Vegetable harvester

Abstract

To suppress reduction in work efficiency while preventing development from becoming incomplete when developing a storage bag according to a storage amount of harvests.SOLUTION: A vegetable harvesting machine 1 comprises: a suspension device 201 which suspends a storage bag 48 storing harvests; and a control unit 310 being the control unit 310 which controls a movement of the suspension device 201 and executes loose tightening control that makes the suspension device descend to an intermediate position after making the suspension device ascend to a height higher than the intermediate position when moving the suspension device toward the intermediate position from a height lower than the intermediate position. The vegetable harvesting machine can suppress reduction in work efficiency by preventing a worker from suspending the work for loose tightening while preventing development of the storage bag from becoming incomplete by performing the loose tightening control.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present invention relates to a vegetable harvester for harvesting vegetables, and more particularly to a vegetable harvester suitable for harvesting carrots, radishes, and the like. [Background technology]

[0002] Conventionally, a vegetable harvester is known that pulls out vegetables such as carrots from a field, transports the pulled vegetables using a sorting device, and stores them in a storage bag called a flexible container bag (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-115069 Summary of the Invention [Problem to be solved by the invention]

[0004] In conventional technology, when vegetables are stored in a flexible container bag, the upper end of the bag is lifted and the bag unfolds as the amount of vegetables stored increases. This is because if the flexible container bag is unfolded to its maximum when the amount of vegetables stored is small, the lower part of the bag may be blown away by the wind, making the bag unstable, or the vegetables may fall a long distance, causing them to break or crack.

[0005] However, when the flexible container bag is unfolded according to the amount of vegetables to be stored, the stored flexible container bag may be pushed and caught by the vegetables, which may result in incomplete unfolding.If the unfolding is incomplete, the amount of vegetables that can be stored may decrease and some of the vegetables may fall out. If the flexi-bag is not fully expanded, the worker operating the vegetable harvester or the assistant performing the sorting work can manually expand the flexi-bag, but this requires that the vehicle's movement and sorting work be interrupted while the flexi-bag is expanding, which can result in reduced work efficiency.

[0006] The present invention has as its technical object to prevent incomplete deployment and a decrease in work efficiency when deploying a storage bag according to the amount of harvested crop to be stored. [Means for solving the problem]

[0007] The above-mentioned problems of the present invention are solved by the following means. The invention described in claim 1 is a vegetable harvester (1) characterized by comprising: a traveling body (2); a harvesting section (3) supported by the traveling body (2) and harvesting crops in a field; a hanging device (201) for hanging a storage bag (48) in which the crops harvested by the harvesting section (3) are stored, the hanging device (201) being capable of moving the storage bag (48) between a lower limit position where the hanging device (201) is lowered to its lowest limit, an upper limit position where the hanging device (201) is raised to its highest limit, and an intermediate position between the upper limit position and the lower limit position; and a control unit (310) for controlling the movement of the hanging device (201), the control unit (310) performing slack removal control to raise the hanging device (201) to a height higher than the intermediate position and then lower it to the intermediate position when moving it from a height lower than the intermediate position toward the intermediate position.

[0008] The invention described in claim 2 is the vegetable harvester (1) described in claim 1, characterized in that it is provided with the control unit (310) that, when moving from a height higher than the intermediate position toward the intermediate position, moves to the intermediate position without moving to a height lower than the intermediate position.

[0009] In the invention described in claim 3, in the slack removal control, the lifting width of the hanging device (201) is is better descending width thanThe vegetable harvester (1) according to claim 1 or 2, characterized in that it is set large.

[0010] The invention described in claim 4 is a vegetable harvester (1) described in any one of claims 1 to 3, characterized in that it is provided with the control unit (310) that does not perform any further slack removal control when the hanging device (201) reaches the upper limit position.

[0011] The invention described in claim 5 is a vegetable harvester (1) described in any one of claims 1 to 4, characterized in that it comprises a counting unit (314) that counts the number (N1) of harvested products contained in the storage bag (48), and the control unit (310) that executes the slack removal control when the counted number (N1) of harvested products reaches a predetermined storage number (Na to Nc).

[0012] The invention described in claim 6 is a vegetable harvester (1) described in claim 5, characterized in that it is equipped with an operating device (210) that operates and stops the harvesting section (3), and a counting section (314) that starts counting the harvested product (100) when operation of the harvesting section (3) is started.

[0013] The invention described in claim 7 is the vegetable harvester (1) described in claim 5 or 6, characterized in that the predetermined storage numbers (Na to Nc) are changeable in response to an input by an operator.

[0014] The invention described in claim 8 is a vegetable harvester (1) described in any one of claims 5 to 7, characterized in that the count value (N1) of the harvested product is initialized when the storage bag (48) is lowered into the field (200).

[0015] The invention described in claim 9 is the vegetable harvester (1) described in claim 8, characterized in that when the hanging device (201) moves to a lowered position where the storage bag (48) is lowered into the field (200), it is determined that the storage bag (48) has been lowered into the field (200), and the harvest count value (N1) is initialized.

[0016] The invention described in claim 10 is a vegetable harvester (1) described in claim 8 or 9, characterized in that it includes a support (41) that supports the bottom of the storage bag (48), and is movable between a support position that supports the bottom of the storage bag (48) and a lowered position that lowers the storage bag (48) into the field (200), and when the support (41) moves to the lowered position, it is determined that the storage bag (48) has been lowered into the field (200), and the count value (N1) of the harvested product is initialized. [Effects of the Invention]

[0017] According to the invention described in claim 1, when unfolding the storage bag according to the amount of harvested produce to be stored, it is possible to prevent incomplete unfolding and a decrease in work efficiency, compared to conventional configurations in which slack in the storage bag is not automatically removed. According to the invention of claim 2, in addition to the effect of the invention of claim 1, when it is not necessary to remove slack from the storage bag, the slack is not removed, and unnecessary operations can be reduced. According to the invention described in claim 3, in addition to the effects of the invention described in claim 1 or 2, the rising width is greater than the falling width, so that the storage bag is reliably expanded once more than the intermediate position, and slack can be reliably removed.

