JP6929984B2 - combine - Google Patents

Description

The present invention relates to a combine including a receiving unit that receives radio waves from a positioning satellite.

In Patent Document 1, while an antenna unit including a GPS antenna and a line communication antenna is arranged on the upper part of the machine body, a communication unit including a GPS module and a line communication module is connected to the antenna unit by a cable, and then electrical equipment is installed together with an ECU or the like. The configuration to be placed in the box is disclosed.

Japanese Unexamined Patent Publication No. 2015-20674

In the configuration described in Patent Document 1, the antenna unit and the communication unit are arranged separately to improve the arrangement of the antenna portion with respect to the airframe. However, by arranging these two units separately, the installation conditions such as the routing of the cable for connecting the antenna unit and the communication unit, the space limitation in the electrical box, and the installation space limitation of the communication unit. Need to be cleared. This causes a problem that it becomes difficult to install depending on the airframe.

An object of the present invention is to provide a combine capable of improving positioning accuracy by reducing the amount of correction of position information due to the installation conditions of the receiving unit.

The present invention includes a cabin, a harvesting section for cutting grain culms, a threshing section for threshing grains from the grain culms, a storage section for storing grains after the threshing process, and a receiving section for receiving radio waves from a positioning satellite. The receiving unit is supported by a support member fixed to the cabin and is provided at the central portion in the left-right direction of the machine body.

A cabin, a harvester that cuts the culm, a threshing section that threshes the grain from the culm, a storage section that stores the grain after the threshing process, a pair of left and right traveling devices, and reception that receives radio waves from the positioning satellite. The receiving unit is supported by a support member fixed to the cabin, and is located between the traveling device on the left side and the traveling device on the right side in the left-right direction of the aircraft. It is provided at the center position.

A combine equipped with a cabin, a harvesting section for cutting grain culms, a threshing section for threshing grains from the grain culms, a storage section for storing grains after threshing, and a receiving section for receiving radio waves from positioning satellites. The receiving portion is supported by a support member fixed to the cabin and is provided at the center position of the cutting portion in the left-right direction of the machine body.

The cutting unit has a raising device that causes a grain culm, and is provided above the raising device in a state where at least a part of the receiving unit overlaps the raising device in a plan view.

The cutting unit has a cutting device for cutting the grain culm, and at least a part of the receiving unit is provided at the same position as the cutting device in the front-rear direction of the machine body.

At least a part of the receiving unit is provided at the same position as the front end portion of the traveling device in the front-rear direction of the machine body.

Further, the storage unit includes a grain tank for storing grains and a discharge auger for discharging the grains stored in the grain tank, and at least a part of the receiving unit is from the discharge auger in the stored state. Is also installed at a high position.

According to the present invention, the amount of correction of position information due to the installation conditions of the receiving unit can be reduced, so that the positioning error can be reduced and the positioning accuracy can be improved.

Side view of the combine. Top view of the combine. The figure which shows the measuring unit. The figure which shows the mounting structure of a measuring unit. The figure which shows another embodiment of the mounting position of a measuring unit. A side view showing another embodiment of the combine. The plan view which shows another embodiment of a combine.

A combine in which a positioning unit is installed will be described with reference to FIGS. 1 to 4. FIG. 1 is a side view of the combine 1. FIG. 2 is a plan view of the combine 1. FIG. 3 is a diagram showing a positioning unit 100. FIG. 4 is a diagram showing the attachment of the positioning unit 100 to the combine 1.

The combine 1 includes a traveling unit 2, a cutting unit 3, a threshing unit 4, a sorting unit 5, a storage unit 6, a straw disposal unit 7, a power unit 8, and a control unit 9. While traveling by the traveling unit 2, the combine 1 threshs the culms cut by the cutting unit 3 in the threshing unit 4, selects the grains in the sorting unit 5, and stores them in the storage unit 6. Further, the straw discharged after threshing is processed by the straw waste processing unit 7. The power unit 8 supplies power to the traveling unit 2, the cutting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw waste processing unit 7.

The traveling unit 2 includes a pair of left and right traveling devices (hereinafter referred to as “crawler type traveling devices”) 21 provided below the machine frame 20, and a transmission (not shown). The transmission shifts the power of the engine 81 of the power unit 8 (hereinafter referred to as "rotational power") and transmits it to the crawler type traveling device 21.

