CN106163259A - Crops harvester - Google Patents

Abstract

There is provided a kind of when carrying out the harvesting of crops, suppress to cause the uneven of activity duration because of the proficiency of operator, and the crops harvester in the man-hour of travel route for generating traveling type harvester can be reduced.Crops harvester (100) has: the position detecting mechanism (110) detecting the position of united reaper (1)；The storing mechanism (130) of the positional information of storage operating area (131)；To generate the travel route generating mechanism (150) of the travel route of united reaper (1) in operating area (131) in the way of outer circumferential side spirally gathers in crops to inner side；Make the traveling controlling organization (160) that united reaper (1) travels with passing through from the described travel route utilizing described travel route generating mechanism (150) to generate；And when utilizing traveling controlling organization (160) to make united reaper (1) travel at described travel route, make united reaper (1) carry out action harvesting controlling organization (170) for gathering in crops.

Description

Crops harvester

Technical field

The present invention relates to a kind of crops harvester.

Background technology

In the past, operator relied on and feels to make the traveling type harvesters such as united reaper travel, and carried out the harvesting of crops Operation.

But, activity duration generation can be caused uneven because of the proficiency of operator, there is the worry that workability declines.

Further, the conventional crops existed by the harvesting making traveling type harvester automatic running carry out crops Harvesting device (such as patent documentation 1).

In the technology that patent documentation 1 is recorded, when rice transplanting, the travel route making rice transplanter be advanced is stored in storage machine Structure, when cutting rice, makes rice cutting machine from described travel route by ground automatic running.

But, in order to make the travel route of rice transplanter be stored in storing mechanism, operator must make rice transplanter traveling go forward side by side Row rice transplanting.Accordingly, there are the shortcoming spending man-hour in order to generate travel route.

Citation

Patent documentation

Patent documentation 1: Japanese Unexamined Patent Publication 6-113607 publication

Summary of the invention

Invent problem to be solved

The present invention provide a kind of when carrying out the harvesting of crops suppression because of the proficiency of operator cause operation time Between uneven, and the crops harvesting dress in the man-hour of travel route for generating traveling type harvester can be reduced Put.

For solving the scheme of problem

The crops harvester that technical scheme 1 is recorded has:

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

Storing mechanism, described storing mechanism is in the case of the shape in farmland is rectangle, to consistent with farmland or substantially The positional information being identically formed the operating area for rectangle stores, in the case of the shape in farmland is not rectangle, right The positional information that farmland is included in the operating area that inner side landform becomes rectangle stores；

Travel route generating mechanism, described travel route generating mechanism with in described operating area from outer circumferential side to inner side The mode spirally gathering in 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 The information of the position of traveling type harvester, makes described traveling type harvester from utilizing described travel route generating mechanism to generate Described travel route travels with passing through；And

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

In the crops harvester that technical scheme 2 is recorded, described travel route generating mechanism generates as follows Described travel route, carries out being parallel to the four of described operating area described traveling type harvester stipulated number the most repeatedly The action of any one ground straight-line travelling of individual boundary edge 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 relative to described rule Fixed stop position has the position of the position relationship of regulation, so that travel direction changes the state of 90 ° again towards prescribed direction Secondary proceed by described straight-line travelling.

In the crops harvester that technical scheme 3 is recorded,

Described crops harvester has burden testing agency, and described burden testing agency is to lodging in described row Whether the amount of the crops sailing type 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 Burden testing agency receives signal, and whether the amount of the crops lodging in described traveling type harvester is reached described regulation Allowance confirms.

In the crops harvester that technical scheme 4 is recorded, described traveling controlling organization confirm as lodging in described In the case of the amount of the crops of traveling type harvester is not up to the feasible value of described regulation, starts again at and carry out described traveling type The described straight-line travelling of harvester.

In the crops harvester that technical scheme 5 is recorded, described crops harvester has output mechanism, in profit The amount confirming as lodging in the crops of described traveling type harvester with described traveling controlling organization reaches allowing of described regulation In the case of value, make described traveling type harvester travel near the discharging area of the regulation being configured with container, utilize described row Go out mechanism to be discharged in described container by the crops lodging in described traveling type harvester.

In the crops harvester that technical scheme 6 is recorded, described traveling type is received by described travel route generating mechanism In-position when cutting mill enters in described operating area be arranged on described discharging area in opposite directions, the limit of described operating area On limit, boundary.

In the crops harvester that technical scheme 7 is recorded, described travel route generating mechanism is utilizing described discharge In the case of the crops lodging in described traveling type harvester are discharged in described container by mechanism, by described operating area The straight-line travelling region that do not travels of described traveling type harvester as new operating area, and for described new operating area Generate described travel route.

In the crops harvester that technical scheme 8 is recorded,

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 rule to the burden of the crops in described reservoir Quantitative situation detects；

Job state testing agency, the harvesting the most carrying out crops is entered by described job state testing agency Row detection；

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

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

Marginal distance calculates mechanism, and described marginal distance calculates mechanism and uses the value of described first ormal weight, utilization described First testing agency detects the described traveling when burden of the crops in described reservoir reaches described first ormal weight The value of calculation of distance calculation structure, the value being stored in the described upper limit amount of described storing mechanism and described operating range calculate The value of calculation of mechanism, till the burden of the crops in described reservoir is reached described upper limit amount, described body can travel Marginal distance calculate.

In the crops harvester that technical scheme 9 is recorded,

Described traveling type harvester has the second testing agency, and described second testing agency is to the farming in described reservoir The burden of thing 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 described second testing agency Detect that the described operating range when burden of the crops in described reservoir reaches described second ormal weight calculates mechanism Value of calculation, described marginal distance is calculated.

In the crops harvester that technical scheme 10 is recorded, described traveling type harvester has decision mechanism, is entering During the harvesting of row crops, before described body proceeds by the traveling that regulation is interval, described marginal distance is made to calculate Mechanism calculates described marginal distance, has the size of more than the distance that described regulation is interval at the described marginal distance calculated In the case of, described decision mechanism is to carry out the harvesting of crops for described regulation interval judgement, in the institute calculated In the case of stating the distance that marginal distance is interval less than described regulation, described decision mechanism is judged as the paddy in described reservoir Grain is discharged.

In the crops harvester that technical scheme 11 is recorded, described traveling type harvester has indication mechanism, described Indication mechanism shows and utilizes described marginal distance to calculate the described marginal distance that calculated of mechanism.

Invention effect

According to the present invention, utilize travel route generating mechanism to generate the travel route of traveling type harvester, and utilize traveling Controlling organization makes traveling type harvester travel with passing through from described travel route, therefore when carrying out the harvesting of crops, Operator need not rely on and feel to make traveling type harvester travel.Thereby, it is possible to suppression causes operation because of the proficiency of operator Time uneven, improves workability.

Further, the positional information of operating area is pre-stored within storing mechanism by operator, thus utilizes travel route raw Mechanism is become to generate the travel route of traveling type harvester, therefore, it is possible to reduce the travel route for generating traveling type harvester Man-hour.

Accompanying drawing explanation

Fig. 1 is the side view of united reaper.

Fig. 2 is the block diagram representing crops harvester.

Fig. 3 (a) is the figure representing operating area, and Fig. 3 (b) is the figure representing operating area.

Fig. 4 is to represent the travel route utilizing travel route generating mechanism to generate.

Fig. 5 is the figure representing terminal Qn with the position relationship of starting point Pn+1.

Fig. 6 (a) is the top view of mover, and Fig. 6 (b) is the side view of mover.

Fig. 7 is the flow chart representing control flow.

Fig. 8 (a) is to represent in the case of the n=1 of Fn, utilizes the travel route that discharge travel route generating unit generates Figure, Fig. 8 (b) is to represent in the case of the n=2 of Fn, utilizes the travel route that discharge travel route generating unit generates Figure.

Fig. 9 (a) is to represent in the case of the n=3 of Fn, utilizes the travel route that discharge travel route generating unit generates Figure, Fig. 9 (b) is to represent in the case of the n=4 of Fn, utilizes the travel route that discharge travel route generating unit generates Figure.

Figure 10 (a) is to represent that Figure 10 (b) is from discharging the auger top view to the state discharging grain in container The enlarged partial isometric view of Fig. 8 (a).

