Harvesting machine

Abstract

To provide a harvesting work machine capable of preventing a discharge device from coming into contact with an electric wire at a discharge position that can solve the problem with a combine which autonomously travels along a work route, performs harvesting work automatically, moves to a discharge position when a grain tank is filled, turns / lifts / expands a discharge auger, and discharges grains to a recovery container waiting outside a farm field that in the case where an electric wire is laid around the farm field, there is a risk of the discharge auger coming into contact with the electric wire when the discharge auger is turned / lifted / expanded at the discharge position, and the discharge auger and electric wire being damaged.SOLUTION: In the case where work map data is not selected when the work map data is available, or in the case where electric wire position information is not registered when the work map data is not available, the work mode is not brought into an automatic harvesting work mode, and a predetermined regulation is applied to operation of a discharge device 8 in the vicinity of an electric wire D recorded in the work map data.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a harvesting machine such as a combine harvester. [Background technology]

[0002] There is a combine harvester that travels autonomously along a work route, automatically harvests, and when the grain tank is full, moves to a discharge position and rotates, raises, and extends the discharge auger to discharge the grain into a collection container waiting outside the field (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-027377 Summary of the Invention [Problem to be solved by the invention]

[0004] However, if electric wires are installed around the field, the discharge auger may come into contact with the wires when it is rotated, raised, or extended at the discharge position, which could damage the discharge auger or the electrical system.Furthermore, if the electric wires are cut, there is a risk of a power outage in the surrounding area.

[0005] The present invention has been made in view of the above, and provides a harvesting machine in which the discharge device is prevented from contacting electric wires when in the discharge position. [Means for solving the problem]

[0006] The first aspect of the present invention is a harvesting machine including a traveling device (4), a reaping device (15) for reaping crops from a field, a threshing device (6) for taking over and threshing the crops, a storage device (7) for storing grains, a discharge device (8) for discharging the grains from the storage device (7) to the outside of the machine, and a positioning device (27) for acquiring position information of the machine, a harvesting mode selector switch for switching a control device (26) that causes the harvester to autonomously travel along the work route of the work map data while calculating position information using a positioning device (27) and automatically perform harvesting work to an automatic harvesting work mode; The control device (26) stores the work map data capable of recording electric wire position information indicating the position of the electric wire (D), When the harvesting mode changeover switch is used to switch to automatic harvesting mode, the control device (26) displays a work map data selection screen on the monitor to prompt the user to select work map data if there is work map data in which power line position information is recorded, and displays a power line position information input screen on the monitor to prompt the user to register power line position information if there is no work map data in which power line position information is recorded, and when work map data in which power line position information is recorded is selected or when there is no work map data in which power line position information is recorded and power line position information is registered, the harvesting machine switches to automatic harvesting mode and imposes predetermined restrictions on the operation of the discharge device (8) near the power line (D) based on the power line position information recorded in the work map data. The second invention is a harvesting machine according to the first invention, characterized in that the electric wire position information registration means is to download map information in which the electric wire positions are recorded, manually input the information into the work map data, or record the electric wires (D) detected by an electric wire detection device (28) equipped on the machine. The third invention is a harvesting machine according to the first or second invention, characterized in that a position at the edge of the field (F) and free from power lines (D) is displayed on a monitor from work map data as a candidate discharge position where grain can be discharged without restricting the operation of the discharge device (8), and any position from the candidate discharge positions can be selected and operated as the discharge position. The fourth invention is a harvesting machine according to the first or second invention, characterized in that it is provided with a distance sensor (30) that detects the distance from the machine body to the electric wire (D), and the height of the electric wire (D) is calculated from the detected distance from the machine body to the electric wire (D) by the distance sensor (30). First invention related to the present inventionis a harvester equipped with a traveling device 4, a reaping device 15 that reaps crops from the field, a threshing device 6 that takes over and threshes the crops, a storage device 7 that stores grains, a discharge device 8 that discharges the grains from the storage device 7 outside the machine, and a positioning device 27 that acquires the position information of the machine, and is provided with a harvesting mode selector switch that switches the control device 26, which causes the machine to autonomously travel along the work route defined in the work map data while calculating position information using the positioning device 27, to automatic harvesting mode, and when the automatic harvesting mode is selected by the harvesting mode selector switch, if there is work map data in which power line position information is recorded, a work map data selection screen is displayed on the monitor, and if there is no work map data in which power line position information is recorded, a power line position information input screen is displayed on the monitor, and if there is work map data but no work map data but no power line position information is registered, the harvester does not enter automatic harvesting mode, and imposes specified restrictions on the operation of the discharge device 8 near the power line D recorded in the work map data.

