JP7732491B2 - Harvesting machine - Google Patents

Description

The present invention relates to harvesting machines such as combine harvesters.

There is a combine harvester that autonomously travels along a work route, automatically harvesting, and when the grain tank is full, moves to a discharge position and rotates, raises, and extends the discharge auger to discharge the grain into a collection container waiting outside the field. (See Patent Document 1)

Japanese Patent Application Laid-Open No. 2023-027377

However, if power lines are installed around the field, the discharge auger may come into contact with the power lines when rotating, raising, or extending it at the discharge position, which could damage the discharge auger or electrical system. Furthermore, if the power lines are cut, there is a risk of a power outage in the surrounding area.

The present invention was made in consideration of the above and provides a harvesting machine that prevents the discharge device from coming into contact with electric wires when in the discharge position.

The first aspect of the present invention is a harvesting machine including a traveling device (4), a reaping device (15) that reaps crops from a field, a threshing device (6) that takes over and threshes the crops, a storage device (7) that stores grains, a discharge device (8) that discharges the grains from the storage device (7) to the outside of the machine, and a positioning device (27) that acquires position information of the machine,
a harvesting mode changeover switch for changing a control device (26) that causes the harvester to autonomously travel along a work route in the work map data while calculating position information using a positioning device (27) and automatically perform harvesting work to an automatic harvesting work mode;
The control device (26) stores the work map data capable of recording electric wire position information indicating the position of the electric wire (D),
When the harvesting mode changeover switch is used to switch to automatic harvesting mode, the control device (26) displays a work map data selection screen on the monitor to prompt the user to select work map data if there is work map data in which power line position information is recorded, and displays a power line position information input screen on the monitor to prompt the user to register power line position information if there is no work map data in which power line position information is recorded, and switches to automatic harvesting mode when work map data is selected if there is work map data in which power line position information is recorded, or when there is no work map data in which power line position information is recorded and power line position information is registered, and the harvesting machine is characterized in that it also imposes predetermined restrictions on the operation of the discharge device (8) near the power line (D) based on the power line position information recorded in the work map data.
The second invention is a harvesting machine according to the first invention, characterized in that the electric wire position information registration means downloads map information in which the electric wire positions are recorded, manually inputs the information into the work map data, or records the electric wires (D) detected by an electric wire detection device (28) equipped on the machine.
The third invention is a harvesting machine according to the first or second invention, characterized in that a position at the edge of the field (F) and free from power lines (D) from work map data is displayed on a monitor as a candidate discharge position where grain can be discharged without restricting the operation of the discharge device (8), and any position from the candidate discharge positions can be selected and operated as the discharge position.
The fourth invention is a harvesting machine according to the first or second invention, characterized in that it is provided with a distance sensor (30) that detects the distance from the machine body to the electric wire (D), and the height of the electric wire (D) is calculated from the detected distance from the machine body to the electric wire (D) by the distance sensor (30).
The first invention related to the present invention is a harvester comprising a traveling device 4, a harvesting device 15 for harvesting crops from the field, a threshing device 6 for taking over and threshing the crops, a storage device 7 for storing grains, a discharge device 8 for discharging the grains from the storage device 7 outside the machine, and a positioning device 27 for acquiring the position information of the machine, and a harvesting mode selector switch for switching a control device 26, which causes the machine to autonomously travel along the work route of the work map data while calculating position information using the positioning device 27 and automatically perform harvesting work, to an automatic harvesting mode, and when the harvesting mode selector switch is used to switch to automatic harvesting mode, if there is work map data in which power line position information is recorded, a work map data selection screen is displayed on the monitor, and if there is no work map data in which power line position information is recorded, a power line position information input screen is displayed on the monitor, and if there is work map data but no work map data but no power line position information is registered, the harvester does not enter automatic harvesting mode, and imposes predetermined restrictions on the operation of the discharge device 8 near the power line D recorded in the work map data.

According to the first invention related to the present invention , when work map data in which electric wire position information is recorded is available but work map data is not selected, or when work map data in which electric wire position information is recorded is not available but electric wire position information is not registered, the automatic harvesting work mode is not entered, thereby improving safety during automatic work.

In addition, the operation of the discharge device 8 is restricted in accordance with the specified conditions near the electric wire D recorded in the work map data, preventing damage to the discharge device 8 or the electric wire D due to contact between the discharge device 8 and the electric wire D and preventing power outages in the surrounding area.

The second invention related to the present invention is a harvesting machine of the first invention related to the present invention, which uses a means for registering power line position information to download map information in which the positions of power lines are recorded, manually input into work map data, or record power lines D detected by a power line detection device 28 equipped on the machine.