The cutting unit 3 is provided in front of the traveling unit 2. The cutting unit 3 includes a divider 31, a raising device 32, a cutting device 33, and a transport device 34. The divider 31 guides the grain culm in the field to the raising device 32. The raising device 32 causes the culm guided by the divider 31. The cutting device 33 cuts the culm caused by the raising device 32. The transport device 34 transports the grain culms cut by the cutting device 33 to the threshing section 4.

The threshing section 4 is provided behind the cutting section 3. The threshing unit 4 includes a feed chain 41 and a handling cylinder 42. The feed chain 41 inherits the grain culm from the transport device 34 and transports it to the straw disposal unit 7. The handling cylinder 42 threshes the culm carried by the feed chain 41.

The sorting unit 5 is provided below the threshing unit 4. The sorting unit 5 includes a swing sorting device 51, a wind sorting device 52, a grain transporting device (not shown), and a straw waste discharging device. The rocking sorting device 51 sorts the threshed grains that have fallen from the threshing section 4 into grains and straw waste. The wind sorting device 52 further sorts the threshing sorted by the rocking sorting device 51 into grains and straw waste. The grain transporting device transports the grains sorted by the rocking sorting device 51 and the wind sorting device 52 to the storage unit 6. The straw waste discharging device discharges the straw waste sorted by the swing sorting device 51 and the wind sorting device 52.

The storage section 6 is provided on the right side of the threshing section 4. The storage unit 6 includes a grain tank 61 and a discharge auger 62. The grain tank 61 stores the grains transported from the sorting unit 5. The discharge auger 62 can discharge the grains stored in the grain tank 61 to any place. Further, when the discharge auger 62 is stored, an auger rest 63 that supports the middle portion thereof is provided on the machine body.

The straw waste processing unit 7 is provided behind the threshing unit 4. The straw discharge processing unit 7 includes a straw discharge transport device and a straw discharge cutting device (not shown). The straw-removing transport device inherits the culm from the feed chain 41 and transports it to the straw-discharging device. The straw cutting device cuts and discharges the culm transported by the straw transporting device.

The control unit 9 is provided on the right side of the fuselage. The control unit 9 includes a cabin 91, a driver's seat 92, and operating tools such as a handle 93. The cabin 91 is equipped with various operating tools such as a driver's seat 92 and a handle 93. The driver's seat 92 is a seat on which the operator sits, and is arranged at the center of the control unit 9 in the left-right direction. The handle 93 is a steering handle that changes the traveling direction of the combine 1. The operator operates the combine 1 by appropriately operating each operating tool including the handle 93. With such a configuration, the operator can operate the combine 1 while seated in the driver's seat 92.

The measuring unit 100 is attached to the left side of the roof 94 of the cabin 91. As described above, the cabin 91 is provided on the right side of the fuselage, and the driver's seat 92 is provided inside the cabin 91. That is, the measurement unit 100 is arranged on the side of the driver's seat 92 on the center side of the machine body. By attaching the measurement unit 100 to the left side of the roof 94, the light distribution of the headlights and work lights arranged in front of the cabin 91 is not affected, and the field of view from inside the cabin 91 is affected. Never give. As a result, the visibility of the operator sitting in the driver's seat 92 can be ensured.

Further, on the left side of the cabin 91, a space is formed between the cabin 91 and the discharged auger 62 in the stored state, and the measurement unit 100 is arranged by utilizing the space. When the discharge work is performed by the discharge auger 62, the machine is rotated to the left or upward from the storage position with the right rear of the machine as a rotation fulcrum. By arranging the measurement unit 100 in the above space, it is possible to prevent interference with the discharge auger 62.

Then, by arranging the measurement unit 100 as described above, it is possible to arrange the measurement unit 100 on the tread center of the combine 1. As a result, the amount of position correction (positioning error) caused by the installation conditions of the measurement unit 100 can be reduced, and the positioning accuracy can be improved. Further, the measurement unit 100 can be arranged at a high position as described above to provide an empty space above, and the positioning error can be reduced.

The measuring unit 100 receives radio waves from the positioning satellite and measures the position of the combine 1. The positioning unit 100 includes a receiving device 101, an inertial navigation system 102, a wireless communication device 103, and a case 104 that integrally accommodates them.

