JP2020018237A - Harvester - Google Patents

Abstract

To provide a harvester capable of accurately determining jamming of crops in a conveyance device without erroneous detection, and performing appropriate processing when jamming is generated.SOLUTION: A harvester capable of automatically traveling in a field includes: a harvesting part for harvesting crops in a field; a conveyance device 12 conveying all culm of crops harvested by the harvesting part to a machine body rear side; a detection sensor 37 detecting a driving speed of the conveyance device 12; and a jamming determination part 73 for determining jamming of crops in the conveyance device 12 on the basis of a driving speed. The jamming determination part 73 outputs a stopping command of stopping the machine body when a driving speed becomes lower than a previously set first threshold value during automatic travel.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a harvester capable of automatically traveling in a field.

  Since the transporter of the harvester continuously transports the crops harvested by the harvesting unit, if the drive status of the transporter deteriorates, not only is it impossible to perform proper harvesting work, but also the transporter can be damaged. There is a risk of receiving it. In order to avoid this inconvenience, the harvester disclosed in Patent Literature 1 is provided with a detection sensor (“Conveyor load detecting means” in the literature) that detects the load of the transport device (“FH conveyor” in the literature). When the detection value of the sensor is equal to or more than the predetermined upper limit, the transport device stops, and the harvesting operation is interrupted.

JP 2014-183800 A

  Since the transport device of the harvester disclosed in Patent Document 1 transports all the culms of the crop to the rear of the machine body, the load may be unevenly applied to the transport device depending on the culm length of the crop. The detection sensor of the harvester disclosed in Patent Literature 1 is configured to detect a load on the transport device. For this reason, if the load is unevenly applied to the transport device by the harvested product, even if the transport device is in a normal driving state, the transport device may stop due to erroneous detection, and the harvesting operation may be troublesome. There is.

  In view of the above-described circumstances, an object of the present invention is to provide a harvester that can accurately determine clogging of crops in a transport device without erroneous detection and perform appropriate processing when clogging occurs. .

  A harvester according to the present invention is a harvester capable of automatically traveling in a field, a harvesting unit that harvests crops in the field, and a transport device that transports all culms of the crop harvested by the harvesting unit to the rear of the machine. A detection sensor that detects a driving speed of the transport device, and a clogging determination unit that determines clogging of the transport device based on the driving speed, and the clogging determination unit includes the automatic traveling If the drive speed becomes lower than a first threshold value set in advance, a stop command for stopping the aircraft is output.

  According to the present invention, the determination of clogging of the harvest in the transport device is performed based on the actual drive speed of the transport device. For this reason, even if the load is unevenly applied to the transport device due to the crop, if the driving speed of the transport device does not decrease, the crop is normally transported backward, and the transport device is stopped due to erroneous detection. Less likely to occur. This realizes a harvester that can accurately determine clogging of harvested items in the transport device without erroneous detection and perform appropriate processing when clogging occurs.

  In the present invention, a second threshold set higher than the first threshold is provided, and the clogging determination unit, when the drive speed becomes a value between the first threshold and the second threshold, the It is preferable to output a vehicle speed reduction command for gradually reducing the vehicle speed of the body according to the magnitude of the driving speed.

  Even if the harvest is entangled in the transport device, or if a large amount of the harvest flows into the transport device and the clogging occurs, if the input amount of the harvest to the transport device is reduced, the entanglement of the harvest can be solved. Gradually transported crops may clear the blockage of the crops. With this configuration, the vehicle speed can be gradually reduced by the output of the vehicle speed reduction command, so that the amount of the crop to be fed into the transport device decreases due to the decrease in the vehicle speed, and the clogging of the crop is efficiently resolved. Is done.

  In the present invention, there is provided a traveling mode management unit that can switch a traveling mode between an automatic traveling mode for executing the automatic traveling and a manual traveling mode for executing the manual traveling, and the traveling mode management unit includes the clogging determination unit. When the vehicle stop command is output, the traveling mode is switched to the manual traveling mode.

  If the clogging of the crop occurs during the automatic traveling, the continuous transport of the crop by the transport device becomes impossible, and the continuation of the automatic traveling becomes impossible. With this configuration, the automatic traveling mode is canceled by the determination of the clogging of the crop, so that the automatic traveling is suitably interrupted. The manual running mode in the present invention is not limited to a mode in which the harvester is manually operated, but also includes a mode indicating an abnormal state and a mode in a preparation state for manual operation. In the mode of the abnormal state or the preparation state, the manual operation of the harvester may not be permitted.