Figure 11 (a) is to represent in the case of the n=1 of Fn, after utilizing output mechanism to carry out the discharge operation of grain, OK Sailing the figure of the travel route that Route Generation mechanism generates for new operating area, Figure 11 (b) is the feelings representing the n=2 at Fn Under condition, after utilizing output mechanism to carry out the discharge operation of grain, travel route generating mechanism generates for new operating area The figure of travel route.

Figure 12 is control block diagram.

Figure 13 is the sectional view of tanker.

Figure 14 is the flow chart representing control flow.

Figure 15 is control block diagram.

Detailed description of the invention

[travel route generation]

First, the united reaper 1 of the example as traveling type harvester is illustrated.

As it is shown in figure 1, united reaper 1 has electromotor 3, traveling portion 4, extracts portion 5, threshing portion 6, sorting portion 7, grain Discharge portion 8 and Herba lysimachiae capillipedis process portion 9.

The power of electromotor 3 is transferred to traveling portion 4, extracts portion 5, threshing portion 6, sorting portion 7, grain by united reaper 1 Discharge portion 8 and Herba lysimachiae capillipedis process portion 9 also drive these each several parts.United reaper 1 as traveling type harvester can be on one side Travel while gathering in crops (grain).

Traveling portion 4 is arranged at the bottom of body 2.Traveling portion 4 possesses: the power from electromotor 3 carries out the change of speed change Speed mechanism (HST (hydraulic continuously variable transmission) etc.) 3a；There is the crawler type running device 10 of pair of right and left crawler belt；And brake Structure.

Crawler type running device 10 obtains the power come from electromotor 3 transmission thus is driven.Thus, body 2 travels.

Extract portion 5 and can be arranged at the front portion of body 2 up and down.Extract portion 5 to there is grass divider 11, prop up portion 12, harvesting Trucking department 13 and cutting portion 14.

Extracting portion 5 utilizes grass divider 11 that the straw in farmland carries out a point grass, and utilization is propped up the straw after portion 12 will divide grass and held up Rising, the straw after utilizing harvesting trucking department 13 to prop up is carried towards rear and utilizes cutting portion 14 to be cut off, and utilizes harvesting Straw after trucking department 13 will cut off the most rearward is carried towards threshing portion 6.

Threshing portion 6 is configured at the upper left side of body 2.Threshing portion 6 has: carrier chain, thrashing cylinder and process cartridge.

Threshing portion 6 utilize described carrier chain by from extract carry in portion 5 harvested straw transhipment and remove towards rear Fortune, utilizes described thrashing cylinder that the straw in this carrying is carried out threshing, makes the processed material after threshing leak downwards towards sorting portion 7 Under.

Further, threshing portion 6 by not by the untreated thing of described thrashing cylinder threshing from process chamber via sending dirt mouth to be carried to Process chamber, utilizes described process cartridge to process.Then, the processed material utilizing described process cartridge to process is falling to sorting portion 7 During processed cylinder net sorting.It addition, the translational speed (holdup time) of the untreated thing in described process chamber is by sending dirt Valve controls.Fall from described process cartridge net and accept the processed material of cylinder and be returned conveyer and forwards carry, return described in being arranged at Sorting portion 7 put into by the air vent of the front end returning conveyer.

Sorting portion 7 is configured at the lower left side of body 2.Sorting portion 7 has oscillatory sorting device, wind sorting unit and paddy Grain Handling device (conveyor, lifting device, secondary conveyor and secondary loop back device) and the power of electromotor 3 It is transferred to the sorting conveyer of described grain Handling device.

Sorting portion 7 utilizes the described oscillatory sorting device processed material to falling from threshing portion 6 to carry out swinging sorting, utilizes institute State wind sorting unit and the processed material after swinging sorting is carried out wind sorting, the process after utilizing described conveyor to be sorted by wind Primary screening thing in thing is carried to described lifting device, is carried to the grain in grain discharge portion 8 followed by described lifting device Case 15.

Further, sorting portion 7 utilizes described secondary conveyor secondary screening material to be carried to described secondary loop back device, then Described secondary loop back device is utilized to be carried to process chamber or the superjacent air space of described oscillatory sorting device in threshing portion 6.Then, Secondary screening material is by threshing, or is not utilized described oscillatory sorting device and wind sorting unit again to divide by threshing Choosing.

Grain discharge portion 8 has tanker 15, discharges auger 17 and conveying worm.Tanker 15 is configured at body The right lateral side of 2.Connect at tanker 15 and have discharge auger 17.Discharge auger 17 on body 2 top from tanker 15 Rear portion prominent towards front.It is formed with outlet 17a for discharging grain on the top discharging auger 17.At grain It is provided with described conveying worm in case 15 and discharge auger 17.Described conveying worm is via the spiral shell of tension band colyliform Swing arm clutch is connected with electromotor 3, obtains the power come from electromotor 3 transmission thus is driven.Described screw rod from Clutch connects the actuator (motor) having the on-off for carrying out described screw rod clutch.

Grain in tanker 15 is carried to discharge in auger 17 by described conveying worm, pushes from discharging spiral It is outside that outlet 17a of device 17 is discharged to body 2.

Herba lysimachiae capillipedis process portion 9 is configured at the rear side of body 2.Herba lysimachiae capillipedis process portion 9 has Herba lysimachiae capillipedis Handling device 22 and Herba lysimachiae capillipedis is cut Disconnected device 23.

Herba lysimachiae capillipedis process portion 9 utilize Herba lysimachiae capillipedis Handling device 22 using the discharge straw of threshing carried from threshing portion 6 as The outside of body 2 is carried and be discharged to Herba lysimachiae capillipedis towards rear, or carries to Herba lysimachiae capillipedis shearing device 23, is being cut to Herba lysimachiae capillipedis by Herba lysimachiae capillipedis In the case of disconnected device 23 carrying, after utilizing Herba lysimachiae capillipedis shearing device 23 to cut off, it is discharged to the outside of body 2.

The front side of body 2 is provided with operating portion 20.Operating portion 20 be provided with driver's seat, steering wheel, traveling bar and The various operation instrument such as gear lever.

Hereinafter crops harvester 100 is illustrated.

As in figure 2 it is shown, crops harvester 100 has position detecting mechanism 110, orientation detection mechanism 120, storage machine Structure 130, burden testing agency 140, travel route generating mechanism 150, travel controlling organization 160, harvesting controlling organization 170 with And output mechanism 180.

Position detecting mechanism 110 is by GLONASS (GNSS, Global Navigation Satellite System) receiver is constituted, and receives signal from GNSS satellite, and calculates the position of united reaper 1 based on this signal received Put.

Orientation detection mechanism 120 is made up of GPS compass, gyrocompass etc., receives signal from GNSS satellite, and based on reception This signal calculate united reaper 1 towards.

The positional information of operating area 131 is had in storing mechanism 130 storage.As shown in Fig. 3 (a) and Fig. 3 (b), operation Region 131 is formed as rectangle (rectangle or square).

As shown in Fig. 3 (a), in the case of the shape being scheduled for the farmland 132a of reality of harvesting is rectangle, Operating area 131 is formed as consistent with farmland 132a or substantially uniform.

As shown in Fig. 3 (b), in the case of the shape of farmland 132b is not rectangle, operating area 131 is formed larger than agriculture 132b ground in field is constituted, and farmland 132b is included in inner side.

Operator utilizes the position of the corner of GNSS receiver mensuration operating area 131, it is thus achieved that the position of operating area 131 Information.

As shown in Fig. 2 and Fig. 4, there is the positional information of discharging area 133 in storing mechanism 130 storage.Discharging area 133 It is equipped with the region of container (grain box) 51.The grain that container 51 is discharged from the tanker 15 of united reaper 1 for storage.Hold Device 51 is upwardly opening.Container 51 is loaded into the mover 50 that grain is carried to drying facility.

Stop position in view of mover 50 likely produces deviation, and discharging area 133 is in the traveling side of mover 50 There is on Z a certain degree of width.Discharging area 133 is arranged on the road etc. in the outside being present in operating area 131.Discharge Region 133 and a boundary edge 131a landform in opposite directions in four boundary edge 131a, 131b, 131c, 131d of operating area 131 Become.Utilize the position at the two ends of GNSS receiver mensuration discharging area 133, obtain the positional information of discharging area 133.

