JP7539264B2 - combine - Google Patents

Description

The present invention relates to a combine harvester.

Patent Document 1 describes a combine harvester equipped with a grain discharge device. Inside the cabin, a wired remote control device is provided that enables control of the operation of the grain discharge device. A discharge switch and a discharge stop switch switch the grain discharge device between a discharge stop state and a discharge state.

JP 2014-14333 A

When discharging grain into a grain transport vehicle with the combine harvester of Patent Document 1, the operator operates a discharge switch to start discharging the grain. The operator then monitors the amount of grain stored in the grain transport vehicle. When the grain transport vehicle becomes full, the operator operates a discharge stop switch to stop discharging the grain. Thus, conventional combine harvesters require the operator to monitor and operate the grain discharge operation, leaving room for improvement in terms of efficiency.

The object of the present invention is to provide a means for reducing the operator's workload when discharging grain.

The characteristic configuration of the combine of the present invention comprises a grain storage section, a grain discharge device which discharges grains from the grain storage section to the outside, a detection section which detects the discharge amount of grains discharged by the grain discharge device, a determination section which determines a target discharge amount of grains to be discharged from the grain discharge device, and a stop control section which controls the grain discharge device to stop the discharge of grains when the discharge amount detected by the detection section reaches the target discharge amount determined by the determination section, wherein the grain discharge device comprises a bottom screw arranged at the bottom of the grain storage section, the detection section detects the discharge amount based on the rotation speed of the bottom screw, the rotation speed of the bottom screw is calculated based on the rotation speed of the engine , and the determination section acquires the acceptable amount of a grain transport vehicle which stores the discharged grains from the outside via communication, and determines the target discharge amount based on the acquired acceptable amount .

According to the characteristic configuration of the combine harvester of the present invention, the grain discharge stops when the discharge amount reaches the target discharge amount, so the operator does not need to monitor the grain discharge and stop the grain discharge device, which reduces the operator's efforts in grain discharge work.
In addition, since the discharge amount is reliably detected based on the rotation speed of the bottom screw, the grain discharge device can be stopped reliably, which is preferable.
Furthermore, since the target discharge amount is determined based on the amount of grain that can be accepted by the grain transport vehicle, the target discharge amount is preferably appropriate.

Another characteristic feature of the combine of the present invention is that the rotation speed of the bottom screw is constant.

The characteristic configuration of the combine harvester of the present invention is that the rotation speed of the bottom screw is constant, which is preferable because it allows the discharge amount to be detected with a simple configuration.

A further characteristic feature of the combine harvester of the present invention is that the determination unit obtains the capacity of a drying device that dries the discharged grains, and determines the target discharge amount based on the obtained capacity.

The characteristic configuration of the combine harvester of the present invention is that the target discharge amount is determined based on the capacity of the drying device, which is preferable because the target discharge amount is appropriate.

A further characteristic feature of the combine harvester of the present invention is that the stop control unit acquires the amount of storage in the grain transport vehicle that stores the discharged grain, and changes the discharge speed of the grain discharge device based on the acquired amount of storage.

The characteristic configuration of the combine harvester of the present invention allows the discharge speed of the grain discharge device to be changed based on the amount of storage in the grain transport vehicle, making it possible to improve the efficiency of grain discharge operations. For example, when the amount of storage in the grain transport vehicle is small, the discharge speed is increased, and when the amount of storage is large, the discharge speed is decreased, thereby shortening the time required for grain discharge operations and preventing grain from overflowing from the grain transport vehicle.

A further characteristic feature of the combine harvester of the present invention is that it is equipped with a reduction amount detection unit that detects the reduction amount of grains stored in the grain storage unit, and a determination unit that determines whether a bridge has occurred in the grain storage unit based on the reduction amount detected by the reduction amount detection unit and the discharge amount detected by the detection unit.

The occurrence of bridging in the grain storage section refers to a phenomenon in which grains form bridges inside the grain storage section, preventing the grains from being discharged from the grain storage section. According to the characteristic configuration of the combine harvester of the present invention, the occurrence of bridging is determined based on the reduction amount and the discharge amount, making it possible to deal with bridging and suppressing a decrease in work efficiency due to an interruption in the grain discharge operation.
A characteristic configuration of a combine harvester of the present invention includes a grain storage section, a grain discharge device that discharges grains from the grain storage section to the outside, a detection section that detects the discharge amount of grains discharged by the grain discharge device, a determination section that determines a target discharge amount of grains discharged from the grain discharge device, and a stop control section that controls the grain discharge device to stop discharge of grains when the discharge amount detected by the detection section reaches the target discharge amount determined by the determination section, and the grain discharge device includes a bottom screw that is disposed at the bottom of the grain storage section, and the detection section detects the discharge amount of grains discharged by the grain discharge device, and a stop control section that controls the grain discharge device to stop discharge of grains when the discharge amount detected by the detection section reaches the target discharge amount determined by the determination section. The discharge amount is detected based on the rotation speed of the bottom screw, which is calculated based on the rotation speed of the engine.The device is equipped with a reduction amount detection unit that detects the reduction amount of grains stored in the grain storage section, a judgment unit that judges whether a bridge has occurred in the grain storage section based on the reduction amount detected by the reduction amount detection unit and the discharge amount detected by the detection unit, and a oscillating member that is driven to oscillate around an axis extending in the fore- and-aft direction of the body, and when the judgment unit judges that the bridge has occurred, the oscillating member is oscillated.
According to the characteristic configuration of the combine harvester of the present invention, when a bridge of grains has occurred in the grain tank, the bridge is eliminated and the grains are properly discharged when the rocking member rocks.

