CN106163259A - Crops harvester - Google Patents

Abstract

To provide a crop harvesting device capable of reducing the man-hours for creating a traveling route of a traveling harvester while suppressing unevenness in working time due to the operator's proficiency in harvesting crops. The crop harvesting device (100) has: a position detection mechanism (110) for detecting the position of the combine harvester (1); a storage mechanism (130) for storing position information of the operation area (131); A driving route generating mechanism (150) that generates a driving route of the combine harvester (1) in a manner of spirally harvesting crops from the outer peripheral side to the inner side; ) through a travel control mechanism (160) that travels through the travel route generated by the travel control mechanism (160); An action harvesting control mechanism (170) for harvesting crops.

Description

crop harvesting device

technical field

The invention relates to a crop harvesting device.

Background technique

Conventionally, operators rely on their senses to drive a traveling harvester such as a combine harvester, and perform crop harvesting work.

However, there is a possibility that the working time may vary depending on the operator's proficiency, and workability may be reduced.

In addition, conventionally, there is a crop harvesting device that performs crop harvesting operations by automatically driving a traveling harvester (for example, Patent Document 1).

In the technique described in patent document 1, the travel route which the rice transplanter traveled is memorize|stored in a storage means at the time of transplanting rice seedlings, and the rice cutter is automatically driven to pass the said travel route at the time of rice harvesting.

However, in order to store the travel course of a rice transplanter in a storage means, an operator must drive a rice transplanter and perform rice transplanting. Therefore, there is a disadvantage that man-hours are required to generate the travel route.

prior art literature

patent documents

Patent Document 1: Japanese Patent Application Laid-Open No. 6-113607

Contents of the invention

The problem to be solved by the invention

The present invention provides a crop harvesting device capable of reducing the man-hours for creating a traveling route of a traveling harvester while suppressing unevenness in working time due to the operator's proficiency in harvesting crops.

Solution to the problem

The crop harvesting device recorded in technical scheme 1 has:

A position detection mechanism, the position detection mechanism detects the position of the traveling harvester capable of harvesting and storing crops;

a storage mechanism for storing the position information of a work area that is formed in a rectangular shape that is consistent with or substantially coincident with the farmland when the shape of the farmland is a rectangle; The position information of the work area formed into a rectangle inside is stored;

a travel route generating means for generating a travel route of the travel-type harvester so as to harvest crops spirally from the outer peripheral side to the inner side within the work area;

a traveling control unit configured to cause the traveling harvester to move from the information generated by the traveling route generating unit based on the information on the position of the traveling harvester detected by the position detecting unit; travel through the above-mentioned driving route; and

The harvesting control means causes the driving harvester to perform an operation for harvesting crops when the traveling control device drives the traveling harvester along the traveling route.

In the crop harvesting device according to claim 2, the driving route generating means generates the driving route in such a manner that the driving type harvester repeats four boundary sides parallel to the work area in sequence a predetermined number of times. Any one of the motions of straight-line travel and the motion of stopping at a predetermined stop position, when the travel-type harvester stops at the predetermined stop position and restarts the straight travel, from the relative The predetermined stop position is a position having a predetermined positional relationship, and restarts the straight running with the traveling direction changed by 90° toward the predetermined direction.

In the crop harvesting device described in technical scheme 3,

The crop harvesting device has an accumulation amount detection mechanism for detecting whether the amount of the crops accumulated in the traveling harvester has reached a predetermined allowable amount,

The driving control means receives a signal from the accumulated amount detection means when stopping the driving harvester at the predetermined stop position, and determines whether the amount of crops accumulated in the driving harvester has reached the Confirm the specified tolerance.

In the crop harvesting device according to claim 4, the travel control means restarts the travel-type harvester when it is confirmed that the amount of crops accumulated in the travel-type harvester has not reached the predetermined allowable value. The harvester travels in a straight line.

In the crop harvesting device according to claim 5, the crop harvesting device has a discharge mechanism, and when it is confirmed by the driving control means that the amount of crops accumulated in the driving harvester has reached the predetermined allowable value Next, the driving harvester is driven to the vicinity of a predetermined discharge area where the container is disposed, and the crops accumulated in the driving harvester are discharged into the container by the discharge mechanism.

In the crop harvesting device according to claim 6 , the traveling route generating means sets an entry position of the traveling harvester when entering the working region at a boundary of the working region facing the discharge region. side.

In the crop harvesting device according to claim 7, when the traveling route generating means discharges the crops stored in the traveling harvester into the container by the discharging means, The straight-line driving area where the driving harvester is not traveling is used as a new work area, and the driving route is generated for the new work area.

In the crop harvesting device described in technical scheme 8,

The mobile harvester has:

an accumulation unit, the accumulation unit accumulates the harvested crops;

a first detection mechanism, the first detection mechanism detects that the accumulated amount of crops in the accumulation part reaches a first specified amount;

An operating state detection mechanism, which detects whether the harvesting operation of crops is in progress;

a travel distance calculation unit that calculates the travel distance of the machine body when it is detected by the work state detection unit that harvesting of crops is in progress,

a storage mechanism that stores information on an upper limit amount of crops accumulated in the accumulation section; and

a limit distance calculating means, the limit distance calculating means using the value of the first predetermined amount, and using the first detecting means to detect that the accumulated amount of crops in the accumulation part reaches the first predetermined amount; The calculated value of the running distance calculating means, the value of the upper limit stored in the storage means, and the calculated value of the running distance calculating means are calculated until the accumulated amount of crops in the storage unit reaches the upper limit. Calculate the limit distance that the body can travel.

In the crop harvesting device described in technical scheme 9,

The driving harvester has a second detection mechanism that detects that the accumulated amount of crops in the accumulation unit has reached a second predetermined amount that is less than the first predetermined amount,

The limit distance calculation means further uses the value of the second predetermined amount, and calculates the travel distance when the second detection means detects that the accumulated amount of the crops in the accumulation part reaches the second predetermined amount. The calculated value of the mechanism is used to calculate the limit distance.

In the crop harvesting device according to claim 10, the driving harvester has a judging mechanism, and when the harvesting operation of the crops is performed, before the body starts to travel in a predetermined section, the limit distance calculation mechanism calculates For the limit distance, when the calculated limit distance has a size greater than or equal to the distance of the predetermined section, the judgment unit judges that harvesting of crops is performed for the predetermined section, and in the calculated When the limit distance is smaller than the distance of the said predetermined|prescribed section, the said determination means determines that the grain in the said accumulation|storage part is discharged.

In the crop harvesting device according to claim 11, the traveling harvester includes display means for displaying the limit distance calculated by the limit distance calculation means.

Invention effect

According to the present invention, the traveling route of the traveling harvester is generated by the traveling route generating means, and the traveling controlling device is used to drive the traveling harvester through the traveling route, so that the operator does not have to rely on Feel to drive the driving harvester. Thereby, it is possible to suppress unevenness in working time due to the operator's proficiency, and to improve workability.

Furthermore, since the operator stores the positional information of the work area in the storage means and generates the travel route of the traveling harvester by the travel route generation means, man-hours for generating the travel route of the traveling harvester can be reduced.

Description of drawings

Fig. 1 is a side view of the combine harvester.

Fig. 2 is a block diagram showing a crop harvesting device.

FIG. 3( a ) is a diagram showing a working area, and FIG. 3( b ) is a diagram showing a working area.

Fig. 4 shows a travel route generated by a travel route generation unit.

FIG. 5 is a diagram showing the positional relationship between the end point Qn and the starting point Pn+1.

Fig. 6(a) is a plan view of the transport vehicle, and Fig. 6(b) is a side view of the transport vehicle.

FIG. 7 is a flowchart showing a control flow.

FIG. 8( a ) is a diagram showing a travel route generated by the discharge travel route generation unit when n=1 in Fn, and FIG. A map of the travel route generated by the travel route generation unit.

FIG. 9( a ) is a diagram showing a travel route generated by the discharge travel route generation unit when n=3 in Fn, and FIG. A map of the travel route generated by the travel route generation unit.

Fig. 10(a) is a plan view showing a state in which grains are discharged from a discharge auger into a container, and Fig. 10(b) is a partially enlarged perspective view of Fig. 8(a).

Fig. 11(a) is a diagram showing a travel route generated by the travel route generation mechanism for a new work area after utilizing the discharge mechanism to discharge grains in the case of n=1 of Fn, and Fig. 11(b) In the case of n=2 of Fn, it is a figure which shows the travel route which a travel route generation means generate|generated with respect to the new work area after discharge|emission operation|work of grain was performed by a discharge mechanism.

Fig. 12 is a control block diagram.

Fig. 13 is a sectional view of the grain tank.

Fig. 14 is a flowchart showing a control flow.

Fig. 15 is a control block diagram.

detailed description

[Driving route generation]

First, the combine harvester 1 which is an example of a traveling type harvester is demonstrated.

