JP7329018B2 - combine - Google Patents

Description

The present invention relates to a combine having a receiver for receiving radio waves from positioning satellites.

In Patent Document 1, an antenna unit including a GPS antenna and a line communication antenna is arranged on the upper part of the fuselage, and a communication unit including the GPS module and the line communication module is connected to the antenna unit by a cable. Arrangement within a box is disclosed.

JP 2015-20674 A

In the configuration described in Patent Document 1, the antenna unit and the communication unit are arranged separately, thereby improving the arrangement of the antenna section with respect to the airframe. However, by arranging these two units separately, installation conditions such as routing of the cable for connection between the antenna unit and the communication unit, restrictions on the space in the electrical box, and restrictions on the installation space of the communication unit. must be cleared. As a result, there is a problem that installation becomes difficult depending on the airframe.

SUMMARY OF THE INVENTION An object of the present invention is to provide a combine harvester capable of improving positioning accuracy by reducing the correction amount of position information caused by installation conditions of a receiving unit.

A combine according to an aspect of the present invention includes a steering section, a harvesting section for harvesting culms, a threshing section for threshing grains from the culms, a storage section for storing grains after threshing, and a position measuring section. and a receiving unit that receives the radio waves of The receiving section is arranged in the front part of the manipulating section.

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

A side view of a combine. Top view of the combine. The figure which shows a positioning unit. The figure which shows the attachment structure of a positioning unit. The figure which shows another embodiment of the attachment position of a positioning unit. The side view which shows another embodiment of a combine. The top 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. FIG. 1 is a side view of the combine 1. FIG. FIG. 2 is a plan view of the combine 1. FIG. FIG. 3 is a diagram showing the positioning unit 100. As shown in FIG. FIG. 4 is a diagram showing attachment of the positioning unit 100 to the combine harvester 1. As shown in FIG.

The combine 1 includes a traveling section 2 , a reaping section 3 , a threshing section 4 , a sorting section 5 , a storage section 6 , a waste straw processing section 7 , a power section 8 , and a control section 9 . The combine 1 threshes the culms harvested by the reaping unit 3 in the threshing unit 4 while traveling by the traveling unit 2 , sorts the grains in the sorting unit 5 , and stores them in the storage unit 6 . Moreover, the waste straw after threshing is processed by the waste straw processing unit 7 . The power unit 8 supplies power to the traveling unit 2, the reaping unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the waste straw 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 body frame 20 and a transmission (not shown). The transmission shifts the power of the engine 81 of the power section 8 (hereinafter referred to as “rotational power”) and transmits it to the crawler type travel device 21 .

The reaping unit 3 is provided in front of the running unit 2 . The harvesting unit 3 includes a divider 31 , a lifting device 32 , a cutting device 33 and a conveying device 34 . The divider 31 guides the culm of the field to the raising device 32 . The raising device 32 raises the culm guided by the divider 31 . The cutting device 33 cuts the culms raised by the raising device 32 . The conveying device 34 conveys the culms cut by the cutting device 33 to the threshing section 4 .

The threshing part 4 is provided behind the reaping part 3 . The threshing section 4 includes a feed chain 41 and a threshing cylinder 42 . The feed chain 41 receives the grain culm from the conveying device 34 and conveys it to the waste straw processing section 7 . The threshing cylinder 42 threats the culms being conveyed by the feed chain 41 .

The sorting section 5 is provided below the threshing section 4 . The sorting unit 5 includes a swing sorting device 51, an air sorting device 52, and a grain conveying device and a straw waste discharging device (not shown). The swing sorting device 51 sorts the threshed grains dropped from the threshing unit 4 into grains, straw scraps, and the like. The wind sorting device 52 further sorts the threshed grains sorted by the rocking sorting device 51 into grains, straw scraps, and the like. The grain conveying device conveys the grains sorted by the swing sorting device 51 and the wind sorting device 52 to the storage section 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 reservoir 6 includes a grain tank 61 and a discharge auger 62 . The grain tank 61 stores grains transported from the sorting section 5 . The discharge auger 62 can discharge the grains stored in the grain tank 61 to an arbitrary location. Further, an auger rest 63 is provided on the machine body to support the middle portion of the discharge auger 62 when the discharge auger 62 is housed.

