the rear side of the machine body by a crane device 16 and switching the power sources of the electric motor 8 performs management so as to use one of the plurality of batteries as the power source and preferentially uses the second battery 2 as the power source of the electric motor 8.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a crop harvester equipped with an electric motor as a power source. [Background technology]

[0002] Patent Document 1 discloses a crop harvester that is equipped with an electric motor as a power source for the machine body and a battery that supplies power to the electric motor.

[0003] Furthermore, Patent Document 2 discloses a work vehicle that is equipped with multiple batteries that supply power to an electric motor, etc., and is configured to determine the order in which the multiple batteries are charged based on the temperature and charge rate of each battery. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2018-126086 [Patent Document 2] Patent Publication No. 2021-191061 Summary of the Invention [Problem to be solved by the invention]

[0005] However, if the aircraft is not equipped with an engine and generator, or if the aircraft is configured with a hybrid engine and electric motor and the generator generates a low amount of electricity, the battery may run out of power during operation.

[0006] In this case, the battery needs to be removed from the aircraft and charged, but the process of unloading the battery from the aircraft, charging it, and then loading it back on is a very heavy workload for the workers.

[0007] Patent Documents 1 and 2 do not disclose a configuration that allows the battery mounted on the aircraft to be removed from the aircraft when the remaining charge becomes low, and then reloaded after charging.

[0008] Therefore, the present invention aims to provide a crop harvester that allows the battery that supplies power to the electric motor that serves as the power source for the machine to be loaded and unloaded smoothly and easily from the machine body, and that prevents harvesting operations from being interrupted due to insufficient battery power. [Means for solving the problem]

[0009] The object of the present invention is to A crop harvester for harvesting crops in a field, an electric motor as a power source for the aircraft; a plurality of batteries as a power source for supplying power to the electric motor; a traveling device and a harvesting device driven by the electric motor; a crane device for unloading the crops harvested by the harvesting device; a battery management unit that switches the power source of the electric motor; the plurality of batteries includes a first battery and a second battery; a crop placement area for placing a storage container for storing harvested crops is disposed in a substantially central portion of the body in the width direction, and the first battery and the second battery are disposed outside the crop placement area in the width direction of the body; the second battery is disposed at a rear portion of the vehicle body and at a position rearward of the first battery, and is configured to be loaded and unloaded from the rear of the vehicle body by the crane device, This is achieved by a crop harvester characterized in that the battery management unit manages the use of one of the plurality of batteries as a power source, uses the second battery as a power source for the electric motor in preference to the first battery, and is configured to switch the power source for the electric motor from the second battery to the first battery when the remaining charge of the second battery reaches a low level below a threshold.

[0010] According to the present invention, the crop placement area is located approximately in the center of the width of the machine body, and the second battery, which is used preferentially, is located at the rear of the machine body and behind the first battery. Therefore, the second battery, which is charged more frequently than the first battery, can be loaded and unloaded smoothly and easily from the rear of the machine body using a crane device.

[0011] Furthermore, according to the present invention, since the second battery can be loaded and unloaded using a crane device, it becomes possible to mount a large battery as the second battery.

[0012] Furthermore, this invention is configured to prioritize use of the second battery, which is easier to load and unload, thereby preserving the remaining charge of the first battery. Therefore, even if the capacity of the second battery is insufficient, harvesting work can continue using power supplied from the first battery, preventing interruptions to harvesting work due to insufficient battery charge.

[0013] In addition, according to the present invention, the crop placing area for placing the storage container is located approximately in the center of the width of the machine body, and the first and second batteries are located outside the crop placing area in the width of the machine body, so the first and second batteries do not get in the way when the storage container full of crops is unloaded using the crane device.

[0014] In a preferred embodiment of the present invention, the plurality of batteries further comprising a third battery; the storage container has a crop storage section in an upper part for storing harvested crops and a battery storage section in a lower part for storing the third battery; the third battery includes a discharging connector connected to an airframe-side connector, and the discharging connector is at the same height as the airframe-side connector when the storage container is loaded on the airframe and the third battery is housed in the battery housing section, and is configured to be connected to the airframe-side connector to supply power to the electric motor; The battery management unit uses the third battery as a power source for the electric motor in preference to the first battery and the second battery, and switches the power source for the electric motor from the third battery to the second battery when the remaining charge of the third battery reaches a low level where the remaining charge is below a threshold.

[0015] According to this preferred embodiment of the present invention, the third battery as a power source is configured to be stored at the bottom of the storage container that stores crops, so that the third battery, which has a higher priority as a power source, can be loaded and unloaded from the vehicle along with the storage container, which is highly convenient.

[0016] Furthermore, according to this preferred embodiment of the present invention, the discharging connector for the third battery is positioned at the same height as the aircraft body's connector when the third battery is housed in the battery housing section of the housing container, so that the discharging connector can be easily connected to the aircraft body's connector by simply sliding the housing container on the aircraft body.

[0017] In addition, according to this preferred embodiment of the present invention, the battery management unit is configured to use the third battery as the power source for the electric motor in preference to the first and second batteries, thereby further preventing interruptions to harvesting operations due to insufficient battery power.

[0018] In a further preferred embodiment of the present invention, the third battery is provided with a wireless charging unit having a power receiving coil at its bottom and is detachably attached to the bottom of the storage container; The third battery is configured to be wirelessly charged in the bed of a truck that transports harvested crops and has a wireless charger including a power transmission coil.