  In the present invention, a traveling mode management unit capable of switching a traveling mode between an automatic traveling mode for executing the automatic traveling and a manual traveling mode for executing manual traveling, and a reporting unit capable of reporting a decrease in the driving speed, When the driving speed is lower than the first threshold when the driving mode is the automatic driving mode, the clogging determination unit outputs the stop command and notifies the notification unit of the decrease in the driving speed. When the drive mode is lower than the first threshold when the drive mode is the manual drive mode, the stop unit does not output the stop command to the notification unit. It is preferable to output a notification command.

  If the aircraft stops every time a clogged harvest is determined, the driver may feel annoying. According to this configuration, if it is determined that the harvest is clogged in the manual traveling mode, the stop command is not output, so that the driver can continue the operation of the harvester. In addition, since the notification command is output to the notification unit in the manual traveling mode, the driver recognizes the clogging of the crop, and takes measures to eliminate the clogging of the crop based on the manual operation. be able to.

It is a right view of a combine. It is a top view of a combine. It is a power transmission diagram showing a power transmission system of a combine. FIG. 4 is a longitudinal rear view showing a torque limiter and a rotation speed detection sensor provided in the auger. FIG. 4 is a right side view of the transport device showing an endless chain for driving the transport device. It is a functional block diagram showing a control system of a combine. It is a graph which shows the relationship between the drive of a conveyance apparatus, and the vehicle speed of a vehicle body. It is a flowchart figure which shows the flow of a process of a vehicle speed reduction command, a stop command, and a notification command of the clogging determination unit. It is a schematic diagram which shows power transmission from an engine to a conveyance apparatus, an auger, a reel, etc.

  An embodiment for carrying out the present invention will be described with reference to the drawings. In the following description, the direction of arrow F shown in FIGS. 1 and 2 will be referred to as “front” and the direction of arrow B as “rear” unless otherwise specified. “Front” means forward in the vehicle longitudinal direction (traveling direction), and “rear” means backward in the vehicle longitudinal direction (traveling direction). The direction of arrow U shown in FIG. 1 is “up”, and the direction of arrow D is “down”. “Up” or “down” is a positional relationship in the vertical direction (vertical direction) of the airframe, and indicates a relationship in the ground height. Further, the direction of arrow L shown in FIG. 2 is “left”, and the direction of arrow R is “right”. The left-right direction is also referred to as a lateral direction, and means a cross-machine direction (machine body width direction) orthogonal to the machine body front-rear direction.

  Next, one specific embodiment of the harvester according to the present invention will be described. FIG. 1 is a side view of an ordinary combine which is an example of a harvester, and FIG. 2 is a plan view. The combine includes a harvesting unit 11 as a harvesting unit, a transport device 12, a cabin 13, a threshing device 14, a grain tank 15, and a grain discharging device 16. The reaping unit 11 harvests crops in the field. The cutting unit 11 includes a cutting device 21 for cutting planted grain culm as a crop in a field, a reel 22, and an auger 3 for feeding the cut grain culm laterally in the machine width direction. The threshing device 14 is located behind the transport device 12. The grain tank 15 is located on the right side of the threshing device 14.

  The cutting unit 11 is located on the front side of the combine 1 with respect to the vehicle body 1, and uses the cutting device 21 to cut the planted grain culm in the field. The harvested grain culm is transported by the auger 3 in the transverse direction of the machine to the front of the transport device 12 and is scraped by the transport device 12. The transport device 12 transports all the culms of the harvested grain culm as harvested products toward the rear of the machine body and sends them to the threshing device 14. The threshing device 14 performs threshing on the harvested grain culm. The grain obtained by the threshing process is stored in the grain tank 15. The grains stored in the grain tank 15 are discharged outside the machine by a grain discharging device 16 as necessary.

  The combine has a crawler-type traveling device 18. Further, the engine 4 is disposed below a driver seat 23 disposed in a driving unit formed inside the cabin 13. The traveling device 18 is driven by power from the engine 4. The combined vehicle body 1 can travel while being supported by the traveling device 18.

  FIG. 3 shows a power transmission system of the combine. The power of the engine 4 is transmitted to the traveling device 18 and the working device as shown in FIG. The working device includes the reaper 11 including the auger 3, the handling cylinder 14 a in the threshing device 14, the sorting unit 14 b, and the like.

  The power of the output shaft 4a of the engine 4 is input to the transmission 42 via the belt transmission mechanism 41, and is output from the transmission 42 to the drive wheels 18a of the left and right traveling devices 18. In the transmission 42, the power from the engine 4 is input to the hydrostatic stepless transmission 42a, and the power shifted by the hydrostatic stepless transmission 42a is transmitted to the transmission via the auxiliary transmission (not shown). (Not shown) and output from the distribution mission to the left and right drive wheels 18a.