According to a second invention related to the present invention , as a means for registering electric wire position information, map information on which the positions of electric wires are recorded is downloaded or the electric wires D detected by the electric wire detection device 28 equipped on the aircraft are recorded, thereby eliminating the need to input the positions of the electric wires D and saving labor.

In addition, by manually entering power line position information into the work map data as a means of registering information, it is possible to impose specific restrictions on the operation of the discharge device 8 at a position that is appropriate for the actual field environment.

A third invention related to the present invention is a harvesting machine of the first or second invention related to the present invention, which displays on a monitor from work map data a position at the edge of a field F and where there are no power lines D as a candidate discharge position where grain can be discharged without restricting the operation of the discharge device 8, and allows any position to be selected and operated as the discharge position.

According to a third invention related to the present invention , candidate discharge positions are displayed, and any position can be selected from the candidates as the discharge position, making it easier to keep the recovery means 31 that recovers the discharged grains on standby, and the grains can be automatically discharged at a position where it is easy to move the machine, thereby improving work efficiency.

A fourth invention related to the present invention is a harvesting machine of the first or second invention related to the present invention, which is provided with a distance sensor 30 that detects the distance from the machine body to the electric wire D, and calculates the height of the electric wire D from the detected distance from the machine body to the electric wire D by the distance sensor 30 .

According to a fourth invention related to the present invention , by calculating the height of the electric wire D in advance, it is possible to determine the amount of upward rotation and extension of the discharge device 8 during automatic operation, thereby enabling work to be performed in accordance with the environment of the field F.

1 is a side view of a combine harvester according to an embodiment of the present invention. 1 is a plan view of a combine harvester according to an embodiment of the present invention. FIG. 2 is a side view for explaining the operation of the combine harvester according to the embodiment of the present invention. FIG. 2 is a side view for explaining the operation of the combine harvester according to the embodiment of the present invention. FIG. 2 is a rear view for explaining the operation of the combine harvester according to the embodiment of the present invention.

The following describes a combine harvester 1, which is one embodiment of the present invention, with reference to the accompanying drawings. To facilitate understanding, directions are conveniently indicated as follows: from the operator's perspective, the front is the front side, the rear is the rear side, the right-hand side is the right side, and the left-hand side is the left side; however, the configuration is not limited to these.

As shown in Figures 1 and 2, the combine harvester 1 has a traveling device 4 mounted on the lower side of the chassis 2, with a pair of left and right traveling crawlers 3 that travel on the soil surface. Also mounted on the left and right sides of the chassis 2 are a threshing device 6 that threshes and sorts the grain stalks that are clamped and transported by a feed chain 5, a grain tank 7 that serves as a storage device for temporarily storing the grain, and a grain discharge auger 8, also known as a discharge auger, that discharges the grain stored in the grain tank 7 outside the machine. A straw disposal device 9 is mounted to the rear end of the threshing device 6.

When discharging grain, the grain discharge auger 8 rotates up and down by operating the auger lifting cylinder, rotates by operating the auger rotation electric motor, and retracts by operating the auger extension and retraction electric motor.

Ahead of the threshing device 6, a harvesting device 15 is suspended from the front end of the chassis 2 so that it can be raised and lowered relative to the soil surface using a harvesting lifting cylinder. The harvesting device 15 includes a stalk divider 11 that divides uncut stalks from the front end, a raising section 12 that raises the divided stalks, a cutting blade section 13 that cuts the raised stalks, and a supply adjustment and transport section that rakes in the cut stalks and adjusts the threshing depth during transport before transferring them to the feed chain 5.

The upper rear of the harvesting device 15 is provided with an operating device 20 for controlling the operation of the combine harvester 1, and an operating seat 21 where the operator sits. An engine is mounted below the operating seat 21, and the grain tank 7 is located to the rear. A cabin 23 is provided to cover the operating device 20 and operating seat 21. The traveling device 4, threshing device 6, harvesting device 15, operating device 20, engine, cabin 23, etc. are mounted on the combine harvester's chassis 2.

The grain tank 7 is equipped with a full sensor that detects when the grain tank 7 is full of grain. The engine fuel tank is also equipped with a fuel shortage sensor that detects when fuel is running low.

In addition, a monitor installed on the operation panel inside the cabin 23 displays a grain tank full alarm when the full sensor detects that the grain tank 7 is full of grain, and a fuel low alarm when the fuel low sensor detects that there is little fuel remaining in the fuel tank.

