combine

Abstract

To provide a combine harvester in which grains in a grain tank can be obtained even at a remote location.SOLUTION: Provided is a combine harvester 1 having a grain tank 4 for storing harvested grains, including an arrival / departure part 20, which is located above the grain tank 4, and from and on which the unmanned flying vehicle 120 can depart and land, and a grain transfer unit 40 that can transfer grains in the grain tank 4 to the unmanned flying vehicle 120. The grain transfer unit 40 includes for example, a temporary storage section 41 provided at the top of the grain tank 4 to temporarily store grains supplied into the grain tank 4, and a suction port 42 for allowing the unmanned flying vehicle 120 that lands on the arrival / departure part 20 to suck up the grains in the temporary storage section 41.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a combine harvester that allows access to grain stored in a grain tank even in a remote location. [Background technology]

[0002] Combine harvesters equipped with a means for checking the quality of harvested grain are known. For example, the combine harvester described in Patent Document 1 has a maintenance inspection hatch (an inward-opening door) on the side wall of the grain tank, through which grain inside the grain tank can be removed. The combine harvester described in Patent Document 2 has a grain removal opening at the bottom of the grain tank, through which grain inside the grain tank can be removed. The combine harvester described in Patent Document 3 has a grain sampling device and a quality measuring device inside the grain tank, so that the quality of the grain can be checked without removing the grain from the grain tank. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6861107 [Patent Document 2] Japanese Patent Application Publication No. 01-105434 [Patent Document 3] Japanese Patent Application Publication No. 2019-195297 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with the combine harvesters described in Patent Documents 1 and 2, not only is it difficult to remove grains unless the grains are piled up near the inspection hatch or grain outlet, but if the height of the grain pile reaches the inspection hatch or grain outlet, there is a risk of the grains spilling out when the inspection hatch or grain outlet is opened. Furthermore, with the combine harvester described in Patent Document 3, there is a risk that the measurement accuracy will be reduced due to the inclusion of straw dust, due to the characteristics of the quality measurement device. Furthermore, because the harvested grains cannot be directly touched or seen, it is difficult to check their texture, appearance, size, hardness, etc. [Means for solving the problem]

[0005] The present invention was created in consideration of the above-mentioned current situation and with the aim of solving these problems.The invention of claim 1 is a combine harvester equipped with a grain tank for storing harvested grain, characterized in that it is equipped with a takeoff and landing section provided on the top of the grain tank from which an unmanned aerial vehicle can take off and land, and a grain transfer section capable of transferring grain in the grain tank to the unmanned aerial vehicle. The invention of claim 2 is a combine harvester as described in claim 1, characterized in that the grain transfer section is provided on the top of the grain tank and is equipped with a temporary storage section for temporarily storing grain supplied into the grain tank, and a suction port that enables the unmanned aerial vehicle that has landed on the takeoff and landing section to suck up the grain in the temporary storage section. The invention of claim 3 is a combine harvester as described in claim 1, wherein the grain transfer section is detachably attached to the top of the grain tank, and is equipped with a temporary storage section for temporarily storing grain supplied into the grain tank, and a connecting section for connecting the unmanned aerial vehicle that has landed at the takeoff and landing section to the temporary storage section, and is characterized in that the unmanned aerial vehicle is allowed to take off when the temporary storage section is connected. Furthermore, the invention of claim 4 is a combine harvester as described in claim 2 or 3, characterized in that the temporary storage section is provided with a grain intake port, and a portion of the grain supplied into the grain tank is stored in the temporary storage section through the grain intake port. The invention of claim 5 is the combine harvester according to claim 2 or 3, characterized in that the grain transfer unit includes a transfer unit that transfers a portion of the grains accumulated in the grain tank to the temporary storage unit. 。 Ma and claims 6 The invention is a combine harvester as described in claim 1, wherein the grain transfer unit comprises a temporary storage unit that temporarily stores grain supplied into the grain tank, a moving unit that moves the temporary storage unit from the bottom to the top of the grain tank, and a connecting unit that connects the unmanned aerial vehicle that has landed at the takeoff and landing unit to the temporary storage unit, and is characterized in that the unmanned aerial vehicle is allowed to take off when the temporary storage unit is connected. [Effects of the Invention]