[0019] According to this preferred embodiment of the present invention, the third battery can be wirelessly charged in the bed of the truck transporting the harvested crops, so the third battery can be charged during the time spent transporting the crops or waiting near the field or barn, resulting in very efficient work.

[0020] In a further preferred embodiment of the present invention, The third battery has a housing provided with fork through-holes into which the prongs of a forklift are inserted, and an electrode portion for charging is provided on a side surface of the fork through-holes.

[0021] According to this preferred embodiment of the present invention, the third battery has fork through holes in the housing into which the claws of a forklift can be inserted, so that the third battery can be easily transported using a forklift after being removed from the aircraft body.

[0022] Furthermore, according to this preferred embodiment of the present invention, a charging electrode portion is provided in the fork through-hole, so that the third battery can be charged from the charging electrode portion while being transported by a forklift having tines equipped with a power supply (discharge) electrode.

[0023] In a further preferred embodiment of the present invention, a control unit that controls the traveling device; a remote terminal capable of wireless communication with the control unit; A GNSS receiver that acquires the aircraft's position information, a remaining capacity detection means for detecting a remaining capacity of each of the plurality of batteries, the control unit is configured to calculate a deviation distance between the position of the aircraft acquired by the GNSS receiver and a planned travel route set in advance in a field, and to execute automatic driving control to control the traveling device so as to shorten the deviation distance; The automatic driving control is executed on the condition that an instruction operation is performed on the remote terminal, The remaining amount information indicating the remaining amounts of the plurality of batteries detected by the remaining amount detection means is transmitted to the remote terminal and displayed on the screen of the remote terminal.

[0024] According to this preferred embodiment of the present invention, the crop harvesting machine is configured to be able to travel automatically in the field based on the automatic driving control of the control unit, and the remaining charge of each battery is displayed on the screen of the remote terminal.Therefore, when the battery becomes low during harvesting work using automatic driving, the worker can see this on the screen of the remote terminal and can take action such as loading or unloading the battery from the machine. [Effects of the Invention]

[0025] According to the present invention, it is possible to provide a crop harvester that allows batteries that supply power to the electric motor that serves as the power source for the machine to be loaded and unloaded smoothly and easily from the machine, preventing harvesting operations from being interrupted due to insufficient battery power. [Brief explanation of the drawings]

[0026] [Figure 1] FIG. 1 is a schematic perspective view of a crop harvester according to a preferred embodiment of the present invention. [Figure 2] FIG. 2 is a schematic plan view of the crop harvester shown in FIG. [Figure 3] FIG. 3 is a schematic left side view of the crop harvester shown in FIG. [Figure 4] FIG. 4 is a schematic block diagram showing the power architecture of the crop harvester shown in FIG. [Figure 5]FIG. 5(a) is a schematic perspective view of the vicinity of the third battery, showing the state where it is attached to the storage container, and FIG. 5(b) is a schematic perspective view showing the state of the third battery alone. [Figure 6] FIG. 6 is a schematic perspective view of the crop harvester showing the state in which the third battery is being loaded onto the vehicle body. [Figure 7] FIG. 7 is a schematic perspective view showing the third battery unit being transferred to a truck. [Figure 8] FIG. 8 is a schematic rear view showing the third battery being charged in the bed of the truck. [Figure 9] FIG. 9 is a schematic perspective view showing the second battery. [Figure 10] FIG. 10 is a schematic perspective view of the crop harvesting machine showing a state in which a seat for an operator is provided. [Figure 11] FIG. 2 is a schematic perspective view of the crop harvester showing the state in which the left and right safety covers are not omitted. DETAILED DESCRIPTION OF THE INVENTION

[0027] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0028] FIG. 1 is a schematic perspective view of a crop harvester 10 according to a preferred embodiment of the present invention, FIG. 2 is a schematic plan view of the crop harvester 10 shown in FIG. 1, and FIG. 3 is a schematic left side view of the crop harvester 10 shown in FIG. 1.

[0029] 1. FIG. 4 is a schematic block diagram showing the power mechanism of the crop harvester 10 shown in FIG.

[0030] In this specification, as shown by the arrow in Figure 1, the side in the direction of travel of the crop harvester 10 is defined as the front, and unless otherwise specified, the left side of the direction of travel of the crop harvester 10 is referred to as the "left," and the opposite side is referred to as the "right." Furthermore, the crop harvester 10 excluding batteries 1 to 3, which will be described in detail later, is also referred to simply as the "machine body."

[0031] The crop harvester 10 includes a main frame 4 having a generally rectangular shape in plan view, a traveling device 5 provided below the main frame 4, a floor member 6 fixed to the main frame 4, a harvesting device 7 mounted on the main frame 4 and configured to harvest crops from a field and transport them rearward and upward, an electric motor 8 for driving the harvesting device 7 and the traveling device 5, a plurality of storage containers 13 for storing crops harvested by the harvesting device 7, a crane device 16 for loading the storage containers 13 from the rear of the machine and unloading them at the rear of the machine, a power mechanism (see FIG. 4) including first through third batteries 1-3 for supplying power to the electric motor 8, a main controller 11 (see FIG. 4) for controlling each device on the machine, and a remote controller 21 (see FIG. 4) for an operator to send command signals to the main controller 11. The remote controller 21 is configured as a tablet computer and can transmit and receive various data to and from the main controller 11 via wireless communication. In this embodiment, the traveling device 5 is configured as a pair of caterpillars, but may also be configured as wheels or the like.