The allowance Y α of the grain in the tanker 15 of united reaper 1 it is related to lodge in storing mechanism 130 storage Information.Allowance Y α allows for capacity Y of tanker 15 etc. and predetermined.

Allowance Y α is such as confirmed as meeting the such value of [condition] Y-Y α ＞ Y β.

Y β is the maximum of the grain that united reaper 1 can gather in when carrying out straight-line travelling on an arrow Fn.

As in figure 2 it is shown, burden testing agency 140 is made up of limit switch, proximity transducer etc..Burden testing agency 140 inner peripheral surfaces being installed on tanker 15, detect the amount of the grain accumulated in tanker 15.The burden of present embodiment Testing agency 140 is arranged at the allowance Y the α whether amount of the grain accumulated in tanker 15 can reach specify and detects Position.Furthermore it is also possible to be made up of burden testing agency 140 weight sensor.

The travel route of the harvesting for generating united reaper 1 is had travelling Route Generation mechanism 150 storage Program.Travel route generating mechanism 150 generates the traveling road of united reaper 1 by the described program performing to be stored Line.

The arrow Fn of Fig. 4 and Fig. 5 (n=1,2 ...) represent the combining utilizing travel route generating mechanism 150 to generate The travel route of machine 1.

United reaper 1 travels according to the order of F1 → F2 →....In detail, united reaper 1 is according to the starting point of F1 The order of the terminal Q2 →... of the starting point P2 → F2 of the terminal Q1 → F2 of P1 → F1 travels.It addition, for united reaper 1 from arrow The travel route of the terminal Qn of head Fn united reaper 1 when starting point Pn+1 of arrow Fn+1 moves, is not particularly limited.

The travel route of united reaper 1 is generated as in operating area 131 from periphery by travel route generating mechanism 150 Crops are spirally gathered in lateral inner side.

As shown in FIG. 4 and 5, travel route generating mechanism 150 generates travel route, united reaper as follows 1 carries out being parallel to four boundary edge 131a, 131b, 131c, 131d of operating area 131 the most repeatedly stipulated number X In any one ground straight-line travelling action (arrow Fn (n=1,2 ... carry out the action of straight-line travelling on)) and stop In the action (in the action that the terminal Qn of arrow Fn stops) of the stop position of regulation, when united reaper 1 stops at described rule When fixed stop position (terminal Qn) starts again at described straight-line travelling afterwards, from the stop position relative to described regulation (eventually Point Qn) there is the position (starting point Pn+1 of arrow Fn+1) of the position relationship of regulation, so that travel direction becomes towards prescribed direction The state of more 90 ° starts again at and carries out described straight-line travelling.

As shown in Figure 4, harvesting width W has the size identical with the actual harvesting width of united reaper 1 or tool There is the size of the slightly less than actual harvesting width of united reaper 1.Assuming that the united reaper of crops harvester 100 1 carries out harvesting with harvesting width W.

In the present embodiment, united reaper 1 carries out straight-line travelling on arrow Fn and refers to the harvesting of united reaper 1 The central part of width W passes through from arrow Fn.

As shown in Figure 4, in-position P1 when united reaper 1 enters in operating area 131, i.e. starting point P1 of arrow F1 Be arranged on discharging area 133 in opposite directions, in boundary edge 131a of operating area 131.

Further, starting point P1 of arrow F1 is arranged on the position separating W/2 from the end of boundary edge 131a.This is in order at connection Close harvester 1 to carry out making the end of harvesting width W pass through from boundary edge 131d during straight-line travelling on arrow F1.

As it is shown in figure 5, in the case of n≤3, the terminal Qn of arrow Fn is arranged in the boundary edge of operating area 131.Arrow The terminal Q1 of head F1 is arranged in boundary edge 131c, and the terminal Q2 of arrow F2 is arranged in boundary edge 131b, the terminal of arrow F3 Q3 is arranged in boundary edge 131a.

In the case of n >=4, the terminal Qn of arrow Fn is arranged on forward W/2 relative to the position intersected with arrow Fn-3 Position.

As it is shown in figure 5, in the present embodiment, about the position of starting point Pn+1 of the terminal Qn and arrow Fn+1 of arrow Fn Relation, is configured to starting point Pn+1 and is present in and advances up towards tilting the side of 45 ° relative to arrow Fn from terminal QnPosition.

As it has been described above, travel route generating mechanism 150 generates travel route as follows, when united reaper 1 stops When starting again at described straight-line travelling after the terminal Qn of arrow Fn, so that travel direction changes 90 ° towards prescribed direction State starts again at described straight-line travelling.

Described prescribed direction be counterclockwise and clockwise in, united reaper 1 is near operating area 131 The direction of inner side.Therefore, in the present embodiment, described prescribed direction is counterclockwise, the traveling side of united reaper 1 To towards counterclockwise change 90 ° (with reference to Fig. 5).

As it has been described above, travel route generating mechanism 150 generates travel route as follows, united reaper 1 is according to suitable The action carrying out straight-line travelling on arrow Fn and the action of the terminal Qn stopping at arrow Fn sequence stipulated number X repeatedly.

Described stipulated number X be in operating area 131 united reaper 1 while carrying out straight-line travelling one on arrow Fn During while carry out harvesting with harvesting width W, united reaper 1 fulfils assignment the harvesting institute in whole region in region 131 The number of times of the straight-line travelling of the united reaper 1 needed.

In the present embodiment, to united reaper 1 fulfil assignment region 131 whole region harvesting, On arrow F1～F9, carry out straight-line travelling respectively, carry out 9 straight-line travellings (with reference to Fig. 5).Therefore, described stipulated number X is 9 Secondary (X=9).

As shown in Figure 1 and Figure 2, travel controlling organization 160 to be connected with the traveling portion 4 of united reaper 1, it is possible to associating The traveling of harvester 1 is controlled.

It is connected as in figure 2 it is shown, travel controlling organization 160 with position detecting mechanism 110, it is possible to from position detecting mechanism 110 Obtain the information of the position about united reaper 1.

Travel controlling organization 160 to be connected with orientation detection mechanism 120, it is possible to obtain about connection from position detecting mechanism 110 Close harvester 1 towards information.

Travel controlling organization 160 to be connected with storing mechanism 130, it is possible to obtain the various information being stored in storing mechanism 130.

Travel controlling organization 160 to be connected with burden testing agency 140, it is possible to receive letter from burden testing agency 140 Number, whether the amount of the grain accumulated in tanker 15 is confirmed at below the allowance Y α of regulation.

Travel controlling organization 160 to be connected with travel route generating mechanism 150, it is possible to connect from travel route generating mechanism 150 The collection of letters number, confirms the travel route utilizing travel route generating mechanism 150 to generate.

As shown in Figure 1 and Figure 2, gather in controlling organization 170 and the portion that extracts 5 of united reaper 1, threshing portion 6 and divide Select portion 7 to connect, make the portion that extracts 5, threshing portion 6 and sorting portion 7 action such that it is able to make united reaper 1 carry out for gathering in The action of crops.

As in figure 2 it is shown, harvesting controlling organization 170 is connected with travelling controlling organization 160, it is possible to from travelling controlling organization 160 Receive signal, confirm the transport condition of united reaper 1.

As in figure 2 it is shown, output mechanism 180 has position detection part 181, orientation detection portion 182, the life of discharge travel route One-tenth portion 183, shoot part 184, labelling 185, driving control portion 186 and discharge auger control portion 187.

Position detection part 181 is made up of GNSS receiver, receives signal from GNSS satellite, and comes based on this signal received Calculate the position of united reaper 1.Position detection part 181 can also be identical with position detecting mechanism 110.

Orientation detection portion 182 is made up of GPS compass, gyrocompass etc., receives signal from GNSS satellite, and based on reception This signal calculate united reaper 1 towards.Orientation detection portion 182 can also be identical with orientation detection mechanism 120.

The grain for generating united reaper 1 is had to discharge operation in the storage of discharge travel route generating unit 183 The program of travel route R.Discharge travel route generating unit 183 generates combining by the described program performing to be stored The travel route R of operation discharged by the grain of machine 1.

Shoot part 184 is arranged at the sidepiece (right side) of united reaper 1, it is possible to the side (ginseng of shooting united reaper 1 According to Figure 10 (a).