FIG. FIG. 2 is an explanatory diagram showing a schematic configuration of a grain tank. FIG. 2 is an explanatory diagram showing a schematic configuration of a grain discharge device. FIG. 13 is a diagram showing an initial circuit run in a farm field. FIG. 13 is a diagram showing automatic driving according to an α-turn circular driving pattern. FIG. 13 is a diagram showing automatic driving and discharge driving according to a U-turn circular driving pattern. FIG. 2 is a block diagram showing a configuration relating to control. FIG.

The following describes an embodiment of a combine harvester according to the present invention with reference to the drawings. The present invention is not limited to the following embodiment, and various modifications are possible without departing from the gist of the invention. In the following description, the direction of arrow F is the "front of the machine", the direction of arrow B is the "rear of the machine", the direction of arrow U is the "upper side", and the direction of arrow D is the "lower side". When referring to left and right, the right hand side when facing the front of the machine is referred to as the "right" and the left hand side is referred to as the "left".

[Combine configuration]
A head-feeding combine harvester, which is an example of a combine harvester, is shown in Fig. 1. The combine harvester 1 is equipped with a machine body 10 and a crawler-type traveling device 11. A harvesting section 12 that cuts and harvests planted stalks in a field is provided at the front of the machine body 10.

The driving unit 13 is provided behind the harvesting unit 12 in the machine body 10. The driving unit 13 is located on the right side of the front part of the machine body 10. To the left of the driving unit 13, a transport unit 14 is provided to transport the crop harvested by the harvesting unit 12.

A threshing device 15 that threshes the harvested crop transported by the transport unit 14 is provided behind the transport unit 14. A straw waste processing device 16 that cuts the straw is provided behind the threshing device 15.

A grain tank 17 (an example of a "grain storage section") for storing grains obtained by the threshing device 15 is provided behind the operating section 13 and to the right of the threshing device 15.

A grain discharge device 18 is provided behind the grain tank 17, which discharges the grains stored in the grain tank 17 to the outside through a discharge port 18a. The grain discharge device 18 can rotate around a rotation axis that extends in the vertical direction.

A satellite positioning module 19 is provided on the left side of the front of the driving unit 13. The satellite positioning module 19 receives GNSS (Global Navigation Satellite System) signals from artificial satellites and generates positioning data indicating the vehicle position of the combine harvester 1 based on the received signals. GNSS that can be used includes GPS, QZSS, Galileo, GLONASS, BeiDou, etc.

A management terminal 21 (see FIG. 7) is disposed in the driving section 13. The management terminal 21 is configured to be capable of displaying various information. The management terminal 21 may be configured to be capable of accepting input operations for various settings related to the automatic driving of the combine harvester 1 (such as the setting of a preferred driving pattern, which will be described later).

A communication unit 23 (see FIG. 7) that can be connected to an external communication network is provided. The communication unit 23 is configured to be able to communicate with the grain transport vehicle CV, an external server, etc. through the communication network.

A detection device 24 (see FIG. 7) capable of detecting the approach to ridge A (FIG. 8) is provided at the rear of the machine body 10. The detection device 24 is, for example, an inductive, capacitive, ultrasonic, electromagnetic wave, infrared, or contact type proximity sensor, a camera, etc.

The combine harvester 1 is self-propelled by the traveling device 11, and is configured to perform harvesting travel by traveling on the traveling device 11 while harvesting planted stalks in the field with the harvesting section 12.

[Grain tank]
As shown in FIG. 2, the grain tank 17 includes a storage amount sensor 17a, a level sensor 17b, and a swinging member 17c. The storage amount sensor 17a is disposed under the grain tank 17. The storage amount sensor 17a detects the amount of grains stored in the grain tank 17 by detecting the load received from the grain tank 17. The level sensor 17b is provided on the inner side wall of the grain tank 17. The level sensor 17b detects the amount of grains stored in the grain tank 17 by detecting the contact of grains. The swinging member 17c is a plate-shaped member extending along the front-rear direction of the machine body, and is disposed above the bottom screw 18b inside the grain tank 17. The swinging member 17c is driven to swing around an axis extending along the front-rear direction of the machine body by an actuator such as a motor (not shown). When a grain bridge has occurred in the grain tank 17, the oscillating member 17c oscillates, and the bridge is eliminated, allowing the grains to be properly discharged.

[Grain discharge device]
As shown in FIG. 3, the grain discharge device 18 includes a bottom screw 18b, a vertical screw conveyor 18c, a horizontal screw conveyor 18d, a hydraulic cylinder 18e, a rotating device 18f, a sensor 18g, and a camera 18h.

The bottom screw 18b is provided at the bottom of the grain tank 17 and sends the grains stored in the grain tank 17 to the vertical feed screw conveyor 18c. The vertical feed screw conveyor 18c is provided behind the grain tank 17 and sends the grains from the bottom screw 18b to the horizontal feed screw conveyor 18d. The horizontal feed screw conveyor 18d extends horizontally from the top of the vertical feed screw conveyor 18c and discharges the grains from the vertical feed screw conveyor 18c from the discharge port 18a.

The power of engine E is transmitted to bottom screw 18b via discharge clutch C, from bottom screw 18b to vertical feed screw conveyor 18c, and from vertical feed screw conveyor 18c to horizontal feed screw conveyor 18d.

The hydraulic cylinder 18e causes the horizontal feed screw conveyor 18d to swing up and down relative to the vertical feed screw conveyor 18c. The turning device 18f turns the vertical feed screw conveyor 18c around the vertical axis.