The straw processing unit 7 is provided behind the threshing unit 4 . The waste straw processing unit 7 includes a waste straw conveying device and a waste straw cutting device (not shown). The straw conveying device takes over the culms from the feed chain 41 and conveys them to the straw cutting device. The straw cutting device cuts and discharges the culms conveyed by the straw conveying device.

The control section 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 steering wheel 93 and the like. The cabin 91 incorporates various operating tools such as a driver's seat 92 and a steering wheel 93 . A driver's seat 92 is a seat on which an operator sits, and is arranged in 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 harvester 1 . The operator operates the combine 1 by appropriately operating each operation tool including the handle 93 . With such a configuration, the operator can operate the combine harvester 1 while seated on the driver's seat 92 .

The positioning 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 has the driver's seat 92 therein. In other words, the positioning unit 100 is arranged on the side of the driver's seat 92 on the center side of the aircraft. By attaching the positioning unit 100 to the left side of the roof 94, there is no effect on the light distribution of the headlights and work lights arranged in front of the cabin 91, and the field of view from inside the cabin 91 is not affected. I have nothing to give. Thereby, the visibility of the operator sitting in the driver's seat 92 can be ensured.

Further, a space is formed on the left side of the cabin 91 between it and the discharge auger 62 in the housed state, and the positioning unit 100 is arranged using the space. When performing the discharge operation by the discharge auger 62, the right rear of the machine body is rotated from the storage position to the left side of the machine body or upward. By arranging the positioning unit 100 in the above space, interference with the discharge auger 62 can be prevented.

By arranging the positioning unit 100 as described above, it is possible to arrange it on the center of the tread of the combine harvester 1 . As a result, the position correction amount (positioning error) due to the installation conditions of the positioning unit 100 can be reduced, and the positioning accuracy can be improved. In addition, the positioning unit 100 can be arranged at a high position as described above, and the space above can be made empty, and the positioning error can be reduced.

The positioning unit 100 is for receiving radio waves from positioning satellites and measuring the position of the combine harvester 1 . The positioning unit 100 includes a receiving device 101, an inertial navigation device 102, a wireless communication device 103, and a case 104 that integrally houses them.

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

The inertial navigation system 102 measures 3-axis gyro and acceleration in 3 directions to calculate attitude and orientation data. Inertial navigation device 102 also calculates position data based on the signal transmitted from receiving device 101 . In other words, the inertial navigation device 102 functions as a computing unit that calculates position data based on the position information from the receiving device 101 . Furthermore, in this embodiment, the inertial navigation system 102 is equipped with the GNSS receiver 105 to improve the reliability of the attitude and heading data obtained by the inertial navigation system 102 .

Since the positioning unit 100 is equipped with the inertial navigation system 102, even in situations where radio waves from the positioning satellite cannot be received due to bad weather, radio wave interference, etc., the movement speed and speed can be determined based on acceleration in three directions detected by the inertial navigation system 102. It is also possible to use inertial navigation that calculates the distance traveled and performs positioning.

The wireless communication device 103 transmits the position data and attitude/direction data calculated by the inertial navigation device 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 portable terminal possessed by an operator, an ECU of the combine harvester 1, or the like, and is used to confirm the position in the field and the orientation of the combine harvester 1 (inclination to the front, back, left, and right, etc.). , is utilized for the operation of the combine 1.

