JP2018108048A - Combine harvester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a combine harvester comprising a positioning unit which is improved in attachment property to a machine body, and capable of maintaining receiver sensitivity.SOLUTION: A combine harvester 1 comprises: a reception device 101 for receiving a wave from a positioning satellite; an inertia navigation device 102 for calculating position data from the wave received on the reception device 101; a radio communication device 103 for transmitting the position data calculated by the inertia navigation device 102 by radio communication; and a case 104 for integrally storing the reception device 101, the inertia navigation device 102 and the radio communication device 103. The combine harvester 1 further comprises a positioning unit 100 for receiving a wave from the positioning satellite for measuring a position, in which the positioning unit 100 is attached to a discharge auger 62.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a combine equipped with a positioning unit.

  In Patent Document 1, an antenna unit including a GPS antenna and a line communication antenna is disposed on the upper part of the airframe, while a communication unit including a GPS module and a line communication module is cable-connected to the antenna unit. A configuration for placement in a box is disclosed.

Japanese Patent Laying-Open No. 2015-20672

  In the configuration described in Patent Document 1, the antenna unit and the communication unit are arranged separately to maintain the reception sensitivity of the antenna unit and improve the disposition of the antenna unit with respect to the airframe. However, by arranging these two units separately, installation conditions such as the routing of the cable for connecting the antenna unit and the communication unit, the limitation of the space in the electrical box and the limitation of the installation space of the communication unit, etc. It is necessary to clear. Thereby, there exists a subject that attachment will become difficult depending on an airframe.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a combine that includes a positioning unit that is improved in mountability to an airframe and can maintain reception sensitivity.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

  The invention according to claim 1 is a wireless communication unit that receives a radio wave from a positioning satellite, a calculation unit that calculates position data from the radio wave received by the reception unit, and the position data calculated by the calculation unit. Including a communication unit that transmits, and a case that integrally accommodates the reception unit, the calculation unit, and the communication unit, and includes a positioning unit that receives radio waves from a positioning satellite and measures a position, A positioning unit is attached to a discharge auger and is a combine.

  According to a second aspect of the present invention, in the combine according to the first aspect, the positioning unit is attached to a distal end portion of the discharge auger.

  The invention according to claim 3 is the combine according to claim 1 or 2, wherein the positioning unit is mounted on the upper surface side of the discharge auger.

  According to a fourth aspect of the present invention, in the combine according to the second or third aspect, a swivel angle detecting means for detecting a swivel angle of the discharge auger, and a lift angle detecting means for detecting the lift angle of the discharge auger When the grain is discharged, the turning angle and the elevation angle corresponding to the movement of the positioning unit from the position of the positioning unit indicated by the position data to the target position of discharge are calculated and calculated. The discharge auger is moved closer to the target position by operating the discharge auger at the turning angle and the elevation angle.

  As effects of the present invention, the following effects can be obtained.

  According to the invention which concerns on Claim 1, a positioning unit can be installed in a combine only by mounting | wearing the discharge auger with the case which accommodated the structure which can function independently as a positioning unit integrally. As described above, the positioning unit is improved in the attachment to the airframe. Further, since the positioning unit is mounted on the discharge auger, the positioning unit is exposed to other structures of the combine and the receiving sensitivity of the positioning unit can be maintained. Therefore, it is possible to provide a combine that includes a positioning unit with improved attachment to the airframe and can maintain reception sensitivity.

  According to the invention which concerns on Claim 2, since a positioning unit can be arrange | positioned above the fuselage front end part of a combine, the correction amount of the position of the cutting part with respect to a setting path | route can be restrained small, and the straight-forward response of a combine is favorable. can do.

  According to the invention of claim 3, since the positioning unit is mounted on the upper surface side of the discharge auger, it is exposed upward with respect to the other structures of the combine, so that the receiving sensitivity of the positioning unit can be maintained remarkably. . Further, it is possible to prevent the shooter function at the tip of the discharge auger from being hindered.

  According to the invention which concerns on Claim 4, a discharge auger can be closely approached to a target position as a position of the discharge destination of a grain by using the position data of a positioning unit.

It is a side view of a combine. It is a top view of a combine. It is a front view of a combine. It is an enlarged side view of a combine. It is an enlarged plan view of the combine which shows the example of the positioning unit by which the receiving part was arrange | positioned at the front-end part in a case. It is a figure which shows the control system of a combine. (A) It is a top view which shows the state which is discharging | emitting grain from the discharge auger to the loading platform of the conveyance vehicle which is a discharge | emission destination, Comprising: It is a partially expanded perspective view of (B) (A). (A) It is a figure which shows an example of the positioning unit arrange | positioned at the upper surface side of a discharge auger, Comprising: (B) It is a figure which shows another example, (C) It is a figure which shows another example. (D) It is a figure which shows another example. (A) It is a figure which shows an example of the positioning unit arrange | positioned at the side surface of the discharge auger, (B) It is a figure which shows another example, (C) It is a figure which shows another example. (D) It is a figure which shows another example. (A) It is an enlarged plan view of the combine which shows the example of another positioning unit by which the receiving part was arrange | positioned in the center in a case, Comprising: (B) It is an enlarged side view of the combine which shows the example of another positioning unit. It is a figure which is an example of another positioning unit, and is arrange | positioned to the side of a driver's seat. (A) It is a figure which shows a positioning unit roughly, Comprising: (B) It is a figure which shows another positioning unit schematically.