[0018] According to the invention of claim 4, in addition to the effect of the invention of any one of claims 1 to 3, operation beyond the upper limit position is suppressed, and damage to the device can be suppressed. According to the invention of claim 5, in addition to the effect of the invention of any one of claims 1 to 4, it is possible to automatically control the slack removal in accordance with the number of harvested products. According to the invention of claim 6, in addition to the effect of the invention of claim 5, unnecessary counting is prevented when the harvesting unit is not operating. According to the invention of claim 7, in addition to the effect of the invention of claim 5 or 6, it is possible to respond to changes in circumstances such as the size and type of crops. According to the invention described in claim 8, in addition to the effects of the invention described in any one of claims 5 to 7, it is possible to prevent a situation in which initialization is forgotten and slack removal control is not performed, compared to when the counting value is initialized manually. According to the invention of claim 9, in addition to the effect of the invention of claim 8, when the suspension device is moved to the lowered position, it can be automatically initialized. According to the invention of claim 10, in addition to the effect of the invention of claim 8 or 9, when the suspension device is moved to the lowered position, it can be automatically initialized. [Brief explanation of the drawings]

[0019] [Figure 1] FIG. 1 is a left side view showing a harvester according to an embodiment. [Figure 2] FIG. [Figure 3] FIG. [Figure 4] FIG. [Figure 5] 5A and 5B are explanatory diagrams of the movement of the storage bag in the embodiment, where FIG. 5A is an explanatory diagram of the state when moved to the storage position, FIG. 5B is an explanatory diagram of the state when moved to the lowered position, and FIG. 5C is an explanatory diagram of the state when moved to the second lowered position. [Figure 6] 6A and 6B are explanatory diagrams of the positions where the suspension device of the embodiment stops, where FIG. 6A is an explanatory diagram of the storage start position, FIG. 6B is an explanatory diagram of the first storage position, FIG. 6C is an explanatory diagram of the second storage position, and FIG. 6D is an explanatory diagram of the third storage position. [Figure 7] 7A and 7B are explanatory diagrams of operating tools according to an embodiment, in which FIG. 7A is an explanatory diagram of a control lever, and FIG. 7B is an explanatory diagram of a digging lever. [Figure 8] FIG. 2 is a functional block diagram of a control unit according to the embodiment. [Figure 9]9(A) and 9(B) are explanatory diagrams of the operation of the embodiment, in which Figure 9(A) is an explanatory diagram of the storage start position, Figure 9(B) is an explanatory diagram of the state where the suspension device has moved above the first storage position during the first slack removal control, Figure 9(C) is an explanatory diagram of the state where the suspension device has moved downward from the state of Figure 9(B) and the first slack removal control has ended, Figure 9(D) is an explanatory diagram of the state where the suspension device has moved above the second storage position during the second slack removal control, and Figure 9(E) is an explanatory diagram of the state where the suspension device has moved downward from the state of Figure 9(D) and the second slack removal control has ended. [Figure 10] This is an explanatory diagram continuing from Figure 9, where Figure 10(A) is an explanatory diagram of the state in which the suspension device has moved to an upper limit position above the fourth storage position during the third slack removal control, and Figure 10(B) is an explanatory diagram of the state in which the suspension device has moved downward from the state in Figure 10(A) and the third slack removal control has ended. DETAILED DESCRIPTION OF THE INVENTION

[0020] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0021] 1 to 4 show a vegetable harvester 1 as a harvester according to an embodiment of the present invention. In the following description, the forward direction of the harvester 1 will be referred to as the forward direction, and the backward direction as the backward direction. Similarly, the left and right directions when facing the forward direction of the harvester 1 will be referred to as the left and right directions, respectively, and the up and down directions of the harvester 1 will be referred to as the up and down directions, respectively.

[0022] As shown in Figures 1 to 4, the vegetable harvesting machine 1 comprises a body (an example of a traveling vehicle body) 2 supported by a traveling device consisting of a pair of left and right crawlers 21A, 21B, etc., a harvesting device (an example of a harvesting section) 3 that harvests vegetable crops 100 from a field 200 such as a farmland, a storage device 4 that stores the crops 100 harvested by the harvesting device 3 in a storage bag 48, which is an example of a container, a first belt conveying device 5 that transports the crops 100 harvested by the harvesting device 3 for cleaning processing, a second belt conveying device 6 that transports the crops 100 handed over from the first belt conveying device 5 through a sorting work area 9 and then to the storage device 4, and a control unit 12 for traveling and operating the equipment. The crop 100 in this embodiment is carrot, a root vegetable.

[0023] First, the machine body 2 is composed of a plurality of members such as support frames, support plates, etc. The crawlers 21A, 21B, which are traveling devices, are configured to drive belt crawlers by axles and drive wheels that rotate when rotational power output from an engine (not shown) mounted on the machine body 2 is transmitted. The control section 12 is configured by arranging a cockpit 14, control levers 15 (an example of steering members) for driving and equipment operation, an instrument panel (an example of a display member) 16, input buttons (not shown), an accelerator pedal, a brake pedal (an example of a braking member), a parking brake (a so-called side brake, an example of a parking brake), etc. in a cockpit box 13. In the control section 12, a pilot (operator) sitting in the cockpit 14 performs control operations such as checking the instrument panel 16 and operating the control levers 15.

[0024] Next, the harvesting device 3 is equipped with a pulling and conveying device 31 that clamps the stems and leaves of carrots, which are the crop 100, pulls them out of the field, and then conveys them toward the rear and upper side, a pulling-up device 33 that pulls up the stems and leaves of the crop 100 from the field 200, and a stem and leaf processing device 34 that cuts the stems and leaves of the crop 100. The harvesting device 3 is disposed on the left side of the machine body 2. The harvesting device 3 is also mounted so that the pulling and conveying device 31 and the pulling-up device 33 can move up and down relative to the machine body 2, allowing adjustment of the position of the harvesting device 3 relative to the field 200.

[0025] 1 to 3, reference numeral 17 denotes a ground contact wheel that comes into contact with the field 200, and reference numeral 18 denotes a subsoiler that applies vibrations to soften the soil. The ground contact wheel 17 is attached to the machine body 2 so that it can move up and down. The subsoiler 18 is inserted into the ground near both sides of the crop 100 to be harvested in the field 200 to apply vibrations. The subsoiler 18 is connected to the ground contact wheel 17 and is attached so that it can move up and down in conjunction with the ground contact wheel 17.

[0026] The extraction and conveying device 31 is equipped with a pair of clamping belts 32A, 32B on the left and right sides that are suspended and rotated on supporting parts such as a driven pulley and a drive pulley that are appropriately positioned from a position close to the field 200 to a position at the rear upper part of the machine body 2. At the front of the clamping belts 32A and 32B, a shoulder aligning section (not shown, guide section for the upper end of the root vegetable part) is arranged to align the upper end of the root vegetable part of the carrot (the so-called "carrot shoulder"). In this embodiment, a harvest sensor SN1 is disposed in front of the clamping belts 32A, 32B as an example of a detection unit that detects the harvested product (crops, carrots) passing by. The harvest sensor SN1 can be a contact sensor that detects the passing harvest by contacting a detection bar or the like with the harvested product, but it can also be a non-contact sensor that detects by transmitting, reflecting, or scattering visible light or infrared light. Therefore, the harvest sensor SN1 can be configured to be installed on one side or both sides of the pair of left and right clamping belts 32A, 32B.