[0007] First invention related to the present invention According to the method, when there is work map data in which electric wire position information is recorded but the work map data is not selected, or when there is no work map data in which electric wire position information is recorded but the electric wire position information is not registered, the automatic harvesting work mode is not entered, thereby improving safety during automatic work.

[0008] In addition, the operation of the discharge device 8 is restricted in accordance with a predetermined rule near the electric wire D recorded in the work map data, thereby preventing damage to the discharge device 8 or the electric wire D due to contact between the discharge device 8 and the electric wire D, and preventing power outages in the surrounding area.

[0009] Second invention related to the present invention As a means for registering the electric wire position information, map information on which the electric wire position is recorded is downloaded, or the electric wire D is recorded by manually inputting the electric wire position information into the work map data, or by recording the electric wire D detected by the electric wire detection device 28 equipped on the aircraft. First invention related to the present invention It is a harvesting machine.

[0010] Second invention related to the present inventionAccording to the method, by downloading map information on which the positions of electric wires are recorded as a means of registering electric wire position information or by recording the electric wires D detected by the electric wire detection device 28 equipped on the aircraft, the work of inputting the positions of the electric wires D can be omitted, thereby saving labor.

[0011] Furthermore, by manually inputting the electric wire position information into the work map data as a means for registering the electric wire position information, it is possible to impose predetermined restrictions on the operation of the discharge device 8 at a position that is in line with the actual field environment.

[0012] The third invention related to the present invention From the work map data, positions at the edge of the field F and without electric wires D are displayed on the monitor as discharge position candidates where grains can be discharged without restricting the operation of the discharge device 8, and any position can be selected and operated as the discharge position. The first or second invention related to the present invention Harvesting machine is .

[0013] The third invention related to the present invention According to this, candidate discharge positions are displayed, and any position can be selected from the candidates as the discharge position, making it easier to keep the recovery means 31 that recovers the discharged grains on standby, and grains can be automatically discharged at a position where it is easy to move the machine, thereby improving work efficiency.

[0014] The fourth invention related to the present invention The distance sensor 30 is provided to detect the distance from the machine body to the electric wire D, and the height of the electric wire D is calculated from the detected distance from the machine body to the electric wire D by the distance sensor 30. The first or second invention related to the present invention It is a harvesting machine.

[0015] The fourth invention related to the present invention According to the method, by calculating the height of the electric wire D in advance, it is possible to determine the amount of upward rotation and extension of the discharge device 8 during automatic operation, so that operation can be performed in accordance with the environment of the field F. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a side view of a combine harvester according to an embodiment of the present invention. [Figure 2]1 is a plan view of a combine harvester according to an embodiment of the present invention. [Figure 3] FIG. 2 is a side view for explaining the operation of the combine harvester according to the embodiment of the present invention. [Figure 4] FIG. 2 is a side view for explaining the operation of the combine harvester according to the embodiment of the present invention. [Figure 5] FIG. 2 is a rear view for explaining the operation of the combine harvester according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0017] A combine harvester 1 as an embodiment of the present invention will be described below with reference to the accompanying drawings. To facilitate understanding, the directions are described as follows, with the front being the front side, the rear being the rear side, the right hand side being the right side, and the left hand side being the left side, as seen from the operator, but the configuration is not limited to these.