(First embodiment)
With reference to FIG. 1 and FIG. 2, the combine 1 is demonstrated as one Embodiment of this invention. In addition, in FIG. 1, the front-back direction and the up-down direction of the combine 1 are represented. In FIG. 2, the front-back direction and the left-right direction of the combine 1 are represented.

  The combine 1 includes a traveling unit 2, a mowing unit 3, a threshing unit 4, a sorting unit 5, a storage unit 6, a waste disposal processing unit 7, a power unit 8, and a control unit 9. The combine 1 travels by the traveling unit 2 and threshs the cereals harvested by the harvesting unit 3 by the threshing unit 4, sorts the grains by the sorting unit 5, and stores them in the storage unit 6. Further, the waste after threshing is processed by the waste processing unit 7. The power unit 8 supplies power to the traveling unit 2, the mowing unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the waste disposal processing unit 7.

  The traveling unit 2 includes a pair of left and right traveling devices (hereinafter referred to as “crawler traveling devices”) 21 provided below the body frame 20 and a transmission (not shown). The transmission shifts the power of the engine 8 a and transmits it to the crawler traveling device 21.

  The cutting unit 3 is provided in front of the traveling unit 2. The cutting unit 3 includes a divider 31, a pulling device 32, a cutting device 33, and a conveying device 34. The divider 31 guides the grain culm to the pulling device 32. The pulling device 32 causes the culm guided by the divider 31. The cutting device 33 cuts the culm caused by the pulling device 32. The conveying device 34 conveys the cereals cut by the cutting device 33 to the threshing unit 4.

  The threshing unit 4 is provided behind the cutting unit 3. The threshing unit 4 includes a feed chain 41 and a handling cylinder 42. The feed chain 41 inherits the grain candy from the conveying device 34 and conveys it to the waste disposal processing unit 7. The handling cylinder 42 threshs the cereals that are conveyed by the feed chain 41.

  The sorting unit 5 is provided below the threshing unit 4. The sorting unit 5 includes a swing sorting device 51, a wind sorting device 52, a grain transport device and a sawdust discharging device (not shown). The swing sorting device 51 sorts the threshing that has fallen from the threshing unit 4 into grains and sawdust. The wind sorting device 52 further sorts the cereals sorted by the swing sorting device 51 into grains and swarf. The grain conveying device conveys the grain selected by the swing sorting device 51 and the wind sorting device 52 to the storage unit 6. The swarf discharging device discharges the swarf and the like sorted by the swing sorting device 51 and the wind sorting device 52.

  The storage unit 6 is provided on the right side of the threshing unit 4. The storage unit 6 includes a Glen tank 61 and a discharge auger 62. The Glen tank 61 stores the grains that have been conveyed from the sorting unit 5. The discharge auger 62 can discharge the grains stored in the glen tank 61 to an arbitrary place. Further, when the discharge auger 62 is stored, an auger rest 63 that supports a midway portion of the discharge auger 62 is provided in the airframe.

  The waste disposal unit 7 is provided behind the threshing unit 4. The waste disposal unit 7 includes a waste transport device and a waste cutting device (not shown). The waste transporting device inherits the cereal from the feed chain 41 and transports it to the waste cutting device. The waste cutting device cuts and discharges the cereals conveyed by the waste conveying device.

  The control unit 9 is provided on the right side of the aircraft. The control unit 9 includes a cabin 91, a driver's seat 92, and operating tools such as a handle 93. The cabin 91 includes various operating tools such as a driver's seat 92 and a handle 93. The driver's seat 92 is a seat on which an operator sits, and is arranged at the center in the left-right direction of the control unit 9. The handle 93 is a steering handle that changes the traveling direction of the combine 1. The operator operates the combine 1 by appropriately operating each operation tool including the handle 93. With such a configuration, the operator can steer the combine 1 while sitting on the driver's seat 92.

  Next, the discharge auger 62 will be described.

  The discharge auger 62 includes a vertical discharge auger 62a, a horizontal discharge auger 62b, a discharge cylinder 64, a turning actuator 65, a turning angle potentiometer 66 serving as a turning angle detecting means, a lifting actuator 67, and a lifting angle detection. A lift angle potentiometer 68 as a means is provided. In use, the discharge auger 62 can be moved by turning and / or raising / lowering the upper part of the grain tank 61, the threshing unit 4 and the like by driving the turning actuator 65 and the raising / lowering actuator 67.