The operating device 20 includes various operating devices, such as a main speed change lever operated forward and backward by the operator seated in the operating seat 21 to operate a speed change actuator that switches between forward/reverse travel and stopping and changes the main speed; a left/right traveling actuator that operates the left/right side clutches and left/right side brakes of the left/right traveling crawlers 3, 3 by tilting left or right, thereby enabling left/right steering when traveling straight and turning in various turning modes; a steering lever that operates the reaping lifting cylinder by operating forward and backward to raise and lower the reaping device 15; a reaping/threshing lever that operates the reaping/threshing clutch actuator to turn the power of the reaping device 15 and the threshing device 6 on and off; an auger operating lever that moves the position of the discharge port 8a at the tip of the threshing auger 8 up and down by operating the auger lifting cylinder and left and right by operating the left/right turning actuator; and an auger drive switch lever that operates the auger drive electromagnetic clutch that turns the power of the threshing auger 8 on and off, thereby discharging grain from the grain tank 7 out of the machine through the discharge port 8a.

The combine harvester 1 can also be freely switched between an automatic harvesting mode, in which it travels autonomously and performs harvesting work automatically, and a manual operation mode, in which the operator on board manually performs harvesting work.

A harvesting mode selector switch is provided on the operation panel inside the cabin 23, which is used to switch between automatic harvesting mode and manual operation mode.

A control device 26 is provided inside the cabin 23, and a GNSS antenna 27 serving as a positioning device is provided on the top surface of the cabin 23.

The control device 26 operates the shift actuator to perform main shift switching, automatically controlling forward/reverse travel, stopping, and vehicle speed changes, and operates the left and right travel actuators to automatically control left and right turns.

The control device 26 also activates the reaping lifting cylinder to control the elevation of the reaping device 15, and activates the reaping/threshing clutch actuator to automatically control the drive of the reaping device 15 and threshing device 6.

The control device 26 also operates the auger lifting cylinder, the auger rotating electric motor, and the auger extension/retraction electric motor to automatically control the up/down rotation, rotation, and extension/retraction movement of the grain discharge auger 8, and operates the auger drive clutch actuator to automatically control the drive of the grain discharge auger 8.

The control device 26 also stores work map data (map data) that includes the reciprocating mowing work route or circular mowing work route for the field F, and can record power line position information indicating the location of power lines D around the field F in the work map data.

To record power line location information in the work map data stored in the control device 26, power line location information from map information created by the Geospatial Information Authority of Japan or municipalities is downloaded and registered in the work map data.

Alternatively, a worker can manually enter power line position information into the work map data using a mobile device such as a tablet, and then send it to the control device 26 to register it in the work map data.

Alternatively, a power line detection device 28 (in this embodiment, a camera is installed) such as a camera or radar mounted on the aircraft (top of the cabin 23) detects power lines D around the field, and the power line position information is registered in the work map data.

In addition, a camera 29 is also installed at the tip of the grain discharge auger 8 to detect whether the grain discharge auger 8 is interfering with obstacles such as electric wires D.

In addition, a distance sensor 30 is provided on the aircraft (top of the cabin 23) to detect the distance from the aircraft to the electric wire D.

Here, we will describe in detail the work process in which the control device 26 autonomously drives the vehicle and automatically performs harvesting work in automatic harvesting mode.

First, the operator operates the combine harvester 1 and moves it to the harvesting start position within the field F.

Next, the worker sets the harvesting mode switch on the operation panel to automatic harvesting mode.

The control device 26 then receives signals from the positioning satellite via the GNSS antenna 27, calculates current position information using the GNSS (Global Navigation Satellite System), and if there is work map data that records power line position information around the field F at the current location, displays a work map data selection screen on the monitor of the operation panel, and the worker selects the work map data for the corresponding field F.

If there is no work map data recording power line position information around field F, the control device 26 will display the power line position information input screen on the monitor.

Workers can download power line location information from map information created by the Geospatial Information Authority of Japan or municipalities and register it in the work map data, manually enter the power line location information into the work map data using a mobile device such as a tablet and send it to the control device 26 to register it in the work map data, or detect power lines D around the field using a power line detection device 28 such as a camera or radar equipped on the aircraft and register the power line location information in the work map data.

At this time, by downloading the power line location information from map information created by the Geospatial Information Authority of Japan or municipalities and registering it in the work map data, or by detecting power lines D around the field using the power line detection device 28 and registering the power line location information in the work map data, the work of inputting the power line location information can be omitted, thereby saving labor.

The control device 26 will not enter automatic harvesting mode if work map data containing power line position information is available but the work map data is not selected, or if work map data containing power line position information is not available but the power line position information is not registered.