[0018] As shown in Figures 1 and 2, the combine harvester 1 has a traveling device 4 on the lower side of the chassis 2, which has a pair of left and right traveling crawlers 3 stretched across the soil surface. Also mounted on the left and right sides of the chassis 2 are a threshing device 6 that threshes and sorts the stalks that are clamped and transported by a feed chain 5, a grain tank 7 that serves as a storage device for temporarily storing the grains, and a threshing auger 8, also known as a discharge auger, 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.

[0019] When discharging grains, the grain discharge auger 8 rotates up and down by operating the auger lifting cylinder, rotates by operating the auger rotating electric motor, and extends and retracts by operating the auger extension and retraction electric motor.

[0020] 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 conveying 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.

[0021] An operating device 20 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 the operating seat 21, the grain tank 7 is located at the rear, and a cabin 23 is provided to cover the operating device 20 and operating seat 21, and these traveling devices 4, threshing device 6, reaping device 15, operating device 20, engine, cabin 23, etc. are attached to the chassis 2 of the combine.

[0022] The grain tank 7 is provided with a full sensor that detects when the grain tank 7 is full of grains. The engine fuel tank is also provided with a fuel shortage sensor that detects when the fuel is running low.

[0023] In addition, a monitor installed on the operation panel inside the cabin 23 displays a grain tank full alarm when the full sensor detects that the grain tank 7 is full of grain, and a fuel low alarm when the fuel low sensor detects that there is little fuel remaining in the fuel tank.

[0024] The operating device 20 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 / threshing lever that operates the reaping / threshing 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 position of the discharge outlet 8a at the tip of 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 from the discharge outlet 8a.

[0025] The combine harvester 1 can be freely switched between an automatic harvesting mode in which it travels autonomously and performs harvesting work automatically, and a manual operation mode in which the operator on board manually performs harvesting work.

[0026] The operation panel inside the cabin 23 is provided with a harvesting mode changeover switch, which is used to switch between an automatic harvesting operation mode and a manual operation mode.

[0027] A control device 26 is provided inside the cabin 23, and a GNSS antenna 27 is provided on the top surface of the cabin 23 as a positioning device.

[0028] The control device 26 operates the speed change actuator to perform main speed changeover to automatically control forward / reverse travel, stopping, and vehicle speed changes, and operates the left and right travel actuators to automatically control left and right turns.

[0029] The control device 26 also operates the reaping lifting cylinder to control the elevation of the reaping device 15, and operates the reaping / threshing clutch actuator to automatically control the driving of the reaping device 15 and the threshing device 6.

[0030] In addition, the control device 26 operates the auger lifting cylinder, the auger rotating electric motor, and the auger extension / retraction electric motor to automatically control the up and down rotation, rotation, and extension movement of the grain discharge auger 8, and operates the auger drive clutch actuator to automatically control the drive of the grain discharge auger 8.

[0031] In addition, the control device 26 stores work map data (map data) that includes the reciprocating mowing work route or circular mowing work route for the field F, and is capable of recording electric wire position information indicating the position of the electric wires D around the field F in the work map data.

[0032] To record the power line position information in the work map data stored in the control device 26, the power line position information from map information created by the Geospatial Information Authority of Japan or a city, town or village is downloaded and registered in the work map data.

[0033] Alternatively, the worker manually inputs the power line position information into the work map data using a mobile terminal such as a tablet, and transmits it to the control device 26 to register it in the work map data.

[0034] Alternatively, a power line detection device 28 (in this embodiment, a camera is equipped) such as a camera or radar mounted on the aircraft (top of the cabin 23) detects power lines D around the field, and the power line position information is registered in the work map data.

[0035] In addition, a camera 29 is also provided at the tip of the grain discharge auger 8 to detect whether the grain discharge auger 8 is interfering with an obstacle such as an electric wire D.