  The discharge auger 62 is placed on an auger rest 63 provided near the front upper part of the threshing unit 4 when not in operation (when not in use). Since there is no structure that shields it above the discharge auger 62 and there is no structure surrounding the discharge auger 62, the discharge auger 62 is exposed to the surroundings including the upper side, and the combine 1 Exposed to other structures.

  The vertical discharge auger 62a extends in the vertical direction of the machine body and lifts the grain from the grain tank 61. The vertical discharge auger 62a includes a vertical discharge auger cylinder 62c and a vertical discharge conveyor 62d. The vertical discharge auger cylinder 62c is supported by the body frame 20 so as to be rotatable about its axis.

  The horizontal discharge auger 62b conveys the grain from the vertical discharge auger 62a and discharges the grain from the tip portion to the outside. The horizontal discharge auger 62b is installed along the front-rear direction of the combine 1, and a base end portion thereof is swingably supported on the upper portion of the vertical discharge auger 62a. The horizontal discharge auger 62b includes a horizontal discharge auger cylinder 62e and a horizontal discharge conveyor 62f.

  A discharge cylinder 64 is provided at the tip of the horizontal discharge auger cylinder 62e. The discharge cylinder 64 has a rectangular cross section and is formed in a substantially L shape in a side view. One side of the discharge cylinder 64 that is opened is connected so as to communicate with the tip of the horizontal discharge auger cylinder 62e, and the other side that is opened is opened downward. The other side is a discharge port 64a. The grains that flow into the discharge cylinder 64 from the front end of the horizontal discharge auger cylinder 62e are discharged to the outside through the discharge port 64a.

  The turning actuator 65 is a member that rotates the vertical discharge auger cylinder 62c in the left-right direction (horizontal direction). The discharge auger 62 is configured such that the vertical discharge auger cylinder 62 c rotates about its axis in response to the drive of the turning actuator 65. A turning angle potentiometer 66 constituted by a rotary potentiometer or the like detects the rotation angle of the vertical discharge auger cylinder 62 c as the turning angle of the discharge auger 62.

  The lifting actuator 67 is a member that swings the horizontal discharge auger cylinder 62e in the vertical direction. A bracket 67a fixed to the horizontal discharge auger cylinder 62e and a bracket 67b fixed to the vertical discharge auger cylinder 62c are connected to both ends of the lifting / lowering actuator 67. The discharge auger 62 is configured such that the horizontal discharge auger cylinder 62e swings up and down around its base end in response to the driving of the lifting actuator 67. Each end of the lifting / lowering actuator 67 is rotatably supported by brackets 67a and 67b. The lifting / lowering angle potentiometer 68 configured by an extendable potentiometer or the like detects the stroke of the lifting / lowering actuator 67 and detects the lifting / lowering angle of the horizontal discharge auger cylinder 62e.

  Next, the positioning unit 100 attached to the discharge auger 62 will be described with reference to FIGS. 3, 4, and 5.

  As shown in FIG. 3, the positioning unit 100 is mounted on the upper surface side of the distal end portion of the discharge auger 62. The positioning unit 100 is for receiving radio waves from a positioning satellite and measuring the position of the combine 1.

  As shown in FIG. 4, the positioning unit 100 is positioned above the discharge cylinder 64 and the horizontal discharge auger cylinder 62e so that the tip of the discharge auger 62, that is, the tip of the discharge cylinder 64 and the front end of the positioning unit 100 are aligned. Is arranged. The positioning unit 100 includes a receiving device 101, an inertial navigation device 102, a wireless communication device 103, and a case 104 that integrally accommodates these.

  The receiving device 101 receives a radio wave from a positioning satellite, converts the received radio wave into a signal, and transmits the signal to the inertial navigation device 102. Examples of the receiving device 101 include a GNSS receiver that receives radio waves from the GNSS satellite group, a GPS receiver that receives radio waves from GPS satellites, and the like.

  The inertial navigation device 102 measures a triaxial gyro and acceleration in three directions, and calculates posture orientation data. The inertial navigation device 102 calculates position data based on the signal transmitted from the receiving device 101. That is, the inertial navigation device 102 functions as a calculation unit that calculates position data based on the position information from the receiving device 101. Furthermore, in this embodiment, the reliability of the attitude direction data by the inertial navigation device 102 is improved by mounting the GNSS receiver 105 on the inertial navigation device 102.

  Since the positioning unit 100 includes the inertial navigation device 102, even in a situation where it is impossible to receive radio waves from the positioning satellite due to bad weather, radio interference, etc., the positioning unit 100 is based on the acceleration in three directions detected by the inertial navigation device 102. It is also possible to use inertial navigation that calculates a moving distance and the like for positioning.