As shown in FIG. 1 , the combine harvester 1 has an engine 3 , a travel unit 4 , a reaping unit 5 , a threshing unit 6 , a sorting unit 7 , a grain discharge unit 8 , and a grass discharge processing unit 9 .

The combine harvester 1 transmits the motive power of the engine 3 to the traveling part 4, the reaping part 5, the threshing part 6, the sorting part 7, the grain discharge part 8, and the weed disposal part 9, and drives these each parts. The combine harvester 1 which is a traveling type harvester can reap agricultural crops (grain) while traveling.

The running part 4 is arranged at the lower part of the machine body 2 . The traveling unit 4 includes: a transmission mechanism (HST (Hydraulic Continuously Variable Transmission) or the like) 3a for changing the speed of power from the engine 3; a crawler-type traveling device 10 having a pair of right and left crawlers; and a brake mechanism.

The crawler-type traveling device 10 is driven by acquiring power transmitted from the engine 3 . Thus, the body 2 travels.

The harvesting part 5 is provided at the front part of the machine body 2 so that it can ascend and descend. The harvesting unit 5 has a weed divider 11 , a raising unit 12 , a harvesting conveyance unit 13 , and a cutting unit 14 .

The cutting part 5 divides the straw in the farmland by using the weed divider 11 , lifts the divided straw by the raising part 12 , transports the raised straw backward by the cutting part 14 by the cutting part 13 This is cut, and the cut straw is conveyed further back toward the threshing part 6 by the harvesting conveyance part 13.

The threshing unit 6 is arranged on the upper left side of the machine body 2 . The threshing part 6 has a conveyance chain, a threshing cylinder, and a processing cylinder.

The threshing unit 6 uses the conveyor chain to transfer the harvested straw transported from the harvesting unit 5 to the rear, uses the threshing cylinder to thresh the transported straw, and makes the processed material after threshing towards sorting Part 7 leaks downward.

And the threshing part 6 conveys the unprocessed material which was not threshed by the said threshing cylinder to a processing chamber from a processing chamber through a dust delivery port, and processes it by the said processing cylinder. Then, the processed material processed by the processing cylinder is sorted by the processing cylinder net while falling to the sorting unit 7 . In addition, the moving speed (residence time) of the unprocessed matter in the processing chamber is controlled by a dust delivery valve. The processed objects falling from the processing cylinder to the receiving cylinder are transported forward by the return conveyor, and are dropped into the sorting part 7 from the exhaust port provided at the front end of the return conveyor.

The sorting unit 7 is arranged on the lower left side of the machine body 2 . The sorting part 7 has the power transmission of the swing sorting device, the wind sorting device and the grain handling device (primary conveyor, lifting device, secondary conveyor and secondary return device), and the engine 3 to the valley. The sorting conveyor belt of the grain handling device.

The sorting section 7 uses the swing sorting device to perform swing sorting on the processed objects falling from the threshing section 6, uses the wind sorting device to wind sort the processed objects after swing sorting, and utilizes the primary conveying The machine transports the primary screened material among the processed products after wind sorting to the lifting device, and then transports it to the grain tank 15 of the grain discharge part 8 by using the lifting device.

And, the sorting part 7 uses the secondary conveyor to transport the secondary screened material to the secondary return device, and then uses the secondary return device to transport to the processing chamber of the threshing part 6 or the swing sorting device space above. Then, the secondary screened material is threshed, or is not threshed, and is re-sorted by the swing sorting device and the wind sorting device.

The grain discharge part 8 has the grain tank 15, the discharge auger 17, and the screw conveyor. The grain tank 15 is configured on the right rear side of the body 2 . The grain tank 15 is connected with a discharge auger 17 . The discharge auger 17 protrudes forward from the rear of the grain tank 15 at the top of the body 2 . A discharge port 17a for discharging grains is formed at the tip of the discharge auger 17 . The screw conveyor is arranged in the grain tank 15 and the discharge screw auger 17 . The screw conveyor is connected to an engine 3 via a tension pulley-shaped screw clutch, and is driven by receiving power transmitted from the engine 3 . An actuator (motor) for turning on and off the screw clutch is connected to the screw clutch.

The grains in the grain tank 15 are transported to the discharge auger 17 by the screw conveyor, and are discharged to the outside of the machine body 2 from the discharge port 17a of the discharge auger 17 .

The weed disposal unit 9 is arranged on the rear side of the machine body 2 . The grass discharge processing unit 9 has a grass discharge conveyance device 22 and a grass discharge cutting device 23 .

The grass discharge processing part 9 uses the grass discharge conveying device 22 to transport the threshed discharge straw carried from the threshing part 6 to the rear as a discharge grass and discharges it to the outside of the body 2, or to the grass discharge cutting device 23. When the grass is conveyed to the grass discharge cutting device 23 , it is cut by the grass discharge cutting device 23 and then discharged to the outside of the machine body 2 .

An operation unit 20 is provided on the front side of the body 2 . Various operating tools such as a driver's seat, a steering wheel, a travel lever, and a shift lever are provided on the operating unit 20 .

The crop harvesting device 100 will be described below.

As shown in FIG. 2 , the crop harvesting device 100 has a position detection mechanism 110 , an orientation detection mechanism 120 , a storage mechanism 130 , an accumulated amount detection mechanism 140 , a travel route generation mechanism 150 , a travel control mechanism 160 , a harvest control mechanism 170 and a discharge mechanism 180. .

The position detection means 110 is comprised with the Global Navigation Satellite System (GNSS, Global Navigation Satellite System) receiver, receives a signal from a GNSS satellite, and calculates the position of the combine harvester 1 based on the received signal.

The direction detection means 120 is comprised from a GPS compass, a rotary compass, etc., receives a signal from a GNSS satellite, and calculates the direction of the combine harvester 1 based on the received signal.

The storage unit 130 stores positional information of the work area 131 . As shown in FIG. 3( a ) and FIG. 3( b ), the work area 131 is formed in a rectangle (rectangle or square).

As shown in FIG. 3( a ), when the shape of the actual farm field 132a on which harvesting is scheduled is rectangular, the work area 131 is formed so as to match or substantially coincide with the farm field 132a.

As shown in FIG. 3( b ), when the shape of the farm field 132b is not rectangular, the work area 131 is formed larger than the farm field 132b and includes the farm field 132b inside.

The operator uses the GNSS receiver to measure the positions of the four corners of the work area 131 to obtain position information of the work area 131 .

As shown in FIGS. 2 and 4 , the storage unit 130 stores position information of the discharge area 133 . The discharge area 133 is an area where the container (grain tank) 51 is arrange|positioned. The container 51 accommodates the grain discharged|emitted from the grain tank 15 of the combine harvester 1. As shown in FIG. The container 51 opens upward. The container 51 is mounted on the transport vehicle 50 which transports grain to a drying facility.

Considering that the stop position of the transport vehicle 50 may deviate, the discharge area 133 has a certain width in the travel direction Z of the transport vehicle 50 . The discharge area 133 is provided on a road or the like existing outside the work area 131 . The discharge area 133 is formed to face one boundary side 131 a among the four boundary sides 131 a , 131 b , 131 c , and 131 d of the working area 131 . The positions of both ends of the discharge area 133 are measured by a GNSS receiver, and the position information of the discharge area 133 is acquired.

Information about the allowable amount Yα of grains accumulated in the grain tank 15 of the combine harvester 1 is stored in the storage means 130 . The allowable amount Yα is predetermined in consideration of the capacity Y of the grain tank 15 and the like.

The allowable amount Yα is determined, for example, to be a value that satisfies the [condition] Y−Yα>Yβ.

Yβ is the maximum amount of grains that can be harvested when the combine harvester 1 travels straight on one arrow Fn.

As shown in FIG. 2 , the accumulated amount detection mechanism 140 is composed of a limit switch, a proximity sensor, and the like. The accumulated amount detection mechanism 140 is attached to the inner peripheral surface of the grain tank 15, and detects the amount of the grain accumulated in the grain tank 15. As shown in FIG. The accumulation amount detection means 140 of this embodiment is installed in the position which can detect whether the quantity of the grain accumulated in the grain tank 15 has reached predetermined tolerance Yα. In addition, the accumulated amount detection means 140 may be constituted by a weight sensor.

A program for generating a travel route for harvesting work of the combine harvester 1 is stored in the travel route generation means 150 . The travel route creation means 150 generates the travel route of the combine harvester 1 by executing the stored program.

Arrow Fn (n=1, 2...) of FIG. 4 and FIG. 5 has shown the travel route of the combine harvester 1 generated by the travel route generation means 150. As shown in FIG.

