JP7460082B2 - harvester - Google Patents

Description

The present invention relates to a harvester equipped with a crane that collects harvested agricultural products into a storage container and discharges the storage container.

As disclosed in Patent Document 1, a harvester harvests crops (farm products) and stores (collects) the harvested crops in a storage container such as a storage bag. When harvesting crops in a field, the harvester stores the harvested crops in a storage container as it harvests the crops, and when the storage container is full of harvested crops, it discharges the storage container into the field and stores the harvested crops in another storage container. The harvester is equipped with a crane, and an operator operates the crane to discharge the storage container. Specifically, the operator operates the crane to lift the storage container and move it away from the machine body, and then lowers the storage container onto the field to discharge it.

Japanese Patent Application Publication No. 9-323738

However, the task of operating a crane to unload a storage container requires delicate crane operation, and it is difficult for an inexperienced operator to unload the storage container properly.

The harvested crops are stored in the storage container, and the container must be lowered slowly onto the field so as not to damage the stored crops when it is unloaded. In order to slowly lower the storage container onto the field, even more delicate crane operation is required, and the crane itself must have sufficient spare power to allow for sufficient adjustment of the descent speed.

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, it is an object of the present invention to easily and accurately discharge a storage container.

In order to achieve the above object, a harvester in one embodiment of the present invention includes a transport unit that harvests and transports agricultural products in a field, a collection unit that collects the harvested agricultural products into a storage container, a crane that has a holding unit that holds the storage container and discharges the storage container into the field, an actuator that drives the crane, a discharge assist start switch that starts a discharge assist function of the storage container, and a crane control unit that controls the operation of the actuator to raise and lower the holding unit and to move the holding unit laterally away from the machine body or toward the machine body, and when the discharge assist start switch is operated, the crane control unit controls the actuator to laterally move the holding unit away from the machine body and then raise the holding unit, and then lower the holding unit, as the discharge assist function.

With this configuration, when discharging a storage container, the crane can perform predetermined operations to assist in discharging the storage container into the field, and even an inexperienced operator can easily remove the storage container. Ejection work can be performed easily and accurately.

Furthermore, in the ejection assist function, the holding part may be lowered before moving the holding part laterally.

If the length of the holding part that connects the crane and the storage container is too short, the crane may be pulled by the storage container and the crane may not be able to operate properly. Furthermore, if the height from the field to the crane is inappropriate, the storage container may not be properly lowered into the field when it is discharged. With the above configuration, it is possible to prevent the holding part from being sagging and hindering the operation of the crane, and to adjust the storage container so that it properly lands on the field as the holding part descends. Can be done.

Furthermore, the holding portion is provided in an end region of the crane in a direction away from the machine body in such a manner that the held storage container can swing about the end region, and it is preferable that when the holding portion is moved laterally in a direction away from the machine body and then raised, the storage container swings away from the field.

With this configuration, when the storage container descends toward the field while swinging (shaking motion), the operator can easily assist the movement of the storage container so that the storage container lands at an appropriate position in the field. This makes it easier and more accurate to discharge the storage container.

The crane control unit may further include a discharge assist enable/disable switch that can be set to enable or disable the operation of the discharge assist start switch, and execute the discharge assist function when the discharge assist start switch is operated while the discharge assist enable/disable switch is set to the enabled state.

With this configuration, the crane does not start operating just by operating the ejection assist start switch, and prevents the crane from starting unexpectedly due to erroneous operation of the ejection assist start switch. Ru.

Further, in the ejection assist function, the crane control section moves the holding section laterally in a direction away from the aircraft body for a predetermined first time, raises the holding section for a predetermined second time, and then raises the holding section for a predetermined second time. The crane may be lowered for the second period.

By controlling the operation of the crane by the operation time of the crane, the operation of the crane can be precisely controlled, and the work of discharging the storage container can be performed more easily and with higher precision.

Further, the vehicle may further include a lifting time adjustment switch for setting the second time.

The timing at which the storage container lands on the field differs depending on the size of the storage container, the length of the holding part, etc. According to the above configuration, since the time for raising and lowering the holding part can be adjusted, the operating time and lifting distance of the crane can be adjusted depending on the size of the storage container and the length of the holding part so that the storage container properly lands on the field. , can be adjusted according to field conditions, etc.

It is also preferable that the vehicle further includes an engine that drives the actuator, and the engine speed is fixed at a predetermined speed while the discharge assist function is being executed.