[0036] Further, a distance sensor 30 for detecting the distance from the aircraft body to the electric wire D is provided on the aircraft body (on the top surface of the cabin 23).

[0037] Here, the operation process in which the control device 26 autonomously drives the vehicle and automatically performs harvesting operations in the automatic harvesting operation mode will be described in detail.

[0038] First, the operator operates the combine harvester 1 to move it to a position in the field F where harvesting work begins.

[0039] Next, the operator sets the harvesting mode changeover switch on the operation panel to the automatic harvesting operation mode.

[0040] The control device 26 then receives a signal from the positioning satellite via the GNSS antenna 27, calculates the current position information using GNSS (Satellite Positioning System), and if there is work map data that records the position information of power lines around the field F at the current location, displays a work map data selection screen on the monitor of the operation panel, and the worker selects the work map data for the corresponding field F.

[0041] If there is no work map data in which electric wire position information around the field F is recorded, the control device 26 causes the monitor to display an electric wire position information input screen.

[0042] The worker downloads the power line location information from map information created by the Geospatial Information Authority of Japan or municipalities and registers it in the work map data, manually inputs the power line location information into the work map data using a mobile terminal such as a tablet and sends it to the control device 26 to register it in the work map data, or detects power lines D around the field using a power line detection device 28 such as a camera or radar equipped on the aircraft and registers the power line location information in the work map data.

[0043] At this time, by downloading the power line location information from map information created by the Geospatial Information Authority of Japan or municipalities and registering it in the work map data, or by detecting the power lines D around the field using the power line detection device 28 and registering the power line location information in the work map data, the work of inputting the power line location information can be omitted, thereby saving labor.

[0044] The control device 26 does not enter automatic harvesting operation mode when there is work map data in which electric wire position information is recorded but the work map data is not selected, or when there is no work map data in which electric wire position information is recorded but the electric wire position information is not registered.

[0045] Therefore, when there is work map data in which electric wire position information is recorded but the work map data is not selected, or when there is no work map data in which electric wire position information is recorded but the electric wire position information is not registered, the automatic harvesting work mode is not entered, thereby improving safety during automatic work.

[0046] The control device 26 enters automatic harvesting mode when work map data in which electric wire position information is recorded is selected if there is work map data in which electric wire position information is recorded, or when electric wire position information is registered if there is no work map data in which electric wire position information is recorded.

[0047] When the automatic harvesting operation mode is activated, the control device 26 displays on the monitor from the operation map data a position at the edge of the field facing a road or ridge R and without power lines D as a candidate discharge position where grain can be discharged without restricting the operation of the threshing auger 8.

[0048] The worker selects an arbitrary position as the discharge position from among the candidate discharge positions displayed on the monitor.

[0049] Therefore, candidate discharge positions are displayed on the monitor, and any position can be selected from the candidates as the discharge position, making it easy to wait for the loading platform 31a of the vehicle 31 such as a truck, which is the recovery means for recovering the discharged grain, or a container or flexi-bag, and to move the combine 1, so that the grain can be automatically discharged at a position where it is easy to move, thereby improving work efficiency.

[0050] In addition, if there is no candidate discharge location where grain can be discharged without restricting the operation of the threshing auger 8 without the above-mentioned electric wire D, the control device 26 displays on the monitor from the work map data the edge of the field facing the road or ridge R, the road or ridge R and the electric wire D, and the worker selects the discharge location.

[0051] When a discharge position where the electric wire D is located is selected, the control device 26 receives a signal from a positioning satellite using the GNSS antenna 27, calculates the planar distance between the aircraft and the electric wire D based on the current position calculated by the GNSS (satellite positioning system) and the position information of the electric wire D in the work map data, detects the distance from the aircraft to the electric wire D using the distance sensor 30, and calculates the height of the electric wire D.