Labelling 185 is arranged at the sidepiece (left side) (with reference to Fig. 6 (a), Fig. 6 (b) and Figure 10 (a)) of container 51.

As shown in Figure 1 and Figure 2, driving control portion 186 is connected with the traveling portion 4 of united reaper 1, it is possible to control associating The traveling of harvester 1.

Driving control portion 186 is connected with shoot part 184, it is possible to obtain the data of the image utilizing shoot part 184 to shoot.OK Sail control portion 186 and (receipts can be combined in image based on the labelling 185 utilizing shoot part 184 the to shoot position of grasping labelling 185 Cutting mill 1 and the position relationship of labelling 185).Discharge auger control portion 187 to be connected with driving control portion 186, it is possible to via Driving control portion 186 obtains the information of the position about labelling 185.That is, discharge auger control portion 187 and control with travelling Portion 186 is similarly, it is possible to image based on the labelling 185 utilizing shoot part 184 to shoot grasps the position of labelling 185.

Discharge auger control portion 187 to be connected with the actuator driving the joint discharging auger 17, it is possible to This actuator is utilized to make the joint motion of discharge auger 17 so that outlet 17a moves.Discharge auger control The sensor of the angle of rotation that portion 187 processed discharges the joint of auger 17 with detection is connected, it is possible to inspection based on this sensor Measured value grasps the position of outlet 17a.

Discharge auger control portion 187 to be connected with described screw rod clutch, make described screw rod clutch for connecing Logical state, it is possible to the grain accumulated in tanker 15 is discharged from outlet 17a discharging auger 17.

Hereinafter, with reference to Fig. 7, order S1 when utilizing crops harvester 100 to carry out harvesting～S5 are said Bright.

In step sl, travel route generating mechanism 150 is utilized to generate the receipts of united reaper 1 for operating area 131 Cut the travel route (with reference to Fig. 4) of operation.

In step s 2, utilize travel controlling organization 160 make united reaper 1 arrow Fn (n=1,2 ... carry out straight on) Line travels.First, traveling controlling organization 160 is utilized to make united reaper 1 carry out straight-line travelling on arrow F1.

Now, travelling controlling organization 160 makes united reaper 1 carry out linear rows from starting point Pn of arrow Fn towards terminal Qn Sail.

Travel controlling organization 160 based on the position about united reaper 1 utilizing position detecting mechanism 110 to detect Information, makes united reaper 1 carry out straight-line travelling by ground from arrow Fn.Now, controlling organization 160 is travelled based on utilization side Position detecting mechanism 120 detect about united reaper 1 towards information, make united reaper 1 towards with arrow Fn Towards unanimously.

When utilizing traveling controlling organization 160 to make united reaper 1 carry out described straight-line travelling with passing through from arrow Fn, Harvesting controlling organization 170 makes the portion that extracts 5, threshing portion 6 and sorting portion 7 work, and makes united reaper 1 carry out for gathering in farming The action of thing.

In step s3, traveling controlling organization 160 end based on the arrow Fn utilizing travel route generating mechanism 150 to generate The positional information putting Qn and the information of the position about united reaper 1 utilizing position detecting mechanism 110 to detect are right Whether united reaper 1 arrives the terminal Qn of arrow Fn judges.

In the case of utilizing traveling controlling organization 160 to be judged as the terminal Qn that united reaper 1 does not arrive arrow Fn (step S3, no), transfers to step S2.In this case, the straight-line travelling and the harvesting that proceed united reaper 1 are made Industry.

Travel controlling organization 160 be judged as that united reaper 1 reaches (step in the case of the terminal Qn of arrow Fn utilizing S3, yes), transfer to step S4.

In step s 4, travel whether controlling organization 160 reaches described to the frequency n of the straight-line travelling of united reaper 1 Stipulated number X=9 judges.That is, the terminal Q9 that whether traveling controlling organization 160 arrives arrow F9 to united reaper 1 enters Row judges.

Travel the position of controlling organization 160 terminal Q9 based on the arrow F9 utilizing travel route generating mechanism 150 to generate Information and utilize the information of the position about united reaper 1 that position detecting mechanism 110 detects, to united reaper 1 The terminal Q9 whether arriving arrow F9 judges.

In the case of utilizing traveling controlling organization 160 to be judged as the terminal Q9 that united reaper 1 does not arrive arrow F9 (step S4, no), i.e. in the case of any one in united reaper 1 is present in terminal Q1～Q8, transfer to step S5。

Travel controlling organization 160 be judged as that united reaper 1 arrives (step in the case of the terminal Q9 of arrow F9 utilizing S4, yes), transfer to step S7.

In step s 5, travel controlling organization 160 and receive signal from burden testing agency 140, to accumulating in tanker 15 Whether the amount of interior grain reaches the allowance Y α of described regulation confirms.

It is not reaching to described regulation in the amount utilizing traveling controlling organization 160 to confirm as accumulating in the grain in tanker 15 In the case of allowance Y α (step S5, no), transfer to step S2.

Then, when the variable n of arrow Fn increases by 1, above-mentioned steps S2 is implemented.That is, travel controlling organization 160 from The state making the terminal Qn that united reaper 1 stops at arrow Fn starts, make united reaper 1 towards (travel direction) to inverse Clockwise changes 90 °, starts again at straight-line travelling and the harvesting carrying out united reaper 1 from starting point Pn+1 of arrow Fn+1 Operation.It addition, for united reaper 1 from the terminal Qn of arrow Fn to starting point Pn+1 of arrow Fn+1 move time combining The travel route of machine 1 is not particularly limited.

Allowing of described regulation is reached in the amount utilizing traveling controlling organization 160 to confirm as accumulating in the grain in tanker 15 In the case of amount Y α (step S5, yes), transfer to step S6.

In step s 6, output mechanism 180 is utilized to carry out the discharge operation of grain.

Output mechanism 180 ((6-1)～(6-6)) in the following order carries out the discharge operation of grain.

(6-1) the discharge travel route generating unit 183 of output mechanism 180 generates the grain discharge work of united reaper 1 The travel route R (with reference to Fig. 8 (a)～Fig. 9 (b)) of industry.

Fig. 8 (a) represents the travel route R utilizing discharge travel route generating unit 183 to generate when the n=1 of arrow Fn. That is, representing when united reaper 1 arrives terminal Q1 of arrow F1, the amount of the grain in accumulating in tanker 15 reaches institute When stating the allowance Y α of regulation, utilize the travel route R that discharge travel route generating unit 183 generates.

Fig. 8 (b) represents the travel route R utilizing discharge travel route generating unit 183 to generate when the n=2 of arrow Fn. That is, representing when united reaper 1 arrives terminal Q2 of arrow F2, the amount of the grain in accumulating in tanker 15 reaches institute When stating the allowance Y α of regulation, utilize the travel route R that discharge travel route generating unit 183 generates.

Fig. 9 (a) represents the travel route R utilizing discharge travel route generating unit 183 to generate when the n=3 of arrow Fn. That is, representing when united reaper 1 reaches terminal Q3 of arrow F3, the amount of the grain in accumulating in tanker 15 reaches institute When stating the allowance Y α of regulation, utilize the travel route R that discharge travel route generating unit 183 generates.

Fig. 9 (b) represents the travel route R utilizing discharge travel route generating unit 183 to generate when the n=4 of arrow Fn. That is, representing when united reaper 1 arrives terminal Q4 of arrow F4, the amount of the grain in accumulating in tanker 15 reaches institute When stating the allowance Y α of regulation, utilize the travel route R that discharge travel route generating unit 183 generates.This travel route R is bag Include retreating at interior route of united reaper 1.

As shown in Fig. 8 (a)～Fig. 9 (b), travel route R is from the row of being positioned against stopping harvesting of united reaper 1 Go out and formed near region 133.

Travel route R has parallel portion Ra being parallel to the extension of discharging area 133 ground near operating area 131.Parallel Portion Ra is configured to the movable radius less than outlet 17a discharging auger 17 with the interval D of discharging area 133.

As shown in Fig. 8 (a) and Fig. 8 (b), travel route R is formed as the outside in operating area 131 along operating area The periphery of 131.Thus, in the case of united reaper 1 travels on travel route R, when travelling towards parallel portion Ra, energy Enough prevent united reaper 1 from entering in the operating area 131 not carrying out harvesting, and united reaper 1 can be suppressed Operating range increases.Therefore, it is possible to carry out the discharge operation of grain efficiently.

