JP7115041B2 - combine - Google Patents

Description

This invention relates to a combine.

Conventionally, for example, according to Patent Document 1, when loading a combine harvester onto a truck bed, the left and right traveling crawlers travel along the left and right ladder-shaped members that are spanned between the ground and the bed, A technique for detecting the relative positions of the left and right traveling crawlers and the left and right ladder-shaped members by left and right rod-shaped scanning sensors and automatically controlling the operation of the left and right traveling crawlers of a combine harvester based on the detected information is disclosed.

Japanese Patent No. 4407147

When the combine is loaded on the loading platform of the transport vehicle, the present invention controls the loading movement only when the loading platform length and loading platform width are greater than the length and width of the combine, and after reaching the loading position, the parking brake and the vehicle The purpose is to automatically perform controls such as height/lowering, mowing part lowering, and engine stop.

In order to solve the above problems, the present invention has taken the following technical means.

That is, the first aspect of the present invention comprises traveling control means (15), parking brake control means (16), vehicle height control means (17), reaping elevation control means (18), and engine stop control means (19). ), a loading assist start switch (12), a loading climbing control means (13), and a distance measuring sensor, and based on the ON operation of the loading assist start switch (12), the loading assist start switch (12) is loaded onto the loading platform of the truck. After automatically traveling and moving to the facing position, while being controlled by the loading uphill control means (13), the load stretched over the ground and the loading platform of the transportation vehicle toward the loading platform of the transportation vehicle. Only when the distance measuring sensor detects that the length and width of the cargo bed are larger than the length and width of the machine body, the vehicle climbs the slope, moves onto the cargo bed, and travels after reaching the loading position on the cargo bed. This combine is provided with automatic travel stop means (15a) for automatically stopping the
The second aspect of the present invention is the combine harvester according to the first aspect of the present invention, wherein the parking brake is automatically applied by the parking brake control means (16) after the vehicle stops running on the loading platform.
The third aspect of the present invention is the first or second aspect of the present invention, wherein the vehicle height is automatically adjusted from the raised state to the lowered state by the vehicle height control means (17) after the vehicle stops running on the loading platform. It is an invention combine.
In the fourth aspect of the present invention, the reaping portion (3) is automatically adjusted from the raised state to the lowered state by the reaping elevation control means (18) after the vehicle stops traveling on the loading platform. It is the combine of 2 or 3rd this invention.
The 5th aspect of the present invention is the combine harvester according to any one of the 1st to 4th aspects of the present invention, wherein the engine is automatically stopped after the travel on the loading platform is stopped.
A first invention related to the present invention comprises travel control means (15), parking brake control means (16), vehicle height control means (17), reaping elevation control means (18), and engine stop control. means (19), loading assist start switch (12), loading uphill control means (13), and bed loading area measuring means (14), and when the loading assist start switch (12) is turned on After automatically traveling to a position facing the loading platform of the truck, the loading board climbing control means (13) moves toward the loading platform of the truck, and the loading area measuring means ( A control means (15a) is provided for moving onto the loading platform only when the loading platform length and loading platform width are greater than the length and width of the machine body according to 14), and automatically stopping travel after reaching the loading position on the loading platform. .

A second invention related to the present invention is the first invention related to the present invention , wherein the parking brake is automatically applied by the parking brake control means (16) after the vehicle stops running on the loading platform. did.

In a third invention related to the present invention, in the first or second invention related to the present invention, the vehicle height is raised by the vehicle height control means (17) after the vehicle stops running on the loading platform. It was configured to be automatically adjusted to the lowered state.

In a fourth invention related to the present invention, in the first, second or third invention related to the present invention, the reaping part ( 3) is configured to be automatically adjusted from the raised state to the lowered state.

According to a fifth aspect of the present invention, in any one of the first to fourth aspects of the present invention , the engine is automatically stopped after the travel on the loading platform is stopped.

According to the present invention, when the loading assist start switch is turned on, the combine automatically travels to a facing position where loading can be performed on the loading platform of the transport vehicle, and the loading platform length and loading platform width are the lengths of the combine body. Loading control is started only when it is larger than the width of the vehicle, so it is easy to load onto the truck, and after reaching the platform, it automatically stops at a predetermined position to ensure safety after loading onto the truck. be able to.
According to the first invention related to the present invention, by turning on the loading assist start switch, the combine automatically travels and moves to a facing position where loading can be performed on the loading platform of the transport vehicle, and the loading platform length and loading platform Loading control is started only when the width is greater than the length and width of the machine body of the combine harvester, making it easy to load onto the truck, and once it reaches the loading platform, it automatically stops at a predetermined position and loads onto the truck. Later safety can be ensured.

According to the second invention related to the present invention, in addition to the effect of the first invention related to the present invention, the parking brake is automatically applied after the combine harvester stops at the loading position, so that the transportation work can be safely performed. can be done.

According to the third invention related to the present invention, in addition to the effects of the first or second invention related to the present invention, the vehicle height automatically lowers after the combine harvester stops at the loading position. The low center of gravity of the vehicle makes it stable and safe to transport.

