JP7117930B2 - harvester - Google Patents

Description

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

The conveying device of the harvester continuously conveys the crops harvested by the harvesting section. there is a risk of receiving In order to avoid this inconvenience, the harvester disclosed in Patent Document 1 is provided with a detection sensor ("conveyor load detection means" in the document) for detecting the load of the conveying device ("FH conveyor" in the document). When the detected value of the sensor reaches or exceeds a predetermined upper limit value, the conveying device is stopped and the harvesting operation is interrupted.

Japanese Patent Application Laid-Open No. 2014-183800

Since the conveying device of the harvester disclosed in Patent Literature 1 conveys all the culms of the harvested material to the rear of the machine body, the load may be unevenly applied to the conveying device depending on the length of the culms of the harvested material. The detection sensor of the harvester disclosed in Patent Document 1 is configured to detect the load of the conveying device. Therefore, if the harvested material applies an uneven load to the conveying device, the conveying device may stop due to an erroneous detection even if the conveying device is in a normal driving state, which may make the harvesting work troublesome. There is

SUMMARY OF THE INVENTION In view of the circumstances described above, it is an object of the present invention to provide a harvesting machine capable of accurately determining clogging of harvested material in a conveying device without erroneous detection, and appropriately handling clogging when it occurs. .

A harvesting machine according to the present invention is a harvesting machine capable of automatically traveling in a field, and includes a harvesting section for harvesting crops in the field and a conveying device for conveying all the culms of the crop harvested by the harvesting section to the rear of the machine body. a detection sensor that detects the driving speed of the conveying device; a clogging determination unit that determines whether the harvested material is jammed in the conveying device based on the driving speed ; and a manual driving mode for executing manual driving, and the clogging determination unit determines whether the driving speed is increased during the automatic driving when the driving mode is the automatic driving mode. When the driving speed is lower than a preset first threshold value, a stop command for stopping the aircraft is output , and when the drive speed is lower than the first threshold value when the driving mode is the manual driving mode, the stop command is output. It is characterized by not outputting .

According to the invention, the jamming of the harvested material in the conveying device is determined based on the actual driving speed of the conveying device. For this reason, even if the load is applied unevenly to the conveying device due to the harvest, the harvest is normally conveyed rearward as long as the driving speed of the conveying device does not decrease, preventing the conveying device from stopping due to erroneous detection. less likely to occur. As a result, it is possible to realize a harvesting machine that can accurately determine clogging of the harvested material in the conveying device without erroneous detection, and can perform appropriate processing when clogging occurs.
In addition, if the machine stops each time it is determined that the harvested material is clogged, the driver may feel annoyed. According to this configuration, when it is determined that the harvested material is clogged in the manual traveling mode, the stop command is not output, so that the driver can continue to operate the harvester.

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

Even if the harvested material is entangled in the conveying device or clogging occurs due to a large amount of harvested material flowing into the conveying device, the tangling of the harvested matter can be resolved by reducing the amount of harvested material input to the conveying device. The gradual conveying of the harvest may clear the jam of the harvest. With this configuration, the vehicle speed can be reduced step by step by outputting a vehicle speed reduction command, so the amount of harvested material input to the conveying device decreases due to the decrease in vehicle speed, and clogging of the harvested material is efficiently resolved. be done.

The present invention is a harvesting machine capable of automatically traveling in a field, comprising: a harvesting section for harvesting crops in the field; a conveying device for conveying all the culms of the crop harvested by the harvesting section to the rear of the machine body; a detection sensor that detects the driving speed of the conveying device; a clogging determination unit that determines whether the harvested material is jammed in the conveying device based on the driving speed; and a running mode management unit that can be switched between a manual running mode and a running mode management unit that executes It is preferable that a stop command to stop the vehicle is output, and the running mode management unit switches the running mode to the manual running mode when the clogging determination unit outputs the stop command.

If the harvested material is clogged during automatic travel, it becomes impossible to continuously transport the harvested material by the conveying device, making it impossible to continue automatic travel. With this configuration, the automatic traveling mode is canceled when it is determined that the crop is clogged, so the automatic traveling is preferably interrupted. Note that 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 preparation for manual operation. Manual operation of the harvester may not be permitted in the abnormal state or the preparation state mode.