[0006] According to the invention of claim 1, it becomes possible to use an unmanned aerial vehicle to obtain grain from a grain tank even in a remote location. In addition, according to the invention of claim 2, a temporary storage section for temporarily storing grain is provided at the top of the grain tank, and the grain in the temporary storage section can be sucked up by the unmanned aerial vehicle through a suction port, making it easy to transfer grain from the grain tank to the unmanned aerial vehicle. Furthermore, according to the invention of claim 3, the temporary storage section is made detachable and the unmanned aerial vehicle is allowed to take off with the temporary storage section connected, so that grain can be transferred from the grain tank to the unmanned aerial vehicle without providing a suction means on the unmanned aerial vehicle side. Furthermore, according to the invention of claim 4, the temporary storage section is provided with a grain intake port, and a portion of the grain supplied into the grain tank is stored in the temporary storage section through the grain intake port, thereby simplifying the configuration for storing grain in the temporary storage section. According to the invention of claim 5, a transfer section is provided that transfers some of the grains accumulated in the grain tank to the temporary storage section, so that the grains can be reliably stored in the temporary storage section. 。 Ma and claims 6According to this invention, the temporary storage section is moved from the bottom to the top of the grain tank, and then the unmanned aerial vehicle and the temporary storage section are connected, thereby ensuring reliable transfer of grain from the grain tank to the unmanned aerial vehicle. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. [Figure 2] FIG. [Figure 3] FIG. [Figure 4] FIG. 1 is a diagram illustrating the configuration of a grain air transport system. [Figure 5] This is a diagram of the main parts of a combine and an unmanned aerial vehicle showing the first embodiment, where (a) is a diagram showing the state before the unmanned aerial vehicle lands, and (b) is a diagram showing the state after the unmanned aerial vehicle has landed. [Figure 6] FIG. 2 is a block diagram showing the control configuration of the grain air transport system. [Figure 7] These are diagrams of the main parts of a combine and an unmanned aerial vehicle showing the second embodiment, where (a) is a diagram showing the state before the unmanned aerial vehicle lands, (b) is a diagram showing the state after the unmanned aerial vehicle has landed, and (c) is a diagram showing the state after the unmanned aerial vehicle has taken off. [Figure 8] 10A and 10B are diagrams showing the main parts of a combine harvester and an unmanned aerial vehicle according to a third embodiment, where (a) shows the state before the unmanned aerial vehicle lands, and (b) shows the state after the unmanned aerial vehicle has landed. [Figure 9] These are diagrams of the main parts of a combine and an unmanned aerial vehicle showing the fourth embodiment, where (a) is a diagram showing the state in which grains are being sucked up into a temporary storage section, (b) is a diagram showing the state before the unmanned aerial vehicle lands, (c) is a diagram showing the state after the unmanned aerial vehicle has landed, and (d) is a diagram showing the state after the unmanned aerial vehicle has taken off. [Figure 10] 10A and 10B are diagrams showing the main parts of a combine harvester and an unmanned aerial vehicle according to the fifth embodiment, in which (a) shows the state in which the temporary storage section is being moved to the top of the tank, (b) shows the state before the unmanned aerial vehicle lands, (c) shows the state after the unmanned aerial vehicle has landed, and (d) shows the state after the unmanned aerial vehicle has taken off. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In Figures 1 to 3, a combine harvester 1 includes a harvesting unit 2 that harvests stalks, a threshing unit 3 that threshes and sorts grains from the harvested stalks, a grain tank 4 that stores the sorted grains, an auger 5 that transports the grains in the grain tank 4 to the outside of the machine, a post-processing unit 6 that processes the threshed stalks, a driving unit 7 on which an operator rides, and a crawler-type traveling unit 1a.

[0009] The threshing section 3 comprises a threshing feed chain 8 that supplies the stalks and culms cut by the cutting section 2 to the threshing section 3, a straw discharge chain 9 that receives the threshed stalks from the threshing feed chain 8 and supplies them to the post-processing section 6, a handling chamber (not shown) that threshes grains from the stalks and culms transported by the threshing feed chain 8, a sorting chamber (not shown) that sorts the processed material leaking from the handling chamber into first and second grains and discharges dust such as straw chips outside the machine, a grain lifting and conveying device 10 that lifts and conveys the first grains and deposits them into the grain tank 4, and a second return device (not shown) that returns the second grains upstream of the sorting chamber or to the handling chamber.

[0010] The combine harvester 1 of this embodiment has an automatic travel function, enabling unmanned harvesting without an operator on board. In such unmanned harvesting operations, when checking the quality of the harvested grain at the beginning of work, conventionally, the harvesting work must be interrupted and the work manager must go to the combine harvester 1 and remove the grain from the grain tank 4. However, in this embodiment, by configuring a grain air transport system 100 as shown in Figure 4, an unmanned aerial vehicle 120 such as a drone can be used to easily obtain the grain in the grain tank 4 even from a location far from the combine harvester 1.