[0027] The stem and leaf processing device 34 is equipped with a pair of left and right conveying belts 35A, 35B that clamp the stem and leaf portions of the crop 100 transported by the clamping belts 32A, 32B and transport them approximately horizontally rearward, a pair of left and right rotary cutting blades 36 that cut between the stem and leaf portions of the crop 100 and the root vegetable portion at approximately the middle position of the conveying belts 35A, 35B, a cleaning device that removes and cleans up unwanted matter such as remaining leaves and stems (residual leaves) and adhering soil from the root vegetable portion of the crop 100 after it has been cut, and a discharge table 38 that is inclined so as to receive the leaves and stems of the crop 100 cut off by the rotary cutting blades 36 and slide them down into the field 200. Here, the cleaning device corresponds to the first belt conveying device 5 described above.

[0028] As shown in Figures 1 to 4, the first belt conveying device 5 is composed of a belt conveyor 51 that receives the root vegetable part of the crop 100 that falls after being cut by the rotary cutting blade 36 and conveys it to the right of the body 2, and a cleaning processing roller 52 that removes and cleans any remaining leaves, soil, etc. from the root vegetable part of the crop 100 being conveyed by the belt conveyor 51 and sends it to the second belt conveying device 6 located diagonally forward or to the side.

[0029] The belt conveyor 51 is composed of support frames 53, 53 arranged at intervals in the front-to-back direction of the body 2 so as to extend long in the left-to-right direction of the body 2 at a position further rearward of the body 2 than the second belt transport device 6, a drive roller and a driven roller rotatably arranged between both longitudinal ends of the support frames 53, 53, and a first transport belt 56 that rotates while being wrapped around the drive roller and driven roller. The belt conveyor 51 is disposed so that the transport starting end of the first transport belt 56 is located almost directly below the rotary cutting blade 36.

[0030] In the belt conveyor 51, the first conveyor belt 56 is rotated by a drive roller that rotates by transmission of rotational power from the engine (not shown), for example, so as to move the crops 100 in a conveying direction E1. In this case, the conveying direction E1 is the direction in which the conveying surface of the first conveyor belt 56 moves from the left side to the right side of the machine body 2. The first conveyor belt 56 may be an endless belt made of a material such as rubber with a required width, thickness, and circumference.

[0031] The cleaning roller 52 is positioned so as to rotate at an angle intersecting the conveying direction of the belt conveyor 51 at the upper surface at the end of the conveying direction of the belt conveyor 51 with a gap large enough to prevent the root vegetable portion of the crop 100 from passing through.

[0032] In this first belt conveying device 5, the crops 100 transported by the first conveying belt 56 of the belt conveyor 51 are subjected to cleaning processes such as removing residual soil by contact with the cleaning processing roller 52 and removing residual leaves that are caught in the gap between the cleaning processing roller 52 and the first conveying belt 56, and are transported while being guided by the cleaning processing roller 52 to the right front of the machine body 2, and are finally moved to the second belt conveying device 6 and handed over.

[0033] Next, the second belt conveying device 6 is composed of a belt conveyor 61 that starts to convey the crop 100 (the root vegetable part) handed over from the first belt conveying device 5 in the stem and leaf processing device 34 from the left side to the right side of the machine body 2, and conveys it through the sorting work area 9 where an assistant worker performs sorting work, and then sends it out to the storage device 4.

[0034] The belt conveyor 61 is configured using a single second transport belt 62 throughout the entire conveyor. Furthermore, from the viewpoint of transferring the crops 100 from the first belt transport device 5, a portion of the belt conveyor 61 (the area at the transport starting end side of the second transport belt 62) is arranged in parallel with the belt conveyor 51 of the first belt transport device 5. The entire belt conveyor 61 is arranged in a position rearward of the control unit 12 of the machine body 2 and forward of the first belt transport device 5, extending long in the left-right direction of the machine body 2. Furthermore, the belt conveyor 61 is made up of a fixed conveyor portion 61A and a movable conveyor portion 61B.

[0035] The fixed conveyor section 61A is a part of the belt conveyor 61 that is fixedly positioned in the area from the position at the left end of the body 2 where the conveyance starts to the position midway through the conveyance (the connection point with the movable conveyor section 61B).

[0036] On the other hand, the movable conveyor section 61B is a part of the belt conveyor 61 that exists in the area from the position where the fixed conveyor section 61A ends its conveying motion to the position where it reaches the storage device 4, and is a part that is arranged in a state where it can swing around the end closer to the fixed conveyor section 61A as a fulcrum.

[0037] The movable conveyor section 61B also includes a lifting cylinder 81 (one end) that extends and retracts to swing the movable support frame up and down around the pivot shaft 65 as a fulcrum relative to the movable support frame, a motor 82 that generates rotational power, and a drive transmission device 83 that transmits the rotational power of the motor 82 to the second conveyor belt 62.

[0038] 4, the lifting cylinder 81 is rotatably attached to a bottom portion (bottom frame) near the pivot shaft 65 of the movable support frame at the upper end of the piston rod that extends and retracts when the lifting cylinder 81 is extended, while the lower end of the lifting cylinder 81 is rotatably attached to a portion on the left side of the machine body 2 relative to the upper end of a work floor (91) described below. As a result, when the lifting cylinder 81 is in its most retracted state, it is positioned in a state in which it is tilted slightly toward the right side of the machine body 2 as a whole. Furthermore, an electric cylinder is used as the lifting cylinder 81, for example. The lifting cylinder 81 of this embodiment moves in conjunction with the up and down movement of the hanging device 201 of the storage device 4, so that the height of the downstream end (right end) of the movable conveyor unit 61B corresponds to the height of the upper end of the storage bag 48. The lifting cylinder 81 can also be operated manually, for example, by operating a pedal 89 installed on the work floor (91). The pedal 89 is composed of a pedal for raising and a pedal for lowering. The movable conveyor unit 61B swings about the pivot shaft 65 as a fulcrum by operating the pedal 89 to operate the lifting cylinder 81.

[0039] Furthermore, the movable conveyor unit 61B is disposed so as to pass through the sorting work area 9. The movable conveyor unit 61B also constitutes a part of the sorting work area 9.