The combine harvester 1 travels in the order of F1→F2→.... Specifically, the combine harvester 1 travels in the order of the start point P1 of F1→the end point Q1 of F1→the start point P2 of F2→the end point Q2 of F2→.... In addition, there is no particular limitation on the travel route of the combine harvester 1 when the combine harvester 1 moves from the end point Qn of the arrow Fn to the start point Pn+1 of the arrow Fn+1.

The traveling route generating means 150 generates the traveling route of the combine harvester 1 so that crops are harvested spirally from the outer peripheral side to the inner side in the work area 131 .

As shown in FIGS. 4 and 5 , the travel route generating mechanism 150 generates the travel route in such a way that the combine harvester 1 repeats the four boundary sides 131a, 131b, 131c, and 131d parallel to the work area 131 for a predetermined number of times X in sequence. Any one of the motions to run straight (the motion to travel straight on the arrow Fn (n=1, 2...)), and the motion to stop at a predetermined stop position (the motion to stop at the end point Qn of the arrow Fn), When the combine harvester 1 stops at the predetermined stop position (end point Qn) and then restarts the straight running, it starts from a position (arrow Fn) having a predetermined positional relationship with respect to the predetermined stop position (end point Qn). +1 starting point Pn+1) to restart the straight travel with the travel direction changed by 90° toward the predetermined direction.

As shown in FIG. 4 , the cutting width W has the same size as the actual cutting width of the combine harvester 1 or has a size slightly smaller than the actual cutting width of the combine harvester 1 . It is assumed that the combine harvester 1 of the crop harvesting apparatus 100 performs harvesting work with the harvesting width W.

In this embodiment, the fact that the combine 1 travels straight on the arrow Fn means that the center part of the harvest width W of the combine 1 passes on the arrow Fn.

As shown in FIG. 4 , the entry position P1 when the combine harvester 1 enters the work area 131 , that is, the starting point P1 of the arrow F1 is provided on the boundary side 131 a of the work area 131 facing the discharge area 133 .

Also, the starting point P1 of the arrow F1 is provided at a position separated by W/2 from the end of the boundary side 131 a. This is for allowing the end of the harvest width W to pass over the boundary side 131d when the combine harvester 1 travels straight on the arrow F1.

As shown in FIG. 5 , in the case of n≦3, the end point Qn of the arrow Fn is set on the boundary side of the work area 131 . The end point Q1 of the arrow F1 is set on the boundary side 131c, the end point Q2 of the arrow F2 is set on the boundary side 131b, and the end point Q3 of the arrow F3 is set on the boundary side 131a.

In the case of n≧4, the end point Qn of the arrow Fn is set W/2 ahead of the position where it intersects with the arrow Fn−3.

As shown in FIG. 5 , in this embodiment, regarding the positional relationship between the end point Qn of the arrow Fn and the starting point Pn+1 of the arrow Fn+1, the starting point Pn+1 exists at an angle of 45° from the end point Qn toward the arrow Fn. ° direction forward s position.

As described above, the travel route generating means 150 generates the travel route so that when the combine harvester 1 stops at the end point Qn of the arrow Fn and restarts the straight travel, the travel direction is changed by 90° toward a predetermined direction. The straight-line travel is started again.

The predetermined direction is a direction in which the combine harvester 1 approaches the inner side of the work area 131 among the counterclockwise direction and the clockwise direction. Therefore, in this embodiment, the said predetermined direction is a counterclockwise direction, and the traveling direction of the combine harvester 1 is changed 90 degrees toward a counterclockwise direction (refer FIG. 5).

As described above, the travel route generating means 150 generates the travel route so that the combine harvester 1 repeats the operation of traveling straight on the arrow Fn and the operation of stopping at the end point Qn of the arrow Fn sequentially a predetermined number of times X.

The predetermined number of times X is required for the combine harvester 1 to complete the harvesting work in the entire area of the work area 131 when the combine harvester 1 is running straight on the arrow Fn while performing harvesting operations with the harvesting width W in the work area 131. The number of straight travels of the combine harvester 1.

In the present embodiment, the combine 1 travels straight on arrows F1 to F9 until the harvesting work of the entire area of the work area 131 is completed, and travels straight 9 times (see FIG. 5 ). Therefore, the predetermined number of times X is 9 times (X=9).

As shown in FIGS. 1 and 2 , the travel control mechanism 160 is connected to the travel unit 4 of the combine harvester 1 and can control the travel of the combine harvester 1 .

As shown in FIG. 2 , the travel control means 160 is connected to the position detection means 110 and can acquire information on the position of the combine harvester 1 from the position detection means 110 .

The traveling control means 160 is connected to the direction detection means 120, and can acquire the information about the orientation of the combine harvester 1 from the position detection means 110.

Travel control unit 160 is connected to storage unit 130 and can acquire various information stored in storage unit 130 .

The traveling control means 160 is connected to the accumulated amount detection means 140, can receive a signal from the accumulated amount detection means 140, and can confirm whether the amount of the grain accumulated in the grain tank 15 is below predetermined tolerance Yα.

Travel control unit 160 is connected to travel route generation unit 150 , can receive a signal from travel route generation unit 150 , and can check the travel route generated by travel route generation unit 150 .

As shown in Fig. 1 and Fig. 2, the harvesting control mechanism 170 is connected with the reaping part 5, the threshing part 6 and the sorting part 7 of the combine harvester 1, and makes the reaping part 5, the threshing part 6 and the sorting part 7 operate, Thereby, the combine harvester 1 can be made to perform the operation|movement for harvesting agricultural crops.

As shown in FIG. 2 , the harvesting control means 170 is connected to the running control means 160 , can receive a signal from the running control means 160 , and can confirm the running state of the combine harvester 1 .

As shown in FIG. 2 , the discharge mechanism 180 has a position detection unit 181 , an orientation detection unit 182 , a discharge travel route generation unit 183 , an imaging unit 184 , a marker 185 , a travel control unit 186 , and a discharge auger control unit 187 .

The position detection part 181 is comprised with a GNSS receiver, receives a signal from a GNSS satellite, and calculates the position of the combine harvester 1 based on the received signal. The position detection unit 181 may be the same as the position detection mechanism 110 .

The direction detection part 182 is comprised with a GPS compass, a rotary compass, etc., receives a signal from a GNSS satellite, and calculates the direction of the combine harvester 1 based on the received signal. The orientation detection unit 182 may be the same as the orientation detection mechanism 120 .

The program for generating the travel route R for the grain discharge work of the combine 1 is memorize|stored in the discharge travel route generation part 183. The travel route generation part 183 for discharge generates the travel route R for the grain discharge work of the combine harvester 1 by executing the said program which was memorize|stored.

The imaging part 184 is provided in the side part (right side part) of the combine harvester 1, and can image the side of the combine harvester 1 (refer FIG.10 (a).

The mark 185 is provided on the side (left side) of the container 51 (see FIG. 6( a ), FIG. 6( b ), and FIG. 10( a )).

As shown in FIGS. 1 and 2 , the travel control unit 186 is connected to the travel unit 4 of the combine harvester 1 and can control the travel of the combine harvester 1 .

Travel control unit 186 is connected to imaging unit 184 and can acquire data of images captured by imaging unit 184 . The travel control part 186 can grasp|ascertain the position of the mark 185 (the positional relationship of the combine harvester 1 and the mark 185) based on the image of the mark 185 image|photographed by the imaging part 184. As shown in FIG. The discharge auger control unit 187 is connected to the travel control unit 186 and can acquire information on the position of the marker 185 via the travel control unit 186 . That is, the discharge auger control unit 187 can grasp the position of the mark 185 based on the image of the mark 185 captured by the imaging unit 184 similarly to the traveling control unit 186 .

The discharge auger control part 187 is connected to the actuator which drives the joint of the discharge auger 17, and can move the discharge port 17a by moving the joint of the discharge auger 17 by this actuator. The discharge auger control unit 187 is connected to a sensor that detects the rotation angle of the joint of the discharge auger 17, and can grasp the position of the discharge port 17a based on the detection value of the sensor.

The discharge auger control unit 187 is connected to the auger clutch, and the auger clutch is turned on to discharge the grain accumulated in the grain tank 15 from the discharge port 17a of the discharge auger 17. .

Hereinafter, procedures S1 to S5 at the time of harvesting work using the crop harvesting apparatus 100 will be described with reference to FIG. 7 .

In step S1, the travel route for the harvesting work of the combine harvester 1 is generated with respect to the work area 131 by the travel route generation means 150 (refer FIG. 4).

In step S2, the combine harvester 1 is made to travel straight on arrow Fn (n=1, 2...) by the traveling control means 160. FIG. First, the combine 1 is made to travel straight on the arrow F1 by the travel control means 160 .

At this time, the travel control means 160 makes the combine 1 travel straight from the start point Pn of the arrow Fn toward the end point Qn.