[0011] The grain air transport system 100 shown in Figure 4 includes a combine harvester 1, an unmanned aerial vehicle 120, and a mobile terminal 140 such as a smartphone used by a work manager. For example, in the case of a first embodiment described below, when a movement command is sent from the mobile terminal 140 to the unmanned aerial vehicle 120, the unmanned aerial vehicle 120 automatically flies from a base (not shown) to the combine harvester 1 by autopilot and lands on the grain tank 4 of the combine harvester 1. When an extraction command is sent from the mobile terminal 140 to the unmanned aerial vehicle 120 in this state, the unmanned aerial vehicle 120 sucks up the grain inside the grain tank 4. Thereafter, when a return command is sent from the mobile terminal 140 to the unmanned aerial vehicle 120, the unmanned aerial vehicle 120 automatically takes off from above the grain tank 4 of the combine harvester 1 by autopilot, automatically flies to the base, and lands at the base.

[0012] This makes it possible to easily obtain the grain in the grain tank 4 even in a location far from the combine harvester 1. Below, the configurations of the combine harvester 1, unmanned aerial vehicle 120, and mobile terminal 140 that realize this grain air transport system 100 will be described with reference to Figures 5 and 6.

[0013] As shown in Figure 5, the combine harvester 1 is provided with a take-off and landing section 20 that is provided above the grain tank 4 and from which the unmanned aerial vehicle 120 can take off and land, and a grain transfer section 40 that can transfer grain in the grain tank 4 to the unmanned aerial vehicle 120. The grain transfer section 40 of the first embodiment is provided above the grain tank 4 and is provided with a temporary storage section 41 that temporarily stores grain supplied from the grain lifting and conveying device 10 into the grain tank 4, and a suction port 42 that enables the unmanned aerial vehicle 120 that has landed on the take-off and landing section 20 to suck up the grain in the temporary storage section 41 via a suction pipe 121.

[0014] More specifically, as shown in Figure 5, the temporary storage section 41 of this embodiment has a box shape suspended from the ceiling of the grain tank 4, with a grain intake port 43 formed on one side opposite the grain inlet 10a of the lifting and conveying device 10 and a suction port 42 opening on the top. With this type of temporary storage section 41, some of the grains supplied from the lifting and conveying device 10 into the grain tank 4 are stored in the temporary storage section 41 through the grain intake port 43, so the configuration for storing grains in the temporary storage section 41 can be simplified.

[0015] Furthermore, the temporary storage section 41 of this embodiment is provided with a partition plate 44 that hangs down from the ceiling and separates the suction port 42 and the grain intake port 43. Such a partition plate 44 can prevent grains that are dropped into the temporary storage section 41 from the grain lifting and conveying device 10 from directly hitting the suction pipe 121 of the unmanned aerial vehicle 120.

[0016] Furthermore, the temporary storage section 41 of this embodiment is equipped with a shutter 45 that can open and close the bottom section, and a motor 46 that opens and closes the shutter 45. Such a shutter 45 allows the grains temporarily stored in the temporary storage section 41 to be returned to the grain tank 4 at any time. Furthermore, when there is no need to transfer grains to the unmanned aerial vehicle 120, the temporary storage of grains in the temporary storage section 41 can be stopped by keeping the shutter 45 in an open state.

[0017] As shown in Figure 6, the combine harvester 1 is equipped with a control unit 11 consisting of a CPU, ROM, RAM, I / O, etc. The control unit 11 can communicate wirelessly with the unmanned aerial vehicle 120 and a mobile terminal 140 via a communication unit 12. The input side of the control unit 11 is connected to a GPS 13 that detects the position of the combine harvester 1, an IMU 14 that detects the body attitude of the combine harvester 1, a yield sensor 15 that detects the harvesting status, and a landing detection sensor 16 that detects the landing of the unmanned aerial vehicle 120, while the output side is connected to the motor 46 mentioned above as well as a display unit 17 that can notify the approach of the unmanned aerial vehicle 120, etc.

[0018] When the control unit 11 receives a movement command from the mobile terminal 140, it transmits the position information of the combine 1 to the unmanned aerial vehicle 120 as needed, and also receives the position information of the unmanned aerial vehicle 120 as needed. The control unit 11 also closes the shutter 45 to temporarily store the grains in the temporary storage unit 41.