[0040] The sorting work area 9 includes a work floor 91 provided in an area rearward of the cockpit box 13 of the control section 12 on the floor frame 23 of the aircraft body 2, and a sorting work seat 92 provided in a position rearward of the movable conveyor section 61B on the work floor 91. The sorting work seat 92 is not shown in Figure 4. In this sorting work area 9, a sorting worker boards the work floor 91 and sits on the sorting work seat 92, and performs tasks such as selecting and removing by hand any crops 100 that are deemed defective due to damage, deformation, etc. from among the crops 100 being transported by the second conveyor belt 62 of the movable conveyor section 61B.

[0041] Next, as shown in Figures 1, 3, 4, etc., the storage device 4 is composed of a loading platform 41 (an example of a support) on which storage bags 48 (so-called flexi-con bags) for storing crops 100 transported and sent out from the second belt conveying device 6 are placed, and a hanging device 201 that suspends and holds the opening of the storage bag 48 placed on the loading platform 41 during storage operations.

[0042] The loading platform 41 is positioned below the end of the conveying path of the movable conveyor section 61B of the second belt conveying device 6, and protrudes from the work floor 91 of the sorting work area 9 to the right of the machine body 2. The mounting platform 41 is made of a plate material having a rectangular planar shape. The mounting platform 41 is rotatably attached to a support shaft 42 extending in the vertical direction and provided at the right end of the machine body 2. The mounting platform 41 is rotated about the support shaft 42 by a motor (not shown). The mounting platform 41 in this embodiment is movable between a support position where it supports the underside of the storage bag 48 and a separated position where it rotates rearward and is separated from the bottom of the storage bag 48. Therefore, when the mounting platform 41 is in the separated position, the underside of the storage bag 48 is open, and the storage bag 48 can be lowered into the field 200 by lowering it.

[0043] It should be noted that the platform 41 can be moved below the sorting work seat 92 in the separated position so that it can be used as a step when the sorting worker (assistant) gets off the sorting work seat 92. Alternatively, it can be configured to be stored below the sorting work seat 92. Furthermore, the platform 41 is not limited to a configuration in which it rotates backward, but can also be configured to rotate forward, or to slide forward and backward or left and right. Furthermore, when using the mounting table 41, if a new storage bag 48 is empty, the storage bag 48 may be easily moved by the wind or the opening may close, so it is preferable to put several crops 100 inside so that the storage bag 48 is slightly stretched.

[0044] The suspension device 201 has a crane 202 as an example of a moving device, and the crane 202 has a first arm 203 whose base end is rotatably supported on the machine body 2, and a second arm 204 whose base end is rotatably supported on the tip end of the first arm 203. Cylinders 206 and 207 as an example of an actuating member are supported at the base end of the first arm 203 and the base end of the second arm 204, respectively. Hanger arms 45, which are an example of a hanging member, are supported on the outer lateral ends of second arms 204. Hanger arms 45 are hung by hooks 47 that catch the hanging rings (not shown) of storage bags 48. Hooks 47 are arranged corresponding to four positions on storage bag 48: the front right, front left, rear right, and rear left, and storage bag 48 is hung with its upper insertion port open. Thus, hanger arms 45, crane 202, etc. constitute a hanging device 201 of this embodiment.

[0045] Figure 5 is an explanatory diagram of the movement of the storage bag in the embodiment, where Figure 5(A) is an explanatory diagram of the state when it has been moved to the storage position, Figure 5(B) is an explanatory diagram of the state when it has been moved to the lowered position, and Figure 5(C) is an explanatory diagram of the state when it has been moved to the second lowered position. In the vegetable harvester 1 of the embodiment, the storage bag 48 is placed on the mounting table 41, and the operator manually hangs the storage bag 48 on the hook 47, thereby attaching the storage bag 48 to the hanging device 201. Furthermore, in the vegetable harvester 1 of the embodiment, the position of the hanger arm 45 at the tip of the crane 202 can be moved by operating the cylinders 206, 207. In the hanging device 201 of the embodiment, the crane 202 can be moved between a storage position (see FIG. 5A) where the hanger arm 45 is above the platform 41, i.e., where the storage bag 48 is placed on the platform 41 and the crops 100 are stored; an outer lowering position (lowered position, see FIG. 5B) where the storage bag 48 moves outward in the left-right direction from the storage position and is lowered into the field 200 outside the machine body 2; and an in-situ lowering position (lowered position, see FIG. 5C) where the storage bag 48 is lowered into the field 200 below the storage position. Note that the lowered position cannot be moved unless the platform 41 has moved to the separated position.

[0046] Structurally, the crane 202 of the embodiment is configured to be able to be lowered to a lower limit position (not shown) that is lower than the outer lowering position and the in-place lowering position. Also, the crane 202 of the embodiment is configured to be able to be raised to an upper limit position at a height that does not separate the bottom of the storage bag 48 from the bottom of the mounting table 41.

[0047] Figure 6 is an explanatory diagram of the positions at which the suspension device of the embodiment stops, Figure 6(A) is an explanatory diagram of the storage start position, Figure 6(B) is an explanatory diagram of the first storage position, Figure 6(C) is an explanatory diagram of the second storage position, and Figure 6(D) is an explanatory diagram of the third storage position. Furthermore, in this embodiment, at the start of the storage operation, crane 202 moves to a storage start position (see FIG. 6(A)) where the distance between the top end of storage bag 48 on platform 41 and the bottom of storage bag 48 is a predetermined height. When the amount of crops stored in storage bag 48 reaches a predetermined first storage volume (see FIG. 6(B)), crane 202 moves to a first storage position (an example of an intermediate position) where the distance between the top end of the first storage volume of crops and the downstream end of movable conveyor unit 61B is a predetermined height, as shown in FIG. 6(B).

[0048] In Figure 6(C), when the amount of crops contained in the storage bag 48 reaches a predetermined second capacity which is greater than the first capacity, the crane 202 moves to a second storage position (an example of an intermediate position) where the distance between the upper end of the second capacity of crops and the downstream end of the movable conveyor section 61B is a predetermined height, as shown in Figure 6(C). In Figure 6(D), when the amount of crops contained in the storage bag 48 reaches a predetermined third capacity which is greater than the second capacity, the crane 202 moves to a third storage position (an example of an intermediate position) where the distance between the upper end of the third capacity of crops and the downstream end of the movable conveyor section 61B is a predetermined height, as shown in Figure 6(D).