Therefore, if there is work map data in which power line position information is recorded but the work map data is not selected, or if there is no work map data in which power line position information is recorded but the power line position information is not registered, the automatic harvesting mode will not be entered, thereby improving safety during automatic work.

The control device 26 enters automatic harvesting mode when work map data containing power line position information is selected if such data is available, or when power line position information is registered if such data is not available.

When the automatic harvesting mode is activated, the control device 26 uses the work map data to display on the monitor positions at the edge of the field facing a road or ridge R and free of power lines D as candidate discharge positions where grain can be discharged without restricting the operation of the threshing auger 8.

The worker selects any desired ejection position from the candidate ejection positions displayed on the monitor.

Therefore, candidate discharge positions are displayed on the monitor, and any desired position can be selected as the discharge position from the candidates. This allows grain to be automatically discharged at a position where it is easy to wait for the loading platform 31a of the vehicle 31, such as a truck, which serves as the collection means for collecting the discharged grain, or a container or flexible container bag, and where it is easy to move the combine harvester 1, thereby improving work efficiency.

In addition, if there are no candidate discharge locations where grain can be discharged without restricting the operation of the grain discharge auger 8, which does not have the above-mentioned electric wires D, the control device 26 displays on the monitor from the work map data the field edge facing the road or ridge R, the road or ridge R, and the electric wires D, and the worker can select a discharge location.

When a discharge position where the electric wire D is located is selected, the control device 26 receives a signal from a positioning satellite using the GNSS antenna 27, calculates the current position calculated using the GNSS (Satellite Positioning System), and calculates the distance on a plane between the aircraft and the electric wire D based on the position information of the electric wire D in the work map data, and then detects the distance from the aircraft to the electric wire D using the distance sensor 30 to calculate the height of the electric wire D.

Therefore, by calculating the height from the ground to the electric wire D, it is possible to determine the limit on the amount of upward rotation and extension of the grain discharge auger 8 during automatic operation, allowing work to be performed in accordance with the environment of the field F.

When the operator turns on the start switch on the operation panel, the control device 26 receives signals from positioning satellites in the field using the GNSS antenna 27, calculates position information using the GNSS (Satellite Positioning System), and autonomously drives along the work route to automatically perform harvesting work.When the fullness sensor detects that the grain tank 7 is full of grain, the device automatically drives toward the selected discharge position (a truck or other vehicle 31 waiting on the footpath R, a road facing the field F).

Then, when the machine reaches the discharge position, the control device 26 stops the combine harvester 1 in a position where the rear of the machine faces the electric wire D and the vehicle 31 that will collect the grain (see Figure 3).

As shown in Figure 4, the discharge position is automatically set to the distance from the front end of the machine body to the rear end of the vehicle 31, calculated by adding the total length of the machine body, the length of the grain discharge auger 8, and a set value. However, if this distance cannot be met, automatic discharge control is discontinued.

When the aircraft reaches the discharge position, the control device 26 performs the discharge operation in the following procedure.

First, as shown in Figure 3 (A), the control device 26 activates the auger lifting cylinder to extend the grain discharge auger 8 from its stored position (moving it up a predetermined amount), and then activates the auger extension and retraction electric motor to re-retract the grain discharge auger 8.

Next, as shown in Figure 3 (B), the control device 26 activates the auger rotation electric motor to point the grain discharge auger 8 toward the vehicle 31 that will collect the electric wire D and grains, and activates the auger lifting cylinder to position the grain discharge auger 8 lower than the height of the electric wire D and higher than the loading platform 31a of the vehicle 31.

Next, as shown in Figure 3 (C), the control device 26 drives the traveling device 4 in reverse to move the machine backward, causing the grain discharge auger 8 to pass under the electric wire D.

If the tilt sensor installed on the machine detects tilt of the machine while the grain discharge auger 8 is passing under the electric wire D, the control device 26 will stop the machine.

When the machine is moving backward and the grain discharge auger 8 passes under the electric wire D, the control device 26 restricts the operation of the auger extension/retraction electric motor to prohibit the grain discharge auger 8 from extending or retracting. After the grain discharge auger 8 passes under the electric wire D, the control device 26 operates the auger extension/retraction electric motor and the auger rotation electric motor to extend, retract, and rotate the grain discharge auger 8, aligning the discharge outlet 8a at the tip of the grain discharge auger 8 with the loading platform 31a of the vehicle 31.

In addition, after the grain discharge auger 8 passes under the electric wire D, the control device 26 operates the auger lifting cylinder only in the direction that moves the grain discharge auger 8 downward, and prohibits the grain discharge auger 8 from moving upward.