The actuator is driven by an engine, and the amount of actuator movement and, depending on this, the amount of movement of the holding part are determined by the engine speed and the operation time of the crane. Therefore, by fixing the engine speed, it is easy to determine the operation time of the crane to operate the crane the planned amount of movement. As a result, the operation of the crane can be easily controlled, and the operation of discharging the storage container can be performed more easily and accurately.

The holding part may be provided on the arm part of the crane, and the actuator may include a lifting cylinder that raises and lowers the holding part, and an extension cylinder that extends and retracts the arm part in a direction away from and toward the machine body so as to move the holding part laterally.

This configuration makes it easy to control the operation of the crane and the movement of the storage container, making it easier and more accurate to unload the storage container.

The holding part is provided on the arm part of the crane, and the actuator includes a lifting cylinder that raises and lowers the holding part, and a telescopic cylinder that extends and retracts the arm part in a direction away from and toward the machine body so as to move the holding part laterally. In the discharge assist function, the crane control part may extend the telescopic cylinder a predetermined first distance to move the holding part laterally away from the machine body, and then extend the lifting cylinder a predetermined second distance to raise the holding part, and then retract the lifting cylinder a predetermined second distance to lower the holding part.

With this configuration, the movement of the crane and the movement of the storage container are not controlled by the operating time of the crane, but can be directly controlled by the operating amount of the actuators, which are the lifting cylinder and the telescopic cylinder. The operation of the storage container can be more easily controlled, and the operation of discharging the storage container can be performed more easily and accurately.

In addition, the crane control unit may be configured not to execute the discharge assist function under at least one of the following conditions: when an abnormality occurs in the machine; when the engine that drives the actuator is stopped; when a main shift lever for shifting the main shift device that changes the speed of the driving force transmitted from the engine is not operated to a neutral position; when the machine is not stopped; when the agricultural product is being recovered; and when the machine is not level with respect to the field .

The discharge assist function may not be executed properly depending on the condition of the machine. Therefore, it is appropriate to execute the discharge assist function only when certain conditions are met, and not to execute the discharge assist function when the certain conditions are not met. This prevents the discharge assist function from being executed in a state where it cannot be executed properly, making it easier and more accurate to discharge the storage container.

It is a left side view showing a carrot harvester. FIG. 2 is a right side view showing the carrot harvesting machine. FIG. FIG. 2 is a rear view showing the carrot harvester. FIG. 4 is a diagram illustrating a functional block that executes a discharge assist function. FIG. 2 is a diagram illustrating an example of the configuration of a crane operation box. It is a figure which illustrates the operation schedule of the crane in an ejection assist function. 10A to 10C are diagrams for sequentially explaining the operation of the crane in the discharge assist function. 10A to 10C are diagrams for sequentially explaining the operation of the crane in the discharge assist function. FIG. 6 is a diagram sequentially explaining the operation of the crane in the discharge assist function. FIG. 6 is a diagram sequentially explaining the operation of the crane in the discharge assist function. 10A to 10C are diagrams for sequentially explaining the operation of the crane in the discharge assist function. 10A to 10C are diagrams for sequentially explaining the operation of the crane in the discharge assist function. FIG. 13 is a flowchart illustrating a discharge assist function.

An embodiment of the present invention will be described with reference to the drawings. In the following description, the direction of arrow F shown in Figures 1 to 3 is the "forward direction of the aircraft", the direction of arrow B is the "rearward direction of the aircraft", the direction of arrow L is the "leftward direction of the aircraft", and the direction of arrow R is the "rightward direction of the aircraft".

[Overall configuration of the carrot harvester]
First, the overall configuration of a harvester will be described with reference to Figures 1 to 3. In the following description, a carrot harvester, which is one type of harvester, will be used as an example.

Figures 1 and 2 show a carrot harvester (corresponding to a "harvest machine"). The carrot harvester is equipped with a running machine body 1 (corresponding to a "machine body"), an engine E, a driving section 2 on which a driver sits, a conveying section 3 that pulls out crops (farm products) from the field and conveys them toward the rear of the machine body, a collecting section 4 that collects the harvested crops, a rear conveying section 5 that conveys the crops conveyed by the conveying section 3 toward the collecting section 4, and a cutter 6 that cuts the crop into a main part (the part to be harvested) and other parts (leaves, etc.).

The traveling machine body 1 includes a crawler traveling device 7 and a machine body frame 8 supported by the crawler traveling device 7. A support frame 9 is provided on the traveling machine body 1. The support frame 9 supports the transport unit 3 and the like.