  The wireless communication device 103 transmits the position data and posture orientation data calculated by the inertial navigation device 102 to the outside by wireless communication. The wireless communication apparatus 103 is a data communication apparatus using, for example, a wireless LAN or mobile communication. Data transmitted from the wireless communication device 103 is received by, for example, a portable terminal held by the operator or an ECU of the combine 1 to confirm the position in the field, confirm the posture of the combine 1 (tilt to the front, back, left and right, etc.), etc. It is used for the operation of combine 1.

  As described above, the positioning unit 100 integrally accommodates the reception device 101 as a reception unit, the inertial navigation device 102 as a calculation unit, and the wireless communication device 103 as a communication unit in a case 104. That is, the case 104 contains all the components necessary for positioning as a unit. By comprising in this way, the attachment property to the body of the positioning unit 100 can be improved. Further, when the positioning unit 100 is applied to different models, it can be mounted simply by attaching the case 104 as appropriate, and high versatility is realized.

  As shown in FIG. 5, the case 104 has a shape extending along the longitudinal direction of the lateral discharge auger tube 62e. In the case 104, the receiving device 101, the inertial navigation device 102, and the wireless communication device 103 are placed on the fixed plate 106 in order from the front with a predetermined interval. As described above, the receiving device 101 that receives a signal from the positioning satellite is arranged in front of the case 104, and thus the receiving device 101 is arranged in front of the combine 1 (that is, in the traveling direction side), and the positioning accuracy is increased. Can be improved. In the combine 1, the position of the receiving device 101 corresponds to the position P0 of the positioning unit 100 as a positioning point.

  As shown in FIG. 4, a plurality of clamps 160 are fixed to the bottom surface of the fixed plate 106 at intervals along the longitudinal direction of the fixed plate 106. Each clamp 160 is attached along the outer peripheral surface of the horizontal discharge auger cylinder 62e, and is fixed by welding or the like. After the fixing plate 106 is placed on the discharge auger 62 via the clamp 160 and the clamp 160 is fixed to the horizontal discharge auger cylinder 62e, the case 104 is covered as a housing to seal the inside of the case 104. In this way, the positioning unit 100 is fixed to the discharge auger 62 as a rigid body. Note that the case 104 is preferably detachable from the fixing plate 106.

  When the positioning unit 100 is mounted on the upper surface side of the distal end portion of the discharge auger 62, the receiving device 101 is positioned above the discharge port 64a (see FIG. 4). In a state where the discharge auger 62 is placed on the auger rest 63, the discharge port 64 a is located above the divider 31 of the cutting unit 3, and the divider 31 forms the front end of the cutting unit 3. Further, the cutting unit 3 forms the front end of the combine 1.

  By positioning the positioning unit 100 at the front end of the combine 1 body, it is possible to improve the accuracy when acquiring the position information and the orientation direction information of the combine 1 during traveling. That is, since it is not necessary to correct the longitudinal direction of the airframe of the receiving device 101 and the inertial navigation device 102 with respect to the cutting unit 3, it is possible to use reliable data and reduce the calculation load during calculation.

  Further, since the positioning unit 100 is disposed at substantially the same height as the roof 94 of the cabin 91 and is disposed at a position higher than the window glass 96, the positioning unit 100 does not affect the field of view from the cabin 91. Thereby, the visibility of the operator sitting in the driver's seat 92 can be ensured. Further, by attaching the positioning unit 100 to the discharge auger 62 exposed to the top and the surroundings, the positioning unit 100 is also exposed to the surroundings, so that the receiving sensitivity can be maintained and the positioning accuracy can be improved.

  According to the combine 1 of 1st Embodiment, the positioning unit 100 can be installed in the combine 1 only by mounting | wearing the discharge auger 62 with the case 104 which accommodated the structure which can function independently as the positioning unit 100 integrally. As described above, the positioning unit 100 is improved in attachment to the airframe. Further, since the positioning unit 100 is mounted on the discharge auger 62, the positioning unit 100 is exposed to other structures of the combine 1, and the receiving sensitivity of the positioning unit 100 can be maintained. Therefore, it is possible to provide the combine 1 that includes the positioning unit 100 that is improved in attachment to the airframe and can maintain the reception sensitivity.

  Moreover, since the positioning unit 100 can be disposed above the cutting unit 3 as the front end of the combine 1 body, the correction amount of the position of the cutting unit 3 with respect to the set path can be suppressed, and the straight response of the combine 1 can be improved. can do.

  Furthermore, since the positioning unit 100 is mounted on the upper surface side of the discharge auger 62, the positioning unit 100 is exposed upward with respect to the other structures of the combine 1. Therefore, the reception sensitivity of the positioning unit 100 can be significantly maintained. Further, it is possible to prevent the shooter function at the tip of the discharge auger 62 from being hindered.