In addition, the control device 26 prohibits the grain discharge auger 8 from automatically retracting while the grain discharge auger 8 is passing under the electric wire D and after it has passed under the electric wire D.

The control device 26 then activates the auger drive electromagnetic clutch to turn on the grain discharge auger 8, discharging the grain from the grain tank 7 through the discharge port 8a onto the loading platform 31a of the vehicle 31, and when the grain has been discharged from the grain tank 7, it activates the auger drive electromagnetic clutch to turn off the grain discharge auger 8.

Once the discharge operation is completed in this manner, the control device 26 moves the combine 1 to the discharge position in the reverse order of the above, sets the grain discharge auger 8 to the retracted position, and returns to the original work path to resume automatic harvesting operations.

In summary, if work map data is available but not selected, or if work map data is not available and power line position information is not registered, the system will not enter automatic harvesting mode, thereby improving safety during automatic operation.

In addition, by imposing certain restrictions on the rotation, extension, and up and down movement of the grain discharge auger 8 near the electric wire D recorded in the work map data, such as the discharge position, damage to the grain discharge auger 8 or the electric wire D due to the grain discharge auger 8 coming into contact with the electric wire D can be prevented, and power outages in the surrounding area can be prevented.

Furthermore, if the operator operates the operating devices 20, such as the main speed change lever, steering lever, or shear/release lever, during automatic travel, the combine harvester 1 switches from automatic harvesting mode to manual operation mode, and the operator then operates the combine harvester 1 manually.

When the harvesting mode switch is set to manual operation mode, the operator can operate the operating device 20 to manually perform harvesting operations.

In addition, a camera 29 attached to the tip of the grain discharge auger 8 may be used as a means of calculating the height of the electric wire D.

As shown in Figure 5, the control device 26 activates the auger rotation electric motor at the discharge position to rotate the grain discharge auger 8 and position the camera 29 attached to the tip of the grain discharge auger 8 on the side of the electric wire D, activates the auger lifting cylinder to raise the grain discharge auger 8, and activates the auger extension electric motor to extend the grain discharge auger 8. The height of the electric wire D is calculated from the machine position at which the camera 29 recognizes the electric wire D in a horizontal position, and the amount of upward movement and extension of the grain discharge auger 8.

4 Traveling device 6 Threshing device 7 Storage device (grain tank)
8. Discharge device (grain discharge auger)
15 Harvesting device 26 Control device 27 Positioning device (GNSS antenna)
28 Electric wire detection device 30 Distance sensor 31 Recovery means (vehicle)
D Electric wire F Field

Claims (4)

A harvesting machine including a traveling device (4), a reaping device (15) for reaping crops from a field, a threshing device (6) for taking over and threshing the crops, a storage device (7) for storing grains, a discharge device (8) for discharging the grains from the storage device (7) to the outside of the machine, and a positioning device (27) for acquiring position information of the machine ,
a harvesting mode changeover switch for changing a control device (26) that causes the harvester to autonomously travel along a work route in the work map data while calculating position information using a positioning device (27) and automatically perform harvesting work to an automatic harvesting work mode;
The control device (26) stores the work map data capable of recording electric wire position information indicating the position of the electric wire (D),
When the harvesting mode changeover switch is used to switch to automatic harvesting mode , the control device (26) displays a work map data selection screen on the monitor to prompt the user to select work map data if there is work map data in which power line position information is recorded, and displays a power line position information input screen on the monitor to prompt the user to register power line position information if there is no work map data in which power line position information is recorded , and when work map data in which power line position information is recorded is selected or when there is no work map data in which power line position information is recorded and power line position information is registered , the harvesting machine switches to automatic harvesting mode, and imposes predetermined restrictions on the operation of the discharge device (8) near the power line (D) based on the power line position information recorded in the work map data. The harvesting machine of claim 1, characterized in that the means for registering power line position information is to download map information on which the positions of power lines are recorded, manually input the information into work map data, or record power lines (D) detected by a power line detection device (28) equipped on the machine. A harvesting machine as described in claim 1 or 2, characterized in that a position at the edge of the field ( F ) and free from electric wires (D) from the work map data is displayed on the monitor as a candidate discharge position where grain can be discharged without restricting the operation of the discharge device (8), and any position from the candidate discharge positions can be selected as the discharge position. A harvesting machine as described in claim 1 or 2, characterized in that a distance sensor (30) is provided to detect the distance from the machine body to the electric wire (D), and the height of the electric wire (D) is calculated from the detected distance from the machine body to the electric wire (D) by the distance sensor (30).