JP2023163753A - crop harvester - Google Patents

Abstract

To provide a crop harvester which can smoothly and easily unload a battery that supplies power to an electric motor as a power source of a machine body from the machine body and prevent suspension of the harvesting work due to a battery residual amount shortage.SOLUTION: There is provided a crop harvester 1 in which a crop placement area A where a storage container 13 that stores a crop is placed is arranged on the substantially center part in the width direction of a machine body, a first battery 1 and a second battery 2 being power sources of an electric motor 8 are arranged on the outer side of the crop placement area A in the width direction of the machine body, the second battery 2 is arranged on the rear part of the machine body and at a position on the rear side with respect to the first battery 1, and a battery management unit 12 configured to be able to be unloaded from the rear side of the machine body by a crane device 16 and switching the power sources of the electric motor 8 performs management so as to use one of the plurality of batteries as the power source and preferentially uses the second battery 2 as the power source of the electric motor 8.SELECTED DRAWING: Figure 1

Description

The present invention relates to a crop harvester equipped with an electric motor as a power source.

Patent Document 1 discloses a crop harvesting machine that includes an electric motor as a power source of the machine and a battery that supplies power to the electric motor.

Further, Patent Document 2 discloses a work vehicle that is equipped with a plurality of batteries that supply electric power to an electric motor, etc., and is configured to determine the order in which the plurality of batteries are charged based on the temperature and charging rate of each battery. has been done.

JP2018-126086A JP2021-191061A

However, if the aircraft is not equipped with an engine and a generator, or if the generator has a hybrid configuration with an engine and an electric motor and the amount of power generated by the generator is low, the battery may run out of power during work.

In this case, it is necessary to unload the battery from the aircraft and charge it, but the process of unloading the battery from the aircraft, charging, and reloading it is extremely burdensome for the operator.

Note that Patent Documents 1 and 2 do not disclose a configuration in which when the remaining capacity of the battery mounted on the aircraft body becomes low, the battery can be removed from the aircraft body and loaded again after charging.

Therefore, an object of the present invention is to provide a crop harvester that can smoothly and easily load and unload a battery that supplies electric power to an electric motor as a power source of the machine, and that can prevent interruption of harvesting work due to insufficient battery power. This is the purpose.

Such an object of the present invention is to
A crop harvesting machine for harvesting crops in a field,
An electric motor as a power source for the aircraft,
a plurality of batteries that are power sources that supply power to the electric motor;
a traveling device and a harvesting device driven by the electric motor;
a crane device for unloading crops harvested by the harvesting device;
and a battery management unit that switches the power source of the electric motor,
The plurality of batteries include a first battery and a second battery,
A crop placement area in which a storage container for storing harvested crops is placed is arranged approximately at the center in the width direction of the machine body, and the first battery and the second battery are connected to the crops in the width direction of the machine body. placed outside the mounting area,
The second battery is located at the rear of the aircraft body and rearward of the first battery, and is configured to be able to be loaded and unloaded from the rear of the aircraft body by the crane device,
The battery management unit manages one of the plurality of batteries to be used as a power source, and uses the second battery as a power source for the electric motor in preference to the first battery, and Crop harvesting characterized by being configured to switch the electric power source of the electric motor from the second battery to the first battery when the remaining capacity of the second battery is in a low remaining capacity state that is below a threshold value. Achieved by machine.

According to the present invention, the crop placement area is arranged approximately at the center in the width direction of the aircraft, and the second battery, which is used preferentially, is arranged at the rear of the aircraft and at a position further back than the first battery. Therefore, the second battery, which is charged more frequently than the first battery, can be smoothly and easily loaded (loaded and unloaded) from the rear of the aircraft using a crane device.

Further, according to the present invention, since the second battery can be loaded and unloaded using a crane device, it becomes possible to mount a large battery as the second battery.

Further, according to the present invention, since the second battery, which can be easily loaded and unloaded, is preferentially used, the remaining capacity of the first battery can be maintained. Therefore, even when the capacity of the second battery is insufficient, the harvesting operation can be continued with the power supplied from the first battery, and it is possible to prevent interruption of the harvesting operation due to insufficient remaining battery power.

In addition, according to the present invention, the crop placement area on which the storage container is placed is disposed approximately at the center in the width direction of the machine body, and the first and second batteries are located outside the crop placement area in the width direction of the machine body. Because of the arrangement, the first and second batteries do not interfere when a storage container filled with crops is unloaded by a crane device.

In a preferred embodiment of the invention,
The plurality of batteries further include a third battery,
The storage container includes a crop storage section in the upper part for storing harvested crops, and a battery storage part in the lower part for storing the third battery,
The third battery includes a current-carrying connector for discharging that is connected to a current-carrying connector on the fuselage side, and the third battery includes a current-carrying connector for discharging that is connected to a current-carrying connector for discharging when the storage container is loaded on the aircraft body and the third battery is connected to a current-carrying connector on the aircraft body side. When the third battery is housed, the height position is the same as that of the current-carrying connector on the aircraft body side, and the third battery is configured to be connected to the current-carrying connector on the aircraft body side to supply power to the electric motor;
The battery management unit uses the third battery as a power source for the electric motor with priority over the first battery and the second battery, and maintains a low remaining capacity state in which the remaining capacity of the third battery is below a threshold value. In this case, the power source of the electric motor is switched from the third battery to the second battery.

According to this preferred embodiment of the present invention, the third battery as a power source is configured to be housed in the lower part of the holding container for storing the crops, so that the third battery as a power source has a high priority as a power source together with the holding container. The third battery can be loaded and unloaded from the aircraft, which is highly convenient.