[0032] The rotational power output from the electric motor 8 is transmitted to a transmission mechanism 9 including an HST (hydrostatic continuously variable transmission) 14 via a number of pulleys, a closed-loop belt wound around them, a drive shaft, etc., and then the speed is changed within the transmission mechanism 9 before being transmitted to the harvesting device 7 and the traveling device 5. As a result, the traveling device 5 drives the vehicle to move forward, while the harvesting device 7 drives the vehicle to harvest crops in the field. The hydraulic tank 14a of the HST 14 is shown in Figure 10.

[0033] The crop harvester 10 is equipped with a GNSS receiver 26 shown in Figure 4, and is configured to travel through a field by automatic driving without an operator on board, while performing harvesting work using the harvesting device 7.

[0034] During harvesting work by automatic driving, the main controller 11 calculates the amount of positional deviation (departure distance) between a planned travel route set in advance for the field and the position of the harvester 10 acquired by the GNSS receiver 26. Then, by controlling the traveling device 5 so as to shorten the calculated amount of positional deviation, the crop harvester 10 travels autonomously along the planned travel route. Hereinafter, the control of the traveling device 5 so as to shorten the amount of positional deviation between the machine's position and the planned travel route will be referred to as "automatic driving control."

[0035] The automatic driving control is started (performed, executed) on the condition that an instruction operation is performed on the remote controller 21, and can be stopped by an instruction operation on the remote controller 21. If the traveling device is configured with wheels, tie rods, pinion gears, rack gears, etc., in the automatic driving control, the main controller will change the direction of the wheels using a steering motor, etc.

[0036] Furthermore, as will be described in detail later, the crop harvester 10 can also travel based on manual operation by an operator. The planned travel route used for automatic operation is calculated and set by the main controller 11 from field shape information acquired by manual operation (so-called teaching), or it can also be set by downloading it from a server. The main controller 11 corresponds to the "controller" of the present invention, and the remote controller 21 corresponds to the "remote terminal" of the present invention.

[0037] The harvesting device 7 is a general-purpose harvesting device equipped with a central harvesting section 7a for harvesting long, thin root vegetables such as carrots and burdock, and an outer harvesting section 7b for harvesting head vegetables such as cabbage. The central harvesting section 7a and the outer harvesting section 7b are each configured to rotate a pair of endless belts on the left and right, which clamp crops in the field between the pair of belts and pull them upward and rearward for harvesting and transporting. Each of the pair of endless belts is wound around a pulley that is rotated by power transmitted from the transmission mechanism 9 via a drive shaft, universal joint, etc., and is rotated as the pulley rotates.

[0038] Crops harvested by the central harvesting section 7a have their stems and leaves cut by a stem and leaf cutting section 15 driven by power transmitted from a speed change mechanism 9, and mud is removed by a cleaner section (not shown). The crops are then transported by a first conveyor 17 into a flexible container bag 18 attached to the top of the storage container 13, where they are stored. The first conveyor 17 is mounted on a base 16b of a crane device 16 located approximately in the center of the machine body in the width direction (left and right direction).

[0039] Crops harvested by the outer harvesting section 7b are transported and supplied into a flexible container bag 18 attached to the top of the storage container 13 by a pair of second conveyors located on the left and right of the stem and leaf cutting section 15. The second conveyors are omitted from the drawing to clearly show the HST 14, electric motor 8, etc.

[0040] The crane device 16 comprises a base 16b fixed to the floor member 6, a first rotation cylinder 16g having one end attached to the base 16b and the other end attached to a fixed frame (not shown) extending from the harvesting device 16, a first arm 16c rotatably attached to the upper part of the base 16b, a second arm 16d rotatably attached to the front end of the first arm 16c, a second rotation cylinder 16e that changes the rotation angle of the second arm 16d, and a pair of hanger arms 16a connected to the rear end of the second arm 16d and to which the object to be lifted is attached.

[0041] Base 16b is rotated by the extension and contraction of first rotation cylinder 16g. First arm 16c is rotated around the upper part of base 16b by the extension and contraction of a cylinder (not shown). The rear end of second rotation cylinder 16e is fixed to second arm 16d, and second arm 16d is rotated by the extension and contraction of second rotation cylinder 16e. By changing the rotation angles of base 16b, first arm 16c, and second arm 16d, it is possible to move a lifted object, such as storage container 13 or each of batteries 1 to 3, forward and backward and up and down. Therefore, an object to be lifted at the rear of the machine body can be loaded onto the rear of floor member 6 using crane device 16, and an object to be lifted located at the rear of floor member 6 can be unloaded towards the rear of the machine body.

[0042] Each cylinder is extended and retracted based on the operation of the remote controller 21, and also by operating the control unit 32, which will be described in detail later. The base of the crane apparatus 16 may be configured to be rotatable about a vertical axis, in which case the first and second batteries 1, 2, etc., placed on the floor member 6 on the outer sides in the width direction of the machine body can be easily loaded and unloaded without the need to extend chain hooks or the like from the pair of hanger arms 16a.

[0043] The crop harvester 10 is equipped with, as its power mechanism, first through third batteries 1-3, an inverter 19 that adjusts the rotation speed of the electric motor 8, a power source switching device 20 that can selectively switch the power supply source to the electric motor 8 between the first through third batteries 1-3, a BMS (Battery Management System) 12 that sends control signals to the power source switching device 20 to switch the battery that supplies power to the electric motor 8, and a current switching device 23 that switches the current flow state from the third battery 3 to the first or second batteries 1, 2. The BMS 12 corresponds to the "battery management unit" of the present invention and performs the function of managing the use of one of the multiple batteries 1, 2, 3 as the power source.