(6-2) driving control portion 186 is based on the position about united reaper 1 utilizing position detection part 181 to detect Information, make united reaper 1 along travel route R travel (with reference to Fig. 8 (a)～Fig. 9 (b)).

When united reaper 1 travels on the Ra of travel route R, driving control portion 186 is based on utilizing orientation detection portion 182 detect about united reaper 1 towards information, make the consistent towards the bearing of trend with Ra of united reaper 1. This be in order to united reaper 1 from the side of container 51 (mover 50) by time make to be arranged at the sidepiece of united reaper 1 Shoot part 184 be arranged at container 51 sidepiece labelling 185 toward each other, in order to labelling 185 is apparent in shoot part 184 (with reference to Fig. 8 (a)～Fig. 9 (b)) in shooting image.

(6-3) when united reaper 1 travels on the Ra of travel route R, driving control portion 186 obtains and utilizes shoot part The data of the image of 184 shootings, then, the labelling 185 in this image specific.

(6-4), when the driving control portion 186 labelling 185 in the image to shoot part 184 carries out specific, use known Image procossing analytic technique grasps the position relationship of united reaper 1 and labelling 185.Driving control portion 186 is to utilizing shooting The information such as image and the shape about labelling 185 prestored, the size of the labelling 185 of portion 184 shooting compare, thus Grasp the position relationship of united reaper 1 and labelling 185.

(6-5) driving control portion 186 is when being judged as that united reaper 1 arrives the position of regulation relative to labelling 185, makes The traveling of united reaper 1 stops.The position of described regulation is the position that grain can be discharged in container 51 by united reaper 1 Put.That is, the position of described regulation is that outlet 17a discharging auger 17 that can make united reaper 1 arrives container The position of the top of 51.The position of described regulation allows for the movable range of outlet 17a and (discharges the pass of auger 17 Joint movable range) etc. and predetermined.

(6-6) discharging auger control portion 187 is utilizing driving control portion 186 to make the traveling of united reaper 1 stop After Zhi, make the joint motion of discharge auger 17, so that outlet 17a moves the mesh to the top being present in container 51 Cursor position O.Described target location O is the crops that united reaper 1 is gathered in be discharged to the operation in container 51 carrying out Time the target location of outlet 17a.Described target location O relatively determines according to the position relationship with labelling 185, about institute The information stating target location O is pre-stored within discharge auger control portion 187.Discharging auger control portion 187 Such as storage has and will separate to the right m rice with labelling 185, upwards separates the position of n rice and be set as the purport of described target location O Information (with reference to Fig. 6 (a) and Fig. 6 (b)).

Discharge auger control portion 187 utilize driving control portion 186 make united reaper 1 traveling stop after, Image based on the labelling 185 utilizing shoot part 184 to shoot grasps the position of labelling 185, makes outlet 17a move to described Target location O.Then, discharge auger control portion 187 and make described screw rod clutch be turned on, from discharging spiral shell Outlet 17a of rotation pusher 17 discharges grain K (with reference to Figure 10 (a) and Figure 10 (b)).Thus, from united reaper 1 to appearance Grain is discharged in device 51.

As it has been described above, be configured to, reach allowance Y of described regulation in the amount confirming as accumulating in the grain in tanker 15 In the case of α, it is possible to utilize output mechanism 180 to carry out the discharge operation of grain, thus prevent from carrying out at united reaper 1 Harvesting is while the amount of the grain accumulated in during Hang Shiing in tanker 15 exceedes the capacity Y of tanker 15.

As it has been described above, the crops discharger as output mechanism 180 is applied to traveling type harvester (combining Machine) 1, be for from outlet 17a to the device discharging described crops in container 51, described traveling type harvester (combines receipts Cutting mill) 1 there is the discharge portion (discharge auger) 17 of outside that the crops (grain) of harvesting are discharged to body 2, and Outlet 17a that can make described discharge portion 17 moves relative to body 2.

Crops discharger 180 has: be arranged at the shoot part 184 of traveling type harvester 1；Configure relative to container 51 Labelling 185 in assigned position；And prestore the with good grounds position relationship with labelling 185 and relatively determine about row Export the information of the target location O of 17a, and image based on the labelling 185 utilizing shoot part 184 to shoot grasps labelling 185 Position, make the control portion of discharge portion (discharging auger control portion) 187 that outlet 17a moves to target location O.

M rice will be separated to the right from labelling 185 it addition, such as store in control portion of discharge portion 187 to have, upwards separate n rice Position is set as the information (with reference to Fig. 6 (a) and Fig. 6 (b)) of the purport of described target location O.Labelling 185 is as mesh Cursor position O carries out specific reference mark and works.Labelling 185 has can be to towards carrying out specific shape.Target location O It it is outlet 17a when carrying out the operation being discharged in container 51 by the crops utilizing traveling type harvester 1 to be gathered in Target location.

By constituting in the above described manner, when the discharge operation carrying out crops, control portion of discharge portion 187 is utilized to arrange Outlet 17a is relative to the location of container 51, and therefore operator need not rely on the location feeling to carry out outlet 17a (with reference to figure 10(a)).Thus, when the discharge operation carrying out crops, it is possible to suppress to cause the ginseng of activity duration because of the proficiency of operator Difference is uneven thus improves workability.

It addition, in the present embodiment, shoot part 184 is arranged at the sidepiece of traveling type harvester 1, and labelling 185 is arranged at The sidepiece (with reference to Fig. 6 (a), Fig. 6 (b) and Figure 10 (a)) of container 51.Thus, control portion of discharge portion 187 can receive in traveling type Cutting mill 1 makes outlet 17a move to target location O when container 51 (being mounted with the mover 50 of container 51) alongside (with reference to Figure 10 (a)).Control portion of discharge portion 187 makes outlet 17a move to the O of target location, discharges institute from outlet 17a State crops (with reference to Figure 10 (b)).

Further, crops discharger 180 has driving control portion 186, and described driving control portion 186 is received making traveling type Under the state that cutting mill 1 travels, the labelling 185 in the image utilizing shoot part 184 to shoot is carried out specific, grasp the harvesting of traveling type Machine 1 and the position relationship of labelling 185, when being judged as that traveling type harvester 1 arrives the position of regulation relative to labelling 185, make The traveling of traveling type harvester 1 stops, and control portion of discharge portion 187 is at the row utilizing driving control portion 186 to make traveling type harvester 1 After sailing stopping, image based on the labelling 185 utilizing shoot part 184 to shoot grasps the position of labelling 185, makes outlet 17a Mobile to target location O (with reference to Fig. 8 (a)～Figure 10 (a)).

The position of described regulation is the position that crops can be discharged in container 51 by traveling type harvester 1.That is, described The position of regulation is to make outlet 17a in discharge portion 17 arrive when the traveling enabling traveling type harvester 1 stops The position of target location O.The position of described regulation allows for the movable range of outlet 17a and (discharges auger 17 The movable range in joint) etc. and predetermined.

By constituting in the above described manner, driving control portion 186 is utilized to carry out body 2 when the discharge operation carrying out crops Relative to the location of container 51, therefore operator need not rely on and feel to make body 2 stop.Thereby, it is possible to suppression is because of operator Proficiency cause the uneven of activity duration thus improve workability.

It addition, in the present embodiment, driving control portion 186 makes traveling type harvester 1 to produce traveling type harvester 1 In opposite directions and labelling 185 manifests to be provided with the face of face and the side being provided with labelling 185 of container 51 of the side of shoot part 184 The mode of the state in the image of shoot part 184 travels (with reference to Fig. 8 (a)～Fig. 9 (b)).In the present embodiment, shoot part 184 sidepieces being arranged at traveling type harvester 1, labelling 185 is arranged at the sidepiece of container 51, is therefore utilizing driving control portion 186 when making traveling type harvester 1 stop, and traveling type harvester 1 becomes and (is mounted with the mover of container 51 at container 51 alongside 50) state (with reference to Figure 10 (a)).

At the end of step S6, transfer to step S1.

In step sl, what the united reaper 1 in operating area 131 was not travelled by travel route generating mechanism 150 is straight Line running region is as new operating area 134,135, and generates united reaper 1 for new operating area 134,135 The travel route (with reference to Figure 11 (a) and Figure 11 (b)) of harvesting.