Furthermore, according to this preferred embodiment of the present invention, the current-carrying connector for discharging the third battery is located at a height position with respect to the current-carrying connector on the fuselage side when the third battery is housed in the battery accommodating portion of the storage container. are arranged at the same position, the electrical discharge connector can be easily connected to the electrical connector on the aircraft body by simply sliding the storage container on the aircraft body.

In addition, according to this preferred embodiment of the present invention, the battery management unit is configured to use the third battery in preference to the first battery and the second battery as a power source for the electric motor. Harvesting work can be further prevented from being interrupted due to insufficient battery power.

In a further preferred embodiment of the invention,
The third battery is provided with a wireless charging section having a power receiving coil at the bottom, and is detachably attached to the lower part of the storage container,
The third battery is configured to be able to be wirelessly charged on the loading platform of a truck that transports harvested crops and has a wireless charger that includes a power transmission coil.

According to this preferred embodiment of the present invention, the third battery can be wirelessly charged in the bed of the truck transporting the harvested crops, so that the third battery can be charged wirelessly in the bed of the truck transporting the harvested crops, thereby making use of the time spent transporting the crops or waiting time near the field or barn. The third battery can be charged using the 3rd battery, and the work efficiency is very high.

In a further preferred embodiment of the invention,
The third battery includes a fork through hole in the housing into which a forklift claw is inserted, and a charging electrode portion is provided on a side surface of the fork through hole.

According to this preferred embodiment of the present invention, the third battery is provided with a fork through hole in the housing into which a forklift claw is inserted, so that after the third battery is lowered from the aircraft, the forklift can be used to remove the third battery. Can be easily transported.

Further, according to this preferred embodiment of the present invention, since the fork through hole is provided with a charging electrode portion, the forklift is transported by a forklift truck having a claw provided with a power supply (discharge) electrode. In the meantime, the third battery can be charged from the charging electrode section.

In a further preferred embodiment of the invention,
a control unit that controls the traveling device;
a remote terminal capable of wireless communication with the control unit;
A GNSS receiver that acquires position information of the aircraft,
Remaining amount detection means for detecting the remaining amount of each of the plurality of batteries,
The control unit calculates a departure distance between the position of the aircraft acquired by the GNSS receiver and a planned travel route set in advance in a field, and controls the traveling device so that the departure distance is shortened. It is configured to be able to execute automatic driving control,
The automatic operation control is executed on the condition that an instruction operation is performed on the remote terminal,
Remaining power information indicating the remaining power of the plurality of batteries detected by the remaining power detecting means is transmitted to the remote terminal and displayed on the screen of the remote terminal.

According to this preferred embodiment of the present invention, the crop harvester is configured to be able to automatically travel around the field based on the automatic operation control of the control unit, and the remaining capacity of each battery is displayed on the screen of the remote terminal. Therefore, when the battery becomes low during harvesting operations using autonomous operation, the operator can understand this on the screen of a remote terminal and take measures such as loading and unloading the battery from the aircraft. I can do it.

According to the present invention, it is possible to provide a crop harvesting machine that can smoothly and easily load and unload a battery that supplies electric power to an electric motor as a power source of the machine body, and that can prevent interruption of harvesting work due to insufficient remaining battery power. It becomes possible.

FIG. 1 is a schematic perspective view of a crop harvester according to a preferred embodiment of the invention. FIG. 2 is a schematic plan view of the crop harvester shown in FIG. 1. FIG. FIG. 3 is a schematic left side view of the crop harvester shown in FIG. 1. FIG. FIG. 4 is a schematic block diagram showing the power mechanism of the crop harvester shown in FIG. 1. FIG. 5(a) is a schematic perspective view of the vicinity of the third battery showing a state attached to a storage container, and FIG. 5(b) is a schematic perspective view showing a state of the third battery alone. FIG. 6 is a schematic perspective view of the crop harvesting machine showing how the third battery is loaded into the machine body. FIG. 7 is a schematic perspective view showing how the third battery unit is transferred to the truck. FIG. 8 is a schematic rear view showing how the third battery is charged on the bed of a truck. FIG. 9 is a schematic perspective view showing the second battery. FIG. 10 is a schematic perspective view of the crop harvester, showing a state in which a seat for a worker to sit is provided. FIG. 2 is a schematic perspective view of the crop harvester showing a state in which left and right safety covers are not omitted.

Hereinafter, preferred embodiments of the present invention will be described in detail based on the accompanying drawings.

1 is a schematic perspective view of a crop harvester 10 according to a preferred embodiment of the present invention, FIG. 2 is a schematic plan view of the crop harvester 10 shown in FIG. 1, and FIG. 3 is a schematic perspective view of the crop harvester 10 shown in FIG. FIG. 2 is a schematic left side view of the crop harvester 10 shown in FIG.

Further, FIG. 4 is a schematic block diagram showing the power mechanism of the crop harvester 10 shown in FIG. 1.

In this specification, as shown by the arrow in FIG. 1, the side in the direction of movement of the crop harvester 10 is referred to as the front, and unless otherwise specified, the left side in the direction of movement of the crop harvester 10 is referred to as the "left side". ”, and the opposite side is called the “right”. Further, the crop harvesting machine 10 excluding batteries 1 to 3, which will be described in detail later, is also simply referred to as the "machine".

The crop harvesting machine 10 includes a main frame 4 that is approximately rectangular in plan view, a traveling device 5 provided below the main frame 4, a floor member 6 fixed to the main frame 4, and a main frame 4 that is attached to the main frame 4. , a harvesting device 7 that harvests crops in the field and transports them rearward and upward; an electric motor 8 that drives the harvesting device 7 and the traveling device 5; and a plurality of storage containers 13 that accommodate the crops harvested by the harvesting device 7. , a crane device 16 for loading and unloading the accommodation container 13 from the rear of the aircraft, and a power mechanism including first to third batteries 1 to 3 that supply power to the electric motor 8 (see FIG. 4). , a main controller 11 (see FIG. 4) for controlling each device of the machine, and a remote controller 21 (see FIG. 4) for an operator to send an instruction signal to the main controller 11. The remote controller 21 is constituted by a tablet-type computer, and is capable of transmitting and receiving various data to and from the main controller 11 through wireless communication. Although the traveling device 5 is constituted by a pair of caterpillars in this embodiment, it may be constituted by wheels or the like.