[0052] Therefore, by calculating the height from the ground to the electric wire D, it is possible to determine the limit on the amount of upward rotation and extension of the grain discharge auger 8 during automatic operation, allowing work to be performed in accordance with the environment of the field F.

[0053] When the worker turns on the start switch on the operation panel, the control device 26 receives signals from positioning satellites in the field using the GNSS antenna 27, calculates position information using GNSS (Satellite Positioning System), and autonomously drives along the work route to automatically perform harvesting work.When the full sensor detects that the grain tank 7 is full of grains, the device automatically drives toward the selected discharge position (a vehicle 31 such as a truck waiting on the footpath R, which is a road facing the field F).

[0054] Then, when the machine body reaches the discharge position, the control device 26 stops the combine harvester 1 in a position where the rear of the machine body faces the electric wire D and the vehicle 31 that collects the grains (see FIG. 3).

[0055] As shown in Figure 4, the above-mentioned discharge position is automatically set to the distance from the front end of the machine body to the rear end of the vehicle 31, which is the sum of the total length of the machine body, the length of the grain discharge auger 8, and a set value.However, if this distance cannot be met, the automatic discharge control is stopped.

[0056] When the machine body reaches the discharge position, the control device 26 performs the discharge operation in the following procedure.

[0057] First, as shown in Figure 3(A), the control device 26 activates the auger lifting cylinder to extend the grain discharge auger 8 from its storage position (moving it up a predetermined amount), and activates the auger extension and retraction electric motor to re-retract the grain discharge auger 8.

[0058] Next, as shown in Figure 3(B), the control device 26 activates the auger rotation electric motor to point the grain discharge auger 8 toward the vehicle 31 that will collect the electric wire D and grains, and activates the auger lifting cylinder to make the grain discharge auger 8 lower than the height of the electric wire D and higher than the loading platform 31a of the vehicle 31.

[0059] Next, as shown in FIG. 3(C), the control device 26 drives the traveling device 4 in reverse to move the machine backward, and causes the grain discharge auger 8 to pass under the electric wire D.

[0060] If an inclination sensor provided on the machine body detects an inclination of the machine body while the grain discharging auger 8 is passing under the electric wire D, the control device 26 stops the machine body.

[0061] When the machine is moving backward so that the grain discharge auger 8 passes under the electric wire D, the control device 26 restricts the operation of the auger extension / retraction electric motor to prohibit the grain discharge auger 8 from extending or retracting, and after the grain discharge auger 8 passes under the electric wire D, it operates the auger extension / retraction electric motor and the auger rotation electric motor to extend, retract and rotate the grain discharge auger 8 so that the discharge outlet 8a at the tip of the grain discharge auger 8 is aligned with the loading platform 31a of the vehicle 31.

[0062] After the grain discharging auger 8 passes under the electric wire D, the control device 26 operates the auger lifting cylinder only in the direction in which the grain discharging auger 8 moves downward, and prohibits the grain discharging auger 8 from moving upward.

[0063] Furthermore, the control device 26 prohibits the grain discharging auger 8 from automatically retracting while the grain discharging auger 8 is passing under the electric wire D and after the grain discharging auger 8 has passed under the electric wire D.

[0064] Then, the control device 26 activates the auger drive electromagnetic clutch to turn on the drive of the grain discharge auger 8, discharging the grain in the grain tank 7 from the discharge outlet 8a onto the loading platform 31a of the vehicle 31, and when the discharge of the grain in the grain tank 7 is complete, it activates the auger drive electromagnetic clutch to turn off the drive of the grain discharge auger 8.

[0065] When the discharge operation is completed in the above manner, the control device 26 moves the combine 1 to the discharge position in the reverse order of the above procedure, sets the threshing auger 8 to the storage position, returns to the original working path, and resumes automatic harvesting operation.