The travel control means 160 runs the combine 1 straightly so as to pass the arrow Fn based on the information about the position of the combine 1 detected by the position detection means 110 . At this time, the travel control means 160 makes the orientation of the combine harvester 1 coincide with the orientation of the arrow Fn based on the information about the orientation of the combine harvester 1 detected by the direction detection means 120 .

When the travel control mechanism 160 makes the combine harvester 1 pass on the arrow Fn to perform the straight travel, the harvest control mechanism 170 operates the reaping unit 5, the threshing unit 6, and the sorting unit 7, so that the combine harvester 1 An action used to harvest crops.

In step S3, the traveling control means 160 sends a signal to the combine harvester based on the position information of the end point Qn of the arrow Fn generated by the traveling route generating means 150 and the information on the position of the combine harvester 1 detected by the position detecting means 110. 1 It is judged whether or not the end point Qn of the arrow Fn has been reached.

When it is judged by the traveling control means 160 that the combine harvester 1 has not reached the end point Qn of the arrow Fn (step S3, NO), it transfers to step S2. In this case, the straight travel and harvesting work of the combine harvester 1 are continued.

When it is judged by the traveling control means 160 that the combine harvester 1 has reached the end point Qn of arrow Fn (step S3, YES), it transfers to step S4.

In step S4, the traveling control means 160 judges whether the number n of times n of the straight line travel of the combine harvester 1 has reached the said predetermined number of times X=9. That is, the traveling control means 160 judges whether the combine harvester 1 has reached the end point Q9 of arrow F9.

The travel control unit 160 determines whether the combine harvester 1 has reached the arrow F9 based on the position information of the end point Q9 of the arrow F9 generated by the travel route generation unit 150 and the information on the position of the combine harvester 1 detected by the position detection unit 110 . The end point Q9 is judged.

When the travel control means 160 determines that the combine harvester 1 has not reached the end point Q9 of the arrow F9 (step S4, No), that is, when the combine harvester 1 exists at any one of the end points Q1 to Q8, Move to step S5.

When it is judged by the traveling control means 160 that the combine harvester 1 has arrived at the end point Q9 of arrow F9 (step S4, YES), it transfers to step S7.

In step S5, the travel control means 160 receives a signal from the accumulated amount detection means 140, and checks whether the amount of the grain accumulated in the grain tank 15 has reached the said predetermined tolerance Yα.

When it is confirmed by the traveling control means 160 that the amount of the grain accumulated in the grain tank 15 has not reached the above-mentioned predetermined tolerance Yα (step S5, NO), it transfers to step S2.

Then, the above step S2 is carried out in a state where the variable n of the arrow Fn is incremented by 1. That is, the travel control mechanism 160 starts from the state where the combine harvester 1 is stopped at the end point Qn of the arrow Fn, changes the orientation (travel direction) of the combine harvester 1 by 90° in the counterclockwise direction, and changes the direction from the start point Pn of the arrow Fn+1. +1 Started straight line driving and harvesting with combine 1 again. In addition, there is no particular limitation on the travel route of the combine harvester 1 when the combine harvester 1 moves from the end point Qn of the arrow Fn to the start point Pn+1 of the arrow Fn+1.

When it is confirmed by the traveling control means 160 that the quantity of the grain accumulated in the grain tank 15 has reached the said predetermined tolerance Yα (step S5, YES), it transfers to step S6.

In step S6, the discharge operation|work of grain is performed by the discharge mechanism 180. FIG.

The discharge mechanism 180 performs the discharge operation|work of a grain in the following procedure ((6-1)-(6-6)).

(6-1) The travel route generation part 183 for discharge of the discharge mechanism 180 generates the travel route R for the grain discharge work of the combine 1 (refer FIG.8(a) - FIG.9(b)).

FIG. 8( a ) shows the travel route R generated by the discharge travel route generation unit 183 when n=1 of the arrow Fn. That is, when the combine harvester 1 arrives at the terminal point Q1 of the arrow F1, when the amount of the grain accumulated in the grain tank 15 reaches the above-mentioned predetermined allowable amount Yα, the travel generated by the discharge travel route generation unit 183 is shown. Route R.

FIG. 8( b ) shows the travel route R generated by the discharge travel route generation unit 183 when n=2 of the arrow Fn. That is, when the combine harvester 1 arrives at the terminal point Q2 of the arrow F2, when the amount of the grain accumulated in the grain tank 15 reaches the above-mentioned predetermined allowable amount Yα, the travel generated by the discharge travel route generation unit 183 is shown. Route R.

FIG. 9( a ) shows the travel route R generated by the discharge travel route generation unit 183 when n=3 of the arrow Fn. That is, when the combine harvester 1 reaches the terminal point Q3 of the arrow F3, when the amount of the grain accumulated in the grain tank 15 reaches the above-mentioned predetermined allowable amount Yα, the travel route generated by the discharge travel route generation unit 183 is shown. Route R.

FIG. 9( b ) shows the travel route R generated by the discharge travel route generation unit 183 when n=4 of the arrow Fn. That is, when the combine harvester 1 reaches the terminal point Q4 of the arrow F4, when the amount of the grain accumulated in the grain tank 15 reaches the above-mentioned predetermined allowable amount Yα, the travel route generated by the discharge travel route generation unit 183 is shown. Route R. This traveling route R is a route including the retreat of the combine harvester 1 .

As shown in FIGS. 8( a ) to 9 ( b ), travel route R is formed toward the vicinity of discharge area 133 from the position where the harvesting work of the combine harvester 1 is stopped.

The travel route R has a parallel portion Ra extending parallel to the discharge area 133 in the vicinity of the work area 131 . The distance D between the parallel portion Ra and the discharge area 133 is configured to be smaller than the movable radius of the discharge port 17 a of the discharge auger 17 .

As shown in FIG. 8( a ) and FIG. 8( b ), travel route R is formed along the outer periphery of work area 131 on the outside of work area 131 . Thus, when the combine harvester 1 is traveling on the travel route R, when traveling toward the parallel portion Ra, the combine harvester 1 can be prevented from entering the work area 131 where no harvesting work is performed, and the combine harvester 1 can be restrained increased driving distance. Therefore, the discharge operation|work of grain can be performed efficiently.

(6-2) The travel control unit 186 drives the combine harvester 1 along the travel route R based on the information on the position of the combine harvester 1 detected by the position detection unit 181 (see FIGS. 8( a ) to 9 . (b)).

When the combine harvester 1 is traveling on Ra of the travel route R, the travel control unit 186 sets the orientation of the combine harvester 1 to the direction in which Ra extends based on the information on the orientation of the combine harvester 1 detected by the orientation detection unit 182. unanimous. This is for making the imaging part 184 provided on the side of the combine harvester 1 and the mark 185 provided on the side of the container 51 face each other when the combine harvester 1 passes from the side of the container 51 (truck 50 ), so that The mark 185 appears in the captured image of the imaging unit 184 (see FIGS. 8( a ) to 9 ( b )).

(6-3) When the combine harvester 1 travels on Ra of the travel course R, the travel control part 186 acquires the data of the image image|photographed by the imaging part 184, and identifies the mark 185 in this image.

(6-4) When identifying the mark 185 in the image of the imaging part 184, the traveling control part 186 grasp|ascertains the positional relationship of the combine harvester 1 and the mark 185 using well-known image processing analysis technique. The travel control part 186 compares the image of the mark 185 image|photographed by the imaging part 184, and the information about the shape of the mark 185, a size, etc. stored in advance, and grasps the positional relationship of the combine harvester 1 and the mark 185.

(6-5) The traveling control part 186 stops the traveling of the combine harvester 1, when it judges that the combine 1 has reached a predetermined position with respect to the mark 185. The predetermined position is a position where the combine harvester 1 can discharge the grains into the container 51 . That is, the said predetermined position is a position which can make the discharge port 17a of the discharge auger 17 of the combine 1 reach the upper direction of the container 51. As shown in FIG. The predetermined position is determined in advance in consideration of the movable range of the discharge port 17a (the movable range of the joint of the discharge auger 17) and the like.

(6-6) The discharge auger control unit 187 moves the joint of the discharge auger 17 after the driving control unit 186 stops the travel of the combine harvester 17 to move the discharge port 17 a to the container. 51 above the target position O. The said target position O is the target position of the discharge port 17a at the time of performing the work which discharges the crop harvested by the combine harvester 1 into the container 51. As shown in FIG. The target position O is relatively determined based on the positional relationship with the marker 185 , and information on the target position O is stored in the discharge auger control unit 187 in advance. In the discharge auger control part 187, for example, information is stored that sets a position separated from the mark 185 to the right by m meters and upwards by n meters as the target position O (refer to FIG. 6(a) and FIG. 6 (b)).

The discharge auger control unit 187 grasps the position of the mark 185 based on the image of the mark 185 captured by the imaging unit 184 after the traveling control unit 186 stops the travel of the combine harvester 1, and moves the discharge port 17a to the above-mentioned position. Target position O. Then, the discharge auger control unit 187 turns the auger clutch on, and discharges the grain K from the discharge port 17a of the discharge auger 17 (see FIG. 10( a ) and FIG. 10( b )). . Thereby, the grains are discharged from the combine harvester 1 into the container 51 .