The rotational power output from the electric motor 8 is transmitted to a transmission mechanism 9 including an HST (hydrostatic continuously variable transmission) 14 through a plurality of pulleys, a closed loop belt wrapped around them, a drive shaft, etc. Thereafter, the speed is changed within the transmission mechanism 9 and transmitted to the harvesting device 7 and the traveling device 5. As a result, while the traveling device 5 is driven to move forward, the crops in the field are harvested by the harvesting device 7. Note that the hydraulic tank 14a of the HST 14 is shown in FIG.

The crop harvesting machine 10 is equipped with a GNSS receiver 26 shown in FIG. 4, and is configured so that the harvesting device 7 can perform harvesting work while automatically driving around the field without a worker being on board. has been done.

During harvesting work by automatic operation, the main controller 11 calculates the amount of positional deviation (separation distance) between the planned travel route set in advance for the field and the position of the harvester 10 acquired by the GNSS receiver 26. . The crop harvesting machine 10 autonomously travels along the planned traveling route by controlling the traveling device 5 so that the calculated positional deviation amount becomes short. In the following, control for controlling the traveling device 5 so that the amount of positional deviation between the position of the aircraft and the planned travel route is shortened will be referred to as "automatic operation control."

The automatic operation control is started (performed, executed) on the condition that an instruction operation is performed on the remote controller 21, and can be stopped by an instruction operation on the remote controller 21. Note that when the traveling device is composed of wheels, tie rods, pinion gears, rack gears, etc., the main controller changes the direction of the wheels using a steering motor or the like in automatic driving control.

Moreover, the crop harvester 10 can also run based on manual operation by an operator, as will be described in detail later. The planned travel route used for automatic driving is calculated and set by the main controller 11 from field shape information acquired by so-called teaching in manual driving, or it can also be downloaded from a server and set. The main controller 11 corresponds to the "control unit" of the present invention, and the remote controller 21 corresponds to the "remote terminal" of the present invention.

The harvesting device 7 is a general-purpose harvesting device that includes a central harvesting section 7a for harvesting elongated root vegetables such as carrots and burdock, and an outer harvesting section 7b for harvesting head vegetables such as cabbage. The central harvesting section 7a and the outer harvesting section 7b each rotate and drive a pair of left and right endless belts, so that the crops in the field are held between the pair of belts and pulled rearward and upward for harvesting and transportation. It is configured. Each of the pair of endless belts is wound around a pulley that is rotated by power transmitted from the transmission mechanism 9 through a drive shaft, a universal joint, etc., and is driven to rotate as the pulley rotates.

The crops harvested by the central harvesting section 7a are cut into leaves by a foliage cutting section 15 driven by power transmitted from the transmission mechanism 9, and mud is removed by a cleaner section (not shown). Thereafter, the first conveyor 17 transports and stores the container into a flexible container bag 18 attached to the upper part of the storage container 13. The first conveyor 17 is provided at the base 16b of the crane device 16, which is located approximately in the center of the machine body in the width direction (horizontal direction).

The crops harvested by the outer harvesting section 7b are transported and supplied into a flexible container bag 18 attached to the upper part of the storage container 13 by a pair of second conveyors arranged on the left and right sides of the stem and leaf cutting section 15, respectively. The second conveyor is omitted in the drawing to clearly show the HST 14, electric motor 8, etc.

The crane device 16 includes a base 16b fixed to the floor member 6, a first rotation cylinder 16g attached to a fixed frame (not shown) having one end attached to the base 16b and the other end extending from the harvesting device 16, and the base. A first arm 16c rotatably attached to the upper part of the arm 16b, a second arm 16d rotatably attached to the front end of the first arm 16c, and a second arm 16d that changes the rotation angle of the second arm 16d. It includes a two-turn cylinder 16e and a pair of hanger arms 16a connected to the rear end of the second arm 16d and to which an object to be lifted is attached.

The base portion 16b is rotated by expansion and contraction of the first rotation cylinder 16g. The first arm 16c is rotated around the upper part of the base 16b by expansion and contraction of a cylinder (not shown). The rear end of the second rotation cylinder 16e is fixed to a second arm 16d, and the second arm 16d is rotated by expansion and contraction of the second rotation cylinder 16e. By changing the rotation angles of the base 16b, the first arm 16c, and the second arm 16d, objects to be lifted such as the storage container 13 and each of the batteries 1 to 3 can be moved back and forth and up and down. Using the device 16, objects to be lifted at the rear of the machine body can be loaded onto the rear part of the floor member 6, and objects to be lifted located at the rear part of the floor member 6 can be unloaded to the rear of the machine body.

Each cylinder is expanded and contracted based on the operation of the remote controller 21, and also when a control section 32, which will be described in detail later, is operated. Note that the base of the crane device 16 may be configured to be rotatable around the vertical axis, and in this case, the first and second batteries 1, which are arranged on the outer floor member 6 in the width direction of the aircraft body, It becomes possible to easily load and unload the first and second batteries 1, 2, etc., without extending a chain hook or the like from the pair of hanger arms 16a to the second battery.