  Next, the control system of the combine 1 will be described with reference to FIG.

  As shown in FIG. 6, the control device 80 includes a processing unit 81 formed of a microcomputer such as a CPU, and a storage unit 82 such as a ROM, RAM, hard disk drive, and flash memory. The processing unit 81 can execute a program stored in the ROM after reading the program on the RAM. Further, the control device 80 controls the operation of various components by causing the processing unit 81 to execute a control program. Specifically, transmission / reception of information at the time of communication, various input / output controls, control of arithmetic processing, and the like are performed.

  In the storage unit 82, in addition to the programs necessary for the traveling and discharging operation of the combine 1, data such as the length and width of the discharge auger 62, and specifications such as the total length, total width, and total height of the combine 1 are stored. Data is stored.

  The position data and the attitude direction data calculated by the inertial navigation device 102 are transmitted to the control device 80 via the wireless communication device 103. Further, the turning angle data and the raising / lowering angle data of the discharge auger 62 are transmitted to the control device 80.

  Further, the control device 80 calculates the position of the combine 1 serving as a desired reference point from the position P0 of the positioning unit 100. The control device 80 calculates the position of the reference point with respect to the position P0 of the positioning unit 100 from the data of the specifications of the discharge auger 62 and the data of the combine 1, and acquires the position data of the combine 1. In FIG. 4 and FIG. 5, as an example, the reference CL is set at the center CL of the tread of the combine 1 and at the position of the front end of the combine 1 where the height position and the position in the front-rear direction are the positions of the divider 31. Point P is shown.

  The positioning data (position data and orientation data) acquired by the positioning unit 100 is used for control when operating an autonomous combine that performs a work in a autonomous manner by setting a route in advance and traveling on the route. it can. For example, it is possible to determine whether or not the autonomous combine is traveling along the route using the position data, and using the attitude direction data to recognize the inclination of the autonomous combine and determine the traveling state and the state of the field. Can be confirmed. Further, when the operator receives data transmission from the wireless communication device 103 included in the positioning unit 100, it is also possible to send a real-time instruction to the autonomous combine.

  Next, control of the combine 1 that discharges the grain from the discharge auger 62 will be described with reference to FIGS. 7A and 7B.

  For example, the transport vehicle W on which the GNSS receiver is mounted can measure the position of the transport vehicle W. The combine 1 recognizes the position of the transport vehicle W by acquiring the position data of the transport vehicle W through communication with the transport vehicle W. Here, it is assumed that the discharge target position Pt is the position of the transport vehicle W to be measured and is set at the center of the loading platform C. Alternatively, the target position Pt is a position set by the control device connected to the GNSS receiver or the control device 80 of the combine 1 at another coordinate value that is a predetermined distance away from the coordinate value of the position of the transport vehicle W. Also good.

  As described above, the positioning unit 100 is located at the distal end portion of the discharge auger 62. Accordingly, the position P0 (see FIG. 5) of the positioning unit 100 is the position of the tip of the discharge auger 62. The combine 1 calculates the turning angle and the elevation angle corresponding to the movement of the positioning unit 100 from the position of the positioning unit 100 indicated by the position data to the target position Pt when discharging the grain, and calculates the calculated turning angle and By operating the discharge auger 62 at the elevation angle, the discharge auger 62 is brought close to the target position Pt.

  As shown in FIG. 7A, after the combine 1 approaches the transport vehicle W, the combiner 1 moves the discharge auger 62 up and down and swivels at the calculated turning angle and lifting angle, and the position of the tip of the discharge auger 62, That is, the position P0 of the positioning unit 100 can be brought close to the loading platform C of the transport vehicle W. At this time, the combine 1 recognizes the target position Pt together with the position P0 of the positioning unit 100. Therefore, as shown in FIG. 7B, the discharge auger 62 can be operated so that the position P0 of the positioning unit 100 overlaps above the target position Pt.

  Alternatively, when the operator operates the operation of the discharge auger 62 using an operation tool or a remote controller, only the operation direction is detected and the position P0 of the positioning unit 100 is set as a target, regardless of these detailed operation amounts. The discharge auger 62 is operated so as to coincide with the position Pt or overlap above the target position Pt.

  Positioning the position P0 of the positioning unit 100 measures the position of the tip of the discharge auger 62. Therefore, the combine 1 does not include a device such as a camera for observing the work area. The position of the discharge auger 62 can be quickly and accurately adjusted to the grain discharge destination, and the discharge operation can be carried out efficiently.

  According to the combine 1 of the first embodiment, by using the position data of the positioning unit 100, the discharge auger 62 can be accurately brought close to the target position Pt as the position of the grain discharge destination.