  The power of the output shaft 4a of the engine 4 is transmitted to the bottom screw 15a of the grain tank 15 via the belt transmission mechanism 43, and is transmitted from the bottom screw 15a to the vertical conveyor section 16b and the horizontal conveyor section 16a of the grain discharge device 16. You.

  The power of the output shaft 4a of the engine 4 is transmitted via the belt transmission mechanism 44 to the rotation support shaft 14d of the kara 14c in the sorting unit 14b, and the input of the handling cylinder transmission 46 via the belt transmission mechanism 45 from the rotation support shaft 14d. It is transmitted to the shaft 46a. The power of the output shaft 46b of the handling cylinder transmission 46 is transmitted to the input shaft 48a of the handling cylinder drive case 48 via the belt transmission mechanism 47a. The handling cylinder transmission 46 has a three-stage shifting function of high, medium, and low speeds.

  A belt transmission mechanism 47b for transmitting the forward rotation is provided between the input shaft 46a of the handling cylinder transmission 46 and one end of the drive shaft 12a of the transport device 12. A belt transmission mechanism 49 for transmitting reverse rotation is provided between the reverse rotation output shaft 48b of the handling drum drive case 48 and the other end of the drive shaft 12a of the transport device 12. The reverse rotation output shaft 48b is linked to the input shaft 48a via a bevel gear mechanism 48c, and is driven in a rotation direction opposite to the rotation direction of the input shaft 48a.

  When the belt transmission mechanism 47b for forward rotation transmission is operated to the tension side to switch to the transmission ON state, and the belt transmission mechanism 49 for reverse rotation transmission to the loose side is switched to the transmission OFF state, the input shaft 46a The power is transmitted to the drive shaft 12a of the transport device 12 via the belt transmission mechanism 47b for transmitting the forward rotation, and the transport device 12 is driven in the transport rotation direction. At this time, the transport device 12 is driven at a constant rotation speed (when the rotation speed of the engine 4 is constant) regardless of the shift of the handle cylinder 14a by the handle cylinder transmission device 46. When the belt transmission mechanism 47b for forward rotation transmission is operated to the loose side to switch to the transmission cutoff state, and the belt transmission mechanism 49 for reverse rotation transmission is operated to the tight side to switch to the transmission on state, The power of the output shaft 46b is transmitted to the drive shaft 12a of the conveyance device 12 via the bevel gear mechanism 48c of the drum drive case 48, the reverse rotation output shaft 48b, and the belt transmission mechanism 49 for reverse rotation transmission. As a result, the transport device 12 is driven in a rotation direction opposite to the transport rotation direction, and the transport device 12 performs reverse transport.

  The power transmitted to the drive shaft 12a of the transport device 12 is transmitted to the relay shaft 12b supported on the right back of the reaper 11 via the relay transmission mechanism 12c. The power transmitted to the relay shaft 12b is transmitted to the auger shaft 30 that is the drive shaft of the auger 3 via the auger power transmission mechanism 50. Furthermore, the power transmitted to the relay shaft 12b is also transmitted to the cutting device 21 via the cutting device power transmission mechanism 21a, and also to the reel 22 via the reel power transmission mechanism 22a.

  FIG. 4 shows a torque limiter 8 provided on the auger shaft 30 and an auger rotation speed detection sensor 9 for detecting the rotation speed of the auger shaft 30 as the rotation speed of the auger 3.

  The auger power transmission mechanism 50 includes a drive sprocket 51, a driven sprocket 52, and an endless rotating chain 53, as shown in FIGS. The driving sprocket 51 is provided on the relay shaft 12b, and the driven sprocket 52 is provided on the auger shaft 30 that rotates integrally with the auger drum 31 of the auger 3. An endless rotation chain 53 for auger driving is wound around the driving sprocket 51 and the driven sprocket 52. With the rotation of the auger shaft 30, the harvested grain culm is transported in the transverse direction of the machine body and delivered to the transport device 12.

  As shown in FIG. 4, a torque limiter 8 is provided between the auger power transmission mechanism 50 and the auger shaft 30 to allow relative rotation when a torque equal to or more than a set value is applied. In the torque limiter 8, a driven sprocket 52 is fitted around the auger shaft 30 of the auger 3 so as to be relatively rotatable. An interlocking portion 81 is formed between the driven sprocket 52 and the interlocking member 80 which rotates together with the auger shaft 30 along the axial direction, and presses and biases the driven sprocket 52 in the direction in which they engage. A spring 82 is provided.