[0019] The control unit 11 transmits a landing confirmation signal when the landing detection sensor 16 detects the landing of the unmanned aerial vehicle 120. In addition, when the landing detection sensor 16 detects the takeoff of the unmanned aerial vehicle 120, the control unit 11 transmits a takeoff confirmation signal and opens the shutter 45 to return the grains in the temporary storage unit 41 to the grain tank 4.

[0020] The unmanned aerial vehicle 120 is equipped with a control unit 122 that is composed of a CPU, ROM, RAM, I / O, etc. The control unit 122 is capable of wirelessly communicating with the combine harvester 1 and the mobile terminal 140 via a communication unit 123. The input side of the control unit 122 is connected to a GPS 124 that detects the position of the unmanned aerial vehicle 120, an IMU 125 that detects the attitude of the unmanned aerial vehicle 120, an altimeter 126 that detects the altitude of the unmanned aerial vehicle 120, and a grain sensor S that detects the amount of grain transferred from the grain tank 4, while the output side is connected to a motor 128 that rotates a propeller 127 and a pump 129 that sucks up grain in the temporary storage unit 41 via a suction pipe 121.

[0021] When the control unit 122 receives a movement command from the mobile terminal 140, it receives the position information of the combine 1 from the unmanned aerial vehicle 120 at any time, transmits the position information of the unmanned aerial vehicle 120 at any time, and flies the unmanned aerial vehicle 120 from the base to the combine 1 and lands it on the grain tank 4 of the combine 1 (takeoff and landing unit 20).

[0022] When the control unit 122 receives an extraction command from the mobile terminal 140, it causes the unmanned aerial vehicle 120 to suck up the grains in the temporary storage unit 41 based on the operation of the pump 129, and when the amount of sucked up grains reaches a predetermined amount, it stops the operation of the pump 129 and sends a suction completion confirmation signal. After that, when the control unit 122 receives a return command from the mobile terminal 140, it causes the unmanned aerial vehicle 120 to take off from above the grain tank 4 of the combine 1, fly to the base, and then land at the base.

[0023] The mobile terminal 140 includes a communication unit 141 capable of wirelessly communicating with the combine harvester 1 and the unmanned aerial vehicle 120. The mobile terminal 140 also includes a movement command means 142, an extraction command means 143, a return command means 144, and a status display means 145 as functional components realized by the cooperation of hardware and software (dedicated apps).

[0024] The movement command means 142 transmits movement commands to the combine 1 and the unmanned aerial vehicle 120 in response to a movement command operation by the user. The extraction command means 143 transmits an extraction command to the unmanned aerial vehicle 120 in response to a user's extraction command operation. However, if a landing confirmation signal is not received from the combine 1, the extraction command operation by the user is restricted. The return command means 144 transmits a return command to the unmanned aerial vehicle 120 in response to a user's return command operation. The status display means 145 displays on the mobile terminal 140 the status of the unmanned aerial vehicle 120 (in movement flight, landing status, grain extraction in progress, extraction completed, in return flight, current flight position, etc.) and the status of the combine 1 (current running position, yield information, etc.) in response to a user's status display operation.

[0025] According to this embodiment configured as described above, the combine harvester 1 is equipped with a grain tank 4 for storing harvested grain, and is equipped with a takeoff and landing section 20 located on the top of the grain tank 4 from which an unmanned aerial vehicle 120 can take off and land, and a grain transfer section 40 that can transfer the grain in the grain tank 4 to the unmanned aerial vehicle 120, making it possible to use the unmanned aerial vehicle 120 to obtain the grain in the grain tank 4 even from a remote location.

[0026] In addition, the grain transfer section 40 is provided on top of the grain tank 4 and is equipped with a temporary storage section 41 that temporarily stores grain supplied into the grain tank 4, and a suction port 42 that enables the unmanned aerial vehicle 120 that has landed on the takeoff and landing section 20 to suck up the grain in the temporary storage section 41, making it easy to transfer grain from the grain tank 4 to the unmanned aerial vehicle 120.

[0027] In addition, the temporary storage section 41 is equipped with a grain intake port 43, and a portion of the grains supplied to the grain tank 4 are stored in the temporary storage section 41 through the grain intake port 43, thereby simplifying the configuration for storing grains in the temporary storage section 41.

[0028] Next, another embodiment of the present invention will be described with reference to Figures 7 to 10. However, only the differences from the first embodiment will be described, and the same reference numerals as in the first embodiment will be used for the components common to the first embodiment, and the description of the first embodiment may be used.