The sensor 18g detects the flow rate of grains passing through the grain discharge device 18. The sensor 18g is provided at the tip of the lateral feed screw conveyor 18d.

Camera 18h photographs the grains discharged from grain discharge device 18. Camera 18h is installed near discharge outlet 18a.

[Configuration of grain transport vehicle]
The grain transport vehicle CV is configured to receive and store grains discharged from the grain discharge device 18 of the combine harvester 1. As shown in Fig. 7, the grain transport vehicle CV includes a control device 90, a satellite positioning module 91, a communication unit 92, and a storage amount sensor 93.

The control device 90 transmits the stored amount of grain RA, the amount of grain that can be received MA1, and the receiving position RP to the control device 80 of the combine harvester 1.

The satellite positioning module 91 receives GNSS signals from artificial satellites and generates positioning data indicating the position of the grain transport vehicle CV based on the received signals.

The communication unit 92 can be connected to an external communication network and is configured to be able to communicate with the combine 1 and external servers, etc., through the communication network.

The storage amount sensor 93 detects the storage amount RA of grain stored in the grain transport vehicle CV. The storage amount sensor 93 is, for example, a weight sensor or a level sensor.

The grain transport vehicle CV transports grains to the drying device and dumps the grains into the drying device. The drying device dries the grains discharged from the combine harvester 1. As shown in FIG. 7, the drying device includes a control device 100 and a communication unit 102. The control device 100 transmits the amount of grain that can be received MA2 to the control device 80 of the combine harvester 1. The communication unit 102 is connectable to an external communication network and is configured to be able to communicate with the combine harvester 1 and an external server, etc., via the communication network.

[Harvesting with a combine]
Harvesting work in a farm field using a head-feeding combine harvester 1 will be described with reference to Figures 4 to 6. In this embodiment, an example will be described in which the outline of the farm field is rectangular, as shown in Figure 2. In the illustrated example, the long sides of the farm field are parallel to the east-west direction, the short sides of the farm field are north-south, and the row direction is north-south.

First, as shown in Figure 4, harvesting travel is performed in a circle along the boundary line of the field (outer periphery of the field) in the outer peripheral area of the field (initial circular travel). The area that has been worked as a result of this initial circular travel is set as the outer periphery area SA (see Figure 5), and the unworked area inside the outer periphery area SA is set as the work target area CA (see Figure 5). The outer edge W of the outer periphery area SA will roughly coincide with the periphery of the field if the initial circular travel is performed along the periphery of the field without leaving it, but will depart from the periphery of the field in places away from the periphery.

The outer peripheral area SA is used as a space for the combine 1 to change direction (make a turn, described below) when automatically harvesting the planted stalks in the work area CA. The outer peripheral area SA is also used as a space for discharging grain and moving to a fuel supply location.

The initial lap is performed two to four times to ensure that the width of the outer peripheral area SA is relatively wide. The initial lap may be performed manually or automatically. The initial lap is performed so that one side (preferably two opposing sides) of the work area CA is parallel to the strip direction. In this embodiment, a case will be described in which the work area CA is rectangular and the two opposing short sides of the work area CA are parallel to the strip direction.

Following the initial circular travel, the planted culms in the work area CA are harvested by automatic travel. In this automatic travel, automatic harvesting travel in which the planted culms are harvested while automatically traveling along the harvesting travel path L set in the work area CA, and turning travel between one automatic harvesting travel and the next are repeated. The turning travel is automatic travel on the turning travel path T that connects between two harvesting travel paths L.

The above-mentioned automatic harvesting driving and turning driving are performed according to a predetermined driving pattern. Examples of driving patterns include the α-turn circular driving pattern shown in FIG. 5 and the U-turn circular driving pattern shown in FIG. 6.

The α-turn circular travel pattern (Figure 5) is a travel pattern in which the harvesting travel path L parallel to the four sides of the rectangular work target area CA is traveled in sequence, and the turning travel is performed by α-turn travel. The α-turn travel is performed by forward travel along the direction in which the previous harvesting travel path L extends, reverse travel including turning travel, and forward travel along the direction in which the next harvesting travel path L extends. In the example of Figure 5, the combine 1 travels on the harvesting travel paths L01, L02, L03, and L04, and the turning travel paths T01, T02, and T03. Automatic travel using the α-turn circular travel pattern is a spiral travel, as shown in Figure 5.

The U-turn circular travel pattern (Figure 6) is a travel pattern in which the harvesting travel path L, which is parallel to two opposing sides of a rectangular area, is traveled alternately from the outside in order, and the turn travel is performed by U-turn travel. U-turn travel is performed only by forward travel, which includes turning travel. In the example of Figure 6, the combine 1 travels on the harvesting travel paths L05, L06, L07, and L08, and the turn travel paths T04, T05, and T06. As shown in Figure 6, automatic travel by the U-turn circular travel pattern is a spiral travel, similar to the α-turn circular travel pattern.

In this embodiment, the harvesting travel path L traveled in the U-turn circular travel pattern is a path parallel to two sides parallel to the row direction of the work target area CA. In other words, in automatic travel using the U-turn circular travel pattern, automatic harvesting travel is performed only on paths parallel to the row direction. Therefore, threshing processing is performed appropriately in the combine harvester 1, which is a self-feeding type combine harvester, which is preferable.