  When a load is applied to the auger 3 due to, for example, the harvested grain culm wrapping around the auger 3 and a torque greater than a set value is applied to the auger shaft 30, the driven sprocket 52 is displaced against the urging force of the spring 82, and the occlusal engagement is made. Part 81 idles. Thus, the torque limiter 8 has a function of releasing the torque.

  The auger rotation speed detection sensor 9 is a magnetic sensor, and detects the rotation speed by magnetically detecting a tooth-like protrusion 80 a provided on the outer peripheral surface of the interlocking member 80.

  As shown in FIG. 5, an output sprocket 32 is provided on the drive shaft 12a, an input sprocket 33 is provided on the relay shaft 12b, and an endless chain 34 is wound around the output sprocket 32 and the input sprocket 33 as the relay transmission mechanism 12c. It is hung. Each of the output sprocket 32, the input sprocket 33, and the endless chain 34 is provided adjacent to the right side of the right side wall of the transfer device 12. A tension adjusting mechanism 35 and a plurality of auxiliary sprockets 36 are provided between a position where the input sprocket 33 is located and a position where the output sprocket 32 is located. Each of the plurality of auxiliary sprockets 36 engages with the endless chain 34. The tension adjusting mechanism 35 is supported on the right side wall of the transport device 12 so as to be vertically swingable in a state where the tension adjusting mechanism 35 is located on the inner peripheral side of the endless chain 34 in a side view. A sprocket 35 </ b> A that engages with the endless chain 34 is provided at the free end of the tension adjusting mechanism 35. The tension adjusting mechanism 35 is urged to swing upward by a spring mechanism 35B, and the sprocket 35A presses the endless chain 34 from the inner peripheral side, whereby tension acts on the endless chain 34. Further, the vibration of the endless chain 34 is suppressed by the auxiliary sprocket 36 that engages with the endless chain 34 from the inner peripheral side and the auxiliary sprocket 36 that engages with the endless chain 34 from the outer peripheral side. This reduces the risk of wear elongation and falling off of the endless chain 34, and also prevents the possibility of unevenness in the rotation speed of the input sprocket 33.

  The transport rotation speed detection sensor 37 is provided adjacent to one of the plurality of auxiliary sprockets 36. The transport rotation speed detection sensor 37 is a magnetic sensor, and magnetically detects tooth-shaped protrusions provided on the outer peripheral surface of the auxiliary sprocket 36 to determine the driving speed of the auxiliary sprocket 36 and the endless chain 34, that is, the rotation speed. To detect.

  The functional blocks in FIG. 6 show the control functions of the auger 3 and the transfer device 12 in the control system of the combine. Various signals are input to the control unit 7 via the input signal processing unit 61. The control unit 7 controls operating devices by sending various control signals via the device control unit 62. The operating devices include a shift operating device 65 for adjusting the shift value of the transmission 42 to change the vehicle speed, and various devices incorporated in the working device. Signals from the traveling operation tool 91, the work operation tool 92, and the rotation speed setting tool 93 are input to the input signal processing unit 61. Further, the input signal processing unit 61 includes various sensors and switches such as an auger rotation speed detection sensor 9 for detecting the rotation speed of the auger shaft 30, an engine rotation speed detection sensor 90 for detecting the rotation speed of the engine 4, and a vehicle speed sensor 94. Is input.

  The traveling operation tool 91 is a general term for devices used by the driver to operate operating devices related to traveling, and includes a shift lever, a steering lever, and the like. The driving speed of the driving wheels 18a of the left and right crawlers constituting the traveling device 18 is adjusted by operating the traveling operation tool 91. The traveling operation tool 91 may be a multi-function lever having multiple functions, a single-function lever, or a combination thereof. The work operation tool 92 is a generic name of devices used by the driver to operate the work apparatus, and includes a cutting clutch lever, a threshing clutch lever, a discharge lever, and the like. The work operation tool 92 may also be a multi-function lever having multiple functions, a single-function lever, or a combination thereof. The rotational speed setting tool 93 is a general term for an accelerator lever, an accelerator pedal, and an accelerator dial, and is used for adjusting and setting the engine rotational speed.

  The engine control unit 63 adjusts a fuel supply amount and the like to the engine 4 based on a command from the control unit 7, and drives the engine 4 at a predetermined engine speed or a predetermined torque.

  The notification device 64 connected to the device control unit 62 reports various events occurring in the combine to the driver and the monitor, and is a general term for lamps, buzzers, speakers, displays, and the like.