As described above, when it is confirmed that the amount of grains accumulated in the grain tank 15 has reached the predetermined allowable amount Yα, the discharge mechanism 180 can be used to discharge the grains, thereby preventing the grains from being harvested during the combine harvest. The amount of grains accumulated in the grain tank 15 while the machine 1 is running while performing harvesting work exceeds the capacity Y of the grain tank 15 .

As described above, the crop discharge device as the discharge mechanism 180 is applied to the traveling harvester (combine harvester) 1, and is a device for discharging the crops from the discharge port 17a into the container 51. The traveling harvester ( The combine harvester) 1 has a discharge part (discharge auger) 17 that discharges harvested crops (grain) to the outside of the body 2, and can move a discharge port 17a of the discharge part 17 with respect to the body 2.

The crop discharge device 180 has: an imaging unit 184 provided on the traveling harvester 1; a mark 185 arranged at a predetermined position with respect to the container 51; The information of the target position O of the target position O, and the position of the mark 185 is grasped based on the image of the mark 185 captured by the imaging unit 184, and the discharge unit control unit (discharge auger control unit) 187 that moves the discharge port 17a to the target position O .

In addition, in the ejection unit control unit 187, for example, information is stored that sets a position separated by m meters to the right from the mark 185 and a position separated by n meters upwards as the target position O (refer to FIG. 6(a) and FIG. 6( b)). The mark 185 functions as a reference mark for specifying the target position O. As shown in FIG. The mark 185 has a shape capable of specifying the orientation. The target position O is the target position of the discharge port 17a when the work of discharging the crops harvested by the traveling harvester 1 into the container 51 is performed.

By constituting as described above, when performing the discharge operation of the crops, the discharge portion control unit 187 is used to position the discharge port 17a relative to the container 51, so the operator does not have to rely on his senses to position the discharge port 17a (see FIG. 10(a). )). Thereby, when performing the discharge operation of the crops, it is possible to suppress the unevenness of the operation time due to the operator's proficiency, and to improve the workability.

In addition, in this embodiment, the imaging part 184 is provided at the side part of the traveling type harvester 1, and the mark 185 is provided at the side part of the container 51 (referring to FIG. 6 (a), FIG. 6 (b) and FIG. 10 (a) ). Thereby, the discharge part control part 187 can move the discharge port 17a to the target position O (refer FIG. . After the discharge part control part 187 moves the discharge port 17a to the target position O, it discharges the said crop from the discharge port 17a (refer FIG.10(b)).

In addition, the crop discharge device 180 has a driving control unit 186 that identifies a marker 185 in an image captured by the imaging unit 184 while driving the driving harvester 1 to grasp 1 and the positional relationship of the mark 185, when it is determined that the traveling harvester 1 has reached a predetermined position relative to the marking 185, the traveling of the traveling harvester 1 is stopped, and the discharge unit control unit 187 uses the traveling control unit 186 to make the traveling harvester 1 After the running of the harvester 1 stops, the position of the mark 185 is grasped based on the image of the mark 185 captured by the imaging unit 184, and the discharge port 17a is moved to the target position O (see FIGS. 8(a) to 10(a)).

The predetermined position is a position where the traveling harvester 1 can discharge the crops into the container 51 . That is, the said predetermined position is the position which can make the discharge port 17a of the discharge part 17 reach the target position O in the state which stopped the travel of the traveling type harvester 1. As shown in FIG. The predetermined position is determined in advance in consideration of the movable range of the discharge port 17a (the movable range of the joint of the discharge auger 17) and the like.

With the configuration as described above, the travel control unit 186 positions the body 2 relative to the container 51 when the crops are discharged, so that the operator does not need to stop the body 2 by feeling. Thereby, it is possible to suppress unevenness in working time due to the operator's proficiency and improve workability.

In addition, in this embodiment, the traveling control unit 186 makes the traveling harvester 1 face the surface on the side where the imaging unit 184 of the traveling harvester 1 is provided and the surface of the container 51 on which the mark 185 is provided. , and the marker 185 appears in the image of the imaging unit 184 (see FIGS. 8( a ) to 9 ( b )). In this embodiment, the imaging unit 184 is provided on the side of the traveling harvester 1, and the marker 185 is provided on the side of the container 51. Therefore, when the traveling controller 186 stops the traveling harvester 1, the traveling harvester 1 is in a state of leaning against the container 51 (transport vehicle 50 on which the container 51 is loaded) (see FIG. 10( a )).

When step S6 ends, it transfers to step S1.

In step S1, the travel route generation mechanism 150 uses the straight travel area in which the combine harvester 1 is not traveling within the work area 131 as the new work area 134, 135, and generates the route of the combine harvester 1 for the new work area 134, 135. Travel route for harvesting work (refer to FIG. 11( a ) and FIG. 11( b )).

Then, for the new work areas 134 and 135 , the above-mentioned steps from step S2 onward are implemented.

Fig. 11(a) shows that in the case of n=1 of Fn, after utilizing the discharge mechanism 180 to discharge the grains (refer to Fig. 8(a)), the travel route generation mechanism 150 generates the new work area 134. Driving route (arrows F1-F7).

Fig. 11(b) shows that in the case of n=2 of Fn, after utilizing the discharge mechanism 180 to discharge the grains (refer to Fig. 8(b)), the driving route generation mechanism 150 generates the new operation area 135. Driving route (arrows F1-F7).

The new work area means that in the work area 131, when the combine harvester 1 is running straight on the arrow Fn while performing the harvesting operation with the harvesting width W, the discharge operation of the grains shown in the above-mentioned step S6 is performed. At this time, the combine harvester 1 is not traveling, so it is judged as an area where harvesting work is not performed.

The shape of the said new work area is rectangular even when the straight travel of the combine harvester 1 is interrupted at any one end point Qn (1≤n≤8).

Thus, when generating a travel route for the new work area, the travel route generation unit 150 can generate a travel route according to the same rules as the work area 131 (see FIG. 5 , FIG. 11( a ) and FIG. 11( b )). . Accordingly, it is possible to reasonably generate a travel route.

FIG. 11( a ) and FIG. 11( b ) show the travel routes (arrows F1 to F7 ) generated for the new work areas 134 and 135 by the travel route generation unit 150 . As shown in Fig. 11 (a) and Fig. 11 (b), the entry position P1 of the combine harvester 1, that is, the starting point P1 of the arrow F1 is the same as the operation area 131, and is arranged in the operation area 134 opposite to the discharge area 133. , 135 on the boundary sides 134a, 135a.

Thereby, it can suppress that the distance of the position of the combine harvester 1 at the time of the end of the grain discharge operation|work by the discharge mechanism 180, and the start point P1 of the new work area 134,135 is separated too much. Therefore, after the grain discharge operation|work by the discharge mechanism 180 is complete|finished, when harvesting work is restarted with respect to the new work area 134,135, harvesting work can be restarted smoothly.

In step S7, when the combine harvester 1 reaches the end point Q9 of the arrow F9, it will perform the discharge operation|work of the grain by the discharge mechanism 180. Since the procedure at the time of performing the discharge operation|work of grain by the discharge mechanism 180 is already described in said (6-1) - (6-6), detailed description is abbreviate|omitted. The discharge work of the grain of step S7 is complete|finished, and the harvesting work with respect to the work area 131 is complete|finished.

As described above, in the crop harvesting apparatus 100, the travel route of the combine harvester 1 is generated by the travel route generation means 150, and the combine harvester 1 is driven to pass through the travel route by the travel control means 160. During harvesting work, the operator does not need to rely on his senses to drive the combine harvester 1 . Thereby, it is possible to suppress unevenness in working time due to the operator's proficiency and improve workability.

In addition, in the crop harvesting device 100, the operator stores the position information of the work area 131 in the storage unit 130 in advance, and uses the travel route generation unit 150 to generate the travel route of the combine harvester 1, so it is possible to reduce the time required for generating the combine harvester 1. The man-hours of the travel route.

[Travel limit distance when harvesting]

The combine harvester 1 has the detection part 30 and the control part 40. As shown in FIG.

As shown in FIG. 12 , the detection unit 30 has a first detection mechanism 31 a , a second detection mechanism 31 b , a work state detection mechanism 32 , a position detection mechanism 33 , and an orientation detection mechanism 34 .

As shown in FIG.12 and FIG.13, the 1st detection mechanism 31a and the 2nd detection mechanism 31b are provided in the grain tank 15, and are mutually arrange|positioned at predetermined intervals in the up-down direction.

The first detection mechanism 31a and the second detection mechanism 31b are constituted by limit switches, for example. In addition, the 1st detection means 31a and the 2nd detection means 31b may be comprised with a proximity sensor.