  In the present embodiment, the inertial navigation device 102 is used as a calculation unit that calculates position data. However, the function as a calculation unit that calculates position data from position information received by the reception device 101 serving as a reception unit is used. An arithmetic device having the same may be provided separately, or the receiving device 101 may have the function. In addition, although the inertial navigation device 102 is provided in order to achieve high-accuracy positioning by combining posture orientation data with position data, when performing communication with a reference station having known position information at the time of positioning, etc. When it is sufficient to use the position data by the receiving device 101, the inertial navigation device 102 may be omitted, and the receiving device 101 itself may have a function as a computing unit as described above, or a separate computing device may be provided.

  As shown in FIGS. 8A, 8 </ b> B, 8 </ b> C, and 8 </ b> D, the position of the positioning unit 100 with respect to the discharge auger 62 is not limited to the upper surface side of the distal end portion of the discharge auger 62. It is also possible to change along the longitudinal direction.

  As shown in FIG. 8A, the positioning unit 100 can be mounted on the upper surface side of the discharge auger 62 behind the discharge cylinder 64 as the front side of the front half of the discharge auger 62. According to such an arrangement, the positioning unit 100 can be mounted on the discharge auger 62 while avoiding interference with the discharge cylinder 64 of the discharge auger 62. In addition to the above example, since the positioning unit 100 can be arranged using the space on the left side of the cabin 91, the positioning unit 100 has a desired shape and size without being restricted by the shape and size. Unit 100 can be used.

  As shown in FIG. 8B, the positioning unit 100 can be mounted on the upper surface side of the discharge auger 62 on the rear side of the front half of the discharge auger 62. According to such an arrangement, the position P0 (see FIG. 5) of the positioning unit 100 can be aligned with the position of the cabin 91 along the front-rear direction of the combine 1, and the positioning unit 100 is positioned at the position of the operator sitting on the driver's seat 92. 100 positions P0 can be applied. This eliminates the need for correction in the front-rear direction from the position P0 of the positioning unit 100 when the position of the operator sitting in the driver's seat 92 is used as a reference.

  As shown in FIG. 8C, the positioning unit 100 can be mounted on the upper surface side of the discharge auger 62 on the front side of the rear half of the discharge auger 62. According to such an arrangement, the position P0 (see FIG. 5) of the positioning unit 100 can be matched with the center CL of the tread. This eliminates the need for correction in the horizontal direction from the position P0 of the positioning unit 100.

  As shown in FIG. 8D, the positioning unit 100 can be mounted on the upper surface side of the discharge auger 62 on the rear side of the rear half of the discharge auger 62. According to such an arrangement, the positioning unit 100 can be mounted on the discharge auger 62 in a range where the amount of change in height due to the raising and lowering of the discharge auger 62 is small.

  Further, as shown in FIGS. 9A, 9B, 9C, and 9D, the position of the positioning unit 100 with respect to the discharge auger 62 is not limited to the upper surface side of the distal end portion of the discharge auger 62, but also the discharge auger 62. It is also possible to change to the side surface 62.

  As shown in FIG. 9A, the positioning unit 100 can be mounted on the right side of the discharge auger 62 behind the discharge cylinder 64 as the front side of the front half of the discharge auger 62. Further, as indicated by a two-dot chain line, the positioning unit 100 can be mounted on the left side of the discharge auger 62. According to such an arrangement, the same effect as in the example of FIG. 8A can be obtained. Further, since the operator can work with a line of sight looking into the discharge auger 62 from the side without looking into the upper side of the discharge auger 62, maintenance of the positioning unit 100 such as replacement of each part of the positioning unit 100 can be easily performed. it can.

  As shown in FIG. 9B, the positioning unit 100 can be mounted on the left side of the discharge auger 62 on the rear side of the front half of the discharge auger 62. Further, as indicated by a two-dot chain line, the positioning unit 100 can be mounted on the right side of the discharge auger 62. According to such an arrangement, the same effect as in the example of FIG. 8B can be obtained, and the same effect as the example of FIG. 9A can be obtained.

  As shown in FIG. 9C, the positioning unit 100 can be mounted on the right side of the discharge auger 62 on the front side of the rear half of the discharge auger 62. Further, as indicated by a two-dot chain line, the positioning unit 100 can be mounted on the left side of the discharge auger 62. According to such an arrangement, the same effect as in the example of FIG. 8C can be obtained, and the same effect as in the example of FIG. 9A can be obtained.

  As shown in FIG. 9D, the positioning unit 100 can be mounted on the left side of the discharge auger 62 on the rear side of the rear half of the discharge auger 62. Further, as indicated by a two-dot chain line, the positioning unit 100 can be mounted on the right side of the discharge auger 62. According to such an arrangement, the same effect as in the example of FIG. 8D can be obtained, and the same effect as the example of FIG. 9A can be obtained.