The driving unit 2 is provided at a position offset to the right side of the traveling body 1. The engine E is provided below the operating section 2. The transport section 3 is provided at a position offset to the left side of the traveling body 1. The recovery section 4 is provided at the rear of the driving section 2. The rear conveyance section 5 is provided from below the conveyance section 3 to the collection section 4 . The cutter 6 is provided between the conveyance section 3 and the rear conveyance section 5.

The transport unit 3 is driven to transport by a hydraulic motor (not shown). Moreover, the conveyance section 3 is provided in a state of being inclined downward toward the front. The transport section 3 is configured to be able to swing up and down around a swing axis X1 extending along the left-right direction of the machine body. The transport unit 3 is provided at the front end of the transport unit 3 and includes a soil-breaking blade 10 that loosens the soil around the crops in the field, and a transport belt 11 that pulls out the crops from the field and transports them toward the rear of the machine. .

According to such a configuration, as the traveling body 1 moves forward, the soil-breaking blade 10 vibrates while being penetrated into the field, and the soil around the crops is loosened by the soil-breaking blade 10. The crops are pulled out of the field by the conveyor belt 11 and conveyed toward the rear of the machine. After the crop is cut into parts to be harvested (hereinafter also simply referred to as "crops") and leaves, etc. by the cutter 6, the parts to be harvested are supplied to the rear transport section 5, and the leaves, etc. are transported. It is discharged from the rear end of section 3 and falls onto the field. Then, in the rear conveyance section 5, the parts to be harvested are conveyed to the collection section 4, and are sorted by an assistant. Finally, in the collection section 4, the parts to be harvested are collected into a storage container 20 such as a collection bag (flexible container bag).

As shown in FIG. 3, the driver's section 2 is provided with a driver's seat 13, a front panel 14, and a side panel 15. The front panel 14 is provided with a meter panel 16 and an operating lever 17. The meter panel 16 is configured to display various information such as engine RPM, vehicle speed, and remaining fuel. The operating lever 17 is used to steer the traveling machine body 1 and to raise and lower the transport section 3. The operating lever 17 is located at the right end of the front panel 14. In other words, the operating lever 17 is located on the right side of the driver's seat 13.

The side panel 15 is provided with a main speed change lever 18 and an operation panel 19. The main speed change lever 18 is used to change the speed of a main transmission (not shown), which changes the driving force transmitted from the engine E. The operation panel 19 is provided with various switches and the like for adjusting the conveying direction and conveying speed of the conveying section 3. The main speed change lever 18 and the operation panel 19 are located on the left side of the driver's seat 13.

〔crane〕
Next, with reference to FIG. 1 and FIG. 4, a crane for discharging the storage container 20 will be described.

The crane 12 is provided near the collection section 4 in the right region of the carrot harvester. The crane 12 is supported by the traveling body 1 by being supported by the body frame 8, the support frame 9, and the like. The crane 12 is used to discharge the storage container 20 containing the harvested crops to the field.

The crane 12 comprises a support column 22 erected on the machine frame 8, and an arm section 23 supported on the upper end region of the support column 22 and extending in a direction away from the traveling machine body 1. The crane 12 comprises a lifting cylinder 25 for raising and lowering the crane 12, and a telescopic cylinder 26 for extending and retracting the crane 12. The lifting cylinder 25 is provided between the support column 22 and the arm section 23, and the arm section 23 of the crane 12 rises when the lifting cylinder 25 extends, and the arm section 23 descends when the lifting cylinder 25 contracts. The arm section 23 extends from the traveling machine body 1 in a direction away from the traveling machine body 1 to the side of the traveling machine body 1 when the telescopic cylinder 26 contracts, and the arm section 23 contracts toward the traveling machine body 1 when the telescopic cylinder 26 contracts.

The crane 12 removably holds the storage container 20 in the end region of the arm portion 23 in the direction away from the traveling body, which is the free end region (also referred to as the “free end region”) of the arm portion 23. A holding part 27 is provided. One end of the holding part 27 is supported by the end region of the arm part 23, and can swing around the support part at one end. The holding portion 28 is made of a deformable material such as a chain or an expandable material, and is provided with a hook 27a at the other end. The crane 12 holds the storage container 20 by engaging the hook 27a with an engaged portion 20a provided on the storage container 20.