Automatic driving using the α-turn driving pattern is performed prior to the U-turn driving pattern when the width of the outer circumferential area SA is narrow and automatic driving using the U-turn driving pattern is difficult to perform. When the width of the outer circumferential area SA is sufficiently large and automatic driving using the U-turn driving pattern is possible, automatic driving using the α-turn driving pattern does not have to be performed.

When the amount of grain stored in the grain tank 17 becomes large, as shown in FIG. 6, the discharge travel path X is automatically traveled along the discharge travel path X, and the grains are discharged into the grain transport vehicle CV. The discharge travel path X is a travel path from the harvest interruption position IP, where the harvest travel is interrupted, to the terminal position ED. The terminal position ED is set near the grain transport vehicle CV stopped at the receiving position RP. In this embodiment, the discharge travel path X includes a preparation path Y and a reverse path Z. The preparation path Y is a path from the harvest interruption position IP to the start position of the reverse path Z. The reverse path Z is the terminal end of the discharge travel path X, and is a path that approaches the receiving position RP while moving backward in a direction that intersects with the outer periphery of the field, and reaches the terminal position ED.

In this embodiment, the grain discharge device 18 automatically discharges grains into the grain transport vehicle CV. In more detail, the control device 80 of the combine harvester 1 controls the grain discharge device 18 to position the discharge port 18a of the grain discharge device 18 above the inlet 99 of the grain transport vehicle CV, and operates the grain discharge device 18 to discharge grains. When the amount of grain discharged reaches the target discharge amount, the control device 80 controls the grain discharge device 18 to stop discharging grains.

After the grain discharge is complete, if there is any unworked land remaining in the work area CA, the harvesting work continues. If there is no unworked land remaining in the work area CA, the harvesting work ends.

As shown in FIG. 6, the discharge run may be performed after automatic travel on one harvesting travel route L has ended, or may be performed by interrupting automatic travel on the harvesting travel route L.

[Control configuration]
The configuration relating to the control of the combine harvester 1 and the grain transporter CV will be described below with reference to the block diagram of Fig. 7. The control device 80 of the combine harvester 1 includes a vehicle position calculation unit 81, an area calculation unit 82 (an example of an "area setting unit"), a route calculation unit 83 (an example of a "travel route generation unit"), a travel control unit 84, a discharge timing determination unit 85, an acquisition unit 86, and a discharge control unit 87.

In more detail, the control device 80 is a so-called ECU, and includes a memory (HDD, non-volatile RAM, etc., not shown) that stores programs corresponding to each of the functional units described above, and a CPU (not shown) that executes the programs. The functions of each functional unit are realized by the CPU executing the programs. The same is true for the control device 90 of the grain transport vehicle CV. The control device 80 is connected to the traveling device 11, harvesting section 12, grain tank 17, grain discharge device 18, satellite positioning module 19, management terminal 21, communication section 23, discharge clutch C, and engine E, and is configured to be able to control these.

The vehicle position calculation unit 81 calculates the position coordinates of the combine 1 over time based on the positioning data generated by the satellite positioning module 19.

The area calculation unit 82 calculates the outer periphery area SA and the work target area CA based on the position coordinates of the combine harvester 1 over time calculated by the vehicle position calculation unit 81. Specifically, the area calculation unit 82 calculates the travel path of the combine harvester 1 during the circular travel (initial circular travel) on the outer periphery of the field based on the position coordinates of the combine harvester 1 over time calculated by the vehicle position calculation unit 81. Then, based on the calculated travel path of the combine harvester 1, the area on the outer periphery of the field where the combine harvester 1 traveled while harvesting the planted stalks is set as the outer periphery area SA. In other words, the area calculation unit 82 sets the area on the outer periphery of the work area that has been circumnavigated as the outer periphery area SA. The area calculation unit 82 also sets the area inside the field from the calculated outer periphery area SA as the work target area CA.

For example, in FIG. 4, the route traveled by the combine harvester 1 during a circular run (initial circular run) on the outer periphery of the field is indicated by an arrow. In the illustrated example, the combine harvester 1 performs three circular runs. Then, when this initial circular run is completed, the field is in the state shown in FIG. 5.

As shown in FIG. 5, the area calculation unit 82 calculates the area on the outer periphery of the field through which the combine harvester 1 traveled while harvesting the planted stalks as the outer periphery area SA, and calculates the area inside the calculated outer periphery area SA as the work target area CA.

The path calculation unit 83 calculates a harvesting travel path L for automatic harvesting travel inside the work target area CA based on the calculation results of the area calculation unit 82. In this embodiment, the harvesting travel path L is a plurality of mesh lines (Figure 5) extending parallel to the four sides of the work target area CA. In addition, the path calculation unit 83 calculates a turning travel path T that connects between the two harvesting travel paths L for turning travel (α-turn travel, U-turn travel).

The path calculation unit 83 also generates a discharge travel path X based on the receiving position RP acquired by the acquisition unit 86. The discharge travel path X is a path traveled at the discharge timing determined by the discharge timing determination unit 85. The path calculation unit 83 generates the discharge travel path X so that the end of the discharge travel path X becomes a path (reverse path Z) that approaches the receiving position RP while moving backward in a direction intersecting with the outer periphery of the field. The path calculation unit 83 generates the discharge travel path X so that the receiving position RP is located on an extension of the reverse path Z.