As described above, the positioning unit 100 of this embodiment integrally accommodates the receiving device 101 as the receiving unit, the inertial navigation device 102 as the computing unit, and the wireless communication device 103 as the communication unit in the case 104. are doing. In other words, the case 104 contains all the units required for positioning. By configuring in this way, the attachment of the positioning unit 100 to the airframe can be improved. In addition, when the positioning unit 100 is applied to a different model, it can be mounted simply by attaching the case 104 as appropriate, realizing high versatility.

In addition, as described above, positioning the positioning unit 100 on the center of the tread of the combine harvester 1 can improve the accuracy when acquiring the position information and attitude/direction information of the combine harvester 1 during travel. In other words, since the receiving device 101 and the inertial navigation device 102 do not need to be corrected in the body width direction, it is possible to use reliable data and reduce the calculation load at the time of calculation.

In this embodiment, the inertial navigation system 102 is used as a calculation unit for calculating position data. An arithmetic device having the function may be provided separately, or the function may be provided to the receiving device 101 . In addition, the inertial navigation system 102 is provided in order to realize high-precision positioning by combining attitude and direction data with position data. If the use of the position data by the receiving device 101 is sufficient, the inertial navigation device 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 longitudinal direction of the combine harvester 1 . In the case 104, the receiving device 101, the inertial navigation device 102, and the wireless communication device 103 are arranged in this order from the front on the fixed plate 106 at predetermined intervals. By arranging the receiving device 101 for receiving signals from positioning satellites in the forefront of the case 104 in this way, the receiving device 101 is arranged in the front part of the combine harvester 1 (that is, on the traveling direction side), and the positioning accuracy is improved. can be improved.

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

The support frame 107 is a member that extends in the longitudinal direction of the fuselage and is fixed to the left side wall 95 of the cabin 91 . The support frame 107 is formed longer than the longitudinal length of the case 104, its front end is fixed to the front part of the left side wall 95 of the cabin 91 via the front stay 108, and its rear end is fixed to the left side via the rear stay 109. It is fixed to the rear of wall 95 . The rear end of the support frame 107 is bent toward the left side wall 95 in the middle so as not to come into contact with the discharge auger 62 and extends away from the discharge auger 62 in the housed state. Thus, the case 104 is fixed to the roof 94 of the cabin 91 by the support frame 107 as a rigid body.

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 harvester that performs work. It can be used for actual control. For example, position data can be used to determine whether an autonomous combine harvester is traveling along a route. can be confirmed. Also, by receiving data transmission from the wireless communication device 103 included in the positioning unit 100, the operator can send real-time instructions to the autonomous combine harvester.

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

In the above embodiment, a combine harvester with a cabin has been described as an example, but the positioning unit 100 can also be arranged with the same idea in a floor-type combine harvester 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 center side of the aircraft. The floor-type combine 110 is provided with a support frame 112 for installing the positioning unit 100 on the left side of the driver's seat 111 . The support frame 112 is erected on the side column on the left side 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 combine harvester 110 of the floor type as well as the combine harvester 1 having the cabin 91 . In other words, the positioning unit 100 of this embodiment has high versatility for different models. Further, by disposing the positioning unit 100 in the space provided between the discharge auger 113 in the retracted state and the driver's seat 111, contact between the positioning unit 100 and the discharge auger 113 can be prevented.

<Additional remarks of the invention>
The present invention comprises a cabin, a harvesting unit for harvesting culms, a threshing unit for threshing grains from the culms, a storage unit for storing grains after threshing, and a receiving unit for receiving radio waves from positioning satellites. , wherein the receiving section is supported by a support member fixed to the cabin and provided at a central portion in the left-right direction of the fuselage.

A cabin, a harvesting unit for harvesting culms, a threshing unit for threshing grains from the culms, a storage unit for storing grains after threshing, a pair of left and right travel devices, and a receiver for receiving radio waves from positioning satellites. , wherein the receiving section 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 lateral direction of the machine body. located in a central position.