The collecting section 4 includes a table lift 4a on which the storage container 20 is placed when collecting the crops transported by the rear transport section 5 into the storage container 20. The table lift 4a can change its state between a state of use horizontal to the field and a state of storage along the traveling body 1. When collecting crops, the storage container 20 is placed on the table lift 4a in the used state so as to be placed directly below the terminal end portion of the rear conveyance section 5. In this state, the crops transported by the rear transport section 5 to the terminal end are collected into the storage container 20 by falling from the terminal end of the rear transport section 5 into the storage container 20 .

[Equipment configuration of discharge assist function]
Next, the device configuration of the ejection assist function in which the crane 12 performs a predetermined operation when ejecting the storage container 20 will be described with reference to FIG. 4 and FIGS. 5 to 7.

The discharge assist function allows the crane 12 to perform predetermined operations when discharging the storage container 20 in which the crops have been collected to the field, thereby reducing the burden on the operator and facilitating the work of discharging the storage container 20 performed by the operator. This is a supporting function.

First, we will explain an example of the configuration of the functional block for executing the discharge assist function.

As shown in FIGS. 5 and 6, the harvester equipped with the crane 12 includes a discharge assist enable/disable switch 30, a crane operation box 31, and a crane control section 32. The discharge assist enable/disable switch 30 is a switch that can be switched between a valid state in which the discharge assist function can be executed and an invalid state in which the discharge assist function cannot be executed. The ejection assist function can only be performed when the Although the discharge assist enable/disable switch 30 can be provided at any position, for example, it is provided on the front panel 14 of the driving section 2.

The crane operation box 31 is provided in the right side area of the rear area of the traveling body 1. The crane operation box 31 includes a crane operation lever 34 and an ejection assist start switch 35. The crane operating lever 34 is used to manually operate the crane 12 when the discharge assist function is not being performed. The ejection assist start switch 35 is a switch operated when starting the ejection assist function, and has a dial function and a push function. When the discharge assist start switch 35 is pressed, the discharge assist function is started. Further, the discharge assist start switch 35 can set the amount of operation of the crane 12 in the discharge assist function, particularly the amount of elevation of the crane 12 (arm portion 23), by adjusting the dial. Note that the amount of operation of the crane 12 may be controlled by a switch other than the discharge assist start switch 35. A switch for adjusting the amount of operation of the crane 12 may be provided on the crane operation box 31, but may also be provided on the operation panel 19 of the driving section 2 or the like. Further, the operation amount of the crane 12 may be adjusted by either a switch such as the ejection assist start switch 35 provided in the crane operation box 31 or a switch provided in the operating section 2 such as the operation panel 19.

The crane 12 includes an elevating cylinder 25 and a telescopic cylinder 26 as actuators for elevating, lowering or contracting the crane 12 (arm portion 23). The elevating cylinder 25 and the telescopic cylinder 26 are driven by the engine E. By expanding and contracting the lifting cylinder 25, the lifting cylinder 25 can raise and lower the arm part 23 of the crane 12, and accordingly, the holding part 27 can be raised and lowered with respect to the field. By expanding and contracting the telescopic cylinder 26, the telescopic cylinder 26 can extend and contract the arm portion 23 of the crane 12, and accordingly, the holding portion 27 can be moved in the left-right direction (lateral movement) with respect to the traveling body 1. Can be done.

The crane control unit 32 includes a processor such as a CPU or an ECU. The crane control unit 32 controls the lifting cylinder 25 and the telescopic cylinder 26 to lift and lower the arm unit 23 of the crane 12 and extend and retract it. In the discharge assist function, the crane control unit 32 operates the crane 12 according to a predetermined operation schedule 38. By operating the crane 12 according to the operation schedule 38, the crane 12 operates so that the holding unit 27 lifts and lowers and moves laterally by a predetermined distance at a predetermined timing. The operation schedule 38 specifies the distance for which the crane 12 is operated by the time for which the crane 12 is operated. Therefore, the operation schedule 38 sets the timing and operation time for lifting and retracting the arm unit 23 according to the time elapsed since the discharge assist function was started. The crane control unit 32 includes a memory unit 37, and the operation schedule 38 is stored in the memory unit 37.