The crop harvester 10 includes first to third batteries 1 to 3 as power mechanisms, an inverter 19 that adjusts the rotation speed of the electric motor 8, and the first to third batteries 1 as a power supply source to the electric motor 8. - 3, a BMS (Battery Management System) 12 that transmits a control signal to the power switching device 20 and switches the battery that supplies power to the electric motor 8; An energization switching device 23 that switches the energization state from the third battery 3 to the first or second batteries 1, 2 is provided. This BMS 12 corresponds to the "battery management section" of the present invention, and has the function of managing one of the plurality of batteries 1, 2, and 3 to be used as a power source.

As shown in FIG. 1, the pair of first batteries 1 and the pair of second batteries 2 arranged behind them are placed on the outer part of the body width of the floor member 6, and the first conveyor 17, Located on both the left and right sides of the second conveyor and cleaner section. Therefore, it can also serve as a safety guard for the conveyor and cleaner section.

The third battery 3 is sandwiched from the left and right between a pair of first batteries 1 and a pair of second batteries 2, with the third battery 3 being attached to the lower part of each of the plurality of storage containers 13 in which harvested crops are stored in the upper part. It is placed in a crop placement area A on the floor member 6 (in other words, surrounded by the batteries 1 and 2 on the left and right). That is, the third battery 3 is arranged, together with the storage container 13, at approximately the center in the width direction of the aircraft body. Up to three storage containers 13 are placed in the crop placement area A.

The first to third batteries 1 to 3 each have a current-carrying connector (electrode) 1a, 2a, or 3a for discharging, and are physically and electrically connected to the current-carrying connectors 24a to 24c on the aircraft side (Fig. 4 reference). Each battery 1 to 3 is provided with a voltage device as a remaining amount detection means for detecting the remaining amount (voltage value), and the remaining amount information of each battery 1 to 3 detected by the voltage device is output to the BMS 12. Ru. Information on the remaining amount outputted to the BMS 12 is transmitted to the remote controller 21 through the main controller 11, and the remaining amount is displayed on the screen of the remote controller 21.

The inverter 19 controls the connection/disconnection of the power supplied from the battery and the adjustment of the rotational speed of the electric motor 8 by increasing/decreasing the frequency of the power supplied to the electric motor 8 based on the control signal output from the main controller 11. conduct. When driving at least one of the traveling device 5 and the harvesting device 7, a control signal is output from the main controller 11 to the inverter 19. Electric power supplied from any of the batteries 1 to 3 is sent to the electric motor 8 via the inverter 19.

The power supply switching device 20 is configured to be able to switch on/off three switches 20a, 20b, and 20c that connect/disconnect power supply from each battery 1 to 3 to the electric motor 8 based on a control signal from the BMS 12.

When supplying the electric power stored in the first battery 1 to the electric motor 8, the power supply switching device 20 turns on only the switch 20a and turns off the other two switches 20b and 20c. When supplying the electric motor 8 with the electric power stored in the second battery 2, the power supply switching device 20 turns on only the switch 20b and turns off the other two switches 20a and 20c. Further, when supplying the electric power stored in the third battery 3 to the electric motor 8, the power supply switching device 20 turns on only the switch 20c and turns off the other two switches 20a and 20b.

With the three switches 20a, 20b, and 20c turned on and off as shown above, the electric motor 8 is driven at a rotation speed corresponding to the frequency of the power supplied from the battery 1, 2, or 3 via the inverter 19. be done.

The BMS 12 is configured to switch the power source of the electric motor 8 between the first to third batteries 1 to 3 in the following priority order when the electric motor 8 is driven.

First, when the third battery 3 is connected to the energized connector 24c on the aircraft side, and the remaining capacity of the third battery 3 is in a high remaining capacity state exceeding the threshold value (in other words, not in a low remaining capacity state). , BMS 12 uses the third battery 3.

In addition, when the remaining amount of the third battery 3 is in a low remaining amount state that is less than the threshold value, or when the third battery 3 is not connected to the energizing connector 24c on the aircraft side, and at least one of the left and right second batteries When one of the batteries is in a high remaining capacity state (in other words, not in a low remaining capacity state) in which the remaining capacity exceeds the threshold value, the BMS 12 uses the second battery 2 . Note that, in this case, the second battery 2 with a higher remaining capacity among the left and right second batteries 2 may be configured to be used preferentially.

Further, when both the second and third batteries 2 and 3 are in a low remaining capacity state or are not connected to the power supply connectors 24b and 24c on the aircraft body side, the BMS 12 uses the first battery 1. Note that, in this case, the first battery 1 with a higher remaining capacity among the left and right first batteries 1 may be configured to be used preferentially.

In this way, the BMS 12 is configured to use each battery in the priority order of 3rd battery 3 → 2nd battery 2 → 1st battery 1, and the 1st battery 1 is used when the other batteries 2 and 3 are exhausted. It is used in emergencies such as when something goes wrong. As shown in FIG. 11, a safety cover 33 is attached to the outside of the first and second batteries 1 and 2 in the width direction of the aircraft body to protect the first and second batteries 1 and 2. In order to clearly show other members of the crop harvester 10 in the drawings, the safety cover 33 is omitted in FIG. 1 and the like. That is, the first and second batteries 1 and 2 are covered with a safety cover 33 on the outside in the width direction of the aircraft body, thereby making the first and second batteries 1 and 2 dustproof and drip-proof. can.

FIG. 5(a) is a schematic perspective view of the vicinity of the third battery 3, showing the state attached to the storage container 13, and FIG. 5(b) is a schematic perspective view showing the third battery 3 alone. It is.

Further, FIG. 6 is a schematic perspective view of the crop harvester 10 showing how the third battery 3 is loaded into the machine body, and FIG. 6 shows a state in which the first and second batteries 1 and 2 are removed. ing.

The storage container 13 includes a crop storage section 13a that stores a flexible container bag 18 that stores crops, a battery storage section 13b that stores the third battery 3, and a partition plate 13c that partitions the crop storage section 13a and the battery storage section 13b. ing.