[0029] As shown in Figure 7, the second embodiment differs from the first embodiment in that the temporary storage section 41B of the grain transfer section 40B is detachable from the grain tank 4B, and in that it is provided with a connecting section 47 that connects the unmanned aerial vehicle 120B that has landed on the takeoff and landing section 20B to the temporary storage section 41B. In the second embodiment, the unmanned aerial vehicle 120B is allowed to take off with the temporary storage section 41B connected, thereby eliminating the need for a grain suction means on the unmanned aerial vehicle 120B side.

[0030] More specifically, the grain tank 4B of the second embodiment has an opening 48 in the ceiling portion for inserting and removing the temporary storage section 41B, and the opening 48 can be opened and closed by a shutter 49.

[0031] The temporary storage section 41B has a grain intake port 43 equivalent to that of the first embodiment, a storage section main body 50 that can be inserted into the grain tank 4 from above through the opening 48, and a flange portion 50a that extends outward from the upper end of the storage section main body 49 and abuts against the upper surface of the grain tank 4B to prevent the storage section main body 49 from falling.

[0032] The connecting portion 47 is provided, for example, on the temporary storage portion 41B side and the unmanned air vehicle 120B side, and is composed of hooks 47a, 47b that can be engaged with and disengaged from each other, but may also be composed of an electromagnet.

[0033] According to this second embodiment, after temporarily storing the grains in the temporary storage section 41B (see (a) of Figure 7), the unmanned aerial vehicle 120B that has landed at the takeoff and landing section 20B is simply connected to the temporary storage section 41B (see (b) of Figure 7), which completes the transfer of the grains from the grain tank 4B to the unmanned aerial vehicle 120B, allowing the unmanned aerial vehicle 120B to take off quickly (see (c) of Figure 7).

[0034] As shown in Figure 8, the third embodiment differs from the first embodiment in that the unmanned aerial vehicle 120C is equipped with a container 130 capable of storing grains, the grain transfer unit 4C is equipped with a container inlet 51 that allows the container 130 to enter the grain tank 4C, and some of the grain supplied to the grain tank 4C is stored in the container 130. According to the third embodiment, it is not necessary to provide temporary storage units 41, 41B on the grain tank 4C side or to provide a grain suction means on the unmanned aerial vehicle 120C side.

[0035] More specifically, the grain tank 4C of the third embodiment has a container inlet 51 in the ceiling portion for inserting the container 130, and the container inlet 51 can be opened and closed by a shutter 52.

[0036] When the container 130 enters the grain tank 4C through the container inlet 51, it has a grain intake port 130a on one side thereof that faces the grain inlet 10a of the grain lifting and conveying device 10. This allows the container 130 to store some of the grains supplied from the grain lifting and conveying device 10 into the grain tank 4C through the grain intake port 130a.

[0037] According to the third embodiment, when the unmanned aerial vehicle 120C lands on the takeoff and landing section 20C above the grain tank 4C, the shutter 52 is opened to open the container entrance 51 (see (a) of Figure 8), and the container 130 of the unmanned aerial vehicle 120C enters the grain tank 4C through the container entrance 51 ((b) of Figure 8). If harvesting operations are continued in this state, some of the grain supplied from the grain lifting and conveying device 10 to the grain tank 4C is stored in the container 130 through the grain intake port 130a. Once a sufficient amount of grain has been stored in the container 130 (a predetermined time has elapsed after landing), the unmanned aerial vehicle 120C takes off and returns to the base.

[0038] 9, the fourth embodiment is similar to the second embodiment in that the temporary storage section 41D of the grain transfer section 40D is detachable from the grain tank 4D and is provided with a connecting section 47 that connects the unmanned aerial vehicle 120D that has landed on the takeoff and landing section 20D to the temporary storage section 41D, but differs from the second embodiment in that it is provided with a transfer section that transfers some of the grains accumulated in the grain tank 4D to the temporary storage section 41D. According to the fourth embodiment, the grains can be reliably stored in the temporary storage section 41D.

[0039] The transfer unit is, for example, a suction device 53 incorporated in the temporary storage unit 41D, and sucks up some of the grains accumulated in the grain tank 4D to the temporary storage unit 41D via a suction tube 53a. The suction device 53 also has a function of winding up and unwinding the suction tube 53a.