[0044] As shown in Figure 1, the pair of first batteries 1 and the pair of second batteries 2 located behind them are placed on the outer side of the machine width on the floor member 6, and are located on both the left and right sides of the first conveyor 17, the second conveyor, and the cleaner unit. Therefore, they can also serve as safety guards for the conveyors and cleaner unit.

[0045] The third battery 3 is attached to the bottom of each of the multiple storage containers 13 that store harvested crops on top of them, and is placed in a crop placement area A on the floor member 6 sandwiched between a pair of first batteries 1 and a pair of second batteries 2 (in other words, surrounded by batteries 1, 2 on the left and right). In other words, the third battery 3 is placed in approximately the center of the width of the machine body together with the storage containers 13. A maximum of about three storage containers 13 can be placed in the crop placement area A.

[0046] The first to third batteries 1-3 each have a discharge connector (electrode) 1a, 2a, or 3a, and are physically and electrically connected to the aircraft's connectors 24a-24c (see FIG. 4). Each battery 1-3 is provided with a voltage device as a remaining charge detection means for detecting the remaining charge (voltage value), and the remaining charge information of each battery 1-3 detected by the voltage device is output to the BMS 12. The remaining charge information output to the BMS 12 is sent to the remote controller 21 via the main controller 11, and the remaining charge is displayed on the screen of the remote controller 21.

[0047] Based on a control signal output from the main controller 11, the inverter 19 connects and disconnects the power supplied from the battery, and adjusts the rotation speed of the electric motor 8 by increasing or decreasing the frequency of the power supplied to the electric motor 8. When driving at least one of the traveling device 5 and the harvesting device 7, a control signal is output from the main controller 11 to the inverter 19. Then, the power supplied from one of the batteries 1 to 3 is sent to the electric motor 8 via the inverter 19.

[0048] The power source switching device 20 is configured to be able to switch on and off three switches 20a, 20b, and 20c that connect and disconnect the power supply from the batteries 1 to 3 to the electric motor 8 based on a control signal from the BMS 12.

[0049] When supplying the electric power stored in the first battery 1 to the electric motor 8, the power supply switching device 20 turns on only the switch 20a and turns off the other two switches 20b and 20c. When supplying the electric power stored in the second battery 2 to the electric motor 8, the power supply switching device 20 turns on only the switch 20b and turns off the other two switches 20a and 20c. When supplying the electric power stored in the third battery 3 to the electric motor 8, the power supply switching device 20 turns on only the switch 20c and turns off the other two switches 20a and 20b.

[0050] With the three switches 20a, 20b, and 20c switched on and off in this manner, the electric motor 8 is driven at a rotation speed according to the frequency of the power supplied from the battery 1, 2, or 3 via the inverter 19.

[0051] The BMS 12 is configured to switch the power source of the electric motor 8 between the first to third batteries 1 to 3 in the following order of priority when the electric motor 8 is driven.

[0052] First, when the third battery 3 is connected to the power connector 24c on the aircraft body side and the remaining charge of the third battery 3 is in a high remaining charge state where the remaining charge exceeds a threshold (in other words, not in a low remaining charge state), the BMS 12 uses the third battery 3.

[0053] Furthermore, when the remaining charge of the third battery 3 is in a low remaining charge state where the remaining charge is below the threshold, or when the third battery 3 is not connected to the aircraft-side power connector 24c, and at least one of the left and right second batteries is in a high remaining charge state where the remaining charge exceeds the threshold (in other words, not in a low remaining charge state), the BMS 12 uses the second battery 2. In this case, the second battery 2 with the greater remaining charge may be configured to be used preferentially.

[0054] Furthermore, when both the second and third batteries 2, 3 are in a low charge state or are not connected to the aircraft's power connectors 24b, 24c, the BMS 12 uses the first battery 1. In this case, the BMS 12 may be configured to give priority to the first battery 1 with the greater remaining charge, out of the left and right first batteries 1.

[0055] In this way, the BMS 12 is configured to use each battery in the following order of priority: third battery 3 → second battery 2 → first battery 1, with the first battery 1 being used in an emergency, such as when the other batteries 2, 3 die. As shown in FIG. 11, a safety cover 33 is attached to the outside of the first and second batteries 1, 2 in the width direction of the machine body to protect the first and second batteries 1, 2, but the safety cover 33 is omitted from FIG. 1 and other figures to clearly show other components of the crop harvester 10. In other words, the outside of the first and second batteries 1, 2 in the width direction of the machine body is covered by the safety cover 33, which makes the first and second batteries 1, 2 dust- and water-resistant.

[0056] FIG. 5(a) is a schematic perspective view of the vicinity of the third battery 3, showing the state where it is attached to the storage container 13, and FIG. 5(b) is a schematic perspective view showing the state of the third battery 3 alone.

[0057] FIG. 6 is a schematic perspective view of the crop harvester 10 showing how the third battery 3 is being loaded onto the body of the machine, and FIG. 6 shows a state in which the first and second batteries 1, 2 have been removed.

[0058] The storage container 13 has a crop storage section 13a that stores a flexi-bag 18 that stores crops, a battery storage section 13b that stores a third battery 3, and a partition plate 13c that separates the crop storage section 13a from the battery storage section 13b.