  The control unit 7 includes a travel control unit 71, a work control unit 72, a clogging determination unit 73, a notification control unit 74 as a notification unit, an engine speed command unit 75, and a travel mode management unit 76. The travel control unit 71 outputs a control signal for operating the shift operation device 65 via the device control unit 62 in order to control driving of the traveling device 18. By this control signal, adjustment of the vehicle speed and steering in the left-right direction (turning in the left-right direction) are performed. The traveling mode management unit 76 is configured to be able to switch the traveling mode of the control unit 7 between an automatic traveling mode for executing automatic traveling and a manual traveling mode for executing manual traveling. In the automatic traveling mode, harvesting traveling of the combine by automatic traveling is performed along a traveling route set in a field.

  The work control unit 72 generates a control command for the work device based on the command from the work operation tool 92, and outputs the control command to the work device via the device control unit 62.

  The clogging determination unit 73 includes an auger state determination unit 73A and a transport state determination unit 73B. The auger state determination unit 73A determines a drive abnormality of the auger 3 based on a detection signal from the auger rotation speed detection sensor 9. The transport state determination unit 73B determines a drive abnormality of the transport device 12 based on a detection signal from the transport rotation speed detection sensor 37. In other words, the transport state determination unit 73 </ b> B of the clog determination unit 73 determines clogging of the transport device 12 with harvested products based on the drive speed of the transport device 12.

  Abnormal drive of the auger 3 includes a mechanical failure such as a broken chain or a broken chain of the auger power transmission mechanism 50, an operation of the torque limiter 8, and a cut grain culm in which the auger 3 cannot appropriately feed the cut grain culm. And clogging. In the case of a mechanical power cut-off failure, the work must be completed and repaired once, but the clogging of the harvested grain culm may be resolved naturally or by reducing the vehicle speed. When the harvested grain is clogged in the auger 3, the rotation of the auger shaft 30 is reduced to approximately zero or completely zero by operating the torque limiter 8. From this, the auger state determination unit 73A can determine clogging in the auger 3 based on a decrease in the rotation speed of the auger shaft 30.

  Since the rotation speed of the auger 3 depends on the engine rotation speed, even when the rotation speed of the auger 3 is reduced through the operation of the rotation speed setting tool 93, the rotation of the auger 3 is independent of the clogging of the harvested grain culm. The number drops. In order to avoid erroneous determination of clogging due to this, the auger state determination unit 73A calculates the ratio between the rotation speed of the engine 4 and the rotation speed of the auger shaft 30, and determines this ratio (decrease rate; The clogging in the auger 3 may be determined using the threshold value of the reduced auger shaft rotation speed). Alternatively, the rotation speed of the engine 4 may be divided into a plurality of regions, and the auger rotation speed determined to be clogged may be set for each of the regions.

  The drive abnormality of the transport device 12 includes a mechanical failure such as a broken chain or a broken chain of the endless chain 34, a clogged harvested culm inside the transport device 12, and the like. In the case of a mechanical power cut-off failure, the work must be completed and repaired once, but the clogging of the harvested grain culm may be resolved naturally or by reducing the vehicle speed. If the harvested grain culm is clogged inside the transport device 12, for example, slippage occurs between the belt transmission mechanism 47b for transmitting normal rotation and the drive shaft 12a, and the rotation speed of the endless chain 34 and the auxiliary sprocket 36 decreases. Is almost zero or completely zero. From this, the transfer state determination unit 73B can determine the clogging in the transfer device 12 based on the decrease in the rotation speed of the auxiliary sprocket 36.

  In addition, in this embodiment, since the rotation speed of the endless chain 34 and the auxiliary sprocket 36 depends on the engine rotation speed, even when the engine rotation speed is reduced through the operation of the rotation speed setting tool 93, the cutting grain culm can be removed. Regardless of the clogging, the rotation speed of the endless chain 34 and the auxiliary sprocket 36 decreases. In order to avoid erroneous determination of clogging due to this, the conveyance state determination unit 73B calculates the ratio between the rotation speed of the engine 4 and the rotation speed of the auxiliary sprocket 36, and calculates this ratio (decrease rate; The clogging in the transfer device 12 may be determined using the threshold value of the reduced auxiliary sprocket 36). Alternatively, the rotation speed of the engine 4 may be divided into a plurality of regions, and the rotation speed of the auxiliary sprocket 36 for determining clogging may be set for each region.