[0040] According to the fourth embodiment, after some of the grains accumulated in the grain tank 4D are sucked up to the temporary storage section 41D via the suction tube 53a (see (a) of Figure 9), the suction tube 53a is rolled up (see (b) of Figure 9). After that, the unmanned aerial vehicle 120D that has landed on the takeoff and landing section 20D is simply connected to the temporary storage section 41D (see (c) of Figure 9), which completes the transfer of grains from the grain tank 4D to the unmanned aerial vehicle 120D, allowing the unmanned aerial vehicle 120D to take off quickly (see (d) of Figure 9).

[0041] 10, the fifth embodiment is similar to the second and fourth embodiments in that the temporary storage section 41E of the grain transfer section 40E is detachable from the grain tank 4E and is provided with a connecting section 47 that connects the temporary storage section 41E to the unmanned aerial vehicle 120E that has landed on the takeoff and landing section 20E, but differs from the second and fourth embodiments in that the temporary storage section 41E temporarily stores grains in the lower part of the grain tank 4E and is provided with a moving section that moves the temporary storage section 41E from the bottom to the top of the grain tank 4E. Even in this fifth embodiment, grain can be reliably stored in the temporary storage section 41E.

[0042] The moving part is, for example, a hoisting device 54 that suspends the temporary storage part 41E via a wire 54a, and when the temporary storage part 41E is pulled up from the bottom to the top of the grain tank 4E by the wire hoisting action, the hoisting device 54 and the temporary storage part 41E become integrated.

[0043] According to the fifth embodiment, the temporary storage section 41E is positioned below the grain tank 4E, and after some of the grain supplied to the grain tank 4E is stored in the temporary storage section 41E (see (a) of Figure 10), the temporary storage section 41E is pulled up by the hoisting device 54 and integrated with the hoisting device 54 (see (b) of Figure 10). After that, the unmanned aerial vehicle 120E that has landed on the takeoff and landing section 20E is simply connected to the temporary storage section 41E (see (c) of Figure 10), which completes the transfer of grain from the grain tank 4E to the unmanned aerial vehicle 120E, allowing the unmanned aerial vehicle 120E to take off quickly (see (d) of Figure 10). [Explanation of symbols]

[0044] 1. Combine 4, 4B~4E Grain Tank 10 Grain lifting and conveying device 11 Control section 12 Communications Department 13. GPS 14 IMU 15 Yield sensor 16 Landing detection sensor 17 Display 20, 20B~20E Departure and Arrival Area 40, 40B~40E Grain transfer section 41, 41B-41E Temporary storage section 42 Suction nozzle 43 Grain intake 47 Connecting part 51 Container entrance 53 Suction device 54 Hoisting device 120, 120B~120E Unmanned Aerial Vehicle 122 Control Unit 123 Communications Department 124 GPS 125 IMU 126 Altimeter 127 Propeller 128 motor 129 Pump 130 Container 130a Grain intake 140 mobile devices 141 Communications Department 142 Movement command means 143 Extraction command means 144 Return Command Means 145 Status Display Means

Claims

1. A combine harvester equipped with a grain tank for storing harvested grain, A takeoff and landing section provided on the upper part of the grain tank, from which an unmanned aerial vehicle can take off and land; A combine harvester characterized by comprising a grain transfer unit capable of transferring grain in the grain tank to the unmanned aerial vehicle.

2. The grain transfer unit is A temporary storage section provided at an upper portion of the grain tank for temporarily storing grains supplied into the grain tank; The combine harvester according to claim 1, characterized in that the unmanned aerial vehicle that has landed on the takeoff and landing section is provided with a suction port that can suck up grains from the temporary storage section.

3. The grain transfer unit is a temporary storage section that is detachably provided on the upper part of the grain tank and that temporarily stores grains to be supplied into the grain tank; a connecting section that connects the unmanned aerial vehicle that has landed at the takeoff and landing section to the temporary storage section, The combine harvester according to claim 1, wherein the unmanned aerial vehicle is allowed to take off with the temporary storage section connected.

4. The combine harvester according to claim 2 or 3, characterized in that the temporary storage section has a grain intake port, and a portion of the grain supplied into the grain tank is stored in the temporary storage section through the grain intake port.

5. The combine harvester according to claim 2 or 3, wherein the grain transfer section includes a transfer section that transfers a portion of the grains accumulated in the grain tank to the temporary storage section.

6. The grain transfer unit is A temporary storage section that temporarily stores grains supplied into the grain tank; A moving unit that moves the temporary storage unit from the bottom to the top of the grain tank; a connecting section that connects the unmanned aerial vehicle that has landed at the takeoff and landing section to the temporary storage section, The combine harvester according to claim 1, wherein the unmanned aerial vehicle is allowed to take off with the temporary storage section connected.

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