Specifically, the path calculation unit 83 first sets the position closest to the receiving position RP within the outer circumferential area SA where the combine harvester 1 can stop as the end position ED. In the illustrated example of FIG. 6, the receiving position RP is located near the outer edge W of the outer circumferential area SA, and the outer edge W extends in the north-south direction. The path calculation unit 83 sets the end position ED so that its latitude is equal to that of the receiving position RP in the north-south direction and that it is closest to the outer edge W within the outer circumferential area SA in the east-west direction. The path calculation unit 83 then calculates a path that extends from the end position ED in a direction perpendicular to the outer edge W of the outer circumferential area SA (east-west direction in the illustrated example), and sets this path as the reverse path Z. In this case, the receiving position RP is located on an extension of the reverse path Z.

The path calculation unit 83 calculates a path that allows reversing entry into the reverse path Z from the harvest interruption position IP set by the discharge timing determination unit 85, and sets this as the preparation path Y. Finally, the path calculation unit 83 calculates the set of the preparation path Y and the reverse path Z as the discharge travel path X. The preparation path Y is a travel path that moves forward from the harvest interruption position IP, turns left, and stops at the stop position SP with the combine harvester 1 facing west. The reverse path Z is a travel path that moves backward from the stop position SP with the combine harvester 1 facing west, and stops at the terminal position ED with the combine harvester 1 facing west.

The travel control unit 84 is configured to be able to control the travel device 11 and the harvesting unit 12. The travel control unit 84 sets the next travel route from among the travel routes (harvesting travel route L, turn travel route T, discharge travel route X, etc.) calculated by the route calculation unit 83. The travel control unit 84 sets the travel route based on the above-mentioned travel patterns (α-turn circular travel pattern, U-turn circular travel pattern) and the discharge timing (described later) set by the discharge timing determination unit 85. The travel control unit 84 then controls the automatic travel of the combine harvester 1 based on the position coordinates of the combine harvester 1 calculated by the vehicle position calculation unit 81 and the set travel route. Specifically, the travel control unit 84 controls the travel device 11 of the combine harvester 1 so that the combine harvester 1 travels along the set travel route. The travel control unit 84 then operates the harvesting unit 12 when the combine harvester 1 travels along the harvesting travel route L.

The discharge timing determination unit 85 determines the discharge timing, which is the timing for discharging the grains stored in the grain tank 17. Specifically, the discharge timing determination unit 85 sets the grain discharge timing based on the amount of grains stored in the grain tank 17 detected by the storage amount sensor 17a. Then, the harvest interruption position IP is set based on the set discharge timing.

For example, the discharge timing determination unit 85 sets the discharge timing to "after the end of the currently running automatic harvesting drive" in response to the amount of grains stored in the grain tank 17 exceeding a predetermined threshold. In this case, the discharge timing determination unit 85 sets the end point of the currently running harvesting drive path L (harvesting drive path L08 in the example of FIG. 6) as the harvest interruption position IP.

The discharge timing determination unit 85 may set the discharge timing based on the position coordinates of the combine harvester 1 calculated by the vehicle position calculation unit 81, the travel route set by the travel control unit 84, the receiving position RP acquired by the acquisition unit 86, etc. For example, when the end point of the currently traveled harvesting travel route L is far from the receiving position RP, the discharge timing determination unit 85 may set the discharge timing to "after the end of the next automatic harvesting travel." In this case, the discharge timing determination unit 85 sets the end point of the next harvesting travel route L to be traveled as the harvest interruption position IP.

For example, if the distance between the current position of the combine harvester 1 and the receiving position RP is smaller than the distance between the end point of the currently traveling harvesting travel path L and the receiving position RP, the discharge timing determination unit 85 may set the discharge timing to "present." In this case, the discharge timing determination unit 85 sets the current position of the combine harvester 1 to the harvest interruption position IP.

The discharge timing determination unit 85 may be configured to determine the discharge timing in response to an operation button (not shown) arranged on the driving unit 13 or manual operation by an operator via the management terminal 21.

The operator may be notified via the management terminal 21 that the discharge timing determination unit 85 has set the discharge timing.

The acquisition unit 86 acquires the receiving position RP, which is the position where the grain transport vehicle CV stops when receiving grains discharged from the grain discharge device 18. In this embodiment, the acquisition unit 86 acquires the receiving position RP from the control device 90 of the grain transport vehicle CV through the communication unit 92. In other words, the receiving position RP acquired by the acquisition unit 86 is the position of the grain transport vehicle CV calculated based on positioning data from the satellite positioning module 91 mounted on the grain transport vehicle CV. The acquisition unit 86 may acquire the receiving position RP periodically and automatically, in response to the discharge timing determination unit 85 determining the discharge timing, or passively (waiting for reception by the communication unit 23).

The discharge control unit 87 controls the operation of the grain discharge device 18 based on the receiving position RP, and moves the discharge opening 18a of the grain discharge device 18 to a position where grains can be loaded into the grain transport vehicle CV. In detail, the discharge control unit 87 identifies the position of the grain loading opening 99 (e.g., an opening of a container or tank, FIG. 8) of the grain transport vehicle CV based on the receiving position RP, and rotates the grain discharge device 18 to position the discharge opening 18a of the grain discharge device 18 above the loading opening. The discharge control unit 87 then operates the grain discharge device 18 to discharge grains into the grain transport vehicle CV.

In this embodiment, the discharge control unit 87 includes a detection unit 87a, a determination unit 87b, a stop control unit 87c, a reduction amount detection unit 87d, a judgment unit 87e, and a release operation unit 87f.