Then, for new operating area 134,135, the operation that above-mentioned steps S2 is later is implemented.

Figure 11 (a) represents in the case of the n=1 of Fn, after utilizing output mechanism 180 to carry out the discharge operation of grain (with reference to Fig. 8 (a)), travel route that travel route generating mechanism 150 generates for new operating area 134 (arrow F1～ F7)。

Figure 11 (b) represents in the case of the n=2 of Fn, after utilizing output mechanism 180 to carry out the discharge operation of grain (with reference to Fig. 8 (b)), travel route that travel route generating mechanism 150 generates for new operating area 135 (arrow F1～ F7)。

New operating area refers in operating area 131, carries out linear rows at united reaper 1 on arrow Fn In the case of sailing while carrying out harvesting with harvesting width W, when the discharge operation carrying out the grain shown in above-mentioned steps S6 United reaper 1 does not travels, thus is judged as not carrying out the region of harvesting.

About the shape of described new operating area, even if at the straight-line travelling of united reaper 1 at any one terminal In the case of Qn (1≤n≤8) interrupts, it also it is rectangle.

Thus, travel route generating mechanism 150 is when generating travel route for described new operating area, it is possible to according to The rule identical with operating area 131 generates travel route (with reference to Fig. 5, Figure 11 (a) and Figure 11 (b)).Thereby, it is possible to rationally Ground generates travel route.

Figure 11 (a) and Figure 11 (b) expression utilizes travel route generating mechanism 150 for new operating area 134,135 The travel route (arrow F1～F7) generated.As shown in Figure 11 (a) and Figure 11 (b), the in-position P1 of united reaper 1, That is, starting point P1 of arrow F1 is in the same manner as operating area 131, be arranged on discharging area 133 in opposite directions, operating area 134, On boundary edge 134a of 135,135a.

Thereby, it is possible to the position of the united reaper 1 when suppressing the grain discharge end of job utilizing output mechanism 180 to carry out Put the distance over-separation of starting point P1 with new operating area 134,135.Therefore, in the paddy utilizing output mechanism 180 to carry out When grain starts again at harvesting for new operating area 134,135 after discharging the end of job, it is possible to the most again open Beginning harvesting.

In the step s 7, when united reaper 1 arrives the terminal Q9 of arrow F9, output mechanism 180 is utilized to carry out grain Discharge operation.Order when discharging operation utilizing output mechanism 180 to carry out grain is remembered in above-mentioned (6-1)～(6-6) Carry, therefore omit detailed description.The discharge end of job of the grain of step S7, the harvesting for operating area 131 is tied Bundle.

As it has been described above, in crops harvester 100, utilize travel route generating mechanism 150 to generate united reaper 1 Travel route, utilize travel controlling organization 160 makes united reaper 1 travel with passing through from described travel route, therefore entering During the harvesting of row crops, operator need not rely on and feel to make united reaper 1 travel.Thereby, it is possible to suppression is because of behaviour The proficiency of author causes the uneven of activity duration thus improves workability.

Further, in crops harvester 100, operator stores the position of operating area 131 in advance in storing mechanism 130 Confidence ceases, and utilizes travel route generating mechanism 150 to generate the travel route of united reaper 1, is used for giving birth to therefore, it is possible to reduce Become the man-hour of the travel route of united reaper 1.

[traveling marginal distance during harvesting]

United reaper 1 has test section 30 and control portion 40.

As shown in figure 12, test section 30 has the first testing agency 31a, the second testing agency 31b, job state testing machine Structure 32, position detecting mechanism 33 and orientation detection mechanism 34.

As shown in Figure 12 and Figure 13, the first testing agency 31a and the second testing agency 31b is arranged in tanker 15, Configure across predetermined distance the most in the vertical direction.

First testing agency 31a and the second testing agency 31b is such as made up of limit switch.It addition, the first testing machine Structure 31a and the second testing agency 31b can also be made up of proximity transducer.

In the present embodiment, Liang Ge testing agency 31a, 31b be set, but do not limit testing agency quantity is set.

First testing agency 31a reaches the first ormal weight X1 (liter) and detects the burden of the grain in tanker 15.

First testing agency 31a be arranged in when the burden of the grain in tanker 15 reaches the first ormal weight X1, have The position of the height identical with the height of the upper surface of grain.

Applied by grain when the burden of first testing agency 31a grain in tanker 15 reaches the first ormal weight X1 By pressure, thus detect that the burden of grain reaches the first ormal weight X1.

Second testing agency 31b is arranged on position on the lower relative to the first testing agency 31a, in detecting tanker 15 The burden of grain reach the second ormal weight X2 (liter) (X2 ＜ X1) less than the first ormal weight X1.

Second testing agency 31b be arranged in when the burden of the grain in tanker 15 reaches the second ormal weight X2, have The position of the height identical with the height of the upper surface of grain.

Applied by grain when the burden of second testing agency 31b grain in tanker 15 reaches the second ormal weight X2 By pressure, thus detect that the burden of grain reaches the second ormal weight X2.

It addition, do not limit the first ormal weight X1 and the concrete value of the second ormal weight X2.

The harvesting the most carrying out crops is detected by job state testing agency 32.

Job state testing agency 32 is such as arranged at the end in the portion of extracting 5, and the straw sensor by detection straw is (close Sensor, limit switch etc.) constitute (with reference to Fig. 1).

The state utilizing the harvesting carrying out crops that job state testing agency 32 detects is to utilize institute State straw sensor and detect the state of straw.Utilize that job state testing agency 32 detects not in the receipts carrying out crops The state cutting operation is the state utilizing described straw sensor not detect straw.

As shown in figure 12, position detecting mechanism 33 is connect by GNSS (Global Navigation Satellite System) Receive mechanism to become, receive signal from GNSS satellite, and based on this signal received, the position of body 2 is calculated.

Orientation detection mechanism 34 is made up of GPS compass, gyrocompass etc., receives signal from GNSS satellite, and based on reception This signal to body 2 towards calculating.

Hereinafter control portion 40 is illustrated.

As shown in figure 12, control portion 40 have operating range calculate mechanism 41, storing mechanism 42, marginal distance calculate mechanism 43, travel route generating mechanism 44, harvesting controlling organization 45, decision mechanism 46 and timing mechanism (timer) 47.

Operating range calculates the mechanism 41 harvesting to utilizing job state testing agency 32 to detect to carry out crops Operating range M (t) of the body 2 during operation calculates.T is the measured value of timing mechanism (timer) 47.

Operating range calculates mechanism 41 and is only utilizing job state testing agency 32 to detect to carry out the receipts of crops Operating range M (t) of counting body 2 when cutting operation.

Operating range calculates mechanism 41 and is connected with job state testing agency 32, it is possible to receive about job state testing machine The information of the testing result of structure 32.

Operating range calculates mechanism 41 and is connected with position detecting mechanism (GNSS receiver) 33, it is possible to from position detecting mechanism 33 information obtaining the position about body 2.

Operating range calculates mechanism 41 and such as uses position detecting mechanism 33 to count operating range M (t) of body 2 Calculate.

First, operating range calculates mechanism 41 and obtains and carry out agriculture about utilizing job state testing agency 32 to detect The information of the time period (measured value of timing mechanism 47) of the harvesting of crop.It follows that operating range calculates mechanism 41 detected values based on position detecting mechanism 33 calculate the driving trace of the body 2 in the described time period.It follows that travel away from Operating range M (t) of body 2 is calculated based on described driving trace from calculating mechanism 41.

Further, operating range calculating mechanism 41 can also use vehicle speed sensor to enter operating range M (t) of body 2 Row calculates (with reference to following mathematical expression 1).

[mathematical expression 1]

The operating range of body 2

About above-mentioned mathematical expression 1, travel speed V (t) of body 2 is and time t (measured value of timing mechanism 47) The travel speed of corresponding body 2, uses described vehicle speed sensor to detect.

It addition, about above-mentioned mathematical expression 1, carry out the receipts of crops by utilizing job state testing agency 32 to detect The time period cutting operation is set as T α～T β, T γ～t.Along longitudinally carrying out between harvesting, T β～T γ not between T α～T β Carry out harvesting, carry out the direction conversion of body 2, between T γ～t (currently), transversely carry out harvesting.