A pair of front and rear claws 3b are provided on the left and right side surfaces of each third battery 3, respectively, for hooking onto the partition plate 13c and fixing the third battery 3 to the storage container 13. Each claw portion 3b is constituted by a plate spring, and the third battery 3 is removably hooked onto the partition plate 13c of the storage container 13 by these claw portions 3b, and is housed in the battery storage portion 13b. The bottom of the third battery 3 attached to the storage container 13 is located above the bottom of the storage container 13 and does not touch the ground, so it is not easily damaged. In the following, the storage container 13 to which the flexible container bag 18 is attached to the upper part and the third battery 3 to the lower part will be described as a "third battery unit" 30.

Each third battery 3 has a discharge current-carrying connector 3a connected to a current-carrying connector 24c of the aircraft body, a pair of left and right fork through-holes 3c formed in the casing of the third battery 3, and a third battery 3. It is equipped with a wireless charging section 3d for charging.

When the third battery 3 is attached to the storage container 13 and the storage container 13 is placed on the floor member 6, the current-carrying connector 3a is positioned at the same height as the current-carrying connector 24c on the fuselage side. It is located. Therefore, when connecting any one of the third batteries 3 to the power-carrying connector 24c on the aircraft side shown in FIG. By sliding it forward, the energizing connector 3a of the third battery 3 can be connected to the energizing connector 24c. The current-carrying connectors 3a are disposed on both the front and rear sides of the third battery 3, and the orientation of the third battery 3 does not matter.

The pair of fork through holes 3c are configured to have a size that allows insertion of so-called forklift claws. Therefore, by inserting the claw of a forklift (not shown), the third battery or the third battery unit 30 can be transported by the forklift.

Here, as shown in FIG. 5, a fork hole electrode portion 3c1 for charging is provided on the left and right side surfaces of each fork through hole 3c. Therefore, in the forklift, while the pair of claws provided with current-carrying electrodes are inserted into the fork through hole 3c, the electrodes of the pair of claws come into contact with the fork hole electrode portion 3c1, and the 3 Current flows through battery 3. Therefore, the third battery 3 that is being transported by a forklift can be charged. In addition, by arranging the fork hole electrode portion 3c1 on the side surface extending vertically (perpendicular to the bottom surface of the third battery 3) of the fork through hole 3c, mud, dust, etc. can be prevented from entering the fork hole electrode portion 3c1. It is possible to suppress adhesion and accumulation.

In this embodiment, when each of the batteries 1 to 3 is in a low remaining capacity state, the main controller 11 is configured to transmit information to that effect to the remote controller 21. Upon receiving the information indicating that the battery has entered the low remaining capacity state, the remote controller 21 displays information on which battery has entered the low remaining capacity state on its screen.

Therefore, when the voltage of the third battery 3 connected to the current-carrying connector 24c decreases and the remaining battery level is low, the operator can use the remote controller 21 to determine whether the third battery 3 is connected to the harvesting container to which the third battery 3 is attached. 13 is unloaded rearward from the rear of the fuselage by the crane device 16, and the other third battery unit 30 is slid forward to connect the third battery 3 to the current-carrying connector 24c.

The third battery 3 has a capacity that can store enough power to harvest approximately one full flexible container bag 18 of crops, so when the third battery 3 is in a low remaining capacity state, the upper The flexible container bag 18 is almost full of crops.

FIG. 7 is a schematic perspective view showing how the third battery unit 30 is transferred to the truck 25, and FIG. 8 is a schematic rear view showing how the third battery 3 is charged on the bed of the truck 25.

When the third battery 3 connected to the energizing connector 24c enters a low remaining capacity state, the main controller 11 recognizes that the flexible container bag 18 above the third battery 3 is almost full with crops. Stop harvesting operations. Thereafter, the main controller 11 automatically drives the harvester to a position behind the truck 25, as shown in FIG. Move 10. The truck 25 is provided with a GNSS receiver (not shown), and the position information of the truck 25 acquired by the GNSS receiver is transmitted to the main controller 11 by wireless communication. Upon receiving the position information of the truck 25, the main controller 11 calculates a planned travel route that connects the position of the vehicle itself and a position a predetermined distance behind the truck 25. Thereafter, the traveling device 5 starts traveling, and the traveling device 5 is controlled so that the separation distance between the calculated planned traveling route and the position of the aircraft is shortened, so that the trucks 25 waiting around the field are The harvester 10 is moved to a rear position.

As shown in FIG. 7, when the crop harvester 10 moves to a position behind the truck 25, the third battery unit 30 is moved to the loading platform 25a of the truck 25 by the crane device 16 based on the operator's operation.

The truck 25 has a large number of rollers 25b freely rotatably arranged on the outer part in the width direction of the loading platform 25a, a charging space 25c provided between the left and right rollers 25b, and a charging space 25c arranged below the charging space 25c. It includes a plurality of wireless chargers 25d and a battery 25e as a power source for the truck 25. The truck 25 is configured as a hybrid car driven by a motor generator and an engine (not shown), and the motor generator receives power output from the engine and performs regenerative drive to generate electricity. Electric power generated by the motor generator is stored in battery 25e.

When the third battery unit 30 is moved to the loading platform 25a, the third battery unit 30 is slid by the worker to the rear side (towards the seat of the truck 25) to a position above any wireless charger 25d. At this time, since the lower surface of the storage container 13 is in contact with the left and right rollers 25b, the third battery unit 30 can be slid with a light force. Next, the left and right claws 3b are pulled to release the engagement, and the third battery 3 is removed downward from the storage container 13. As a result, as shown in FIG. 8, the third battery 3 is placed on the left and right rollers 25b, and the wireless charging section 3d of the third battery 3 is located in the charging space 25c.