In this embodiment, two detection mechanisms 31a, 31b are provided, but the number of detection mechanisms installed is not limited.

The 1st detection means 31a detects that the accumulation amount of the grain in the grain tank 15 has reached the 1st predetermined amount X1 (liter).

The 1st detection means 31a is arrange|positioned at the position which has the same height as the height of the upper surface of a grain when the storage amount of the grain in the grain tank 15 reaches 1st predetermined amount X1.

When the accumulation amount of the grain in the grain tank 15 reaches the 1st predetermined amount X1, the 1st detection means 31a will apply a pressing force by a grain, and will detect that the accumulation amount of the grain will reach the 1st predetermined amount X1.

The second detecting mechanism 31b is arranged on the position lower than the first detecting mechanism 31a, and detects that the accumulation amount of the grain in the grain tank 15 reaches the second specified amount X2 (liter) (X2) which is less than the first specified amount X1. <X1).

The 2nd detection mechanism 31b is arrange|positioned at the position which has the same height as the height of the upper surface of a grain when the storage amount of the grain in the grain tank 15 reaches 2nd predetermined amount X2.

When the accumulation amount of the grain in the grain tank 15 reaches the second predetermined amount X2, the second detection mechanism 31b is pressed by the grain, and detects that the accumulation amount of the grain reaches the second predetermined amount X2.

In addition, specific values of the first predetermined amount X1 and the second predetermined amount X2 are not limited.

The working state detecting mechanism 32 detects whether the harvesting work of crops is being carried out.

The working state detection mechanism 32 is provided, for example, at the end of the harvesting unit 5, and is constituted by a straw sensor (proximity sensor, limit switch, etc.) that detects straw (see FIG. 1 ).

The state in which the crop harvesting operation is being detected by the work state detection means 32 is the state in which straw is detected by the straw sensor. The state in which the crop harvesting operation is not being performed detected by the work state detection means 32 is the state in which no straw is detected by the straw sensor.

As shown in FIG. 12 , the position detection means 33 is composed of a GNSS (Global Navigation Satellite System) receiver, receives signals from GNSS satellites, and calculates the position of the airframe 2 based on the received signals.

The orientation detection means 34 is composed of a GPS compass, a rotary compass, etc., receives signals from GNSS satellites, and calculates the orientation of the body 2 based on the received signals.

The control unit 40 will be described below.

As shown in FIG. 12 , the control unit 40 has a travel distance calculation mechanism 41, a storage mechanism 42, a limit distance calculation mechanism 43, a travel route generation mechanism 44, a harvest control mechanism 45, a judgment mechanism 46, and a time measurement mechanism (timer) 47. .

The travel distance calculating means 41 calculates the travel distance M(t) of the machine body 2 when it is detected by the work state detection means 32 that harvesting of crops is in progress. t is a measured value of the time measuring means (timer) 47 .

The traveling distance calculating means 41 counts the traveling distance M(t) of the machine body 2 only when the work state detecting means 32 detects that the crop harvesting work is in progress.

The travel distance calculation unit 41 is connected to the work state detection unit 32 and can receive information on the detection result of the work state detection unit 32 .

The travel distance calculation unit 41 is connected to the position detection unit (GNSS receiver) 33 and can acquire information on the position of the body 2 from the position detection unit 33 .

The travel distance calculation means 41 calculates the travel distance M(t) of the body 2 using, for example, the position detection means 33 .

First, the traveling distance calculating means 41 acquires information on the time zone (measured value of the time measuring means 47 ) during which the work state detecting means 32 detects that harvesting of crops is in progress. Next, the travel distance calculation means 41 calculates the travel trajectory of the body 2 in the time period based on the detection value of the position detection means 33 . Next, the travel distance calculation means 41 calculates the travel distance M(t) of the body 2 based on the travel trajectory.

In addition, the travel distance calculating means 41 may calculate the travel distance M(t) of the body 2 using a vehicle speed sensor (see Mathematical Expression 1 below).

[mathematical formula 1]

Travel distance of body 2

Regarding the above formula 1, the running speed V(t) of the body 2 is the running speed of the body 2 corresponding to the time t (measured value by the time measuring means 47), and is detected using the vehicle speed sensor.

In addition, regarding the above-mentioned Mathematical Expression 1, the time zone during which the crop harvesting work is detected by the work state detection means 32 is set as Tα-Tβ, Tγ-t. The harvesting operation is carried out along the vertical direction between Tα～Tβ, the harvesting operation is not carried out between Tβ～Tγ, and the direction of the body 2 is changed, and the harvesting operation is carried out along the horizontal direction between Tγ～t (current).

In addition, the running distance calculation means 41 may calculate the running distance M(t) of the body 2 by detecting the rotation speed of the rotating shaft that transmits the power of the engine 3 to the traveling unit 4 .

Information about the upper limit amount W (liter) of the grain accumulated in the grain tank 15 is memorize|stored in the storage means 42. As shown in FIG.

The magnitude of the upper limit W is predetermined by an operator or the like. The operator determines the size of the upper limit W in consideration of the capacity of the grain tank 15 and the like.

The limit distance calculation means 43 calculates the limit distance L(t) which the body 2 can travel until the storage amount of the grain in the grain tank 15 reaches the upper limit W.

The limit distance calculation mechanism 43 is connected with the first detection mechanism 31a (the second detection mechanism 31b), and it can be recognized that the accumulated amount of the grain in the grain tank 15 detected by the first detection mechanism 31a (the second detection mechanism 31b) reaches the first level. The timing of the predetermined amount X1 (the second predetermined amount X2).

Information on the values of the first predetermined amount X1 and the second predetermined amount X2 is stored in the limit distance calculation means 43 .

The limit distance calculation unit 43 is connected to the travel distance calculation unit 41 and can receive information on the travel distance M(t) of the machine body 2 calculated by the travel distance calculation unit 41 .

The limit distance calculating means 43 is connected to the storage means 42 and can receive the information on the upper limit W stored in the storage means 42 .

The limit distance calculating means 43 calculates the limit distance L(t) using the following Mathematical Expression 2. The limit distance L(t) is the maximum distance which the body 2 can travel until the storage amount of the grain in the grain tank 15 reaches the upper limit amount W.

[mathematical formula 2]

Regarding the above-mentioned Mathematical Expression 2, the unit harvested amount Y is the harvested amount of crops per unit traveling distance of the body 2 .

T1 is the time (measured value of the time measuring means 47) when it detects that the storage amount of the grain in the grain tank 15 reaches the 1st predetermined amount X1 by the 1st detection means 31a.

M(T1) is the calculation value of the travel distance calculation means 41 when it detects that the storage amount of the grain in the grain tank 15 has reached the 1st predetermined amount X1 by the 1st detection means 31a.

The time t of the boundary distance L(t) and M(t) is the time after the time T1 when the first detection mechanism 31a detects that the grain accumulation in the grain tank 15 reaches the first specified amount X1 (t≥T1) .

In addition, when the time to start harvesting of crops is set to 0, the boundary distance L(t) can be calculated using the following Mathematical Expression 3.

That is, when the measurement value of the time measurement mechanism 47 is set to 0 at the moment when the operation state detection mechanism 32 detects that the crop harvesting operation is in progress for the first time, the following formula 3 can be used to calculate the limit The distance L(t).

[mathematical formula 3]

In addition, the limit distance calculation means 43 may calculate the limit distance L(t) using the two detection means 31a, 31b. In this case, the limit distance calculation means 43 calculates the limit distance L(t) using Mathematical Expression 4 below.

[mathematical formula 4]

Regarding the above-mentioned Mathematical Expression 4, the unit harvested amount Y is the harvested amount of crops per unit traveling distance of the body 2 .

T1 is the time (measured value of the time measuring means 47) when it detects that the storage amount of the grain in the grain tank 15 reaches the 1st predetermined amount X1 by the 1st detection means 31a.

T2 is the time (measured value of the time measurement means 47) when it detects that the storage amount of the grain in the grain tank 15 reaches the 2nd predetermined amount X2 by the 2nd detection means 31b.

M(T1) is the calculation value of the travel distance calculation means 41 when it detects that the storage amount of the grain in the grain tank 15 has reached the 1st predetermined amount X1 by the 1st detection means 31a.

M(T2) is the calculation value of the travel distance calculation means 41 when it detects that the storage amount of the grain in the grain tank 15 has reached the 2nd predetermined amount X2 by the 2nd detection means 31b.

The time t of the boundary distance L(t) and M(t) is the time after the time T1 when the first detection mechanism 31a detects that the grain accumulation in the grain tank 15 reaches the first specified amount X1 (t≥T1) .

In addition, when the time at which harvesting of crops is started is set to 0, the boundary distance L(t) can be calculated using the following Mathematical Expression 5.