A combine harvester comprising a cabin, a harvesting section for harvesting culms, a threshing section for threshing grains from the culms, a storage section for storing grains after threshing, and a receiving section for receiving radio waves from positioning satellites. The receiving section is supported by a support member fixed to the cabin, and is provided at a center position of the reaping section in the left-right direction of the fuselage.

A combine harvester comprising a harvesting section for harvesting culms, a threshing section for threshing grains from the culms, a storage section for storing grains after threshing, and a receiving section for receiving radio waves from positioning satellites. The reaping part has a triggering device for raising the culms, and at least part of the receiving part is provided above the triggering device so as to overlap the triggering device in a plan view.

A combine harvester comprising a harvesting section for harvesting culms, a threshing section for threshing grains from the culms, a storage section for storing grains after threshing, and a receiving section for receiving radio waves from positioning satellites. The reaping unit has a cutting device for cutting culms, and at least part of the receiving unit is provided at the same position as the cutting device in the longitudinal direction of the machine body.

A harvesting unit for harvesting culms, a threshing unit for threshing grains from the culms, a storage unit for storing grains after threshing, a pair of left and right traveling devices, a receiving unit for receiving radio waves from positioning satellites, , wherein at least a portion of the receiving section is provided at the same position as the front end portion of the traveling device in the longitudinal direction of the machine body.

Further, the storage unit includes a grain tank that stores grain and a discharge auger that discharges the grain stored in the grain tank, and at least a part of the receiving unit is connected to the discharge auger in a stored state. is also located at a higher position.

1: Combine, 62: Discharge auger, 91: Cabin, 92: Driver's seat, 94: Roof, 100: Positioning unit, 101: Receiving device (receiving unit), 102: Inertial navigation unit (computing unit), 103: Wireless communication Device (communication unit), 104: case

Claims (7)

A control section, a reaping section for reaping culms, a threshing section for threshing grains from the culms, a storage section for storing grains after threshing, and a receiving section for receiving radio waves for position measurement. prepared,
The receiving unit is arranged at a position forward of the center of the control unit in the longitudinal direction of the aircraft and laterally of the control unit toward the center of the aircraft ,
A combine harvester in which at least part of the receiving section is provided outside the operating section in a plan view. A control section, a reaping section for reaping culms, a threshing section for threshing grains from the culms, a storage section for storing grains after threshing, and a receiving section for receiving radio waves for position measurement. prepared,
The receiving unit is arranged at a position forward of the center of the control unit in the longitudinal direction of the fuselage,
The control unit is arranged on one side in the left-right direction of the fuselage,
The combine harvester, wherein the receiving section is arranged on the other side of the center of the control section in the lateral direction of the machine body and on the side of the control section . A control section, a reaping section for reaping culms, a threshing section for threshing grains from the culms, a storage section for storing grains after threshing, and a receiving section for receiving radio waves for position measurement. prepared,
The receiving unit is arranged at a position forward of the center of the control unit in the longitudinal direction of the fuselage,
A combine harvester in which at least part of the receiving section overlaps the reaping section in a plan view. A control section, a reaping section for reaping culms, a threshing section for threshing grains from the culms, a storage section for storing grains after threshing, and a receiving section for receiving radio waves for position measurement. prepared,
The receiving unit is arranged at a position forward of the center of the control unit in the longitudinal direction of the fuselage,
A combine harvester in which at least part of the receiving section is provided at the same position as the front end portion of the traveling device in the longitudinal direction of the machine body. The combine according to claim 2, wherein the receiving section is supported by a member that is located on the other side of the center of the control section in the lateral direction of the machine body, among the members that constitute the control section. The harvesting unit has a raising device for raising the culm and a cutting device for cutting the culm,
The combine according to any one of claims 1 to 5, wherein at least part of the receiving section is provided at the same position as at least one of the pulling device and the cutting device in the longitudinal direction of the machine body. The combine according to any one of claims 1 to 6, wherein the receiving section is provided at a central portion in the left-right direction of the machine body.

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