A power transmitting coil is provided inside each wireless charger 25d, and a power receiving coil is provided inside the wireless charging unit 3d, and a magnetic field is generated near the power transmitting coil due to the charge stored in the battery 25e. It is occurring. Therefore, when the wireless charging section 3d is located within the charging space 25c, an induced current is generated by the magnetic field of the wireless charger 25d located below, and the third battery 3 is charged. That is, the electric power generated by the motor generator of the truck 25 is supplied to the third battery 3 via the battery 25e.

In this way, while the third battery 3 is placed on the loading platform 25 and being charged, the accommodation container 13 to which the flexible container bag 18 is attached is transported by the truck 25 to the vicinity of a barn or the like. Then, the storage container 13 containing the crops is unloaded from the loading platform 25 by a forklift, and is transported to a barn or the like by the forklift. At this time, the upper surfaces of the pair of claws of the forklift come into contact with the lower surface of the partition plate 13c, and the forklift is transported while supporting the partition plate 13c from below. Thereafter, the flexible container bag 18 is removed from the storage container 13 and the crops are placed in a barn or the like, and a new empty flexible container bag 18 is attached to the storage container 13 and placed on the loading platform 25a of the truck 25. Then, the storage container 13 is returned onto the floor member 6 by the crane device 16 with another charged third battery 3 attached thereto.

In this way, the third battery 3 used for crop harvesting can be charged by the truck 25 that transports the crops, so that the third battery 3 used for crop harvesting can be charged by the truck 25 that transports the crops. 3 Battery 3 can be charged.

Furthermore, while the truck 25 travels between the field and the vicinity of the barn, power is generated by the motor generator and stored in the battery 25e.

Each wireless charger 25d can be removed from the truck 25 by sliding left and right, and each wireless charger 25d is transported to a barn or the like, and the third battery 3 is connected to the barn using a household power source instead of the battery 25e. You can also charge it with etc. In addition, it is also possible to charge the third battery 3 in a barn or the like using a forklift equipped with electrodes or a dedicated charger through the fork hole electrode portions 3c1 of the pair of fork through holes 3c of the third battery 3 (see FIG. 4).

Furthermore, when the third battery 3 is in a low remaining capacity state, it is moved by the crane device 16 to the loading platform of the truck 25, and after being unloaded from the aircraft, the third battery 3 is transported while being charged by a forklift. It is also possible. Further, the third battery unit 30 can be unloaded onto the ground by the crane device 16 and then transferred to the loading platform of the truck 25 by a forklift. Furthermore, the truck 25 can be provided with a separate crane device, and the third battery unit 30 on the floor member 6 or unloaded onto the ground can be loaded onto the loading platform of the truck 25 using this crane device. In addition, a forklift for lifting and lowering is separately attached to the truck 25, and electrodes are provided on the claws of this forklift, and the third battery 3 is connected from the fork hole electrode portion 3c1 until the third battery unit 30 is lifted onto the loading platform of the truck 25. It may be configured so that power can be supplied to the

On the other hand, FIG. 9 is a schematic perspective view showing the second battery 2. As shown in FIG.

The second battery 2 has a current-carrying connector 2a connected to a current-carrying connector 24b of the aircraft body, a pair of fork through-holes 2b formed in the case similarly to the third battery 3, and a lifting hole arranged at the top. It is equipped with a metal ring 2c. A chain hook provided on the hanger arm 16a of the crane device 16 is hooked onto this ring 2c, and the second battery 2 is loaded from the rear of the aircraft to the rear by the crane device 16. unloaded.

Here, each ring 2c is configured as an electrode for charging the second battery 2. Therefore, by providing a power feeding electrode on the hook of another crane vehicle, the second battery 2 can be charged while the hook is hooked onto the ring 2c and suspended.

Further, the pair of fork through-holes 2b, like the fork through-holes 3c of the third battery 3, are configured to have a size that allows insertion of a forklift claw, so that the second battery 2 can be transported by a forklift. can.

In addition, charging fork hole electrode portions 2b1 are provided on the left and right side surfaces of each fork through hole 2b, similar to the fork through hole 3c of the third battery 3. For this reason, in the forklift, while a pair of claws provided with current-carrying electrodes are inserted into the fork hole electrode portion 2b1, current is passed from the forklift to the second battery 2, and the second battery 2 being transported is It can be charged (see Figure 4). In addition, it is also possible to charge the second battery 2 in a barn or the like using a dedicated charger through the fork hole electrode portions 2b1 of the pair of fork through holes 2b of the second battery 2 (see FIG. 4). In this way, by arranging the fork hole electrode portion 2b1 on the side surface extending vertically (perpendicular to the bottom surface of the second battery 2) of the fork through hole 2b, mud, dust, etc. can adhere to and accumulate on the fork hole electrode portion 2b1. You can prevent yourself from doing it.

The first battery 1 shown in FIG. 2 etc. is arranged at a position slightly forward of the center of the floor member 6 in the longitudinal direction, and the internal capacity of the first battery 1 is higher than that of the second and third batteries 2 and 3. It is large in size and heavy in weight. Therefore, even if the storage container 13 containing crops is placed at the rear of the aircraft, the weight of the aircraft can be balanced by the first battery 1.

On the other hand, each of the batteries 1 to 3 is provided with a connection connector (not shown) in addition to the current-carrying connector 1a, 2a, or 3a. With the third energizing cable 28c shown in FIG. 4 connected to the connector of the third battery 3 and the second energizing cable 28b connected to the connector of the second battery 2, the remote controller When a charging instruction operation is performed, the current is sent from the third battery 3 to the transformer 27b by the energization switching device 23 based on the control signal of the BMS 12, and after being boosted by the transformer 27b, the current is transferred to the second battery 2. is supplied and charged.