[0059] A pair of front and rear claws 3b are provided on the left and right side surfaces of each third battery 3 to hook onto the partition plate 13c and secure the third battery 3 to the storage container 13. Each claw 3b is made of a leaf spring, and the third battery 3 is detachably hooked onto the partition plate 13c of the storage container 13 by these claws 3b and stored in the battery storage section 13b. The bottom of the third battery 3 attached to the storage container 13 is located above the bottom of the storage container 13 and does not touch the ground, so it is less likely to be damaged. In the following description, the storage container 13 with the flexible container bag 18 attached to its upper part and the third battery 3 attached to its lower part will be referred to as the "third battery unit" 30.

[0060] Each third battery 3 has a discharge connector 3a that is connected to the body's power connector 24c, a pair of fork through holes 3c on the left and right formed in the housing of the third battery 3, and a wireless charging unit 3d that charges the third battery 3.

[0061] The energized connector 3a is located at the same height as the energized connector 24c on the aircraft body when the third battery 3 is attached to the storage container 13 and the storage container 13 is placed on the floor member 6. Therefore, when connecting one of the third batteries 3 to the energized connector 24c on the aircraft body shown in Figure 6, an operator can connect the energized connector 3a of the third battery 3 to the energized connector 24c by sliding the third battery unit 30 placed on the floor member 6 forward using the crane device 16. The energized connectors 3a are located on both the front and rear sides of the third battery 3, so the orientation of the third battery 3 is not important.

[0062] The pair of fork through holes 3c are configured to be large enough to allow the claws of a forklift to be inserted into them, so that the third battery or the third battery unit 30 can be transported by a forklift (not shown) by inserting the claws of the forklift.

[0063] As shown in Fig. 5, fork hole electrodes 3c1 for charging are provided on the left and right side surfaces of each fork through hole 3c. Therefore, while a pair of forklift prongs equipped with electrodes for conducting electricity are inserted into the fork through hole 3c, the electrodes of the pair of prongs come into contact with the fork hole electrodes 3c1, and current flows from the forklift to the third battery 3. This allows the third battery 3 to be charged while being transported by the forklift. In addition, by arranging the fork hole electrodes 3c1 on the side surfaces of the fork through hole 3c that extend vertically (perpendicular to the bottom surface of the third battery 3), it is possible to prevent mud, dust, and the like from adhering to and accumulating on the fork hole electrodes 3c1.

[0064] In this embodiment, when any of the batteries 1 to 3 reaches a low remaining capacity state, information to that effect is transmitted from the main controller 11 to the remote controller 21. Upon receiving the information to that effect, the remote controller 21 displays on its screen information as to which battery has reached a low remaining capacity state.

[0065] Therefore, when the voltage of the third battery 3 connected to the conductive connector 24c drops and becomes low, the operator can recognize this using the remote controller 21, use the crane device 16 to unload the harvest container 13 to which the third battery 3 is attached from the rear of the machine body to the rear, and slide the other third battery unit 30 forward to connect the third battery 3 to the conductive connector 24c.

[0066] The third battery 3 has a capacity capable of storing electricity sufficient to harvest crops approximately one full flexi-bag 18, so when the third battery 3 is in a low charge state, the flexi-bag 18 above it is almost full of crops.

[0067] FIG. 7 is a schematic perspective view showing the third battery unit 30 being transferred to the truck 25, and FIG. 8 is a schematic rear view showing the third battery 30 being charged in the bed of the truck 25.

[0068] When the third battery 3 connected to the power connector 24c becomes low, the main controller 11 determines that the flexible container bag 18 above the third battery 3 is nearly full of crops and stops harvesting. Then, on the condition that an instruction to move to a waiting location is entered on the remote controller 21, the main controller 11 automatically drives the harvester 10 to a position behind the truck 25, as shown in FIG. 7 . The truck 25 is equipped with a GNSS receiver (not shown), and the position information of the truck 25 acquired by the GNSS receiver is transmitted to the main controller 11 via wireless communication. Upon receiving the position information of the truck 25, the main controller 11 calculates a planned travel route connecting the harvester's own position to a position a predetermined distance behind the truck 25. Then, the main controller 11 starts travel using the traveling device 5 and controls the traveling device 5 so as to shorten the distance between the calculated planned travel route and the harvester's current position, thereby moving the harvester 10 to a position behind the truck 25 waiting around the field.

[0069] As shown in FIG. 7, when the crop harvester 10 moves to a position behind the truck 25, the third battery unit 30 is transferred to the loading platform 25a of the truck 25 by the crane device 16 based on the operation of the operator.

[0070] Truck 25 includes a number of rollers 25b arranged freely on the outer widthwise portions of bed 25a, a charging space 25c provided between left and right rollers 25b, a number of wireless chargers 25d arranged below charging space 25c, and a battery 25e serving as a power source for truck 25. Truck 25 is configured as a hybrid car driven by a motor generator and an engine (not shown), and this motor generator receives power output from the engine and regenerates it to generate electricity. The electricity generated by the motor generator is stored in battery 25e.

[0071] Once the third battery unit 30 has been moved to the loading platform 25a, the worker slides the third battery unit 30 rearward (toward the seat of the truck 25) to a position above any one of the wireless chargers 25d. At this time, the underside of the storage container 13 is in contact with the left and right rollers 25b, so the third battery unit 30 can be slid with a light force. Next, the left and right claws 3b are pulled to release the engagement, and the third battery 3 is removed downward from the storage container 13. As a result, as shown in FIG. 8, the third battery 3 is in contact with the left and right rollers 25b, and the wireless charging unit 3d of the third battery 3 is positioned within the charging space 25c.