The detection unit 87a detects the amount of grain discharged by the grain discharge device 18. More specifically, the detection unit 87a detects the discharge amount based on the rotation speed of the bottom screw 18b. Here, the amount of grains transported and discharged when the screw rotates once is constant. In this embodiment, the detection unit 87a calculates the amount of grain discharged by multiplying the rotation speed of the bottom screw 18b by a predetermined coefficient. The rotation speed of the bottom screw 18b is calculated by multiplying the rotation speed of the bottom screw 18b by time (the time it takes for the bottom screw 18b to rotate). The rotation speed of the bottom screw 18b is calculated based on the rotation speed of the engine E. The grain discharge device 18 may be provided with a sensor that detects the rotation speed of the bottom screw 18b, and the detection unit 87a may detect the rotation speed of the bottom screw 18b based on the output of the sensor.

The detection unit 87a also detects the amount of grain discharged based on the output of the sensor 18g provided in the grain discharge device 18. In detail, the detection unit 87a integrates the output of the sensor 18g while the grain discharge device 18 is in operation, and calculates the amount of grain discharged by multiplying the integrated value by a predetermined coefficient.

The detection unit 87a also detects the amount of grain discharged based on the captured images generated by the camera 18h provided in the grain discharge device 18. In more detail, the detection unit 87a analyzes the captured images generated by the camera 18h to estimate the flow rate of grains from the discharge port 18a over time, and calculates the discharge amount by integrating the estimated flow rate.

The determination unit 87b determines the target discharge amount of grains to be discharged from the grain discharge device 18. In this embodiment, the grain transport vehicle CV's acceptable amount MA1, which stores the discharged grains, is acquired from the grain transport vehicle CV, and the target discharge amount is determined based on the acquired acceptable amount MA1. The acceptable amount MA1 is transmitted from the control device 90 of the grain transport vehicle CV to the control device 80 of the combine harvester 1. The determination unit 87b also acquires the acceptable amount MA2 of the drying device, which dries the discharged grains, and determines the target discharge amount based on the acquired acceptable amount MA2. The acceptable amount MA2 is transmitted from the control device 100 of the drying device to the control device 80 of the combine harvester 1. The determination unit 87b determines the target discharge amount to be an amount that does not exceed (is less than) the grain storage amount in the grain tank 17, the acceptable amount MA1 of the grain transport vehicle CV, and the acceptable amount MA2 of the drying device.

The stop control unit 87c controls the grain discharge device 18 to stop discharging grains when the discharge amount detected by the detection unit 87a reaches the target discharge amount determined by the determination unit 87b. In detail, the stop control unit 87c compares the discharge amount detected over time by the detection unit 87a with the target discharge amount determined by the determination unit 87b over time, and stops the operation of the grain discharge device 18 when the discharge amount reaches the target discharge amount.

The stop control unit 87c also acquires the storage amount RA of the grain transport vehicle CV that stores the discharged grains, and changes the discharge speed of the grain discharge device 18 based on the acquired storage amount RA. For example, the stop control unit 87c sets the discharge speed of the grain discharge device 18 to the maximum speed when the storage amount RA is smaller than a predetermined threshold, and sets the discharge speed of the grain discharge device 18 to a termination speed smaller than the maximum speed when the storage amount RA exceeds the predetermined threshold. The stop control unit 87c changes the discharge speed of the grain discharge device 18 by changing the rotation speed of the engine E.

The reduction amount detection unit 87d detects the reduction amount of grains stored in the grain tank 17. In this embodiment, the reduction amount detection unit 87d detects the reduction amount based on the output of the storage amount sensor 17a and the level sensor 17b of the grain tank 17.

The determination unit 87e determines whether or not a bridge has occurred in the grain tank 17 based on the amount of decrease detected by the decrease amount detection unit 87d and the amount of discharge detected by the detection unit 87a. For example, the determination unit 87e determines that a bridge has occurred when the amount of decrease is smaller than the amount of discharge and the difference between the amount of decrease and the amount of discharge is greater than a predetermined threshold. In particular, in a configuration in which the detection unit 87a detects the amount of discharge based only on the number of rotations of the bottom screw 18b, when a bridge has occurred, the amount of grain stored in the grain tank 17 does not decrease, but the rotation of the bottom screw 18b continues and the calculated value of the amount of discharge by the detection unit 87a continues to increase. The determination unit 87e calculates the difference between the amount of decrease and the amount of discharge and compares it with a predetermined threshold to determine whether or not a bridge has occurred.

The release operation unit 87f rocks the rocking member 17c of the grain tank 17 in response to the determination unit 87e determining that a bridge has occurred. For example, the release operation unit 87f activates the actuator of the rocking member 17c for a predetermined time and then stops it.

The control device 90 of the grain transport vehicle CV is connected to a satellite positioning module 91, a communication unit 92, and a storage volume sensor 93, and is configured to be able to control these. The control device 90 includes a vehicle position calculation unit 94, an acceptable volume calculation unit 95, a storage volume calculation unit 96, and a transmission control unit 97.

The vehicle position calculation unit 94 calculates the position coordinates of the grain transport vehicle CV based on the positioning data generated by the satellite positioning module 91.

The acceptable amount calculation unit 95 calculates the acceptable amount MA1, which is the amount of grain that the grain transport vehicle CV can accept. For example, when the grain transport vehicle CV has not yet accepted grain and the tank is empty, the acceptable amount calculation unit 95 calculates the maximum capacity of the grain transport vehicle CV as the acceptable amount MA1. For example, the acceptable amount calculation unit 95 calculates the acceptable amount MA1 by subtracting the current grain storage amount RA calculated by the storage amount calculation unit 96 from the maximum capacity.

The storage amount calculation unit 96 calculates the storage amount RA, which is the current grain storage amount in the grain transport vehicle CV, based on the output of the storage amount sensor 93.