[0049] The third storage position is set lower than the upper limit position, and when the crane 202 moves to the third storage position, the storage bag 48 is almost completely unfolded, and the storage bag 48 can be filled with crops up to its capacity. In addition, although the embodiment has been described with an example of three (three stages) storage positions (intermediate positions), this is not limiting. Depending on the size of the storage bag 48 and the size and type of crop, it is also possible to have four or more stages of storage positions, or to have only one storage position (intermediate position) or two stages.

[0050] 7A and 7B are explanatory diagrams of the operating tools according to the embodiment, in which FIG. 7A is an explanatory diagram of the control lever, and FIG. 7B is an explanatory diagram of the digging lever. In Figure 7(A), the control lever 15 is used both as a member for operating (steering) the machine body 2 while traveling, and as a member for operating the crane 202. When the parking brake is engaged, the crane 202 can be operated (storage position, outer lowering position, lowering position on the spot), and when the parking brake is not engaged, it can be steered (straight ahead, right turn (right turn), left turn (left turn)).

[0051] Specifically, in this embodiment, the control lever 15 can be operated to one side (right side) or the other side (left side) along the left-right operation direction, and when the operator releases the control lever 15, a spring (not shown) moves the control lever 15 to a neutral position (center in the left-right direction). When the vehicle is stopped (when the parking brake is activated), the control lever 15 moves the suspension device 201 toward the lowered position while the control lever 15 is operated to the right. When the vehicle is stopped, the control lever 15 moves the suspension device 201 toward the stowed position while the control lever 15 is operated to the left. In this embodiment, the control lever 15 can also move from the stowed position toward the user, and when the control lever 15 is moved to this position, the suspension device 201 moves to a second lowered position. When the control lever 15 moves to the neutral position, the movement of the suspension device 201 stops.

[0052] 7(A), the display shows, for example, "stowed position" or "outside lowered" depending on the location to which the control lever 15 is moved, but is not limited to this. For example, a display screen may be provided along the slit through which the control lever 15 passes, and the display may be switched depending on the situation (operation mode) in such a way that "turn left," "turn right," or "go straight" is displayed when the parking brake is not applied, and "outside lowered," "stowed position," or "lower in place" is displayed when the parking brake is applied. In the embodiment, the control lever 15 is configured to return to a neutral position (straight-ahead position) by a spring or the like (not shown) when the operator releases it, but this is not limited to this, and it is also possible to configure the lever so that it does not move at the point where the operator releases it.

[0053] In Figure 7(B), the digging lever 210, which is an example of an operating tool, is a member that is operated by an operator to input an operation or stop of the harvesting device 3. When the digging lever 210 moves to the operating position, the harvesting device 3 is operated and the crop is harvested. In this embodiment, in conjunction with the operation of the harvesting device 3, power is also transmitted to each of the belt conveying devices 5 and 6, which then start operating. When the digging lever 210 moves to the stop position, the harvesting device 3 stops, and the harvesting of crops is stopped. When the harvesting device 3 stops, the transmission of power to each of the belt conveying devices 5 and 6 is also stopped in conjunction, and the operation is stopped.

[0054] (Explanation of the control unit) FIG. 8 is a functional block diagram of the control unit according to the embodiment. In the block diagram of FIG. 8, elements that are not related to the description of the embodiment of the present invention are not shown or described. The vegetable harvester 1 of the embodiment has a control unit 310 that controls each function. The control unit 310 has an input / output interface I / O that performs input and output of signals with the outside. The control unit 310 also has a read-only memory (ROM) that stores programs and information for performing necessary processing. The control unit 310 also has a random access memory (RAM) for temporarily storing necessary data. The control unit 310 also has a central processing unit (CPU) that performs processing according to programs stored in the ROM or the like. Therefore, the control unit 310 of the embodiment is configured with a small information processing device, a so-called microcomputer. Therefore, the control unit 310 can realize various functions by executing programs stored in the ROM or the like.

[0055] The control unit 310 receives signals from signal input elements such as the operating lever 15, the digging lever 210, the harvest sensor SN1, the hanging position sensor SN2 that detects the height of the hanger arm 45 of the hanging device 201, and various other sensors not shown.

[0056] In addition, the control unit 310 can control each part of the machine body 2 by sending control signals to the motor M1 that moves the mounting platform 41 as an example of a controlled element, the cylinders 206, 207 of the hanging device 201, the harvesting device 3, the belt conveying devices 5, 6, etc.

[0057] In FIG. 8, the control unit 310 according to the embodiment has the following functional means (program modules). The input discrimination means 311 of the control unit 310 discriminates inputs to the steering lever 15 and the digging lever 210. That is, for the steering lever 15, it discriminates input contents such as the neutral position (straight ahead operation or operation to move to the stowed position), the right operating position (right turning operation or operation to move to the outside lowering position), and the left operating position (left turning operation or operation to move to the on-site lowering position). Also, for the digging lever 210, it discriminates whether it is in the operating position or the stopped position.

[0058] The harvesting unit control means 312 controls the operation and stopping of the harvesting device 3 in accordance with the operation of the digging lever 210. When the digging lever 210 is operated to the working position ("ON"), the harvesting unit control means 312 operates the harvesting device 3 to harvest crops. Furthermore, when the digging lever 210 is operated to the stop position ("OFF"), the harvesting unit control means 312 stops the harvesting device 3. The platform control means (support control means) 313 controls the platform 41 in response to the operation of the control lever 15. When the control lever 15 is operated to the in-place lowering position, the platform control means 313 in this embodiment moves the platform 41 to the separated position. When the control lever 15 is operated to the storage position or the outer lowering position, the platform control means 313 moves the platform 41 to the support position.

[0059] The counting means 314 has count initialization means 314a and counts the number of harvested crops N1. In this embodiment, the counting means 314 counts the number of crops N1 that have passed the position of the harvest sensor SN1 based on the detection results of the harvest sensor SN1. In this embodiment, counting the number of crops N1 begins when the digging lever 210 is turned "on" and ends when it is turned "off." The count initialization means 314a initializes, or so-called resets, the number of crops (count value of the harvested products) N1 when the storage bag 48 is lowered into the field 200. Specifically, it sets N1 to 0. The count initialization means 314a in this embodiment determines that the storage bag 48 has been lowered into the field 200 and initializes the number of crops N1 when the operating lever 15 is operated to the right operating position or the left operating position and the suspension device 201 has completed moving to the outside lowering position or the in-place lowering position.

[0060] The storage number storage means 315 stores storage numbers Na to Nd, which are values ​​used to move the hanging device 201 upward to unfold the storage bag 48 and to determine whether the storage bag 48 is full. In this embodiment, a first storage number Na corresponding to a first storage capacity used to determine whether to move from the storage start position to the first storage position, a second storage number Nb corresponding to a second storage capacity used to determine whether to move from the first storage position to the second storage position, a third storage number Nc corresponding to a third storage capacity used to determine whether to move from the second storage position to the third storage position, and a fourth storage number Nd used to determine whether the storage bag 48 is full are stored.