[0072] A power transmitting coil is provided inside each wireless charger 25d, and a power receiving coil is provided inside each wireless charging unit 3d, and a magnetic field is generated near the power transmitting coil due to the charge stored in battery 25e. Therefore, when wireless charging unit 3d is positioned within charging space 25c, an induced current is generated by the magnetic field of wireless charger 25d located below it, charging third battery 3. In other words, power generated by the motor generator of truck 25 is supplied to third battery 3 via battery 25e.

[0073] While the third battery 3 is placed on the loading platform 25 and being charged, the storage container 13 with the attached flexible container bag 18 is transported by truck 25 to the vicinity of a barn or the like. Then, the storage container 13 with the crops stored therein is lowered from the loading platform 25 by a forklift and carried into the barn or the like by the forklift. At this time, the upper surfaces of the pair of forklift claws come into contact with the lower surface of the partition plate 13c, and the storage container 13 is transported while supporting the partition plate 13c from below. Thereafter, the flexible container bag 18 is removed from the storage container 13, the crops are placed in the barn or the like, and a new empty flexible container bag 18 is attached to the storage container 13 and placed on the loading platform 25a of the truck 25. Then, another charged third battery 3 is attached to the storage container 13, and the storage container 13 is returned to the floor member 6 by the crane device 16.

[0074] In this way, by making it possible to charge the third battery 3 used in crop harvesting work by the truck 25 that transports the crops, the third battery 3 can be charged during transportation time or waiting time near the field or barn.

[0075] Furthermore, while the truck 25 travels between the farm field and the vicinity of the barn, the motor generator generates electricity and stores it in the battery 25e.

[0076] Each wireless charger 25d can be removed from truck 25 by sliding it left and right, and each wireless charger 25d can be carried into a barn or the like, and the third battery 3 can be charged in the barn or the like using a household power source instead of battery 25e. Additionally, in the barn or the like, charging can be performed using a forklift with electrodes or a dedicated charger through the fork hole electrode portions 3c1 of the pair of fork through holes 3c of the third battery 3 (see Figure 4).

[0077] Furthermore, when the third battery 3 has a low remaining charge, it can be moved to the bed of the truck 25 by the crane 16. Alternatively, after being removed from the vehicle, the third battery 3 can be transported by a forklift while being charged. The third battery unit 30 can also be temporarily unloaded onto the ground by the crane 16 and then moved to the bed of the truck 25 by a forklift. Furthermore, a separate crane can be provided on the truck 25, and the third battery unit 30, which has been unloaded onto the floor member 6 or the ground, can be loaded onto the bed of the truck 25 by this crane. In addition, a separate lifting forklift can be attached to the truck 25, and electrodes can be provided on the forklift's claws so that power can be supplied to the third battery 3 from the fork hole electrode portion 3c1 until the third battery unit 30 is lifted onto the bed of the truck 25.

[0078] On the other hand, FIG. 9 is a schematic perspective view showing the second battery 2. As shown in FIG.

[0079] The second battery 2 has an energized connector 2a that connects to the aircraft's energized connector 24b, a pair of fork through-holes 2b formed in the housing similar to the third battery 3, and a metal ring 2c for lifting located on the top. A chain hook attached to the hanger arm 16a of the crane device 16 is hooked onto this ring 2c, and the second battery 2 is loaded from the rear of the aircraft to the rear by the crane device 16, and unloaded from the rear of the aircraft to the rear.

[0080] Here, each ring 2c is configured as an electrode for charging the second battery 2. Therefore, by providing a power supply electrode on the hook of another crane vehicle, the second battery 2 can be charged while the hook is hooked onto the ring 2c and lifted up.

[0081] Furthermore, the pair of fork through holes 2b, like the fork through holes 3c of the third battery 3, are configured to be sized so that the claws of a forklift can be inserted, allowing the second battery 2 to be transported by forklift.

[0082] Additionally, fork hole electrodes 2b1 for charging are provided on the left and right side surfaces of each fork through hole 2b, similar to the fork through hole 3c of the third battery 3. Therefore, while a pair of forklift prongs equipped with current-carrying electrodes is inserted into the fork hole electrodes 2b1, the forklift can pass current to the second battery 2, thereby charging the second battery 2 during transport (see FIG. 4). Additionally, in a barn or other location, the second battery 2 can be charged using a dedicated charger through the fork hole electrodes 2b1 of the pair of fork through holes 2b of the second battery 2 (see FIG. 4). By arranging the fork hole electrodes 2b1 on the side surfaces of the fork through holes 2b that extend vertically (perpendicular to the bottom surface of the second battery 2), it is possible to prevent mud, dust, and the like from adhering to and accumulating on the fork hole electrodes 2b1.

[0083] The first battery 1 shown in Figure 2 etc. is located slightly forward of the center of the floor member 6 in the front-to-rear direction, and the internal capacity of the first battery 1 is larger and heavier than the second and third batteries 2 and 3. Therefore, even if the storage container 13 containing crops is located at the rear of the machine, the weight of the machine can be balanced by the first battery 1.

[0084] Meanwhile, each of the batteries 1 to 3 is provided with a connecting connector (not shown) in addition to the energizing connector 1a, 2a, or 3a. When a command to charge the second battery 2 is issued by the remote controller 21 in a state in which the third energizing cable 28c shown in Fig. 4 is connected to the connecting connector of the third battery 3 and the second energizing cable 28b is connected to the connecting connector of the second battery 2, the energizing switching device 23 sends current from the third battery 3 to the transformer 27b based on a control signal from the BMS 12, and after the voltage is increased by the transformer 27b, the current is supplied to the second battery 2 and charged.