As shown in FIG. 7, the operation schedule 38 specifies, as a time schedule, the lifting and lowering of the crane 12 (holding unit 27) and its direction, and the lateral movement of the crane 12 (holding unit 27) and its direction over time. When the discharge assist function is executed, the rotation speed of the engine E that drives the lifting cylinder 25 and the telescopic cylinder 26 is fixed to a predetermined rotation speed. Therefore, the operation schedule 38 specifies the time for operating the lifting cylinder 25 and the telescopic cylinder 26, thereby determining in advance the lifting and lowering distance and lateral movement distance of the holding unit 27.

[Crane operation in discharge assist function]
Next, the operation of the crane 12 in the discharge assist function will be explained using FIGS. 7 to 14 while referring to FIGS. 4 and 5.

When the storage container 20 is filled with the crops transported and collected by the rear transport section 5 (state I shown in FIG. 8), the storage container 20 is discharged to the field using the crane 12. At this time, an ejection assist function can be used. When using the discharge assist function, the discharge assist enable/disable switch 30 is switched to the valid state in advance (step #1 in FIG. 14). In addition, before executing the ejection assist function, in advance, the elevating cylinder 25 is extended and contracted in order to raise and then lower the arm portion 23 of the crane 12, as described below (ascent time T3 and descent time T4 as described later). ) is set. This time can be adjusted by rotating the dial of the discharge assist start switch 35. The time for extending and retracting the lifting cylinder 25 is the same for both extension and contraction (step #2 in FIG. 14).

Next, at time t0, the discharge assist start switch 35 is operated to start the discharge assist function (step #3 in FIG. 14). When the discharge assist function is executed, the rotation speed of the engine E that drives the lift cylinder 25 and the telescopic cylinder 26 is fixed to a predetermined rotation speed, for example, 2000 rpm, and the discharge assist function is started. Note that the rotation speed of the engine E may be fixed to any rotation speed, but by setting it to 2000 rpm, the DPF (Diesel particulate filter) can be operated appropriately while keeping the rotation speed low (step #4 in FIG. 14).

In the ejection assist function, first, the crane control unit 32 controls the lifting cylinder 25 to contract for a preset lowering time T1 from time t0 to time t1 in accordance with the operation schedule 38, and the crane 12 The arm portion 23 of is lowered. As a result, the holding part 27 (the free end area of the arm part 23) of the crane 12 is lowered by a predetermined distance corresponding to the lowering time T1 with respect to the field, and the holding part 27 is bent (loosened). . For example, the descending time T1 is 2 seconds, and the descending distance is 30 cm (step #5 in FIG. 14, state II shown in FIG. 9).

Next, the crane control unit 32 stops the crane 12 for, for example, 0.1 seconds from time t1 to time t2 in accordance with the operation schedule 38. After that, the crane control unit 32 controls the telescopic cylinder 26 to extend for a preset extension time T2 (corresponding to the "first time") from time t2 to time t3 in accordance with the operation schedule 38, thereby extending the arm unit 23 of the crane 12. As a result, the holding unit 27 of the crane 12 (the free end region of the arm unit 23) moves laterally a predetermined distance corresponding to the extension time T2 in a direction away from the traveling machine body 1. Here, it is not necessary to provide a period during which the crane 12 is stopped, but this stop period allows the operator to confirm the change in the operation of the crane 12, and the operator can use this as a guide for preparing for the next task. In addition, because the arm portion 23 is lowered first and the holding portion 27 is bent, even if the arm portion 23 is extended and the holding portion 27 is pulled, the distance of pulling is absorbed by the bending, and the arm portion 23 is appropriately extended. For example, the extension time T2 is 7 seconds, and the distance moved laterally is 80 cm (step #6 in FIG. 14, state III in FIG. 10).

Next, the crane control unit 32 stops the crane 12 for, for example, 0.1 seconds from time t3 to time t4 in accordance with the operation schedule 38. Thereafter, the crane control unit 32 controls the lifting cylinder 25 to extend during the rising time T3 (corresponding to the "second time") from time t4 to time t5, in accordance with the operation schedule 38, so that the crane 12 The arm portion 23 is raised. As a result, the holding part 27 (the free end area of the arm part 23) of the crane 12 rises by a predetermined distance corresponding to the rising time T3 in the direction away from the field.

As the arm portion 23 rises, the storage container 20 is pulled by the arm portion 23 and leaves the table lift 4a, and the storage container 20 swings away from the field, centered on the part where the holding portion 27 of the arm portion 23 is supported (the free end region of the arm portion 23) (step #7 in Figure 14, state IV shown in Figure 11).