According to the fourth invention related to the present invention, in addition to the effects of the first, second, or third invention related to the present invention, after the combine is stopped at the loading position, the reaping part can be lowered. , During transportation, it eliminates unintentional rolling and enables stable running of the transportation vehicle.

According to the fifth invention related to the present invention, in addition to the effect of any one of the first to fourth related inventions, the engine automatically stops after the combine is stopped at the loading position. Therefore, it is possible to save labor in the work.

Side view of a combine harvester Top view of a combine harvester Front view of a combine harvester Rear view of combine harvester flowchart flowchart Control block diagram Top view of a combine harvester with a camera Top view of combine harvester showing no-entry zone Top view of the same combine harvester Top view of a combine harvester in manual condition Control block diagram Top view of a combine harvester Side view of a combine harvester Control block diagram Control block diagram Control block diagram Flowchart (Wind control) Flowchart (Sheave adjustment) Flowchart (accelerator adjustment)

An embodiment of the present invention will be described with reference to the drawings.

FIGS. 1 to 4 show a self-threshing combine harvester that reaps and threshes stalks planted in a field while self-propelled. A reaping part 3 is provided at the rear, and a threshing part 4 is provided behind it.

A driver's seat 5 is provided on the side of the reaping part 3, an operation box 6 is provided on the front side of the driver's seat, and a grain tank 7 for temporarily storing threshed grains is provided on the rear side of the driver's seat. It is equipped with a discharge auger that discharges the grains out of the machine. Under the driver's seat 5, an engine E is mounted for driving each part of the working section.

The operation box 6 is provided with a power steering lever 8 that controls the vertical movement of the reaping unit by operation in the front-rear direction, and controls the lateral movement of the machine body by operation in the left-right direction. On the operation panel on the side of the driver's seat, there is an HST lever 9 that controls the forward and backward movement of the machine by a hydraulic continuously variable transmission (HST), and a vehicle height elevation that raises and lowers the vehicle height (moves the traveling crawler up and down with respect to the vehicle body). A switch 10 is provided.

When the combine is automatically loaded onto the platform of the transport vehicle, for example, as shown in the flow chart of FIG. It travels to the facing position, that is, moves to a position where the left and right traveling crawlers of the combine meet the left and right ayumi boards (loading boards) that are bridged between the ground and the carrier of the truck, and starts climbing. It climbs the slope while being controlled by the control means (loading climbing control means) 13 . Only when the length and width of the combine are greater than the length and width of the combine harvester as measured by the loading area measuring means 14, the load is moved, and after reaching the loading position, the travel is automatically stopped at a predetermined position. It is connected to a control device 11 through an automatic travel stopping means 15a so as to automatically stop based on the detection of the distance between the front wall of the combine and the tip of the combine. Note that the control device 11 is housed inside the operation box 6 .

Also, when the length and width of the cargo bed are smaller than the length and width of the combine (detected by, for example, a distance measurement sensor), warning or loading control is stopped. When the load is moved, the vehicle height is increased by raising, and the reaping unit is also raised to start automatic loading control.

After the load movement of the combine is stopped, the parking brake is applied by the parking brake control means 16 so that the combine does not move unnecessarily. reference).

In addition, the vehicle height after the movement of the load is stopped is configured to be controlled from the raised state to the lowered state by the vehicle height control means 17 so as to stabilize the machine body (see FIG. 6). Furthermore, even after the loading movement is stopped, the reaping portion is controlled from the raised state to the lowered state by the reaping elevation control means 18, that is, the reaping vertical sensor, thereby stabilizing the machine body (see FIG. 6).

After completion of parking brake control, vehicle height control, and reaping/lifting control after the load movement of the combine is stopped, the engine E is automatically stopped by the engine automatic stop means 19, that is, the engine sensor OFF operation. (See Figure 6).

Next, the embodiments shown in FIGS. 8 to 12 will be described. As shown in FIG. 8, the combine is provided with a left side camera 20L, a right side camera 20R, a front camera 20F, and a rear camera 20B. During work, if a person (worker other than the driver) is detected in the no-entry area P (see FIG. 9) beyond the intrusion detection area K, it is a dangerous area, and the mowing speed is prohibited. It has been dealt with by prohibiting the turning of the aircraft, stopping harvesting and threshing, and stopping the engine in an emergency.

In addition, when a person is detected in the no-entry zone P, an alarm is issued regardless of whether the vehicle is inside or outside the vehicle.

In FIG. 12, each camera 20 is connected to the input side of a controller 22 via an image analysis device 21 .

On the input side of the controller 22, there are provided a vehicle speed sensor 23, a turning operation lever sensor 24 by the power steering lever 8, a main transmission lever sensor 25 by the HST lever 9, and a working machine lever sensor 26 by the mower clutch lever.

On the output side of the controller 22, an engine stop function 28 by the engine ECU 27, a warning display function 30 on the monitor 29, a horn 31 sounding function 32, a forward/backward HST 33 speed up inhibition function 34, and a turning side clutch valve 35 turning. A prohibition function 36 and a travel stop function 38 by a parking brake 37 are provided.