  Although not shown, in addition to these examples, the positioning unit 100 can be mounted on the lower surface side of the discharge auger 62.

  Also in the case of the position of the positioning unit 100 in each of these examples, the distance from the position of the combine 1 serving as the reference point to the position P0 of the positioning unit 100 is calculated, taking advantage of the high installability of the positioning unit 100. It is possible to realize positioning with sufficient accuracy.

  Further, the combine 1 can calculate the position of the discharge port 64a even if the position P0 of the positioning unit 100 changes from above the discharge port 64a due to the change of the position of the positioning unit 100 with respect to the discharge auger 62. In this case, the combine 1 can calculate the position of the discharge port 64a with respect to the position P0 of the positioning unit 100 by using the data of the specifications of the discharge auger 62. That is, the combine 1 determines the position P0 of the positioning unit 100 from the turning angle data of the discharge auger 62, the elevation angle data of the discharge auger 62, the length data of the discharge auger 62, and the calculated position data. Can be calculated. Thereby, even if the position P0 of the positioning unit 100 changes from above the discharge port 64a, the discharge auger 62 is operated so that the calculated position of the discharge port 64a approaches the target discharge position Pt when the grain is discharged. Can be made.

(Second Embodiment)
Next, the combine 1 as 2nd Embodiment of this invention provided with another positioning unit 10A is demonstrated using FIG. 10 (A) and FIG. 10 (B). In addition, below, about the structure same as the structure of the combine 1 of 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  As shown in FIG. 10A, in another positioning unit 10A, the receiving device 101 is disposed at the center of the case 104, and the wireless communication device 103 is disposed at the rear end. As shown in FIG. 10B, the inertial navigation device 102 is disposed below the receiving device 101. That is, in the case 104, the inertial navigation device 102 and the wireless communication device 103 are placed on the fixed plate 106 in order from the front with a predetermined interval. The receiving device 101 is disposed above the inertial navigation device 102, and the receiving device 101 and the inertial navigation device 102 are disposed in the center of the case 104.

  When the positioning unit 10A is mounted on the upper surface side of the distal end portion of the discharge auger 62, the receiving device 101 is positioned above the pulling device 32 in a state where the discharge auger 62 is placed on the auger rest 63 (see FIG. 2). The pulling device 32 forms the front part of the cutting part 3. That is, the positioning unit 10 </ b> A is disposed at the front end of the combine 1.

  Also in the combine 1 of the second embodiment, the control device 80 calculates the position of the reference point with respect to the position P0 of the positioning unit 10A from the data of the specifications of the discharge auger 62 and the data of the data of the combine 1, The position data of the combine 1 is acquired. The positioning data acquired by the positioning unit 10A can be used for control when operating an autonomous combine that performs a work by autonomously traveling on the route in advance.

  The combine 1 of the second embodiment calculates the position of the discharge port 64a with respect to the position P0 of the positioning unit 10A by using the data of the specifications of the discharge auger 62 and the data such as the dimensions of the positioning unit 10A. Can do. The combine 1 calculates the position of the discharge port 64a from the rotation angle data of the discharge auger 62, the elevation angle data of the discharge auger 62, the length data of the discharge auger 62, and the calculated position data. The position P0 of the positioning unit 10A with respect to the position of the discharge port 64a can be calculated. Thereby, even if the position P0 of the positioning unit 10A is shifted from above the discharge port 64a, the discharge auger 62 is arranged so that the calculated position of the discharge port 64a approaches the target discharge position Pt when the grain is discharged. Can be activated.

  According to the combine 1 of the second embodiment, the positioning unit 10A with improved attachment to the fuselage is mounted on the discharge auger 62, so that the positioning unit 10A with respect to the other structures of the combine 1 Is exposed and the receiving sensitivity of the positioning unit 10A can be maintained.

  Further, since the positioning unit 10A can be arranged above the cutting unit 3 as the front end of the combine 1 body, the correction amount of the position of the cutting unit 3 with respect to the set path can be suppressed, and the straight-forward response of the combine 1 can be improved. can do.

  Further, since the positioning unit 10A is mounted on the upper surface side of the discharge auger 62, the positioning unit 10A is exposed upward with respect to the other structures of the combine 1. Therefore, the reception sensitivity of the positioning unit 10A can be significantly maintained. Further, it is possible to prevent the shooter function at the tip of the discharge auger 62 from being hindered.

  In addition, the combine 1 of 2nd Embodiment is the same as the combine 1 of 1st Embodiment. That is, in the combine 1 of the second embodiment, the position of the positioning unit 10A relative to the discharge auger 62 is the same as the position of the positioning unit 100 shown in FIGS. 8A, 8B, 8C, and 8D. It is also possible to change to any of the positions of the positioning unit 100 shown in (A), (B), (C) and (D). It is also possible to mount the positioning unit 10 </ b> A on the lower surface side of the discharge auger 62.