Next, the crane control unit 32 controls the lifting cylinder 25 to contract during a descent time T4 (corresponding to the "second time") from time t5 to time t6 in accordance with the operation schedule 38, thereby lowering the arm unit 23 of the crane 12.

The rising time T3 and the falling time T4 are such that the storage container 20 is separated from the table lift 4a and the field during the rise during the rise time T3, and the storage container 20 is able to land on the field as it descends during the fall time T4. It is determined in consideration of the falling time T1 from time t0 to time t1. For example, the rising time T3 and the falling time T4 are 1.5 seconds, and are adjusted by the discharge assist start switch 35 in 0.5 second increments between 0.5 seconds and 2.5 seconds. Further, as mentioned above, the rising time T3 and the falling time T4 may be the same time, but the rising time T3 and the falling time T4 may be different times, in which case each time is set separately. The configuration may be such that it is possible. Further, the rise time T3 and the fall time T4 may be adjusted by a rise/fall time adjustment switch (not shown) that is separate from the discharge assist start switch 35.

The storage container 20 swings even while the arm portion 23 of the crane 12 is being lowered. During this time, the operator supports the storage container 20 so as to guide it above the discharge position in the field, and supports it until the arm portion 23 descends and the storage container 20 lands on the field. As a result, the operator can move the storage container 20 in the field by simply assisting the movement of the storage container 20 in accordance with the movement of the crane 12, which operates according to the operation schedule 38, without operating the crane 12. It can be discharged to a predetermined position with high precision. In other words, before the storage container 20 descends while swinging and lands on the field, the storage container 20 is held above a predetermined position in the field using the swinging motion of the storage container 20, and the storage container 20 is held at a predetermined position in the field. By landing the storage container 20 at the position shown in FIG. 14, the discharge operation of the storage container 20 can be performed easily and accurately (step #8 in FIG. 14, state V shown in FIG. 12).

Note that by lowering the arm portion 23 by an appropriate distance from time t0 to time t1, the storage container 20 swings without touching the field while the storage container 20 is rising, and then the storage container 20 descends. This allows the storage container 20 to land on the field. That is, the position of the arm portion 23 is appropriately controlled from time t0 to time t1 so that after the storage container 20 swings appropriately, the storage container 20 is lowered until it lands on the ground.

Finally, the engaged portion 20a of the storage container 20 is disengaged from the holding portion 27 of the crane 12, and the storage container 20 is released from the crane 12, completing the unloading operation of the storage container 20 (step #9 in FIG. 14, state VI shown in FIG. 13). After that, the storage container 20, which has not yet been collected and which was held by the hook 42, is placed in the collection section 4 and attached to the holding portion 27 of the crane 12, the unloading assist enable/disable switch 30 is set to the disabled state, and the harvesting operation drive is resumed.

[Another embodiment]
(1) In the above embodiment, while the ejection assist function is being executed, a warning may be given to inform the operator and those around him that the ejection assist function is being executed. The warning is issued under the control of the crane control unit 32, for example. Further, the warning can be issued in any configuration, but for example, a configuration in which a buzzer or sound is blown from the speaker 41 provided in the traveling aircraft 1, or a configuration in which characters are displayed on the meter panel 16 may be used. It's okay. Note that the warning from the speaker 41 may be given in other cases as well, but it is preferable that the buzzer that sounds while the ejection assist function is being executed has a sound that can be distinguished from the buzzer that sounds in other cases.

(2) In each of the above embodiments, the assist function may be executed only when a certain condition is met. In this case, if the certain condition is not met, the assist function is not started even if the discharge assist start switch 35 is operated.

The specified conditions include the discharge assist enable/disable switch 30 being switched to the enabled state, the absence of any abnormality, the engine E being started, the main shift lever 18 being operated to the neutral position, the vehicle body (traveling body 1) being stopped, not being in operation, the traveling body 1 being horizontal, etc.

The carrot harvester is equipped with sensors that detect the state of the traveling body 1 and detect various abnormalities. The absence of various abnormalities means that such various sensors are not detecting any abnormalities. If an abnormality exists, the discharge assist function may not be executed appropriately, so by executing the discharge assist function on the condition that no abnormalities exist, the discharge assist function can be executed appropriately.

The crane 12 is also driven by the engine E. Therefore, by executing the discharge assist function on the condition that the engine E is running, the discharge assist function can be executed with high accuracy.