[0061] The vegetable harvester 1 of this embodiment is configured so that each of the storage capacities Na to Nd can be set and changed using input buttons (input members, not shown) that can be input by a sorter seated at the sorting work seat 92. Therefore, for example, when the sorter checks the carrots to be sorted, if the carrots to be harvested are small, a larger number will be required to achieve the same storage volume compared to normal-sized carrots, so adjustments can be made by increasing the value of each of the storage capacities Na to Nd, or conversely, by decreasing the value of the storage capacities Na to Nd if the carrots are large. It is preferable for the sorter to set and change the capacity numbers Na to Nd in terms of work efficiency, but it is also possible to configure the system so that the operator does this in the cockpit 14, or to configure the system so that the operator does this using a tablet terminal or the like that is capable of wireless communication with the vegetable harvesting machine 1. When a tablet terminal is used, it is also possible to configure the system so that not only can the capacity numbers Na to Nd be changed, but also all of the vegetable harvesting machine 1 can be remotely controlled through the tablet terminal, such as operating and traveling the crane 202, and starting / stopping the harvesting device 3.

[0062] The suspension position detection means 316 detects the position of the suspension device 201 (the tip of the crane 202, the height of the hanger arm 45) based on the detection result of the suspension position sensor SN2. The suspension control means 317 has an upper limit position determination means 317a, a slack removal control means 317b, an outer lowering control means (lowering position control means) 317c, and an on-site lowering control means (lowering position control means) 317d, and controls the suspension device 201 to move the suspension device 201 to the desired position. The upper limit position determination means 317a determines, based on the detection result of the suspension position detection means 316, whether or not the crane 202 has reached the upper limit position.

[0063] Slack elimination control means 317b controls cylinders 206, 207 of crane 202 to remove slack in storage bags 48 when hanging device 201 moves to each storage position. In this embodiment, hanging control means 317 moves hanging device 201 toward an upper storage position when number of crops N1 reaches each of storage numbers Na to Nd, and slack elimination control means 317b performs slack elimination control when moving hanging device 201 toward an upper storage position. That is, in this embodiment, slack elimination control is performed based on number of crops N1.

[0064] In the slack removal control of the embodiment, when the suspension device 201 is moved from a height lower than the target storage position toward the target storage position, the suspension device 201 is raised to a height higher than the target storage position and then lowered to the target storage position. Specifically, in the configuration of the embodiment, when the suspension device 201 is moved from a lower storage start position to an upper first storage position, the target storage position is the first storage position. Similarly, when the suspension device 201 is moved from a lower first storage position to an upper second storage position, the target storage position is the second storage position, and when the suspension device 201 is moved from a lower second storage position to an upper third storage position, the target storage position is the third storage position.

[0065] The slack elimination control means 317b of the embodiment adds a predetermined slack elimination time t2 to the time t1 required to move (raise) the suspension device 201 from the original position to the target storage position, and then lowers the suspension device 201 for the slack elimination time t2. That is, the control is performed so that the time equivalent to the amount of lift of the suspension device 201 is t1+t2, and the time equivalent to the amount of lowering is t2. Therefore, in the slack elimination control of the embodiment, the amount of lift is controlled to be greater than the amount of lowering. Furthermore, when the upper limit position determination means 317a detects that the upper limit position has been reached, the slack removal control means 317b of this embodiment does not perform any further slack removal control, i.e., does not perform any lifting above the upper limit position. Therefore, the suspension device 201 is lowered for the movement time t2' from the target storage position (third storage position) to the upper limit position, thereby completing the movement to the third storage position.

[0066] When the control lever 15 is operated to the right operating position, the outside lowering control means (lowering position control means) 317c controls the cylinders 206, 207 of the suspension device 201 to move the storage bag 48 to the outside lowering position. When the operating lever 15 is operated to the left operating position, the on-site lowering control means (lowering position control means) 317d controls the cylinders 206, 207 of the hanging device 201 to move the storage bag 48 to the on-site lowering position after the loading platform 41 has completed moving to the separated position.

[0067] In the embodiment, the suspension device 201 is illustrated as moving automatically in response to an increase in the number of crops N1 and as moving in response to the operation of the control lever 15, but the present invention is not limited to this. For example, a lever for manually controlling the height of the suspension device 201 may be provided, and the suspension device 201 may be moved in response to the operation of an operator or an assistant. In this case, for example, when a lever input is made to raise the suspension device 201 while the harvesting device 3 is in operation, the suspension control means 317 may control the suspension device 201 so that, even if the lever input for raising the device is completed, the suspension device 201 is automatically lowered after being raised a predetermined amount from the end position of the lever input (= the target intermediate position). In addition, if a lever input is made to lower the hanging device 201 while the harvesting device 3 is operating, there is no need to remove slack, so the hanging control means 317 can control the hanging device 201 to stop it at the end position of the lever input without performing slack removal control.

[0068] In the embodiment, the hanging device 201 automatically performs slack removal control during harvesting, but this is not limiting. For example, a switch or lever for switching between a mode in which slack removal control is performed and a mode in which it is not performed can be provided, allowing the user to switch between performing and not performing slack removal control. Alternatively, the button for switching between performing and not performing slack removal control can be configured to respond only when the digging lever 210 is in the "on" position, or to switch only when the digging lever 210 is pressed and held for a certain period of time (e.g., 5 seconds) while the digging lever 210 is in the "on" position. This is because, when the digging lever 210 is in the "off" position, no work is being performed and the sorter has time to manually remove slack, so there is little need to switch the slack removal control. Furthermore, when the digging lever 210 is in the "off" position, the slack removal control for the storage bag 48 can be terminated even during the slack removal control.

[0069] Next, the operation of this vegetable harvester 1 will be described.

[0070] In the vegetable harvester 1, an operator in the control unit 12 drives the machine and operates each part for harvesting work, and an assistant sorter in the sorting work area 9 sorts the crops 100.

[0071] First, the vegetable harvester 1 is caused to travel forward along the ridges on which the crop 100 (carrots) to be harvested is planted in a field 200, and the harvesting device 3 is started. This starts the harvesting operation of the crop 100.

[0072] At this time, in the harvesting device 3, the lifting device 33 of the pulling-out and conveying device 31 lifts the stems and leaves of the crop 100 in the field 200 upward from a fallen state, and the rotating clamping belts 32A, 32B of the pulling-out and conveying device 31 clamp the stems and leaves of the crop 100 and convey them toward the upper rear of the machine body 2. In this way, the crop 100 is pulled out of the field 200 and then conveyed to the upper rear of the machine body 2.