Further, operating range calculating mechanism 41 can also be by the rotation that the power of electromotor 3 is transferred to traveling portion 4 The rotating speed of axle carries out detecting operating range M (t) to body 2 and calculates.

It is related to lodge in the information of upper limit amount W (liter) of the grain of tanker 15 in storing mechanism 42 storage.

The size of upper limit amount W is predetermined by operator etc..Operators etc. consider that the capacity etc. of tanker 15 determines upper limit amount W Size.

Marginal distance calculates body 2 till mechanism 43 reaches upper limit amount W to the burden of the grain in tanker 15 and is caned Marginal distance L (t) travelled calculates.

Marginal distance calculates mechanism 43 and is connected with the first testing agency 31a (the second testing agency 31b), it is possible to identifies and utilizes First testing agency 31a (the second testing agency 31b) detects that the burden of the grain in tanker 15 reaches the first ormal weight X1 The opportunity of (the second ormal weight X2).

The information that mechanism 43 storage is related to the value of the first ormal weight X1 and the second ormal weight X2 is calculated at marginal distance.

Marginal distance calculates mechanism 43 and operating range and calculates mechanism 41 and be connected, it is possible to reception utilizes operating range computer The information of operating range M (t) about body 2 that structure 41 calculates.

Marginal distance calculate mechanism 43 be connected with storing mechanism 42, it is possible to reception be stored in storing mechanism 42 about the upper limit The information of amount W.

Marginal distance calculates mechanism 43 and uses following mathematical expression 2 to calculate marginal distance L (t).Marginal distance L (t) is grain The burden of the grain in case 15 reach upper limit amount W till the ultimate range that can travel of body 2.

[mathematical expression 2]

About above-mentioned mathematical expression 2, unit harvesting amount Y is the harvesting amount of the crops of the unit operating range of body 2.

T1 be utilize the first testing agency 31a to detect the burden of the grain in tanker 15 reaches the first ormal weight X1 Time (measured value of timing mechanism 47).

M (T1) be utilize the first testing agency 31a to detect the burden of the grain in tanker 15 reaches the first ormal weight During X1, operating range calculates the value of calculation of mechanism 41.

The time t of marginal distance L (t) and M (t) is the grain in utilizing the first testing agency 31a to detect tanker 15 Burden reach time later for time T1 (t >=T1) of the first ormal weight X1.

It addition, in the case of the time of the harvesting by starting crops is set as 0, it is possible to use following mathematical expression 3 calculate marginal distance L (t).

That is, in the wink that job state testing agency 32 will be utilized to detect the harvesting carrying out crops for the first time Between, in the case of the measured value of timing mechanism 47 is set as 0, it is possible to use following mathematical expression 3 to calculate marginal distance L (t)。

[mathematical expression 3]

Liang Ge testing agency 31a, 31b can also be used to calculate marginal distance L it addition, marginal distance calculates mechanism 43 (t).In this case, marginal distance calculating mechanism 43 uses following mathematical expression 4 to calculate marginal distance L (t).

[mathematical expression 4]

About above-mentioned mathematical expression 4, unit harvesting amount Y is the harvesting amount of the crops of the unit operating range of body 2.

T1 be utilize the first testing agency 31a to detect the burden of the grain in tanker 15 reaches the first ormal weight X1 Time (measured value of timing mechanism 47).

T2 be utilize the second testing agency 31b to detect the burden of the grain in tanker 15 reaches the second ormal weight X2 Time (measured value of timing mechanism 47).

M (T1) be utilize the first testing agency 31a to detect the burden of the grain in tanker 15 reaches the first ormal weight During X1, operating range calculates the value of calculation of mechanism 41.

M (T2) be utilize the second testing agency 31b to detect the burden of the grain in tanker 15 reaches the second ormal weight During X2, operating range calculates the value of calculation of mechanism 41.

The time t of marginal distance L (t) and M (t) is the grain in utilizing the first testing agency 31a to detect tanker 15 Burden reach time later for time T1 (t >=T1) of the first ormal weight X1.

Further, in the case of the time at the harvesting by proceeding by crops is set as 0, it is possible to use following number Formula 5 calculates marginal distance L (t).

[mathematical expression 5]

The travel route of harvesting for generating united reaper 1 is had travelling Route Generation mechanism 44 storage Program.Travel route generating mechanism 44 generates the travel route of united reaper 1 by the described program performing to be stored.

In the diagram, the travel route utilizing travel route generating mechanism 44 to generate is represented.

Arrow Fn (n=1,2 ...) represent body 2 travel route.

Body 2 travels according to the order of F1 → F2 →...→ F9.In detail, body 2 is according to the starting point P1 → F1 of F1 The order of the terminal Q9 of the terminal Q2 →...→ F9 of the starting point P2 → F2 of terminal Q1 → F2 travels.

It addition, for body 2 from arrow Fn (n=1,2 ...) terminal Qn when starting point Pn+1 of arrow Fn+1 moves The travel route of body 2 is not particularly limited.

Will from arrow Fn (n=1,2 ...) the interval distance of starting point Pn Qn to terminal be set to Rn.

As shown in figure 12, harvesting controlling organization 45 is connected with position detecting mechanism 33, it is possible to obtain from position detecting mechanism 33 Take the information of position about body 2.

Harvesting controlling organization 45 is connected with orientation detection mechanism 34, it is possible to obtain about body 2 from position detecting mechanism 33 Towards information.

Harvesting controlling organization 45 is connected with traveling portion 4, it is possible to control the traveling of body 2.

Harvesting controlling organization 45 is connected with extracting portion 5, threshing portion 6 and sorting portion 7, it is possible to make the portion that extracts 5, threshing portion 6 And sorting portion 7 works, so that united reaper 1 carries out the action for gathering in crops.

Harvesting controlling organization 45 is connected with travel route generating mechanism 44, it is possible to receive letter from travel route generating mechanism 44 Number and the travel route utilizing travel route generating mechanism 44 to generate is confirmed.

Harvesting controlling organization 45 make body 2 from utilize travel route generating mechanism 44 to generate travel route (arrow F1～ F9) travelled by ground on, make the portion that extracts 5 work such as grade simultaneously, carry out harvesting.

Decision mechanism 46 is when the harvesting utilizing harvesting controlling organization 45 to carry out crops, to whether proceeding agriculture The harvesting of crop judges.

Decision mechanism 46 is connected with the first testing agency 31a, uses the first testing agency 31a to come the grain in tanker 15 Burden whether be the first ormal weight X1 confirmation carried out above.

Decision mechanism 46 is connected with travel route generating mechanism 44, it is possible to receive signal from travel route generating mechanism 44 The travel route utilizing travel route generating mechanism 44 to generate is confirmed.

Decision mechanism 46 calculates mechanism 43 with marginal distance and is connected, it is possible to reception utilizes marginal distance to calculate mechanism 43 and calculates The information about marginal distance L (t) gone out.

Decision mechanism 46 with harvesting controlling organization 45 be connected, it is possible to receive utilize harvesting controlling organization 45 carry out about connection Close the information of the operating conditions of harvester 1.

Hereinafter, with reference to Figure 14, order S11 when carrying out the harvesting of crops～S21 are illustrated.

In step s 11, travel route generating mechanism 44 is utilized to generate the receipts of united reaper 1 for operating area 131 Cut the travel route (with reference to Fig. 4) of operation.

In step s 12, harvesting controlling organization 45 make body 2 arrow Fn (n=1,2 ...) upper traveling is while carrying out The harvesting of crops.First, body 2 travels on arrow F1.

Now, harvesting controlling organization 45 makes body 2 travel towards terminal Qn from starting point Pn of arrow Fn.

Harvesting controlling organization 45 makes body based on the information about body 2 position utilizing position detecting mechanism 33 to detect 2 are travelled by ground from arrow Fn.Now, harvesting controlling organization 45 based on utilize that orientation detection mechanism 34 detects about machine Body 2 towards information make body 2 towards with arrow Fn towards consistent.

Harvesting controlling organization 45, when making body 2 travel with passing through from arrow Fn, makes the portion that extracts 5 work such as grade, receives Cut operation.

In step s 13, harvesting controlling organization 45 end based on the arrow Fn utilizing travel route generating mechanism 44 to generate Body 2 is by the information of the positional information putting Qn and the position about body 2 utilizing position detecting mechanism 33 to detect The terminal Qn of no arrival arrow Fn judges.