Since the storage container 20 is discharged to the field, it may not be possible to properly discharge the storage container 20 while the traveling machine body 1 is traveling. Therefore, the conditions for executing the exhaust assist function include that the vehicle body is stopped. Further, in order to stop the vehicle body, the main shift lever 18 must be operated to the neutral position. Therefore, the conditions for executing the discharge assist function include that the main shift lever 18 is operated to the neutral position.

Here, the vehicle being stopped may mean not only when the vehicle speed is zero, but also when the vehicle speed is below a predetermined speed, for example, below 0.1 m/s. The vehicle speed can be measured by any vehicle speed sensor (not shown).

When the storage container 20 is being discharged, crops cannot be collected. Therefore, the conditions for executing the discharge assistance function include not being in operation.

If the traveling body 1 is tilted, the storage container 20 cannot be discharged properly. Therefore, one of the conditions for executing the discharge assist function is that the traveling body 1 is horizontal. Note that horizontal means that the inclination of the traveling body 1 with respect to the field is within a specified angle, for example, within 3° in the left-right direction of the traveling body 1.

Furthermore, if the above conditions are not met when the discharge assist start switch 35 is operated, the discharge assist function is not executed and a predetermined warning may be issued. The warning may be issued in any manner, for example, by sounding a buzzer or a voice from the speaker 41 provided on the traveling machine body 1, or by displaying text on the meter panel 16. The warning may also be issued in the form of a voice or text display that specifically indicates the conditions that are not met.

(3) In each of the above embodiments, the rotation speed of the engine E is fixed to a predetermined rotation speed and controlled by the operation time to control the amount of movement of the holding part 27 of the crane 12 raised and lowered and moved laterally. However, the amount of movement of the holding part 27 of the crane 12 may be controlled at any rotation speed without fixing the rotation speed. In this case, based on the relationship between the rotation speed of the engine E and the amount of movement of the holding part 27 of the crane 12, the crane control part 32 adjusts the time for raising and lowering and moving laterally the holding part 27 of the crane 12, and controls the operation time of the actuator so that it is raised and lowered and moved laterally by a predetermined amount.

In this way, the crane control unit 32 can appropriately control the operation of the crane 12 without fixing the rotation speed of the engine E to a predetermined rotation speed by controlling the operation time of the actuator so that the crane 12 moves a predetermined distance according to the rotation speed of the engine E. This makes it easier to control the operation of the crane 12, and makes it possible to easily perform the discharge work of the storage container 20 with high accuracy.

(4) In each of the above embodiments, the amount of movement by which the holding part 27 of the crane 12 is raised and lowered and moved laterally is not limited to a configuration in which it is controlled by the drive time of the lifting cylinder 25 and the telescopic cylinder 26, but may be controlled by the extension and retraction distance of the lifting cylinder 25 and the telescopic cylinder 26. In this case, a sensor (not shown) that measures the extension and retraction distance is provided on the lifting cylinder 25 and the telescopic cylinder 26. With this configuration, the amount of movement by which the holding part 27 is raised and lowered and moved laterally can be easily and accurately controlled without depending on the rotation speed of the engine E.

That is, when the elevating cylinder 25 is expanded or contracted, the holding portion 27 is moved up or down by a distance corresponding to the distance that the elevating cylinder 25 expands or contracts. Similarly, when the telescoping cylinder 26 is expanded or contracted, the holding portion 27 moves laterally by a distance corresponding to the distance that the telescoping cylinder 26 expands or contracts. Therefore, the vertical distance and lateral movement distance of the holding part 27 in the ejection assist function can be controlled not by the drive time of the vertical cylinder 25 and the telescopic cylinder 26, but by the telescopic distance of the vertical cylinder 25 and the telescopic cylinder 26.

Specifically, in the operation schedule 38 shown in FIG. 7, the crane control unit 32 contracts the lifting cylinder 25 by a predetermined distance from time t0 to time t1 instead of controlling the lifting cylinder 25 to contract by the descending time T1. control. Additionally, from time t2 to time t3, the crane control unit 32 performs control to extend the telescopic cylinder 26 by a predetermined distance (corresponding to the "first distance") instead of the control to extend the telescopic cylinder 26 by the extension time T2. conduct. Additionally, from time t4 to time t5, the crane control unit 32 performs control to extend the lifting cylinder 25 by a predetermined distance (corresponding to the "second distance") instead of extending the lifting cylinder 25 by the rising time T3. conduct. Additionally, from time t5 to time t6, the crane control unit 32 performs control to contract the lifting cylinder 25 by a predetermined distance (corresponding to the "second distance") instead of controlling the lifting cylinder 25 to contract by the descending time T4. conduct.