  Even if the harvest is entangled in the transport device, or if a large amount of the harvest flows into the transport device and the clogging occurs, if the input amount of the harvest to the transport device is reduced, the entanglement of the harvest can be solved. Gradually transported crops may clear the blockage of the crops. In other words, an effective method of eliminating clogging of the cut culm is to reduce the vehicle speed and reduce the amount of cut culm sent to the auger 3 or the transport device 12. Therefore, when the clogging determination unit 73 determines that at least one of the auger 3 and the transport device 12 is clogged, the clogging determination unit 73 outputs a vehicle speed reduction command to reduce the vehicle speed to the travel control unit 71. When clogging in at least one of the auger 3 and the transport device 12 continues for a certain period of time, the clogging determination unit 73 stops the vehicle body 1 to avoid damage to the auger 3 and the transport device 12 and engine stall. A stop command to be performed is output to the travel control unit 71. This is because when the auger power transmission mechanism 50 is configured by a belt transmission mechanism in which slippage due to clogging is relatively likely to occur, the rate of decrease in the number of revolutions that occurs in accordance with the degree of clogging occurs when clogging occurs in a wide range. So there is a particular advantage.

  The clogging determination unit 73 outputs a notification command to the notification control unit 74 when it determines that at least one of the auger 3 and the transport device 12 is abnormally driven. Based on this notification command, notification of the drive abnormality alarm is performed through the notification device 64. Thereby, the notification control unit 74 as the notification unit can notify the decrease in the driving speed of the transport device 12. Examples of the drive abnormality alarm include a clogging alarm when clogging is determined, a vehicle speed reduction notification when a vehicle speed reduction command is output, and a stop notification when a stop command is output.

  FIG. 7 shows an example of the output of the vehicle speed reduction command and the stop command by the clogging determination unit 73. The horizontal axis in FIG. 7 indicates the rotation speed Rv of the auxiliary sprocket 36, but may be the above-described decrease rate (a value obtained by dividing the rotation speed Rv by the rotation speed of the engine 4). The vertical axis in FIG. 7 indicates the vehicle speed V of the vehicle body 1. When the rotation speed of the endless chain 34 for rotating and driving the feeder inside the transfer device 12 decreases, the rotation speed Rv of the auxiliary sprocket 36 also decreases. In the present embodiment, the stop threshold R1 is set as the first threshold, and the vehicle speed decrease thresholds R2, R3, and R4 are provided as the second threshold set higher than the stop threshold R1.

  The output of the vehicle speed reduction command or the stop command by the clogging determination unit 73 is performed when the traveling mode of the traveling control unit 71 is the automatic traveling mode. For this reason, as shown in FIG. 8, in the process in the control unit 7, the traveling mode of the traveling control unit 71 is determined (step # 01). When the traveling mode of the traveling control unit 71 is the automatic traveling mode (step # 01: automatic traveling mode), the determination of the clogging based on the rotation speed Rv is performed (step # 02 to step # 05). When the rotation speed Rv is higher than (or higher than) the vehicle speed lowering threshold R4 (Step # 02: No), the clogging determination unit 73 determines that clogging of the harvested grain culm does not occur in the transport device 12. . Then, the clogging determination unit 73 does not output a vehicle speed reduction command or a stop command to the traveling control unit 71, and the traveling control unit 71 drives the traveling device 18 so that the vehicle speed V of the vehicle body 1 becomes the original working vehicle speed V0. Control.

  When the rotation speed Rv is lower than (or below) the vehicle speed lowering threshold value R4 (Step # 02: Yes), the clogging determination unit 73 determines that clogging of the harvested grain culm has occurred in the transport device 12. If the rotation speed Rv is kept higher (or higher) than the stop threshold value R1, the clogging of the harvested grain culm may be resolved naturally or by reducing the vehicle speed. For this reason, when the drive speed becomes a value between the vehicle speed decrease threshold R4 and the vehicle stop threshold R1 that are set in advance to a value higher than the vehicle stop threshold R1, the jam determination unit 73 determines that the rotation as the drive speed of the transport device 12 is to be performed. According to the magnitude of the number Rv, a vehicle speed lowering command for gradually reducing the vehicle speed V of the vehicle body 1 is output to the traveling control unit 71.