[0085] Furthermore, when the third current-carrying cable 28c is connected to the connector of the third battery 3 and the first current-carrying cable 28a is connected to the connector of the first battery 1, and an instruction to charge the first battery 1 is issued by the remote controller 21, the current switching device 23 sends current from the third battery 3 to the transformer 27a based on a control signal from the BMS 12, and after the voltage is increased by the transformer 27a, the current is supplied to the first battery 1 and charged.

[0086] Therefore, when the operator is not performing harvesting work and is not in operation, the operator can supply power from the third battery 3 to the first or second battery 1, 2 to charge the batteries.

[0087] Note that it is not necessarily necessary to boost the current from the third battery 3 using the transformers 27a and 27b; by configuring the potential of the third battery 3 to be higher than the first and second batteries 1 and 2, it becomes unnecessary to boost the voltage during charging using the current switching device 23. In addition, by configuring the potential of the third battery 3 to be higher than the first and second batteries 1 and 2, the direction of current flow during the initial charging period is more easily determined, preventing malfunction of the BMS 12 and extending the battery life. In this case, when power is supplied from the third battery 3 to the electric motor 8 via the power supply switching device 20, the voltage of the current flowing from the third battery 3 can be reduced before it is supplied to the electric motor 8.

[0088] In addition, it is not necessarily necessary to use the energizing cables 28a to 28c to supply power from the third battery 3 to the first and second batteries 1 and 2. For example, when a charging instruction operation is performed using the remote controller 21, power may be supplied from the third battery 3 to the first or second battery 1 and 2 via the energizing connectors 24a to 24c and the power source switching device 20. Also, power may be supplied from the third battery 3 to the second battery 2 via the crane device 16 and the ring 2c.

[0089] FIG. 10 is a schematic perspective view of the crop harvester 10 showing a state in which a seat for an operator is provided.

[0090] In this embodiment, the crane device 16 is used to lower the first right battery 1 outside the machine, and a seat 31 for an operator and a control unit 32 for operating the machine can be placed on the floor member 6 in the same location as the original first right battery 1. Therefore, while seated in the seat 31, the operator can harvest crops while manually operating the control unit 32 to drive the crop harvester 10. Operation of the control unit 32 is converted into an electrical operation signal. This operation signal may be input to the main controller 11 via a connector, cable, or the like, or may be input from the control unit 32 to the main controller 11 via wireless communication. The seat 31 is recessed into the floor member 6 in the same location as the original first right battery 1. After lowering the first battery 1, the operator can remove the seat 31, assemble it, and sit in it. The seat 31 is located to the right of the first conveyor 17 shown in Figure 1, and when the vehicle is running automatically, the worker can sit in the seat 31 and sort the crops being transported on the first conveyor 17. <Technical significance of this embodiment> According to this embodiment shown in Figures 1 to 11, the crop placement area A is located approximately in the center of the width of the machine body, and the second battery 2, which is used preferentially, is located at the rear of the machine body and behind the first battery 1. Therefore, the second battery 2, which is charged more frequently than the first battery 1, can be loaded and unloaded smoothly and easily from the rear of the machine body using the crane device 16.

[0091] Furthermore, according to this embodiment, the second battery 2 can be loaded and unloaded using the crane device 16, so that a large battery can be mounted as the second battery 2.

[0092] Furthermore, according to this embodiment, the BMS 12 is configured to give priority to using the second battery 2, which is easier to load and unload, so the remaining charge of the first battery 1 can be maintained. Therefore, even when the capacity of the second battery 2 is insufficient, harvesting operations can be continued using the power supplied from the first battery 1, preventing interruptions to harvesting operations due to insufficient battery charge.

[0093] Furthermore, according to this embodiment, the third battery 3 as a power source is configured to be stored in the lower part of the storage container 13 that stores the crops, so that the third battery 3, which has a high priority as a power source, can be loaded and unloaded from the vehicle together with the storage container 13, which is highly convenient.

[0094] Furthermore, according to this embodiment, the discharging connector 3a of the third battery 3 is positioned at the same height as the aircraft-side connector 24c when the third battery 3 is housed in the battery housing section 13b of the housing container 13, so that the discharging connector 3a can be easily connected to the aircraft-side connector 24c by simply sliding the housing container 13 on the aircraft.

[0095] In addition, according to this embodiment, the BMS 12 is configured to use the third battery 3 as the power source for the electric motor 8 in preference to the first battery 1 and the second battery 2, thereby further preventing interruptions to harvesting operations due to insufficient battery power.

[0096] Furthermore, according to this embodiment, the third battery 3 can be wirelessly charged in the loading platform 25a of the truck 25 that transports the harvested crops, so the third battery 3 can be charged during the time spent transporting the crops or waiting time near a field or barn, resulting in very high work efficiency.

[0097] Furthermore, according to this embodiment, the third battery 3 has fork through holes 3c in the housing into which the claws of a forklift can be inserted, so that after the third battery 3 is unloaded from the vehicle, it can be easily transported using a forklift.

[0098] In addition, since the fork through-hole 3c is provided with a fork hole electrode portion 3c1, which is an electrode portion for charging, the third battery can be charged from the fork hole electrode portion 3c1 while being transported by a forklift having claws equipped with electrodes for power supply (discharge).