The transmission control unit 97 transmits, via the communication unit 92, the receiving position RP, which is the position where the grain transport vehicle CV stops when receiving grains from the combine harvester 1. For example, in response to an operational input from the driver indicating that the grain transport vehicle CV has arrived at the field and stopped, the transmission control unit 97 transmits the current position coordinates of the grain transport vehicle CV calculated by the vehicle position calculation unit 94 to the combine harvester 1.

The transmission control unit 97 also transmits the acceptable amount MA1 via the communication unit 92. For example, the transmission control unit 97 transmits the acceptable amount MA1 together with the receiving position RP to the combine harvester 1 in response to an operational input from the driver indicating that the combine has arrived at the field and stopped.

The transmission control unit 97 also transmits the storage amount RA via the communication unit 92. For example, the transmission control unit 97 transmits the storage amount RA to the combine harvester 1 over time while receiving grains from the grain discharge device 18 of the combine harvester 1.

The transmission control unit 97 may transmit the receiving position RP, the receivable amount MA1, and the storage amount RA in response to a transmission request from the control device 80 of the combine harvester 1.

The drying device control device 100 is connected to the communication unit 102 and is configured to be able to control it. The control device 100 includes an acceptable amount calculation unit 103 and a transmission control unit 104.

The acceptable amount calculation unit 103 calculates the acceptable amount MA2, which is the amount of grains that the drying device can accept. For example, when the drying device has not yet accepted grains and is empty, the acceptable amount calculation unit 103 calculates the maximum capacity of the drying device as the acceptable amount MA2. For example, the acceptable amount calculation unit 103 calculates the acceptable amount MA2 as the value obtained by subtracting the amount that has already been accepted from the maximum capacity of the drying device.

The transmission control unit 97 transmits the acceptable amount MA2 via the communication unit 92. For example, in response to a transmission request from the combine harvester 1, the transmission control unit 97 transmits the current acceptable amount MA2 of the drying device calculated by the acceptable amount calculation unit 103 to the combine harvester 1.

The combine 1 and grain transport vehicle CV configured as described above operate as follows. The transmission control unit 97 of the grain transport vehicle CV transmits the receiving position RP, and the acquisition unit 86 of the combine 1 acquires the receiving position RP. The discharge timing determination unit 85 of the combine 1 determines the discharge timing. The discharge timing may be determined before or after the acquisition of the receiving position RP. The path calculation unit 83 calculates the discharge travel path X based on the discharge timing and the receiving position RP. The travel control unit 84 sets the discharge travel path X as the next travel path based on the discharge timing. The travel control unit 84 automatically drives the combine 1 along the discharge travel path X. The combine 1 then travels backward along the reverse path Z and stops at the terminal position ED.

When the end position ED is sufficiently close to the grain transport vehicle CV and grains can be discharged from the combine harvester 1 parked at the end position ED to the grain transport vehicle CV, the discharge control unit 87 positions the discharge port 18a of the grain discharge device 18 above the input port 99 of the grain transport vehicle CV and operates the grain discharge device 18 to start discharging grains. The determination unit 87b of the control device 80 of the combine harvester 1 acquires the grain transport vehicle CV's acceptable amount MA1 from the grain transport vehicle CV and determines the target discharge amount based on the acquired acceptable amount MA1. The detection unit 87a detects the amount of grain discharged by the grain discharge device 18. The stop control unit 87c controls the grain discharge device 18 to stop discharging grains when the discharge amount detected by the detection unit 87a reaches the target discharge amount determined by the determination unit 87b.

If the end position ED is far from the grain transport vehicle CV and it is impossible for the combine harvester 1 parked at the end position ED to discharge grains into the grain transport vehicle CV, it is necessary to move the combine harvester 1 further backward from the end position ED to approach the grain transport vehicle CV. This backward travel may be performed manually by the operator or automatically as described below.

6, based on the output from the detection device 24, the travel control unit 84 reverses the combine harvester 1 body 10 beyond the outer peripheral area SA set by the area calculation unit 82 so as not to come into contact with the ridge A (ridge detection travel). For example, the travel control unit 84 sets a discharge stop position DP and reverses the combine harvester 1 until it reaches the discharge stop position DP or the detection device 24 detects the ridge A. The discharge stop position DP is a stop position where grains can be discharged from the stopped combine harvester 1 to the grain transport vehicle CV, and is a stop position between the terminal position ED of the reverse path Z and the receiving position RP of the grain transport vehicle CV, and is a stop position outside the outer peripheral area SA. When the combine harvester 1 reaches the discharge stop position DP, the discharge control unit 87 positions the discharge port 18a of the grain discharge device 18 above the input port 99 of the grain transport vehicle CV and operates the grain discharge device 18 to discharge the grains. If the detection device 24 detects the ridge A before the combine harvester 1 reaches the discharge stop position DP, the operator manually reverses the combine harvester 1 to approach the grain transport vehicle CV and discharge the grain. In either case, the control to stop the grain discharge device 18 is automatically performed by the detection unit 87a, the decision unit 87b, and the stop control unit 87c.

Other Embodiments
(1) During operation of the grain discharge device 18, the control device 80 of the combine harvester 1 may control the engine E to a predetermined rotation speed. In this case, the bottom screw 18b is kept constant at a predetermined rotation speed during operation of the grain discharge device 18.

(2) The combine harvester 1 may be provided with an alarm unit, and the control device 80 may activate the alarm unit in response to the determination unit 87e determining that a bridge has occurred. The alarm unit may be, for example, a buzzer, a lamp, a sound generating device, an image display device, etc. In response to the determination unit 87e determining that a bridge has occurred, the discharge control unit 87 may stop the operation of the grain discharge device 18.