  If the rotation speed Rv is within the range between the vehicle speed reduction threshold R3 and the vehicle speed reduction threshold R4 (Step # 02: Yes, Step # 03: No), the clogging determination unit 73 determines that the vehicle speed V of the vehicle body 1 is not A vehicle speed reduction command is output to the traveling control unit 71 so that the first low speed vehicle speed V1 is lower than the work vehicle speed V0 (step # 06). When the rotation speed Rv is within the range between the vehicle speed reduction threshold R2 and the vehicle speed reduction threshold R3 (Step # 03: Yes, Step # 04: No), the clogging determination unit 73 determines that the vehicle speed V of the vehicle body 1 is A vehicle speed reduction command is output to the traveling control unit 71 so that the second low speed vehicle speed V2 is lower than the first low speed vehicle speed V1 (step # 07). When the rotation speed Rv is within the range between the stop threshold value R1 and the vehicle speed decrease threshold value R2 (Step # 04: Yes, Step # 05: No), the clogging determination unit 73 sets the vehicle speed V of the vehicle body 1 to the second low speed. A vehicle speed reduction command is output to the traveling control unit 71 so that the third low speed vehicle speed V3 is lower than the vehicle speed V2 (step # 08).

  When the rotation speed Rv becomes lower (or lower) than the stop threshold value R1 (Step # 05: Yes), the blockage determination unit 73 outputs a stop command to the travel control unit 71 (Step # 09). Therefore, the traveling device 18 stops, and the vehicle body 1 stops. When the stoppage command is output by the clogging determination unit 73, the traveling mode management unit 76 switches the traveling mode to the manual traveling mode (Step # 10).

  After performing any of the processes from Step # 06 to Step # 09, the clogging determination unit 73 outputs a notification command to the notification control unit 74 (Step # 12). When the traveling mode of the traveling control unit 71 is the manual traveling mode (step # 01: manual traveling mode), when the rotation speed Rv is lower than (or below) the stop threshold R1 (step # 11: Yes), The clogging determination unit 73 outputs a notification command to the notification control unit 74 (Step # 12). As described above, when the rotation mode Rv becomes lower than the stop threshold R1 when the travel mode is the automatic travel mode, the clogging determination unit 73 outputs the stop command and notifies the notification control unit 74 of the decrease in the rotation speed Rv. If the rotation speed Rv becomes lower than the stop threshold R1 when the travel mode is the manual travel mode, the controller outputs the notification command to the notification controller 74 without outputting the stop command.

  The schematic diagram of FIG. 9 shows a path through which the engine power is transmitted to the transport device 12, the auger 3, the reel 22, and the cutting device 21. The power transmitted to the transport device 12 is transmitted to the relay shaft 12b via the relay transmission mechanism 12c, and is distributed from the relay shaft 12b to the auger 3, the reel 22, and the cutting device 21. In this power transmission path, clogging of the harvested grain culm easily occurs in the transport device 12 and the auger 3.

  When the clogging of the auger 3 occurs, the rotation speed detected by the auger rotation speed detection sensor 9 decreases. Then, the clogging of the auger 3 is determined by the auger state determination unit 73A, and is notified by the notification device 64. At this time, if the rotation speed detected by the conveyance speed detection sensor 37 does not decrease and the clogging of the conveyance device 12 is not determined by the conveyance state determination unit 73B, the driver or the administrator may have clogged only the auger 3. It can be determined that there is.

  When the conveyance device 12 is clogged, the rotation speed detected by the conveyance speed detection sensor 37 decreases. At this time, since the rotation speed of the endless chain 34, that is, the relay transmission mechanism 12c is reduced to substantially zero or completely zero, the rotational power from the engine 4 is transmitted to the auger shaft 30 closer to the distal end than the relay shaft 12b. And the auger 3 cannot rotate. For this reason, the detection rotation speed of the auger rotation detection sensor 9 also decreases in conjunction with the decrease in the detection rotation speed of the transport rotation detection sensor 37. Then, both clogging of the auger 3 by the auger state determination unit 73A and clogging of the transport device 12 by the transport state determination unit 73B are determined, and the notification device 64 notifies. In this case, the driver or the administrator can determine that only the transport device 12 is clogged, or that the transport device 12 and the auger 3 are clogged. From this, as a measure for removing the clogging of the transport device 12 and the auger 3, the driver or the administrator can take an action such as performing a reverse operation of the transport device 12, for example.

  In addition, the driver can determine that a clog has occurred in the auger 3 and / or the transport device 12 by observing the movement of the reel 22 visible from the driver's seat. If the reel 22 is rotating properly, the transport device 12 is rotating normally, so that the driver can determine that only the auger 3 is jammed. When the reel 22 is not rotating, the driver can determine that only the transport device 12 is clogged, or that the transport device 12 and the auger 3 are clogged.