[mathematical formula 5]

A program for generating a travel route for harvesting work of the combine harvester 1 is stored in the travel route generation means 44 . The travel route creation means 44 generates the travel route of the combine harvester 1 by executing the stored program.

In FIG. 4 , the travel route generated by the travel route generation means 44 is shown.

Arrows Fn (n=1, 2 . . . ) indicate the traveling route of the body 2 .

The body 2 travels in the order of F1→F2→...→F9. Specifically, the body 2 travels in the order of the start point P1 of F1→the end point Q1 of F1→the start point P2 of F2→the end point Q2 of F2→...→the end point Q9 of F9.

In addition, there is no particular limitation on the traveling route of the body 2 when the body 2 moves from the end point Qn of the arrow Fn (n=1, 2 . . . ) to the start point Pn+1 of the arrow Fn+1.

Let the distance of the section from the start point Pn of the arrow Fn (n=1, 2...) to the end point Qn be Rn.

As shown in FIG. 12 , the harvesting control mechanism 45 is connected to the position detection mechanism 33 and can acquire information on the position of the body 2 from the position detection mechanism 33 .

The harvesting control mechanism 45 is connected to the orientation detection mechanism 34 and can acquire information about the orientation of the body 2 from the position detection mechanism 33 .

The harvesting control mechanism 45 is connected to the running part 4 and can control the running of the machine body 2 .

The harvesting control mechanism 45 is connected with the harvesting part 5, the threshing part 6 and the sorting part 7, and can make the harvesting part 5, the threshing part 6 and the sorting part 7 work, so that the combine harvester 1 performs the action for harvesting crops .

The harvesting control unit 45 is connected to the travel route generation unit 44 , and can receive a signal from the travel route generation unit 44 and can check the travel route generated by the travel route generation unit 44 .

The harvesting control means 45 runs the machine body 2 through the traveling route (arrows F1 to F9 ) generated by the traveling route generating means 44 , and operates the reaping unit 5 and the like to perform harvesting work.

The judging means 46 judges whether to continue the harvesting of the crops when the harvesting of the crops is performed by the harvesting control means 45 .

The determination means 46 is connected to the 1st detection means 31a, and uses the 1st detection means 31a to confirm whether the storage amount of the grain in the grain tank 15 is 1st predetermined amount X1 or more.

The judging unit 46 is connected to the travel route generation unit 44 and can receive a signal from the travel route generation unit 44 to confirm the travel route generated by the travel route generation unit 44 .

The judging unit 46 is connected to the limit distance calculation unit 43 and can receive information on the limit distance L(t) calculated by the limit distance calculation unit 43 .

The judgment means 46 is connected to the harvesting control means 45, and can receive the information about the operation status of the combine harvester 1 by the harvesting control means 45.

Hereinafter, procedures S11 to S21 at the time of performing harvesting work of crops will be described with reference to FIG. 14 .

In step S11, the travel route for the harvesting work of the combine harvester 1 is generated with respect to the work area 131 by the travel route generation means 44 (refer FIG. 4).

In step S12, the harvesting control means 45 performs harvesting work of an agricultural crop, running the machine body 2 on the arrow Fn (n=1, 2...). First, the body 2 travels on the arrow F1.

At this time, the harvesting control mechanism 45 runs the body 2 from the start point Pn of arrow Fn toward the end point Qn.

The reaping control means 45 drives the body 2 so as to pass the arrow Fn based on the information about the position of the body 2 detected by the position detection means 33 . At this time, the harvesting control means 45 makes the direction of the body 2 coincide with the direction of the arrow Fn based on the information about the direction of the body 2 detected by the direction detection means 34 .

The reaping control mechanism 45 operates the harvesting part 5 etc., and performs reaping operation, when the machine body 2 passes over arrow Fn and travels.

In step S13, the harvesting control means 45 determines whether the body 2 has reached the arrow Fn based on the position information of the end point Qn of the arrow Fn generated by the travel route generation means 44 and the information on the position of the body 2 detected by the position detection means 33. The end point Qn of Fn is judged.

When it is judged by the reaping control means 45 that the body 2 has not reached the end point Qn of the arrow Fn (step S13, NO), it transfers to step S12. In this case, the harvesting work of the combine harvester 1 is continued.

When it is judged by the reaping control means 45 that the body 2 has reached the end point Qn of the arrow Fn (step S13, YES), it transfers to step S14.

In step S14, the harvesting control means 45 judges whether the body 2 has reached the end point Q9 of the arrow F9.

The harvesting control mechanism 45 determines whether the body 2 has reached the point of the arrow F9 based on the position information of the end point Q9 of the arrow F9 generated by the travel route generation mechanism 44 and the information on the position of the combine harvester 1 detected by the position detection mechanism 33. The end point Q9 is judged.

When it is determined by the harvesting control mechanism 45 that the body 2 has not reached the end point Q9 of the arrow F9 (step S14, No), that is, when the body 2 exists at any one of the end points Q1-Q8, the process proceeds to step S15. .

When it is judged by the reaping control means 45 that the body 2 has reached the end point Q9 of the arrow F9 (step S14, YES), it transfers to step S21.

In step S15, the determination means 46 confirms whether the storage amount of the grain in the grain tank 15 is 1st predetermined amount X1 or more. That is, the judging means 46 checks whether or not it is in a state where the limit distance L(t) can be calculated.

When the storage amount of the grain in the grain tank 15 is less than 1st predetermined amount X1 (step S15, No), it transfers to step S12. Then, the above-mentioned step S12 is carried out in a state where the variable n of the arrow Fn is incremented. That is, with respect to the section from the start point Pn+1 to the end point Qn+1 of the next arrow Fn+1, the crop harvesting operation is performed by the harvesting control means 45 .

When the accumulation amount of the grain in the grain tank 15 is more than 1st predetermined amount X1 (step S15, YES), it transfers to step S16.

In step S16, the judging means 46 causes the limit distance calculating means 43 to calculate the limit distance L(Tn). In addition, Tn is the time when the body 2 reaches the end point Qn (measured value by the time measuring means 47).

In step S17, the judging unit 46 compares the magnitude of the limit distance L(Tn) calculated by the limit distance calculating unit 43 and the distance Rn+1 of the interval from the starting point Pn+1 to the end point Qn+1 of the arrow Fn+1. size are compared with each other.

When the limit distance L(Tn) has a magnitude greater than or equal to Rn+1 (L(Tn)≧Rn+1), the process proceeds to step S18.

When the limit distance L(Tn) is less than or equal to Rn+1 (L(Tn)<Rn+1), the process proceeds to step S19.

In step S18 , the judging means 46 judges to perform crop harvesting for the section from the starting point Pn+1 to the ending point Qn+1 of the arrow Fn+1. This is because the judging means 46 predicts that even if the harvesting operation is continued and the body 2 travels from the starting point Pn+1 of the arrow Fn+1 to the ending point Qn+1, the amount of stored grains in the grain tank 15 will not reach the upper limit. W.

In this case, transfer to the above-mentioned step S12. Then, the above step S12 is carried out in a state where the variable n of the arrow Fn is incremented by 1. That is, with respect to the section from the start point Pn+1 to the end point Qn+1 of the next arrow Fn+1, the crop harvesting operation is performed by the harvesting control means 45 .

In step S19 , the judgment means 46 judges to discharge the grains in the grain tank 15 without harvesting the crops for the section from the start point Pn+1 to the end point Qn+1 of the arrow Fn+1. This is because the judging means 46 predicts that if the harvesting operation is continued, the accumulation of grains in the grain tank 15 will reach the upper limit W while the body 2 is traveling on the next arrow Fn+1.

In this case, the crop harvesting operation by the harvesting control means 45 is interrupted at the end point Qn, and the process proceeds to step S20.

In step S20, the discharge operation|work of the grain in the grain tank 15 is performed. The grain in the grain tank 15 is discharged into the container (grain tank) 51 mounted on the transport vehicle 50 (refer FIG. 4).

First, the machine body 2 moves to the vicinity of the transport vehicle 50 . Next, the grain accumulated in the grain tank 15 is discharged into the container 51 via the discharge auger 17 (refer FIG.8(a) and FIG.8(b)).

When step S20 ends, it transfers to step S11.

In step S11, the driving route generating means 44 sets the areas where the harvesting work is not performed in the working area 131 as the working areas 134 and 135, and generates a driving route for the harvesting work of the combine harvester 1 for the new working areas 134 and 135 ( Refer to Fig. 11(a) and Fig. 11(b)).

Then, for the new work areas 134 and 135 , the above-described steps from step S12 are implemented.

As shown in the above steps S16 to S19, the judging mechanism 46 is used to judge whether to continue harvesting the crops, thereby preventing the accumulation of grains in the grain tank 15 while the combine harvester 1 is running while harvesting. The amount exceeds the upper limit W.