Utilizing harvesting controlling organization 45 to be judged as, body 2 does not arrive (step in the case of the terminal Qn of arrow Fn S13, no), transfer to step S12.In this case, the harvesting of united reaper 1 is proceeded.

Utilize harvesting controlling organization 45 be judged as body 2 arrive the terminal Qn of arrow Fn in the case of (step S13, It is), transfer to step S14.

In step S14, the terminal Q9 whether harvesting controlling organization 45 arrives arrow F9 to body 2 judges.

The position letter of harvesting controlling organization 45 terminal Q9 based on the arrow F9 utilizing travel route generating mechanism 44 to generate Whether the information of the position about united reaper 1 ceased and utilize position detecting mechanism 33 to detect, arrive body 2 The terminal Q9 reaching arrow F9 judges.

Utilizing harvesting controlling organization 45 to be judged as, body 2 does not arrive (step in the case of the terminal Q9 of arrow F9 S14, no), i.e. in the case of any one in body 2 is present in terminal Q1～Q8, transfer to step S15.

Utilize harvesting controlling organization 45 be judged as body 2 arrive the terminal Q9 of arrow F9 in the case of (step S14, It is), transfer to step S21.

In step S15, it is judged that whether mechanism 46 is the first more than ormal weight X1 to the burden of the grain in tanker 15 Confirm.That is, it is judged that whether mechanism 46 is to being that the state that can calculate marginal distance L (t) confirms.

The burden of the grain in tanker 15, less than (step S15, no) in the case of the first ormal weight X1, transfers to step Rapid S12.Then, when the variable n of arrow Fn increases, above-mentioned steps S12 is implemented.That is, for from next arrow Fn+ The interval of starting point Pn+1 of 1 Qn+1 to terminal, utilizes harvesting controlling organization 45 to implement the harvesting of crops.

The burden of the grain in tanker 15 is in the case of the first more than ormal weight X1 (step S15, yes), transfers to Step S16.

In step s 16, it is judged that mechanism 46 makes marginal distance calculate mechanism 43 and calculates marginal distance L (Tn).It addition, Tn is Body 2 is reached home time (measured value of timing mechanism 47) of Qn.

In step S17, it is judged that mechanism 46 calculates the marginal distance L's (Tn) that calculates of mechanism 43 to utilizing marginal distance Size is compared to each other with the size of distance Rn+1 in the interval of the Qn+1 to terminal of starting point Pn+1 from arrow Fn+1.

In the case of marginal distance L (Tn) has the size of more than Rn+1 (L (Tn) >=Rn+1), transfer to step S18.

In the case of marginal distance L (Tn) is less than more than Rn+1 (L (Tn) ＜ Rn+1), transfer to step S19.

In step S18, it is judged that mechanism 46 for the interval of the Qn+1 to terminal of starting point Pn+1 from arrow Fn+1 make into The judgement of the harvesting of row crops.This is because decision mechanism 46 is predicted as, even if proceeding harvesting and machine Body 2 travels Qn+1 to terminal from starting point Pn+1 of arrow Fn+1, and the burden of the grain in tanker 15 is also not reaching to upper limit amount W。

In this case, above-mentioned steps S12 is transferred to.Then, the variable n at arrow Fn implements when increasing by 1 Above-mentioned steps S12.That is, for the interval of the starting point Pn+1 Qn+1 to terminal from next arrow Fn+1, harvesting control machine is utilized Structure 45 implements the harvesting of crops.

In step S19, it is judged that mechanism 46 makes not for the interval of the Qn+1 to terminal of starting point Pn+1 from arrow Fn+1 Carry out the harvesting of crops and discharge the judgement of the grain in tanker 15.This is because decision mechanism 46 is predicted as, if continuing The continuous harvesting that carries out, the then burden of the grain in tanker 15 during body 2 travels on next arrow Fn+1 Reach upper limit amount W.

In this case, utilize the harvesting gathering in the crops that controlling organization 45 is carried out to interrupt at terminal Qn, turn Move on to step S20.

In step S20, carry out the discharge operation of grain in tanker 15.It is discharged to be loaded into by the grain in tanker 15 (with reference to Fig. 4) in the container (tanker) 51 of mover 50.

First, body 2 moves near mover 50.It follows that make the grain accumulating in tanker 15 via discharging spiral shell Rotation pusher 17 is discharged in container 51 (with reference to Fig. 8 (a) and Fig. 8 (b)).

At the end of step S20, transfer to step S11.

In step s 11, travel route generating mechanism 44 using the region that do not carries out harvesting in operating area 131 as Operating area 134,135, and the traveling road of the harvesting of united reaper 1 is generated for new operating area 134,135 Line (with reference to Figure 11 (a) and Figure 11 (b)).

Then, for new operating area 134,135, the operation that above-mentioned steps S12 is later is implemented.

As shown in above-mentioned steps S16～step S19, utilize decision mechanism 46 that the harvesting whether proceeding crops is made Industry judges such that it is able to prevent from carrying out during harvesting travels in tanker 15 at united reaper 1 The burden of grain exceed upper limit amount W.

In the step s 21, when united reaper 1 arrives the terminal Q9 of arrow F9, carry out the row of grain in tanker 15 Go out operation.Grain in tanker 15 be discharged to be loaded in the container (tanker) 51 of mover 50 (with reference to Fig. 4, Figure 10 (a) and Figure 10 (b)).

First, body 2 moves near mover 50.It follows that make the grain accumulating in tanker 15 via discharging spiral shell Rotation pusher 17 is discharged in container 51.

The discharge end of job of the grain of step S21, the harvesting for operating area 134,135 terminates.

It addition, do not use travel route generating mechanism 44, harvesting controlling organization 45, decision mechanism 46 etc. and by operator In the case of carrying out harvesting by operating portion 20 oneself operation united reaper, it is also possible to indication mechanism 60 (ginseng is set According to Figure 15), the display of described indication mechanism 60 utilizes marginal distance to calculate marginal distance L (t) that mechanism 43 calculates.

Indication mechanism 60 is arranged at operating portion 20, and the people being arranged on the driver's seat being seated at operating portion 20 can be the most true The position recognized.

As shown in figure 15, indication mechanism 60 calculates mechanism 43 with marginal distance and is connected, and calculates mechanism 43 from marginal distance and connects Collect mail number, and show and utilize marginal distance to calculate marginal distance L (t) that calculates of mechanism 43.

Marginal distance calculates the burden of the mechanism 43 grain in utilizing the first testing agency 31a to detect tanker 15 and reaches After the first ormal weight X1, calculate marginal distance L (t) in real time.

Thus, after the burden of the grain in tanker 15 reaches the first ormal weight X1, shown in real time by indication mechanism 60 Show marginal distance L (t).

When proceeding the harvesting of crops and operating range M (t) of body 2 is gradually increased, at indication mechanism The value of marginal distance L (t) of 60 displays gradually decreases therewith.

Thus, when the value of marginal distance L (t) shown at indication mechanism 60 becomes 0 when, operator considers tanker The burden of the grain in 15 reaches upper limit amount W, it is possible to judge the opportunity interrupting harvesting, i.e. discharge tanker 15 The opportunity of interior grain.

By constituting in the above described manner, passed through operating portion 20 oneself not using harvesting controlling organization 45 grade by operator In the case of operation united reaper carries out harvesting, operator can be by confirming the boundary in indication mechanism 60 display The opportunity of distance L (t) grain to discharging in tanker 15 judges.

Further, operator can size based on marginal distance L (t) being shown in mechanism 60 come the grain in tanker 15 The position of burden body 2 when reaching upper limit amount W be predicted.Further, operator can be by observing indication mechanism 60 The speed reducing the value of marginal distance L (t) confirms, thus identifies the degree of good harvest.

It addition, about traveling type harvester, be not limited to the united reaper 1 of present embodiment.Traveling type harvester also may be used To travel while other kinds of crops (such as, Radix Dauci Sativae, Rhizoma Solani tuber osi etc.) are gathered in.

Industrial utilizability

The present invention can be used in crops harvester.

Description of reference numerals

1 united reaper

100 crops harvesters

110 position detecting mechanisms

130 storing mechanisms

131 operating areas

150 travel route generating mechanism

160 travel controlling organization

170 harvesting controlling organizations

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.