The receiving device 101 receives radio waves from the positioning satellite, converts the received radio waves into signals, and transmits the received radio waves to the inertial navigation system 102. Examples of the receiving device 101 include a GNSS receiver that receives radio waves from a group of GNSS satellites, a GPS receiver that receives radio waves from GPS satellites, and the like.

The inertial navigation system 102 measures the three-axis gyro and the acceleration in the three directions, and calculates the attitude / direction data. Further, the inertial navigation system 102 calculates the position data based on the signal transmitted from the receiving device 101. That is, the inertial navigation system 102 functions as a calculation unit that calculates position data based on the position information from the receiving device 101. Further, in the present embodiment, the reliability of the attitude / orientation data by the inertial navigation system 102 is improved by mounting the GNSS receiver 105 on the inertial navigation system 102.

Since the positioning unit 100 is provided with the inertial navigation system 102, even in a situation where it is not possible to receive radio waves from the positioning satellite due to bad weather, radio wave interference, etc., the movement speed and the movement speed are based on the accelerations in the three directions detected by the inertial navigation system 102. It is also possible to use inertial navigation that calculates the distance traveled and positions the vehicle.

The wireless communication device 103 transmits the position data and the attitude / direction data calculated by the inertial navigation system 102 to the outside by wireless communication. The wireless communication device 103 is, for example, a data communication device using wireless LAN or mobile communication. The data transmitted from the wireless communication device 103 is received by, for example, a mobile terminal owned by the operator, an ECU of the combine 1, etc., and confirms the position in the field, the posture of the combine 1 (tilt back and forth, left and right, etc.), etc. , Used for the operation of combine 1.

As described above, the positioning unit 100 of the present embodiment integrally houses the receiving device 101 as a receiving unit, the inertial navigation system 102 as a calculation unit, and the wireless communication device 103 as a communication unit in the case 104. doing. That is, in the case 104, all the configurations necessary for positioning are unitized and stored. With such a configuration, the mountability of the positioning unit 100 to the airframe can be improved. Further, when the positioning unit 100 is applied to a different model, it can be mounted by simply attaching the case 104 as appropriate, and high versatility is realized.

Further, as described above, by arranging the positioning unit 100 on the tread center of the combine 1, it is possible to improve the accuracy when acquiring the position information and the attitude / direction information of the combine 1 during traveling. That is, since it is not necessary to correct the receiving device 101 and the inertial navigation system 102 in the width direction of the airframe, reliable data can be used and the calculation load at the time of calculation can be reduced.

In the present embodiment, the inertial navigation system 102 is used as the calculation unit for calculating the position data, but the function as the calculation unit for calculating the position data from the position information received by the reception device 101 serving as the reception unit is used. The arithmetic unit having the arithmetic unit may be provided separately, or the receiving apparatus 101 may have the function thereof. Further, although the inertial navigation system 102 is provided in order to realize highly accurate positioning by combining the attitude / orientation data with the position data, when communicating with a reference station having known position information at the time of positioning, etc. If the use of the position data by the receiving device 101 is sufficient, the inertial navigation system 102 may be omitted and the receiving device 101 itself may have a function as a calculation unit as described above, or a separate calculation device may be provided.

The case 104 has a shape extending in the front-rear direction of the combine 1. In the case 104, the receiving device 101, the inertial navigation system 102, and the wireless communication device 103 are arranged on the fixed plate 106 in this order at predetermined intervals from the front. In this way, by arranging the receiving device 101 that receives the signal from the positioning satellite in front of the case 104, the receiving device 101 is arranged in the front part (that is, the traveling direction side) of the combine 1, and the positioning accuracy Can be improved.

The fixing plate 106 of the case 104 is supported by the support frame 107. After the fixing plate 106 is attached to the support frame 107 and fixed, the inside of the case 104 is sealed by covering the housing portion.

The support frame 107 is a member extending in the front-rear direction of the machine body, and is fixed to the left side wall 95 of the cabin 91. The support frame 107 is formed longer than the front-rear length of the case 104, its front end is fixed to the front portion of the left side wall 95 of the cabin 91 via the front stay 108, and the rear end is left side via the rear stay 109. It is fixed to the rear of the wall 95. The rear end portion of the support frame 107 is bent toward the left side wall 95 in the middle portion so as not to come into contact with the discharge auger 62, and extends away from the discharged auger 62 in the stored state. In this way, the case 104 is fixed to the roof 94 of the cabin 91 as a rigid body by the support frame 107.