(5) In each of the above embodiments, the crane 12 is not limited to the elevating cylinder 25 and the telescopic cylinder 26, and may include other actuators. In this case, the actuator may have any configuration as long as it can move the holding part 27 of the crane 12 up and down with respect to the field and move the holding part 27 in the left-right direction (lateral movement) with respect to the traveling body 1.

(6) The ejection assist function may be implemented by hardware as described above, but it may also be implemented by any functional block or method, and some or all of the functions may be implemented by software. For example, some or all of the functions of the crane control unit 32 may be implemented by software. A program for executing the ejection assist function is stored in a predetermined storage device such as the storage unit 37, and executed by an arbitrary processor included in the crane control unit 32 or the like.

The present invention can be applied to various harvesting machines, including carrot harvesters and radish harvesters, that harvest crops, collect the harvested crops in a storage container, and then unload the storage container using a crane.

3 Transport section 4 Collection section 12 Crane 20 Storage container 23 Arm section 25 Lifting cylinder (actuator)
26 Telescopic cylinder (actuator)
27 Holding unit 30 Discharge assist enable/disable switch 32 Crane control unit 35 Discharge assist start switch E Engine T2 Extension time (first time)
T3 Rise time (second time)
T4 Fall time (second time)

Claims (10)

A transport unit that harvests and transports agricultural products in the field;
a collection unit that collects the harvested agricultural products into a storage container;
a crane that has a holding part that holds the storage container and discharges the storage container to the field;
an actuator that drives the crane;
an ejection assist start switch that starts an ejection assist function of the storage container;
a crane control unit that controls the operation of the actuator to raise and lower the holding unit and laterally move the holding unit in a direction away from the fuselage or in a direction toward the fuselage;
When the ejection assist start switch is operated, the crane control section performs the ejection assist function by horizontally moving the holding section in a direction away from the aircraft body, then raising the holding section, and then raising the holding section. A harvester that controls the actuator to lower the holding part. The harvester according to claim 1, wherein in the discharge assist function, the holding part is lowered before moving the holding part laterally. The holding portion is provided in an end region of the crane in a direction away from the body in such a manner that the held storage container can swing around the end region,
3. The harvester according to claim 1, wherein when the holding part is laterally moved in a direction away from the body and then raised, the storage container swings away from the field. A discharge assistance enable/disable switch can be set to enable or disable the operation of the discharge assistance start switch,
A harvester as described in any one of claims 1 to 3, wherein the crane control unit executes the discharge assist function when the discharge assist start switch is operated while the discharge assist enable/disable switch is set to an enabled state. In the ejection assist function, the crane control section moves the holding section laterally in a direction away from the aircraft body for a predetermined first time, raises the holding section for a predetermined second time, and then moves the crane. The harvester according to any one of claims 1 to 4, wherein the harvester is lowered for the second time. The harvester according to claim 5, further comprising a lift time adjustment switch for setting the second time. The vehicle further includes an engine that drives the actuator.
7. The harvester according to claim 5 or 6, wherein the engine speed is fixed at a predetermined speed while the discharge assist function is being executed. The holding part is provided on an arm part of the crane,
7. The actuator includes an elevating cylinder that raises and lowers the holding part, and a telescoping cylinder that extends and contracts the arm part in a direction away from and toward the body so as to move the holding part laterally. A harvesting machine according to any one of the following. The holding portion is provided on an arm portion of the crane,
The actuator includes a lifting cylinder that lifts and lowers the holding unit, and a telescopic cylinder that extends and retracts the arm unit in a direction away from and toward the body so as to move the holding unit laterally,
5. The harvester according to claim 1, wherein in the discharge assist function, the crane control unit extends the telescopic cylinder a predetermined first distance to laterally move the holding part in a direction away from the machine body, then extends the lifting cylinder a predetermined second distance to lift the holding part, and then retracts the lifting cylinder by the second distance to lower the holding part. The crane control unit includes:
If an abnormality occurs in the aircraft,
When the engine driving the actuator is stopped,
When a main gear shift lever for shifting a main transmission device that shifts the driving force transmitted from the engine is not operated to a neutral position,
If the aircraft is not stopped,
If the said agricultural products are being collected,
The harvester according to any one of claims 1 to 9, wherein the ejection assist function is not performed under at least one of the following conditions: when the machine body is not horizontal with respect to the field.

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