The area (range) of the no-entry zone where people are detected by each camera changes according to the moving speed of the combine harvester, as shown in FIG. That is, when the moving speed is low, the range becomes narrow like the no-entry zone P1, and as the moving speed becomes faster, the range becomes wider like the no-entry zone P2.

In addition, as shown in Fig. 11, during the manual handling work of threshing the culms of the culm harvested, the threshing part (including the working machine such as the straw cutter) 4 is driven only and the running is stopped, so entry is prohibited. Zone P3 is a much narrower range than the range of no-entry zone P during reaping work. If a person is detected within this zone, a warning whistle is emitted with a horn, or the drive of the threshing section is stopped (threshing clutch lever) or emergency stop of the engine.

13 and 14, a main gear shift lever position sensor 40, an auxiliary gear shift lever position sensor 41, a vehicle speed sensor 42, an accelerator position sensor 43, an engine rotation sensor 44, an engine load sensor 45, a feed chain mode position sensor 46, a cutting lever Position sensor 47, mowing height position sensor 48, adjusting chain layer thickness load sensor 49, raising shift position sensor 50, grain culm sensor 51, threshing depth position sensor 52, mowing and removing transfer section clogging sensor 53, feed chain layer A thickness sensor 54, a rocking shelf layer thickness sensor 55, a straw layer thickness sensor 56, a rolling/pitching position sensor 57, an aircraft attitude angle sensor 58, a liquid crystal monitor 59, and the like are provided. Information from each sensor is displayed on the liquid crystal monitor 59 via the controller 61 (see FIGS. 15 and 16).

In the examples of FIGS. 15, 16, 17, and 18, a combine harvester equipped with a layer thickness sensor 55 on the swinging sorting shelf, and a liquid crystal monitor 59 and a winnow adjustment lever 60 in the operation box in front of the driver's seat starts reaping work. After a certain period of time or a certain distance has passed from the standpoint, the optimal position of the winnow is displayed on the liquid crystal monitor 59 by raising and lowering the winnow adjustment lever according to the layer thickness of the sorted products on the shelf. According to this, even in a low-priced machine with lever-type adjustment of the winnow, the optimal position of the winnow can be displayed on the liquid crystal monitor, thereby achieving performance equivalent to that of automatic control.

In a combine harvester equipped with a layer thickness sensor 55 on the swinging sorting shelf, and a liquid crystal monitor 59 and a sheave adjustment lever on the operation box, when a certain period of time or a certain distance has passed since the start of reaping work, the layer thickness sensor 55 detects and processes. It is constructed such that the optimum position of the sorting sieve is displayed on the liquid crystal monitor 59 by raising and lowering the sheave adjusting lever according to the layer thickness of the material (see FIGS. 17 and 19). According to this, even if the sheave adjustment is of the lever type, by displaying the optimum position of the sheave on the liquid crystal monitor, performance equivalent to that of automatic control can be exhibited.

In a combine harvester equipped with an engine tachometer (engine rotation sensor 44, engine load sensor 45), a liquid crystal monitor 59, and an accelerator control lever (accelerator position sensor 43) in the operation box, the liquid crystal monitor indicates the optimum position of the accelerator according to the engine rotation. (see FIGS. 17 and 20), it is possible to exhibit performance equivalent to that of automatic control.

E engine 1 body (combine)
3 Reaping Unit 11 Control Device 12 Loading Assist Start Switch 13 Ayumi Uphill Control Means (Loading Board Uphill Control Means)
REFERENCE SIGNS LIST 14 Loading platform area measuring means 15a Automatic travel stopping means 16 Parking brake control means 17 Vehicle height control means 18 Harvesting lifting control means 19 Engine automatic stopping means

Claims (5)

Travel control means (15), parking brake control means (16), vehicle height control means (17), reaping elevation control means (18), engine stop control means (19), loading assist start switch (12) ), a loading climbing control means (13), and a distance measuring sensor , and when the loading assistance start switch (12) is turned ON, the vehicle automatically travels and moves to a position facing the loading platform of the truck. After that, while being controlled by the loading slope control means (13), it climbs the loading board that spans the ground and the loading platform of the transportation vehicle toward the loading platform of the transportation vehicle. Automatic travel stop means for moving onto the cargo bed only when the measurement sensor detects that the cargo bed length and the cargo bed width are greater than the length and width of the fuselage, and automatically stopping travel after reaching the loading position on the cargo bed. A combine provided with (15a). 2. The combine according to claim 1, wherein the parking brake is automatically applied by the parking brake control means (16) after the running of the combine on the loading platform is stopped. 3. A combine harvester according to claim 1 or 2, wherein the vehicle height is automatically adjusted from a raised state to a lowered state by the vehicle height control means (17) after the vehicle stops running on the loading platform. Claim 1, Claim 2 or Claim 3, wherein the reaping part (3) is automatically adjusted from the raised state to the lowered state by the reaping elevation control means (18) after the traveling on the loading platform is stopped. The combine as described. The combine according to any one of claims 1 to 4, wherein the engine is automatically stopped after the running of the combine is stopped on the loading platform.

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