In addition, with the third energizing cable 28c connected to the connector of the third battery 3 and the first energizing cable 28a connected to the connector of the first battery 1, the first battery 1 is charged by the remote controller 21. When the instruction operation is performed, the current is sent from the third battery 3 to the transformer 27a by the energization switching device 23 based on the control signal of the BMS 12, and after being boosted by the transformer 27a, the current is supplied to the first battery 1. is charged.

Therefore, the operator can charge the first or second battery 1 or 2 by supplying power from the third battery 3 to the first or second battery 1 or 2 during non-operation when harvesting work is not being performed.

Note that it is not necessarily necessary to boost the current from the third battery 3 using the transformers 27a and 27b, but by configuring the potential of the third battery 3 to be higher than that of the first and second batteries 1 and 2, There is no need to boost the voltage during charging using the energization switching device 23. In addition, by configuring the potential of the third battery 3 to be higher than that of the first and second batteries 1 and 2, the direction of current flow at the initial stage of charging can be easily determined, and malfunction of the BMS 12 can be prevented. It can extend the lifespan. In this case, when power is supplied from the third battery 3 to the electric motor 8 through the power supply switching device 20, the voltage of the current flowing from the third battery 3 is lowered before power is supplied to the electric motor 8. I can do it.

In addition, in order to supply power from the third battery 3 to the first and second batteries 1 and 2, it is not necessarily necessary to use the energizing cables 28a to 28c. For example, when a charging instruction operation is performed with the remote controller 21, power is supplied from the third battery 3 to the first or second batteries 1, 2 through the energizing connectors 24a to 24c and the power switching device 20. Good too. Further, the configuration may be such that power is supplied from the third battery 3 to the second battery 2 through the crane device 16 and the ring 2c.

FIG. 10 is a schematic perspective view of the crop harvester 10 showing a state where a seat for a worker to sit is provided.

In this embodiment, the first battery 1 on the right side is lowered out of the machine by the crane device 16, and the seat 31 on which the worker sits is placed on the floor member 6 where the first battery 1 on the right side was originally placed. , is configured such that a control section 32 for controlling the aircraft can be placed thereon. Therefore, the operator can harvest crops while traveling the crop harvesting machine 10 by manual operation using the control section 32 while sitting on the seat 31. An operation on the control unit 32 is converted into an electrical operation signal. This operation signal may be input to the main controller 11 through a connector, cable, etc., or may be input to the main controller 11 from the control unit 32 via wireless communication. Note that the seat 31 is embedded in the floor member 6 where the first battery 1 on the right side was originally placed, and the worker takes out the seat 31 and assembles it after lowering the first battery 1. Can be seated. The seat 31 is located to the right of the first conveyor 17 shown in FIG. Can perform sorting work.
<Technical significance of this embodiment>
According to the present embodiment shown in FIGS. 1 to 11, the crop placement area A is disposed approximately at the center in the width direction of the machine body, and the second battery 2, which is used preferentially, is located at the center of the machine body in the width direction. The second battery 2, which is located at the rear and behind the first battery 1, is charged more frequently than the first battery 1, so it can be smoothly moved from the rear of the aircraft using the crane device 16. Moreover, it can be easily loaded and unloaded.

Furthermore, according to the present embodiment, the second battery 2 can be loaded and unloaded using the crane device 16, so that a large battery can be mounted as the second battery 2.

Further, according to the present embodiment, since the BMS 12 is configured to preferentially use the second battery 2 that is easy to load and unload, the remaining capacity of the first battery 1 can be maintained, and therefore the second battery 2 Even when the capacity of the first battery 1 is insufficient, the harvesting work can be continued with the power supplied from the first battery 1, and interruption of the harvesting work due to insufficient remaining battery power can be prevented.

Furthermore, according to the present embodiment, the third battery 3 as a power source is configured to be housed in the lower part of the storage container 13 that stores crops, so it is prioritized as a power source together with the storage container 13. The high third battery 3 can be loaded and unloaded from the aircraft, which is highly convenient.

Further, according to the present embodiment, the energizing connector 3a for discharging the third battery 3 is located at a high level with the energizing connector 24c on the aircraft side when the third battery 3 is accommodated in the battery accommodating portion 13b of the accommodation container 13. Since they are arranged at the same position, the electrical discharge connector 3a can be easily connected to the electrical connector 24c on the aircraft body by simply sliding the storage container 13 on the aircraft body.

In addition, according to the present embodiment, the BMS 12 is configured to use the third battery 3 as a power source for the electric motor 8 in preference to the first battery 1 and the second battery 2. It is possible to further prevent interruption of harvesting work due to insufficient quantity.

Furthermore, according to the present embodiment, the third battery 3 can be wirelessly charged on the loading platform 25a of the truck 25 that transports the harvested crops, so the time for transporting the crops and the waiting time near the field or barn can be utilized. This allows the third battery 3 to be charged, resulting in very high work efficiency.

Furthermore, according to the present embodiment, since the third battery 3 has the fork through hole 3c in the housing into which the forklift claw is inserted, the forklift can be used after the third battery 3 is lowered from the aircraft. It can be easily transported.

In addition, since the fork hole electrode portion 3c1, which is a charging electrode portion, is provided in the fork through hole 3c, the fork hole electrode portion 3c1, which is a charging electrode portion, is provided, so that the fork hole electrode portion 3c1, which is a charging electrode portion, is provided. , the third battery can be charged from the fork hole electrode portion 3c1.

Further, according to the present embodiment, the crop harvesting machine 10 is configured to be able to travel automatically in the field based on the automatic operation control of the main controller 11, and the remaining capacity of each battery 1 to 3 is determined by the remote controller 21. Since it is displayed on the screen, when the battery becomes low during harvesting work by automatic operation, the operator can understand it on the screen of the remote controller 21 and remove batteries 1 to 3 from the machine. You can take actions such as loading and unloading.