In the present invention, a notification unit capable of reporting a decrease in the driving speed is provided , and the clogging determination unit detects that the driving speed is lower than the first threshold when the driving mode is the automatic driving mode , outputting a notification command to the notification unit to notify the reduction in the driving speed, and when the driving speed becomes lower than the first threshold value when the driving mode is the manual driving mode, the notification is performed; It is preferable to output the notification command to the unit.

According to this configuration, since the notification command is output to the notification unit in the manual driving mode, the driver recognizes the clogging of the crops and then manually removes the clogging of the crops. measures can be taken.

It is a right view of a combine. It is a top view of a combine. It is a power transmission diagram which shows the power transmission system of a combine. It is a vertical rear view showing a torque limiter and a rotation speed detection sensor provided in the auger. Fig. 2 is a right side view of the carrier showing the endless chain for driving the carrier; It is a functional block diagram which shows the control system of a combine. FIG. 4 is a graph showing the relationship between the drive of the conveying device and the vehicle speed of the vehicle body; FIG. 10 is a flow chart showing the flow of processing of a vehicle speed reduction command, a vehicle stop command, and a notification command of a clogging determination unit; It is a schematic diagram which shows power transmission from an engine to a conveying apparatus, an auger, a reel, etc. FIG.

A mode for carrying out the present invention will be described based on the drawings. In the following description, unless otherwise specified, the direction of arrow F shown in FIGS. 1 and 2 is "forward" and the direction of arrow B is "back." "Front" means forward with respect to the longitudinal direction (running direction) of the aircraft, and "rear" means rearward with respect to the longitudinal direction (running direction) of the aircraft. The direction of arrow U shown in FIG. 1 is defined as "up", and the direction of arrow D is defined as "down". "Upper" or "lower" refers to the positional relationship in the vertical direction (vertical direction) of the fuselage and indicates the relationship at ground level. Further, the direction of arrow L shown in FIG. 2 is defined as "left" and the direction of arrow R is defined as "right". The left-right direction is also referred to as the lateral direction, and means a machine transverse direction (body width direction) orthogonal to the machine body front-rear direction.

One specific embodiment of the harvester according to the invention will now be described. FIG. 1 is a side view of an ordinary combine harvester, which is an example of a harvester, and FIG. 2 is a plan view thereof. The combine includes a harvesting section 11 as a harvesting section, a conveying device 12, a cabin 13, a threshing device 14, a grain tank 15, and a grain discharging device 16. The harvesting unit 11 harvests the crops in the field. The harvesting unit 11 includes a cutting device 21 for harvesting planted grain culms as crops in a field, a reel 22, and an auger 3 for laterally feeding the harvested grain culms in the machine width direction. The threshing device 14 is positioned behind the conveying device 12 . Also, the grain tank 15 is located on the right side of the threshing device 14 .

The reaping part 11 is located in front of the vehicle body 1 of the combine harvester, and reaps planted grain culms in a field with a cutting device 21 . The harvested culms are transported to the front of the conveying device 12 in the transverse direction of the machine body by the auger 3 and raked into the conveying device 12 . The conveying device 12 conveys all the culms of harvested grain culms toward the rear of the machine body and feeds them into the threshing device 14 . The threshing device 14 threshes the harvested culms received. Grains obtained by the threshing process are stored in the grain tank 15 . The grains stored in the grain tank 15 are discharged out of the machine by the grain discharging device 16 as required.

This combine is equipped with a crawler-type traveling device 18 . Further, the engine 4 is arranged below the operator's seat 23 arranged in the operator section formed inside the cabin 13 . The travel device 18 is driven by power from the engine 4 . The vehicle body 1 of the combine is supported by the traveling device 18 and can travel.