The positioning data (position data and attitude / direction data) acquired by the positioning unit 100 configured as described above determines a route in advance, autonomously travels on the route, and operates an autonomous combine that performs work. It can be used for control. For example, the position data can be used to determine whether or not the autonomous combine is traveling along the route, and the attitude and orientation data can be used to recognize the inclination of the autonomous combine to determine the traveling state and the field state. You can check. Further, when the operator receives the data transmission from the wireless communication device 103 included in the positioning unit 100, it is possible to send a real-time instruction to the autonomous combine.

As shown in FIG. 5, the positioning unit 100 can be arranged not only on the left side of the roof 94 but also in the front, rear or rear of the roof 94 along the body width direction. In this case as well, by considering the distance deviated from the tread center of the combine 1, it is possible to realize positioning with sufficient accuracy while taking advantage of the high installability of the positioning unit 100. It is also possible to embed the positioning unit 100 in the roof 94 and install it.

In the above embodiment, the combine with a cabin has been described as an example, but the positioning unit 100 can be arranged with the same idea for the floor type combine 110 as shown in FIGS. 6 and 7. ..

That is, the positioning unit 100 is arranged on the side of the driver's seat 111 on the side of the center of the machine. In the floor type combine 110, a support frame 112 for installing the positioning unit 100 is provided on the left side of the driver's seat 111. The support frame 112 is erected on the left side column of the driver's seat 111. Further, the support frame 112 is provided on the tread center of the combine 110, and the positioning unit 100 is also arranged on the tread center.

As described above, the positioning unit 100 can be easily attached to the floor-type combine 110 as well as the combine 1 provided with the cabin 91. That is, the positioning unit 100 of this embodiment has high versatility for different models. Further, by arranging the positioning unit 100 in the space provided between the discharge auger 113 in the stored state and the driver's seat 111, contact between the positioning unit 100 and the discharge auger 113 can be prevented.

1: Combine, 62: Emission auger, 91: Cabin, 92: Driver's seat, 94: Roof, 100: Positioning unit, 101: Receiver (receiver), 102: Inertial navigation system (calculation), 103: Wireless communication Device (communication unit), 104: Case

Claims (7)

A combine equipped with a cabin, a harvesting section for cutting grain culms, a threshing section for threshing grains from the grain culms, a storage section for storing grains after threshing, and a receiving section for receiving radio waves from positioning satellites. And
The combine is supported by a support member fixed to the cabin and is provided at a central portion in the left-right direction of the machine body. The cabin, the harvester that cuts the grain, the threshing section that threshes the grain from the grain, the storage section that stores the grain after the threshing process, the pair of left and right traveling devices, and the reception that receives radio waves from the positioning satellite. It is a combine with a part and
The receiving unit is supported by a support member fixed to the cabin, and is provided at a central position between the traveling device on the left side and the traveling device on the right side in the left-right direction of the aircraft. Combine to do. A combine equipped with a cabin, a harvesting section for cutting grain culms, a threshing section for threshing grains from the grain culms, a storage section for storing grains after threshing, and a receiving section for receiving radio waves from positioning satellites. And
The combine is supported by a support member fixed to the cabin and is provided at the center position of the cutting portion in the left-right direction of the machine body. The cutting section has a raising device that causes a grain culm.
The combine according to any one of claims 1 to 3 , wherein at least a part of the receiving unit is provided above the raising device in a state where it overlaps with the raising device in a plan view. .. The cutting section has a cutting device for cutting the grain culm.
The combine according to any one of claims 1 to 4 , wherein at least a part of the receiving unit is provided at the same position as the cutting device in the front-rear direction of the machine body. The combine according to any one of claims 1 to 5 , wherein at least a part of the receiving unit is provided at the same position as the front end portion of the traveling device in the front-rear direction of the machine body. The storage unit includes a grain tank for storing grains and a discharge auger for discharging grains stored in the grain tank.
The combine according to any one of claims 1 to 6, wherein at least a part of the receiving unit is provided at a position higher than the discharge auger in the stored state.

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