[Another embodiment]
(1) In the above-described embodiment, the transport rotation number detection sensor 37 is configured by a magnetic sensor that magnetically detects the tooth-shaped protrusion provided on the outer peripheral surface of the auxiliary sprocket 36, but is also distributed. Various rotation speed detection sensors (such as optical sensors) may be used.

(2) In the embodiment described above, the transport speed detection sensor 37 that detects the rotational speed of the auxiliary sprocket 36 is used to detect the drive speed of the transport device 12, but the present invention is not limited to this embodiment. For example, other than the auxiliary sprocket 36, a member that rotates at a rotation speed corresponding to the driving speed of the transfer device 12, for example, a sensor that detects the rotation of the output sprocket 32 or the input sprocket 33 may be used as the transfer rotation speed detection sensor 37. . In addition, a mark that can be detected by the transport rotation speed detection sensor 37 is provided at one position of the endless chain 34, and the transport rotation speed detection sensor 37 may be configured to detect the number of rotation pulses of the mark.

(3) In the above-described embodiment, the clogging determination unit 73 includes the auger state determination unit 73A and the transport state determination unit 73B. However, the auger state determination unit 73A may not be included.

(4) The transport state determination unit 73B may calculate the deceleration rate so that the vehicle speed decreases according to the reduction rate of the driving speed of the transport device 12, and output a vehicle speed reduction command based on the deceleration rate.

(5) In the embodiment described above, the traveling mode management unit 76 is configured to be able to switch between the automatic traveling mode and the manual traveling mode, but the traveling mode is not limited to the automatic traveling mode and the manual traveling mode. For example, when the traveling mode management unit 76 switches from the automatic traveling mode to the manual traveling mode, the traveling mode management unit 76 first switches to the manual preparation mode, and switches to the manual traveling mode after the conditions for manual traveling are satisfied. There may be. Further, when it is determined that the harvest is clogged during the automatic traveling, the traveling mode management unit 76 may be configured to switch from the automatic traveling mode to the abnormal mode.

(6) In the above-described embodiment, three vehicle speed reduction thresholds R2, R3, and R4 are provided as the second thresholds. However, the number of the second thresholds may be one, or a plurality (for example, two Or four).

  Note that the configuration disclosed in the above-described embodiment (including another embodiment, the same applies hereinafter) can be applied in combination with the configuration disclosed in other embodiments as long as no contradiction occurs. The embodiment disclosed in the present specification is an exemplification, and the embodiment of the present invention is not limited to this, and can be appropriately modified without departing from the object of the present invention.

  INDUSTRIAL APPLICABILITY The present invention can be applied to a corn harvester and the like in addition to a normal combine.

11: Harvester (harvester)
12: transfer device 37: transfer speed detection sensor (detection sensor)
73: clogging determination unit 73B: conveyance state determination unit (clogging determination unit)
74: notification control unit (notification unit)
76: Driving mode management unit R1: Stop threshold (first threshold)
R2: vehicle speed decrease threshold (second threshold)
R3: vehicle speed decrease threshold (second threshold)
R4: vehicle speed decrease threshold (second threshold)
V: Vehicle speed

Claims (4)

A harvester capable of automatically traveling in a field,
A harvesting unit for harvesting crops in the field,
A transport device that transports all culms of the crop harvested by the harvesting unit to the rear of the aircraft,
A detection sensor for detecting a driving speed of the transport device;
A clogging determination unit that determines clogging of the crop in the transport device based on the driving speed,
The harvester that outputs a stop command to stop the aircraft when the drive speed becomes lower than a preset first threshold during the automatic traveling. A second threshold set higher than the first threshold is provided,
When the drive speed becomes a value between the first threshold value and the second threshold value, the clogging determination unit performs a vehicle speed reduction command that gradually reduces the vehicle speed of the body according to the magnitude of the drive speed. The harvester according to claim 1, wherein A travel mode management unit that can switch a travel mode between an automatic travel mode for performing the automatic travel and a manual travel mode for performing manual travel is provided,
The harvester according to claim 1, wherein the traveling mode management unit switches the traveling mode to the manual traveling mode when the stoppage command is output by the clogging determination unit. A traveling mode management unit that can switch a traveling mode between an automatic traveling mode for executing the automatic traveling and a manual traveling mode for executing manual traveling,
A notification unit that can notify the decrease in the drive speed,
When the driving speed is lower than the first threshold when the driving mode is the automatic driving mode, the clogging determination unit outputs the stop command and notifies the notification unit of a decrease in the driving speed. And outputs the notification command to the notification unit without outputting the stop command when the driving speed is lower than the first threshold when the driving mode is the manual driving mode. The harvester according to any one of claims 1 to 3.

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