FIG. 3 shows the power transmission system of the combine. The power of the engine 4 is transmitted to the traveling device 18 and the work device as shown in FIG. The working device includes the reaping unit 11 including the auger 3, the threshing cylinder 14a and the sorting unit 14b in the threshing device 14, 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 output from the transmission 42 to the drive wheels 18a of the left and right travel devices 18. As shown in FIG. In the transmission 42, the power from the engine 4 is input to a hydrostatic continuously variable transmission portion 42a, and the power changed by the hydrostatic continuously variable transmission portion 42a is transmitted through an auxiliary transmission portion (not shown) to a distribution mission. (not shown) and output from the distribution transmission 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 from the bottom screw 15a to the vertical conveyor portion 16b and the horizontal conveyor portion 16a of the grain discharge device 16. be.

The power of the output shaft 4a of the engine 4 is transmitted through the belt transmission mechanism 44 to the rotation support shaft 14d of the winnow 14c in the sorting section 14b, and the rotation support shaft 14d is input to the threshing barrel transmission 46 through the belt transmission mechanism 45. 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 pallet transmission device 46 has a three-stage transmission function of high, medium, and low speed.

A belt transmission mechanism 47b for transmission of forward rotation is provided across the input shaft 46a of the handling cylinder transmission 46 and one end portion of the drive shaft 12a of the conveying device 12. As shown in FIG. A belt transmission mechanism 49 for reverse rotation transmission is provided across the reverse rotation output shaft 48b of the handling cylinder drive case 48 and the other end portion of the drive shaft 12a of the conveying device 12. As shown in FIG. The reverse output shaft 48b is interlocked with the input shaft 48a via a bevel gear mechanism 48c and is driven in the direction of rotation opposite to the direction of rotation of the input shaft 48a.

When the forward rotation transmission belt transmission mechanism 47b is operated to the tight side and switched to the transmission ON state, and the reverse rotation transmission belt transmission mechanism 49 is operated to the slack side and switched to the transmission OFF state, the input shaft 46a Power is transmitted to the drive shaft 12a of the conveying device 12 via the belt transmission mechanism 47b for forward rotation transmission, and the conveying device 12 is driven in the conveying rotation direction. At this time, the conveying device 12 is driven at a constant rotational speed (when the number of revolutions of the engine 4 is constant) regardless of the speed change of the handling cylinder 14a by the handling cylinder speed change device 46. FIG. When the forward rotation transmission belt transmission mechanism 47b is operated to the slack side and switched to the transmission off state, and the reverse rotation transmission belt transmission mechanism 49 is operated to the tight side and switched to the transmission ON state, the handling cylinder transmission The power of the output shaft 46b of 46 is transmitted to the drive shaft 12a of the conveying device 12 via the bevel gear mechanism 48c of the handling cylinder drive case 48, the reverse rotation output shaft 48b, and the belt transmission mechanism 49 for reverse rotation transmission. As a result, the conveying device 12 is driven in a rotating direction opposite to the conveying rotating direction, and the conveying device 12 is reversely conveyed.

The power transmitted to the drive shaft 12a of the conveying device 12 is transmitted to the relay shaft 12b supported on the right back portion of the reaping unit 11 via the relay transmission mechanism 12c. The power transmitted to the relay shaft 12b is transmitted to the auger shaft 30, which is the drive shaft of the auger 3, via the auger power transmission mechanism 50. As shown in FIG. Further, the power transmitted to the intermediate shaft 12b is transmitted to the cutting device 21 via the cutting device power transmission mechanism 21a, and 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 driving sprocket 51, a driven sprocket 52, and an endless rotating chain 53, as shown in FIGS. The drive 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. As shown in FIG. An endless rotary chain 53 for driving the auger is wound around the driving sprocket 51 and the driven sprocket 52 . As the auger shaft 30 rotates, the harvested culms are transferred in the transverse direction of the machine body and delivered to the conveying 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 greater than a set value is applied. The torque limiter 8 has a driven sprocket 52 fitted on the auger shaft 30 of the auger 3 so as to be relatively rotatable. Between the driven sprocket 52 and an interlocking member 80 that rotates integrally with the auger shaft 30, an engaging portion 81 is formed that engages 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, harvested culms being wrapped around the auger 3, and torque exceeding a set value is applied to the auger shaft 30, the driven sprocket 52 is displaced against the biasing force of the spring 82, and engages. The part 81 idles. Thus, the torque limiter 8 has the function of releasing the torque.