[0099] Furthermore, according to this embodiment, the crop harvester 10 is configured to be able to automatically travel in the field based on the automatic driving control of the main controller 11, and the remaining charge of each battery 1 to 3 is displayed on the screen of the remote controller 21. Therefore, when the battery becomes low during harvesting work using automatic driving, the worker can see this on the screen of the remote controller 21 and can take measures such as loading and unloading batteries 1 to 3 from the machine.

[0100] In addition, according to this embodiment, the crop placing area A where the storage container 13 is placed is located approximately in the center in the width direction of the machine body (see Figure 2), and the first and second batteries 1, 2 are located outside the crop placing area A in the width direction of the machine body, so the first and second batteries 1, 2 do not get in the way when the storage container 13 full of crops is unloaded by the crane device 16.

[0101] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the invention described in the claims, and it goes without saying that these modifications are also included within the scope of the present invention.

[0102] 1 to 11, the third battery 3 is configured to be charged via the wireless charging unit 3d and the fork hole electrode 3c1, but it may also be configured to be charged via the energizing connector 3a using a home charger. In this case, the energizing connector 3a is a connector that can be charged and discharged.

[0103] Furthermore, in the above embodiment, the first and second batteries 1 and 2 can be charged from the third battery 3, but the first battery 1 may be charged from the second battery 2. In this case, charging becomes possible by boosting the current extracted from the first battery 1 using a transformer and passing it to the second battery 2.

[0104] Furthermore, in the above embodiment, the crop harvester 10 is equipped with first to third batteries 1-3, but it is not necessarily required that the crop harvester be equipped with the third battery 3, and the crop harvester may be configured to have only the first and second batteries 1, 2, with the second battery 2 being used in preference to the first battery 1.

[0105] In addition, in the above embodiment, the crop harvester 10 is configured as an electric harvester that can perform harvesting work while traveling by driving the electric motor 8 with power supplied from the first to third batteries 1-3, but it may also be configured as a hybrid configuration with an electric motor and engine by providing a separate engine. [Explanation of symbols]

[0106] 1. Battery No. 1 2 Second Battery 3. Third Battery 4. Mainframe 5 Running gear 6 Flooring 7 Harvesting Equipment 8 Electric Motor 9. Transmission mechanism 10 Crop Harvesting Machine 11 Main Controller 12 BMS 13 Storage Container 14 HST 15 Cut stem and leaf 16 Crane equipment 17 First conveyor 18 Flexible container bag 19 Inverter 20 Power switching device 21 Remote Controller 23 Energization switching device 24 Power connector on the aircraft side 25 tracks 26 GNSS receivers 27 Transformer 28 Electrical Cable 30 Third Battery Unit 31 seats 32 Control Unit 33 Safety Cover

Claims

1. A crop harvester for harvesting crops in a field, an electric motor as a power source for the aircraft; a plurality of batteries as a power source for supplying power to the electric motor; a traveling device and a harvesting device driven by the electric motor; a crane device for unloading the crops harvested by the harvesting device; a battery management unit that switches the power source of the electric motor; the plurality of batteries includes a first battery and a second battery; a crop placement area for placing a storage container for storing harvested crops is disposed in a substantially central portion of the machine body in the width direction, and the first battery and the second battery are disposed outside the crop placement area in the width direction of the machine body; the second battery is disposed at a rear portion of the vehicle body and at a position rearward of the first battery, and is configured to be able to be loaded and unloaded from the rear of the vehicle body by the crane device, The battery management unit is configured to manage the use of one of the plurality of batteries as a power source, use the second battery as a power source for the electric motor in preference to the first battery, and switch the power source for the electric motor from the second battery to the first battery when the remaining charge of the second battery reaches a low level below a threshold.

2. the plurality of batteries further comprises a third battery; the storage container has a crop storage section in an upper part for storing harvested crops and a battery storage section in a lower part for storing the third battery; the third battery includes a discharging connector connected to an airframe-side connector, the discharging connector being at the same height as the airframe-side connector when the storage container is loaded on the airframe and the third battery is housed in the battery housing section, and being configured to be connected to the airframe-side connector to supply power to the electric motor; The crop harvester of claim 1, characterized in that the battery management unit uses the third battery as a power source for the electric motor in priority to the first battery and the second battery, and switches the power source for the electric motor from the third battery to the second battery when the remaining charge of the third battery reaches a low level below a threshold.

3. the third battery is provided with a wireless charging unit having a power receiving coil at its bottom and is detachably attached to the bottom of the storage container; The crop harvester according to claim 2, characterized in that the third battery is configured to be wirelessly charged in the bed of a truck that transports harvested crops and has a wireless charger including a power transmission coil.

4. The crop harvester according to claim 2, wherein the third battery has a fork through-hole in the housing into which the fork of a forklift is inserted, and an electrode portion for charging is provided on a side of the fork through-hole.

5. a control unit that controls the traveling device; a remote terminal capable of wireless communication with the control unit; a GNSS receiver for acquiring the aircraft's position information; a remaining capacity detection means for detecting a remaining capacity of each of the plurality of batteries, the control unit is configured to calculate a departure distance between the position of the aircraft acquired by the GNSS receiver and a planned travel route set in advance in a farm field, and to execute automatic driving control to control the traveling device so as to shorten the departure distance; The automatic driving control is executed on the condition that an instruction operation is performed on the remote terminal, A crop harvester as described in any one of claims 1 to 4, characterized in that remaining capacity information indicating the remaining capacity of the multiple batteries detected by the remaining capacity detection means is transmitted to the remote terminal and displayed on the screen of the remote terminal.

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