[0073] Next, in the harvesting device 3, the rotating conveyor belts 35A, 35B of the stem and leaf processing device 34 take over from the clamping belts 32A, 32B to clamp the crop 100 (the stem and leaf portion thereof) and transport it horizontally toward the rear side of the machine body 2, and the rotating cutting blade 36 of the stem and leaf processing device 34 cuts between the stem and leaf portion and the root vegetable portion of the crop 100. As a result, the root vegetable portion of the crop 100 is separated from the stem and leaf portion.

[0074] At this time, the stems and leaves of the crop 100 are transported to the end of the conveyor belts 35A, 35B, and then allowed to fall naturally onto the discharge table 38, and then slid down into the field 200 via the discharge table 38. On the other hand, the root vegetable part of the crop 100 falls naturally after being cut onto the belt conveyor 51 of the first belt transport device 5, which also serves as a cleaning device in the stem and leaf processing device .

[0075] Next, the first belt conveyor 5 conveys the stems and leaves of the crop 100 that have fallen onto the first conveyor belt 56 so that they come into contact with the cleaning roller 52 located on the right side of the machine body 2. As a result, the root vegetable portion of the crop 100 is subjected to the above-mentioned cleaning processes, such as removing residual soil and leaves, by cooperation between the belt conveyor 51 and the cleaning roller 52.

[0076] Furthermore, in first belt transport device 5, belt conveyor 51 and cleaning processing roller 52 work together to transport the root vegetable portion of crop 100 to be cleaned so as to gradually guide it toward the right front of body 2. As a result, the root vegetable portion of crop 100 is moved from the transfer location on belt conveyor 51 onto second transport belt 62 on belt conveyor 61 (fixed conveyor section 61A) of second belt transport device 6 and transferred.

[0077] Next, in the second belt conveying device 6, the second conveying belt 62 conveys the crop 100 handed over from the first belt conveying device 5 from the fixed conveyor section 61A toward the movable conveyor section 61B that forms part of the sorting work area 9. In the sorting work area 9, as described above, a sorting worker seated at a sorting work seat 92 on the work floor 91 performs tasks such as selecting and manually removing any crops 100 that are deemed to be defective from among the multiple crops 100 being transported by the second conveyor belt 62 on the movable conveyor section 61B.

[0078] Furthermore, in the second belt conveying device 6, the second conveying belt 62, which rotates in the conveying direction E2 on the movable conveyor section 61B, conveys the remaining crops 100 that have passed through the sorting work area 9 to the end of the conveying path, and then sends them out to the storage device 4 at the end of the conveying path. As a result, the crops 100 sent out from the end of the conveyance of the second conveyor belt 62 are sequentially received into the receiving bag 48 set in the receiving device 4 through the opening thereof.

[0079] Figure 9 is an explanatory diagram of the operation of the embodiment, where Figure 9(A) is an explanatory diagram of the storage start position, Figure 9(B) is an explanatory diagram of the state where the suspension device has moved above the first storage position during the first slack removal control, Figure 9(C) is an explanatory diagram of the state where the suspension device has moved downward from the state of Figure 9(B) and the first slack removal control has ended, Figure 9(D) is an explanatory diagram of the state where the suspension device has moved above the second storage position during the second slack removal control, and Figure 9(E) is an explanatory diagram of the state where the suspension device has moved downward from the state of Figure 9(D) and the second slack removal control has ended. Figure 10 is an explanatory diagram continuing from Figure 9, where Figure 10(A) is an explanatory diagram of the state in which the suspension device has moved to an upper limit position above the fourth storage position during the third slack removal control, and Figure 10(B) is an explanatory diagram of the state in which the suspension device has moved downward from the state in Figure 10(A) and the third slack removal control has ended.

[0080] In the storage device 4 of this embodiment, when the storage bag 48 is a new storage bag 48 that does not contain any crops 100, the hanging device 201 moves to the storage start position as shown in FIG. 9(A). When crops 100 are stored in the storage bag 48 at the storage start position and the number N1 of crops 100 stored in the storage bag 48 reaches the first storage number Na, the hanging device 201 starts moving toward the first storage position (FIGS. 6(B) and 9(C)). At this time, the hanging device 201 passes upward through the first storage position, moves to the state shown in FIG. 9(B), and then moves to the first storage position shown in FIG. 9(C). If the storage bag 48 were to move directly from the state shown in FIG. 9(A) to the state shown in FIG. 9(C), slack would remain in the storage bag 48, and the stored crops 100 would push against the storage bag 48, potentially causing the bag to unfold incompletely or become unstable, resulting in the crops 100 spilling out. In contrast to this, in the embodiment, by first moving to the state of FIG. 9(B) where storage bag 48 is in a more expanded state than the first storage position (FIG. 9(C)), and then moving to the first storage position, slack in storage bag 48 is more easily removed, preventing storage bag 48 from being incompletely expanded and preventing crops 100 from spilling out. Furthermore, in the vegetable harvester 1 of the embodiment, slack in storage bag 48 is automatically removed, eliminating the need for workers or sorters to interrupt their work to remove slack, improving work efficiency.

[0081] As crops 100 are stored in storage bag 48 from the state shown in Figure 9(C), when storage number N1 reaches second storage number Nb, hanging device 201 moves toward the second storage position (Figures 6(C) and 9(E)). At this time, slack removal control is similarly executed, and hanging device 201 moves once above the second storage position (see Figure 9(D)), and then moves to the second storage position (see Figure 9(E)), thereby removing slack from storage bag 48. Similarly, when the number N1 of crops 100 that can be stored reaches the third number Nc, the hanging device 201 moves upward from the third storage position (see FIG. 10(A)) and then moves to the third storage position (see FIG. 10(B)). At this time, if the upper limit position is reached (see FIG. 10(A)), the hanging device 201 does not move upward from the upper limit position but moves to the third storage position. When the number N1 of crops 100 stored in the bag reaches the fourth number Nd, the bag 48 is determined to be full, and a notification is sent to the worker or sorter. The notification can be sent by any conventionally known method, such as a display on the instrument panel 16, an audio guide, or the lighting of a buzzer or lamp.