In addition, according to the present embodiment, the crop placement area A in which the storage container 13 is placed is arranged approximately at the center in the width direction of the machine body (see FIG. 2), and the first and second batteries 1 and 2 Since it is arranged outside the crop loading area A in the width direction of the machine body, when the storage container 13 full of crops is unloaded by the crane device 16, the first and second batteries 1 and 2 is not a hindrance.

The present invention is not limited to the embodiments described above, and various modifications can be made within the scope of the invention described in the claims, and these are also included within the scope of the present invention. Needless to say.

For example, in the embodiment shown in FIGS. 1 to 11, the third battery 3 is configured to be charged from the wireless charging section 3d and the fork hole electrode section 3c1, but in addition to these, the third battery 3 is It may be configured such that it can be charged from the current-carrying connector 3a using a device. In this case, the current-carrying connector 3a becomes a chargeable/dischargeable connector.

Furthermore, in the embodiment, the third battery 3 is configured to be able to charge the first and second batteries 1 and 2, but the first battery 1 may be configured to be able to be charged to the second battery 2. In this case, charging becomes possible by boosting the current taken out from the first battery 1 using a transformer and flowing it to the second battery 2.

Further, in the embodiment, the crop harvesting machine 10 is equipped with the first to third batteries 1 to 3, but it is not necessarily necessary that the crop harvesting machine is equipped with the third battery 3. It may be configured such that only two batteries 1 and 2 are used, and the second battery 2 is used in preference to the first battery 1.

In addition, in the embodiment, the crop harvester 10 is an electric harvester capable of performing harvesting work while driving the electric motor 8 using electric power supplied from the first to third batteries 1 to 3. Although it is configured as a machine, a separate engine may be provided and a hybrid configuration using an electric motor and the engine may be used.

1 First battery 2 Second battery 3 Third battery 4 Main frame 5 Travel device 6 Floor member 7 Harvesting device 8 Electric motor 9 Transmission mechanism 10 Crop harvester 11 Main controller 12 BMS
13 Storage container 14 HST
15 Leaf cutting section 16 Crane device 17 First conveyor 18 Flexible container bag 19 Inverter 20 Power switching device 21 Remote controller 23 Energization switching device 24 Aircraft side energization connector 25 Truck 26 GNSS receiver 27 Transformer 28 Energization cable 30 Third battery unit 31 Seat 32 Control section 33 Safety cover

Claims (5)

A crop harvesting machine for harvesting crops in a field,
An electric motor as a power source for the aircraft,
a plurality of batteries that are power sources that supply power to the electric motor;
a traveling device and a harvesting device driven by the electric motor;
a crane device for unloading crops harvested by the harvesting device;
and a battery management unit that switches the power source of the electric motor,
The plurality of batteries include a first battery and a second battery,
A crop placement area in which a storage container for storing harvested crops is placed is arranged approximately at the center in the width direction of the machine body, and the first battery and the second battery are connected to the crops in the width direction of the machine body. placed outside the mounting area,
The second battery is located at the rear of the aircraft body and rearward of the first battery, and is configured to be able to be loaded and unloaded from the rear of the aircraft body by the crane device,
The battery management unit manages one of the plurality of batteries to be used as a power source, and uses the second battery as a power source for the electric motor in preference to the first battery, and Crop harvesting characterized by being configured to switch the electric power source of the electric motor from the second battery to the first battery when the remaining capacity of the second battery is in a low remaining capacity state that is below a threshold value. Machine. The plurality of batteries further include a third battery,
The storage container includes a crop storage section in the upper part for storing harvested crops, and a battery storage part in the lower part for storing the third battery,
The third battery includes a current-carrying connector for discharging that is connected to a current-carrying connector on the fuselage side, and the third battery includes a current-carrying connector for discharging that is connected to a current-carrying connector for discharging when the storage container is loaded on the aircraft body and the third battery is connected to a current-carrying connector on the aircraft body side. When the third battery is housed, the height position is the same as that of the current-carrying connector on the aircraft body side, and the third battery is configured to be connected to the current-carrying connector on the aircraft body side to supply power to the electric motor;
The battery management unit uses the third battery as a power source for the electric motor with priority over the first battery and the second battery, and maintains a low remaining capacity state in which the remaining capacity of the third battery is below a threshold value. 2. The crop harvesting machine according to claim 1, wherein the power source of the electric motor is switched from the third battery to the second battery when the above occurs. The third battery is provided with a wireless charging section having a power receiving coil at the bottom, and is detachably attached to the lower part of the storage container,
3. The crop harvesting machine according to claim 2, wherein the third battery is configured to be wirelessly chargeable on the loading platform of a truck that transports harvested crops and has a wireless charger that includes a power transmission coil. . 3. The third battery is characterized in that the housing is provided with a fork through hole into which a forklift claw is inserted, and a charging electrode portion is provided on a side surface of the fork through hole. 3. The crop harvesting machine according to 3. a control unit that controls the traveling device;
a remote terminal capable of wireless communication with the control unit;
A GNSS receiver that acquires position information of the aircraft,
Remaining amount detection means for detecting the remaining amount of each of the plurality of batteries,
The control unit calculates a departure distance between the position of the aircraft acquired by the GNSS receiver and a planned travel route set in advance in a field, and controls the traveling device so that the departure distance is shortened. It is configured to be able to execute automatic driving control,
The automatic operation control is executed on the condition that an instruction operation is performed on the remote terminal,
5. Remaining power information indicating the remaining power of the plurality of batteries detected by the remaining power detecting means is transmitted to the remote terminal and displayed on the screen of the remote terminal. The crop harvesting machine according to any one of the items.