  The positioning unit 10 </ b> A may be arranged on the left side of the roof 94 of the cabin 91 as the left side of the driver seat 92. As shown in FIG. 11, in this example, the fixing plate 106 of the case 104 is supported by a support frame 107. After fixing the fixing plate 106 to the support frame 107 and fixing it, the case 104 is covered to seal the inside of the case 104. The support frame 107 is a member that extends in the longitudinal direction of the machine body, and is fixed to the left side wall 95 of the cabin 91.

  Alternatively, the positioning unit 10 </ b> A can be arranged not only on the left side of the roof 94 but also on the front, rear, or rear of the roof 94 along the body width direction (not shown).

  Alternatively, the positioning unit 10 </ b> A can be arranged with the same idea for a floor-type combine (not shown). That is, the positioning unit 10A is arranged on the side of the center of the fuselage driver's seat that does not have a cabin. In the floor type combine, a support frame for installing the positioning unit 10A on the left side of the driver's seat is erected on the side column on the left side of the driver's seat.

  As described above, the positioning unit 10 </ b> A is designed to improve attachment to the airframe. Therefore, the positioning unit 10 </ b> A can be arranged at a desired position with respect to the body of the combine 1. According to the positioning unit 10A, since the receiving device 101 is arranged in the center of the case 104, the space restriction around the mounting position, the acquisition of the position information of the combine 1 and the calculation of the position data, the position data Considering the amount of correction from the coordinate value to the reference point, straight-line responsiveness, efficiency of discharge work, etc., the positioning unit 10A having the same structure is located at a position where the combine 1 can perform a desired function. It is possible to arrange them appropriately for each model and at different positions on the aircraft. As described above, the positioning unit 10A has improved versatility.

  As shown in FIG. 12A, in the case 104 of the positioning unit 100, the receiving device 101, the inertial navigation device 102, the wireless communication device 103, and the GNSS receiver 105 are received along the front-rear direction. It is only necessary that the device 101, the inertial navigation device 102, the GNSS receiver 105, and the wireless communication device 103 are arranged in this order, and their positions in the case 104 are not particularly limited. Each position of the receiving device 101, the inertial navigation device 102, the wireless communication device 103, and the GNSS receiver 105 may be shifted from the center in the left-right direction of the case 104, and each position with respect to the center in the left-right direction. May not match. For example, in the positioning unit 100, the receiving device 101 is disposed in the center of the case 104, the inertial navigation device 102 and the wireless communication device 103 are sequentially disposed behind the receiving device 101, and the GNSS receiver 105 is disposed in the inertial navigation device 102. What is necessary is just to be arrange | positioned above.

  As shown in FIG. 12B, in the case 104 of the positioning unit 10A, the receiving device 101, the inertial navigation device 102, and the wireless communication device 103 are arranged along the front-rear direction in the receiving device 101 and the inertial navigation device 102. And the wireless communication apparatus 103 are arranged in this order, and their positions in the case 104 are not particularly limited. The respective positions of the receiving device 101, the inertial navigation device 102, and the wireless communication device 103 may be shifted from the center in the left-right direction of the case 104, and the positions with respect to the center in the left-right direction do not match. May be. The positioning unit 10 </ b> A only needs to have the inertial navigation device 102 and the wireless communication device 103 arranged in order from the front to the rear of the case 104 and the reception device 101 arranged above the inertial navigation device 102.

  1: combine, 62: discharge auger, 100 · 10A: positioning unit, 101: receiving device (receiving unit), 102: inertial navigation device (calculating unit), 103: wireless communication device (communication unit), 104: case, Pt :Target position

Claims (4)

A receiving unit that receives radio waves from a positioning satellite; a calculation unit that calculates position data from the radio waves received by the receiving unit; a communication unit that transmits position data calculated by the calculation unit by wireless communication; A receiving unit, a case that integrally accommodates the arithmetic unit and the communication unit, and a positioning unit that receives radio waves from a positioning satellite and measures a position;
The positioning unit is mounted on a discharge auger,
Combine that is characterized by that. The positioning unit is attached to the tip of the discharge auger,
The combine according to claim 1. The positioning unit is mounted on the upper surface side of the discharge auger,
The combine according to claim 1 or 2, characterized in that. A swivel angle detecting means for detecting a swivel angle of the discharge auger, and a lift angle detecting means for detecting a lift angle of the discharge auger,
When discharging the grain, the turning angle calculated by calculating the turning angle and the elevation angle corresponding to the movement of the positioning unit from the position of the positioning unit indicated by the position data to the target discharge position is calculated. And moving the discharge auger closer to the target position by operating the discharge auger at the elevation angle;
The combine according to claim 2 or 3, characterized in that.

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