[0066] In summary, when work map data is available but work map data is not selected, or when work map data is not available but power line position information is not registered, the automatic harvesting work mode will not be entered, thereby improving safety during automatic work.

[0067] In addition, by imposing certain restrictions on the rotation, extension, and up and down movement of the grain discharge auger 8 near the electric wire D recorded in the work map data, such as the discharge position, it is possible to prevent damage to the grain discharge auger 8 or the electric wire D due to the grain discharge auger 8 coming into contact with the electric wire D, and to prevent power outages in the surrounding area.

[0068] In addition, when the operator operates the operating devices 20, such as the main speed change lever, steering lever, or mowing / removal lever, during automatic driving, the combine harvester 1 is switched from automatic harvesting mode to manual operation mode, and thereafter the operator operates the combine harvester 1 manually.

[0069] When the harvesting mode changeover switch is set to the manual operation mode, the operator can operate the operation device 20 to perform the harvesting work manually.

[0070] Furthermore, a camera 29 provided at the tip of the grain discharge auger 8 may be used as a means for calculating the height of the electric wire D.

[0071] As shown in Figure 5, the control device 26 activates the auger rotation electric motor at the discharge position to rotate the grain discharge auger 8 and position the camera 29 attached to the tip of the grain discharge auger 8 on the side of the electric wire D, activates the auger lifting cylinder to move the grain discharge auger 8 upward, activates the auger extension electric motor to extend the grain discharge auger 8, and calculates the height of the electric wire D from the machine position at the position where the camera 29 recognizes the electric wire D in a horizontal position, the amount of upward movement and extension of the grain discharge auger 8. [Explanation of symbols]

[0072] 4 Running gear 6. Threshing equipment 7. Storage device (grain tank) 8. Discharge device (grain discharge auger) 15 Reaping device 26 Control device 27 Positioning device (GNSS antenna) 28 Electric wire detection device 30 Distance Sensor 31 Recovery means (vehicle) D Electric wire F field

Claims

1. A harvesting machine including a traveling device (4), a reaping device (15) for reaping crops from a field, a threshing device (6) for taking over and threshing the crops, a storage device (7) for storing grains, a discharge device (8) for discharging the grains from the storage device (7) to the outside of the machine, and a positioning device (27) for acquiring position information of the machine, a harvesting mode changeover switch for changing a control device (26) that causes the harvester to autonomously travel along a work route in the work map data while calculating position information using a positioning device (27) and automatically perform harvesting work to an automatic harvesting work mode; The control device (26) stores the work map data capable of recording electric wire position information indicating the position of the electric wire (D), When the harvesting mode changeover switch is used to switch to automatic harvesting mode, the control device (26) displays a work map data selection screen on the monitor to prompt the user to select work map data if there is work map data in which power line position information is recorded, and displays a power line position information input screen on the monitor to prompt the user to register power line position information if there is no work map data in which power line position information is recorded, and when work map data in which power line position information is recorded is selected or when there is no work map data in which power line position information is recorded and power line position information is registered, the harvesting machine switches to automatic harvesting mode, and imposes predetermined restrictions on the operation of the discharge device (8) near the power line (D) based on the power line position information recorded in the work map data.

2. A harvesting machine as described in claim 1, characterized in that the means for registering power line position information is to download map information recording the positions of power lines, manually input the information into work map data, or record power lines (D) detected by a power line detection device (28) equipped on the machine body.

3. A harvesting machine as described in claim 1 or claim 2, characterized in that a position at the edge of the field (F) and free of power lines (D) from the work map data is displayed on the monitor as a candidate discharge position where grain can be discharged without restricting the operation of the discharge device (8), and any position from the candidate discharge positions can be selected and operated as the discharge position.

4. A harvesting machine as described in claim 1 or 2, characterized in that a distance sensor (30) is provided to detect the distance from the machine body to the electric wire (D), and the height of the electric wire (D) is calculated from the detected distance from the machine body to the electric wire (D) by the distance sensor (30).

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