(3) The shape of the backward path Z is not limited to the example described in the embodiment. For example, the backward path Z may not be perpendicular to the outer edge W of the outer circumferential area SA, but may intersect at an angle of less than 90 degrees. The backward path Z may not be a straight line, but may be curved.

(4) The form of the preparatory path Y is not limited to the example described in the embodiment. For example, the preparatory path Y may include multiple turning paths and one or multiple straight paths (forward and backward).

(5) The manner in which the acquisition unit 86 of the combine harvester 1 acquires the receiving position RP is not limited to the example described in the embodiment. For example, the acquisition unit 86 may acquire the receiving position RP transmitted from the control device 90 of the grain transport vehicle CV via an operator's mobile information terminal, an agricultural information system, etc. The receiving position RP does not have to be calculated based on positioning data from the satellite positioning module 91 mounted on the grain transporter CV. For example, the receiving position RP may be determined by an operator, a work manager, an agricultural information system, etc. and input to the control device 80 of the combine harvester 1.

(6) The manner in which the determination unit 87b of the combine harvester 1 acquires the acceptable amounts MA1 and MA2 is not limited to the example described in the embodiment. For example, the determination unit 87b may acquire the acceptable amount MA1 transmitted from the control device 90 of the grain transport vehicle CV and the acceptable amount MA2 transmitted from the control device 100 of the drying device via the operator's mobile information terminal, an agricultural information system, etc. The acceptable amount MA1 does not have to be calculated by the control device 90 of the grain transporter CV. The acceptable amount MA2 does not have to be calculated by the control device 100 of the drying device. For example, the acceptable amounts MA1 and MA2 may be determined by an operator, a work manager, an agricultural information system, etc. and input to the control device 80 of the combine harvester 1.

(7) Each functional unit of the control device 80 of the combine harvester 1 may be provided outside the combine harvester 1, for example, in a management computer. For example, one or more of the area calculation unit 82, path calculation unit 83, discharge timing determination unit 85, acquisition unit 86, discharge control unit 87, detection unit 87a, determination unit 87b, stop control unit 87c, reduction amount detection unit 87d, judgment unit 87e, and release operation unit 87f may be provided in a computer external to the combine harvester 1. A system may be configured by the combine harvester 1 and an external computer, or by the combine harvester 1, the grain transport vehicle CV, and an external computer.

The present invention can be applied to normal combine harvesters as well as head-feeding combine harvesters.

1: Combine 18: Grain discharge device 18b: Bottom screw 18g: Sensor 18h: Camera 87a: Detection unit 87b: Decision unit 87c: Stop control unit 87d: Reduction amount detection unit 87e: Determination unit CV: Grain transport vehicle MA1: Acceptable amount MA2: Acceptable amount RA: Storage amount

Claims (6)

A grain storage section;
A grain discharge device that discharges grains from the grain storage section to the outside;
A detection unit that detects the amount of grain discharged by the grain discharge device;
A determination unit that determines a target discharge amount of grains to be discharged from the grain discharge device;
A stop control unit that controls the grain discharge device to stop discharge of grains in response to the discharge amount detected by the detection unit reaching the target discharge amount determined by the determination unit,
The grain discharge device includes a bottom screw disposed at the bottom of the grain storage section,
The detection unit detects the discharge amount based on a rotation speed of the bottom screw,
The rotation speed of the bottom screw is calculated based on the rotation speed of the engine ;
The determination unit is a combine harvester that acquires, via communication from an external device, an acceptable amount of a grain transport vehicle that stores the discharged grain, and determines the target discharge amount based on the acquired acceptable amount . The combine according to claim 1, wherein the rotational speed of the bottom screw is constant. The combine harvester according to claim 1 or 2 , wherein the determination unit obtains an acceptable amount of a drying device that dries the discharged grains, and determines the target discharge amount based on the obtained acceptable amount. A combine harvester as described in any one of claims 1 to 3, wherein the stop control unit acquires a storage volume of a grain transport vehicle that stores discharged grain, and changes the discharge speed of the grain discharge device based on the acquired storage volume. A reduction amount detection unit that detects a reduction amount of the grains stored in the grain storage unit;
A combine harvester as described in any one of claims 1 to 4, further comprising a judgment unit that judges whether or not a bridge has occurred in the grain storage section based on the amount of decrease detected by the amount of decrease detection unit and the discharge amount detected by the detection unit. A grain storage section;
A grain discharge device that discharges grains from the grain storage section to the outside;
A detection unit that detects the amount of grain discharged by the grain discharge device;
A determination unit that determines a target discharge amount of grains to be discharged from the grain discharge device;
A stop control unit that controls the grain discharge device to stop discharge of grains in response to the discharge amount detected by the detection unit reaching the target discharge amount determined by the determination unit,
The grain discharge device includes a bottom screw disposed at the bottom of the grain storage section,
The detection unit detects the discharge amount based on a rotation speed of the bottom screw,
The rotation speed of the bottom screw is calculated based on the rotation speed of the engine;
A reduction amount detection unit that detects a reduction amount of the grains stored in the grain storage unit;
A determination unit that determines whether or not a bridge has occurred in the grain storage unit based on the decrease amount detected by the decrease amount detection unit and the discharge amount detected by the detection unit;
a swing member that is swingably driven around an axis extending along the front-rear direction of the aircraft body ,
A combine harvester in which the rocking member is rocked when the determination unit determines that the bridge has occurred.

Images