In step S21, when the combine harvester 1 reaches the end point Q9 of arrow F9, the discharge operation|work of the grain in the grain tank 15 is performed. The grain in the grain tank 15 is discharged in the container (grain tank) 51 mounted on the transport vehicle 50 (refer FIG.4, FIG.10(a), and FIG.10(b)).

First, the machine body 2 moves to the vicinity of the transport vehicle 50 . Next, the grain accumulated in the grain tank 15 is discharged into the container 51 via the discharge auger 17 .

The discharge work of the grain of step S21 is complete|finished, and the harvesting work to work area 134,135 is complete|finished.

In addition, in the case where the operator operates the combine harvester himself through the operation part 20 to perform the harvesting operation without using the travel route generating mechanism 44, the harvesting control mechanism 45, the judging mechanism 46, etc., the display mechanism 60 (refer to FIG. 15), the display unit 60 displays the limit distance L(t) calculated by the limit distance calculation unit 43 .

The display mechanism 60 is provided on the operation unit 20 at a position where a person sitting on the driver's seat of the operation unit 20 can visually recognize it.

As shown in FIG. 15 , the display unit 60 is connected to the limit distance calculation unit 43 , receives a signal from the limit distance calculation unit 43 , and displays the limit distance L(t) calculated by the limit distance calculation unit 43 .

The limit distance calculating means 43 calculates the limit distance L(t) in real time after detecting that the accumulation of grains in the grain tank 15 has reached the first predetermined amount X1 by the first detecting means 31a.

Thereby, after the storage amount of the grain in the grain tank 15 reaches the 1st predetermined amount X1, the limit distance L(t) is displayed by the display means 60 in real time.

As the crop harvesting work continues and the travel distance M(t) of the machine body 2 gradually increases, the value of the limit distance L(t) displayed on the display unit 60 gradually decreases accordingly.

Thus, when the value of the limit distance L(t) displayed on the display mechanism 60 becomes 0, the operator can determine the timing of interrupting the harvesting operation considering that the amount of grain stored in the grain tank 15 reaches the upper limit W. It is judged, that is, the timing of discharging the grains in the grain tank 15 .

By configuring as described above, when the operator operates the combine harvester by himself through the operation unit 20 without using the harvesting control mechanism 45 or the like to perform the harvesting operation, the operator can confirm the limit distance L displayed on the display mechanism 60 ( t) to judge the timing of discharging the grains in the grain tank 15 .

And the operator can predict the position of the body 2 when the storage amount of the grain in the grain tank 15 reaches the upper limit W based on the magnitude|size of the limit distance L(t) displayed on the mechanism 60. Moreover, the operator can recognize the degree of a good harvest by checking the speed at which the value of the limit distance L(t) decreases by looking at the display means 60 .

In addition, it is not limited to the combine harvester 1 of this embodiment about a traveling type harvester. The traveling harvester can also harvest other types of crops (for example, carrots, potatoes, etc.) while traveling.

Industrial availability

The present invention can be used in a crop harvesting device.

Explanation of reference signs

1 combine harvester

100 crop harvesting device

110 position detection mechanism

130 storage institutions

131 work area

150 driving route generating mechanism

160 travel control mechanism

170 Harvest control agencies

Claims (11)

1. a crops harvester, it is characterised in that have:

Position detecting mechanism, the position of the described position detecting mechanism traveling type harvester to gathering in and accumulate crops Detect；

Storing mechanism, described storing mechanism is in the case of the shape in farmland is rectangle, to consistent with farmland or substantially uniform The positional information of the operating area that ground is formed as rectangle stores, in the case of the shape in farmland is not rectangle, to by agriculture Field is included in the positional information of the operating area that inner side landform becomes rectangle and stores；

Travel route generating mechanism, described travel route generating mechanism is being spiral shell from outer circumferential side to inner side in described operating area The mode of rotation shape ground harvesting crops generates the travel route of described traveling type harvester；

Travel controlling organization, described traveling controlling organization based on utilize that described position detecting mechanism detects about described traveling The information of the position of type harvester, makes described traveling type harvester from utilizing described in the generation of described travel route generating mechanism Travel route travels with passing through；And

Harvesting controlling organization, makes described traveling type harvester travel at described travel route utilizing described traveling controlling organization Time, described harvesting controlling organization makes described traveling type harvester carry out the action for gathering in crops.

Crops harvester the most according to claim 1, it is characterised in that described travel route generating mechanism is with as follows Mode generates described travel route, carries out being parallel to described operation described traveling type harvester stipulated number the most repeatedly The action of any one ground straight-line travelling of four boundary edge in region and stop at the action of stop position of regulation, when Described traveling type harvester starts again at after stopping at the stop position of described regulation when carrying out described straight-line travelling, from relatively Stop position in described regulation has the position of the position relationship of regulation, so that travel direction changes 90 ° towards prescribed direction State start again at and carry out described straight-line travelling.

Crops harvester the most according to claim 2, it is characterised in that

Described crops harvester has burden testing agency, and described burden testing agency is to lodging in described traveling type Whether the amount of the crops of harvester reaches the allowance of regulation is detected,

Described traveling controlling organization is when the stop position making described traveling type harvester stop at described regulation, from described accumulation Amount detection machine structure receives signal, and whether the amount of the crops lodging in described traveling type harvester is reached allowing of described regulation Amount confirms.

Crops harvester the most according to claim 3, it is characterised in that described traveling controlling organization amasss confirming as In the case of the amount of the crops being stored in described traveling type harvester is not up to the feasible value of described regulation, starts again at and carry out institute State the described straight-line travelling of traveling type harvester.

Crops harvester the most according to claim 3, it is characterised in that described crops harvester has discharge Mechanism, the amount the crops utilizing described traveling controlling organization to confirm as to lodge in described traveling type harvester reaches described rule In the case of fixed feasible value, described traveling type harvester is made to travel near the discharging area of the regulation being configured with container, profit With described output mechanism, the crops lodging in described traveling type harvester are discharged in described container.

Crops harvester the most according to claim 5, it is characterised in that described travel route generating mechanism is by described In-position when traveling type harvester enters in described operating area be arranged on described discharging area in opposite directions, described operation In the boundary edge in region.

7. according to the crops harvester described in claim 5 or 6, it is characterised in that described travel route generating mechanism exists In the case of utilizing described output mechanism to be discharged in described container by the crops lodging in described traveling type harvester, by institute State straight-line travelling region that the described traveling type harvester in operating area do not travels as new operating area, and for described New operating area generates described travel route.

Crops harvester the most according to any one of claim 1 to 7, it is characterised in that

Described traveling type harvester has:

Reservoir, the crops of harvesting are accumulated by described reservoir；

First testing agency, described first testing agency reaches the first ormal weight to the burden of the crops in described reservoir Situation detect；

Job state testing agency, the harvesting the most carrying out crops is examined by described job state testing agency Survey；

Operating range calculates mechanism, and described operating range calculates mechanism to utilizing described job state testing agency to detect Operating range when carrying out the harvesting of crops, body calculates,

Storing mechanism, the information about the upper limit amount of crops lodging in described reservoir is deposited by described storing mechanism Storage；And

Marginal distance calculates mechanism, and described marginal distance calculates mechanism and uses the value of described first ormal weight, utilizes described first Testing agency detects the described operating range when burden of the crops in described reservoir reaches described first ormal weight Calculate the value of calculation of mechanism, the value being stored in the described upper limit amount of described storing mechanism and described operating range and calculate mechanism Value of calculation, the boundary that till the burden of the crops in described reservoir is reached described upper limit amount, described body can travel Range line is from calculating.

Crops harvester the most according to claim 8, it is characterised in that

Described traveling type harvester has the second testing agency, and described second testing agency is to the crops in described reservoir Burden reaches to detect less than the situation of the second ormal weight of described first ormal weight,

Described marginal distance calculates mechanism and also uses the value of described second ormal weight and utilize the detection of described second testing agency Go out the described operating range when burden of the crops in described reservoir reaches described second ormal weight and calculate the meter of mechanism Calculation value, calculates described marginal distance.

Crops harvester the most according to claim 8 or claim 9, it is characterised in that described traveling type harvester has to be sentenced Breaking mechanism, when carrying out the harvesting of crops, before described body proceeds by the traveling that regulation is interval, makes described boundary Limit distance calculation structure calculates described marginal distance, has, at the described marginal distance calculated, the distance that described regulation is interval In the case of above size, described decision mechanism is to carry out the harvesting of crops for described regulation interval judgement, In the case of the distance that the described marginal distance calculated is interval less than described regulation, described decision mechanism is judged as described long-pending Deposit the grain in portion to discharge.

11. crops harvesters according to claim 8 or claim 9, it is characterised in that described traveling type harvester has aobvious Showing that mechanism, described indication mechanism show utilizes described marginal distance to calculate the described marginal distance that mechanism is calculated.