[0082] In the storage device 4, when the storage work progresses and the storage bag 48 becomes full of crops 100, the operator can stop the travel of the vegetable harvester 1 and operate the control lever 15 to move the hanging device 201 to the outside lowering position or the on-site lowering position. Then, by detaching the storage bag 48 from the hanger arm 45 at the outside lowering position or the on-site lowering position, the storage bag 48 containing the crops 100 can be removed from the vegetable harvester 1 and placed in the field. Then, by returning the hanging device 201 to the storage position and attaching a new storage bag 48, the harvesting work can be continued. The storage bag 48 containing the crops 100 placed in the field can be collected into a truck by a work vehicle such as a tractor. It is also possible to add a configuration in which, when the storage bag 48 is lowered into the field 200, the location where the storage bag 48 is lowered is automatically obtained using GPS and the user is notified.

[0083] As described above, the vegetable harvester 1 can harvest the crop 100 from the farm field 200, process the stems and leaves, clean the crop, and sort the crop, and then store the crop in the storage bag 48 of the storage device 4.

[0084] In the vegetable harvester 1 of the embodiment, the hanging device 201 operates only when the vehicle body 2 is stopped. That is, the replacement of the storage bag 48 is only possible when the vehicle body 2 is stopped. If the hanging device 201 operates while the vehicle body 2 is traveling or before it has completely stopped, the storage bag 48 will move, causing a change in the overall center of gravity of the vegetable harvester 1 and resulting in unstable behavior of the vehicle body 2. Therefore, in the worst case scenario, the vehicle body 2 may overturn, resulting in an accident in which an operator or assistant is injured. In particular, when the storage bag 48 is fully filled with crops 100, the weight may reach several hundred kilograms, making the behavior of the vehicle body 2 prone to become unstable. In contrast, in the embodiment, the hanging device 201 is configured to operate only when the vehicle body 2 is stopped, which prevents the behavior of the vehicle body 2 from becoming unstable when the hanging device 201 is moving, thereby improving the safety of the vegetable harvester 1.

[0085] Furthermore, in the vegetable harvester 1 of the embodiment, the operation of the suspension device 201 is also performed by the control lever 15, which also performs steering. Therefore, while the vehicle is traveling, operating the control lever 15 results in steering operation, and not in operation of the suspension device 201, and conversely, when the vehicle is stopped, operating the control lever 15 results in operation of the suspension device 201, and not in steering. Compared to a configuration in which a member for operating the suspension device 201 and a member for steering are provided separately, the configuration is simpler with only one operation system. Furthermore, the operation and steering of the suspension device 201 are controlled exclusively, which reduces the risk of the suspension device 201 malfunctioning while steering, for example.

[0086] Furthermore, in the vegetable harvester 1 of the embodiment, the suspension device 201 moves only while the operator's hand is touching the control lever 15, and the suspension device 201 stops when the operator releases the control lever 15 and moves it to the neutral position. Therefore, safety is improved compared to when the suspension device 201 continues to move even when the operator releases the control lever 15.

[0087] (Example of change) In the above embodiment, the configuration in which the suspension device 201 is operated by the control lever 15 is exemplified, but the present invention is not limited to this. In addition, in the embodiment, the parking brake is used to switch whether the control lever 15 is used for steering input or for input to the suspension device 201, but this is not limited to this. It is also possible to provide a dedicated switch for switching, without being limited to the parking brake. Furthermore, in the embodiment, the configuration in which the platform 41 retreats from below the storage bag 48 is exemplified, but the present invention is not limited to this. For example, the platform 41 may be configured to tilt so that the storage bag 48 slides down toward the field 200. In this case, the storage bag 48 cannot be lowered on the spot, but when the platform 41 tilts, it is possible to determine that the storage bag 48 has been lowered into the field, and initialize the count. [Explanation of symbols]

[0088] 1...vegetable harvester, 2...Traveling vehicle body, 3...Harvesting section, 15...Steering member, 16...Display member, 41...Support, 48...storage bag, 200...field, 201...hanging device, 310...control unit, SN2...Measuring element.

Claims

1. A traveling vehicle body (2), a harvesting unit (3) supported by the traveling vehicle body (2) and configured to harvest crops in a field; a hanging device (201) for hanging a storage bag (48) for storing the harvested product harvested in the harvesting section (3), the hanging device (201) being capable of moving the storage bag (48) between a lower limit position where the hanging device (201) is lowered to the lower limit, an upper limit position where the hanging device (201) is raised to the upper limit, and an intermediate position between the upper limit position and the lower limit position; a control unit (310) that controls movement of the suspension device (201), and when moving the suspension device (201) from a height lower than the intermediate position toward the intermediate position, the control unit (310) executes slack removal control to raise the suspension device to a height higher than the intermediate position and then lower the suspension device to the intermediate position; A vegetable harvester (1) comprising:

2. the control unit (310) that, when moving from a height higher than the intermediate position toward the intermediate position, moves to the intermediate position without moving to a height lower than the intermediate position; Vegetable harvester (1) according to claim 1, characterized in that it comprises

3. In the slack removal control, the lifting range of the hanging device (201) is set larger than the lowering range. Vegetable harvester (1) according to claim 1 or 2.

4. the control unit (310) not performing any further slack removal control when the hanging device (201) reaches the upper limit position; A vegetable harvester (1) according to any one of claims 1 to 3, characterized in that it comprises

5. a counting unit (314) for counting the number (N1) of harvested products contained in the storage bag (48); the control unit (310) that executes the slack removal control when the counted number of harvested products (N1) reaches a predetermined number of storages (Na to Nc); A vegetable harvester (1) according to any one of claims 1 to 4, characterized in that it comprises

6. an operating tool (210) for operating and stopping the harvesting unit (3); the counting unit (314) that starts counting the harvested products (100) when the operation of the harvesting unit (3) is started; Vegetable harvester (1) according to claim 5, characterized in that it comprises

7. The predetermined number of containers (Na to Nc) can be changed according to input by the operator. Vegetable harvester (1) according to claim 5 or 6.

8. When the storage bag (48) is lowered into the field (200), the count value (N1) of the harvested product is initialized. Vegetable harvester (1) according to any one of claims 5 to 7.

9. When the hanging device (201) moves to a lowering position where the storage bag (48) is lowered into the field (200), it is determined that the storage bag (48) has been lowered into the field (200), and the count value (N1) of the harvested product is initialized. Vegetable harvester (1) according to claim 8.

10. a support (41) that supports the bottom of the storage bag (48), the support (41) being movable between a support position that supports the bottom of the storage bag (48) and a lowering position that lowers the storage bag (48) into the field (200); Equipped with When the support (41) moves to the lowered position, it is determined that the storage bag (48) has been lowered into the field (200), and the count value (N1) of the harvested product is initialized. Vegetable harvester (1) according to claim 8 or 9.

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