The auger rotation speed detection sensor 9 is a magnetic sensor, and detects the rotation speed by magnetically detecting tooth-like projections 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. 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 conveying device 12 . A tension adjusting mechanism 35 and a plurality of auxiliary sprockets 36 are provided between the location where the input sprocket 33 is located and the location where the output sprocket 32 is located. Each of the plurality of auxiliary sprockets 36 engages the endless chain 34 . The tension adjusting mechanism 35 is supported on the right side wall of the conveying device 12 so as to be able to swing up and down while being located on the inner peripheral side of the endless chain 34 in a side view. A free end portion of the tension adjusting mechanism 35 is provided with a sprocket 35A that engages with the endless chain 34 . 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, thereby applying tension to the endless chain 34 . Vibration of the endless chain 34 is suppressed by the auxiliary sprocket 36 engaged with the endless chain 34 from the inner peripheral side and the auxiliary sprocket 36 engaged with the endless chain 34 from the outer peripheral side. As a result, the endless chain 34 is less likely to be stretched by wear or fall off, and the possibility that the number of rotations of the input sprocket 33 is uneven is prevented.

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

The functional block of FIG. 6 shows the control functions of the auger 3 and the conveying device 12 in the control system of this combine. Various signals are input to the control unit 7 via the input signal processing unit 61 . The control unit 7 controls the operating equipment by sending various control signals via the equipment control unit 62 . The operating device includes a shift operation device 65 that adjusts the shift value of the transmission 42 to change the vehicle speed and various devices incorporated in the working device. Signals from the travel operating tool 91 , the working operating 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. A signal from is input.

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

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

A notification device 64 connected to the equipment control unit 62 notifies the driver and the observer of various events occurring in the combine, and is a general term for lamps, buzzers, speakers, displays, and the like.

The control unit 7 includes a travel control section 71 , a work control section 72 , a clogging determination section 73 , a notification control section 74 as a notification section, an engine speed command section 75 and a travel mode management section 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 the drive of the travel device 18 . This control signal is used to adjust the vehicle speed and to steer in the left/right direction (turn in the left/right direction). The driving mode management unit 76 is configured to be able to switch the driving mode of the control unit 7 between an automatic driving mode for executing automatic driving and a manual driving mode for executing manual driving. In the automatic travel mode, the harvesting travel of the combine is automatically traveled along the travel route set in the field.

The work control unit 72 generates a control command to the work device based on the command from the work manipulator 92 and outputs the control command to the work device via the equipment control unit 62 .

The jam determination section 73 has an auger state determination section 73A and a transport state determination section 73B. The auger state determination unit 73A determines whether the auger 3 is abnormally driven based on the detection signal from the auger rotation speed detection sensor 9 . The transport state determination unit 73B determines a driving abnormality of the transport device 12 based on the detection signal from the transport rotation speed detection sensor 37 . In other words, the transport state determination unit 73B of the clogging determination unit 73 determines whether the harvested material is jammed in the transport device 12 based on the driving speed of the transport device 12 .

Abnormal driving of the auger 3 includes mechanical failures such as chain breakage and chain disengagement of the auger power transmission mechanism 50, operation of the torque limiter 8, and grain harvested culms that cannot be properly laterally fed by the auger 3. clogging etc. A mechanical power cut-off failure must be repaired once the job is terminated, while a culm jam may clear spontaneously or by slowing the vehicle. When the harvested culms clog the auger 3, the torque limiter 8 is actuated to reduce the rotation speed of the auger shaft 30 to almost zero or completely zero. Therefore, the auger state determination section 73A can determine clogging in the auger 3 based on the decrease in the rotational speed of the auger shaft 30 .

Since the rotation speed of the auger 3 depends on the engine rotation speed, even if the engine rotation speed is lowered through the operation of the rotation speed setting tool 93, the rotation of the auger 3 does not occur regardless of clogging of harvested grain culms. numbers fall. In order to avoid erroneous determination of clogging caused by 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 this ratio (decrease rate; normalized by the engine rotation speed) A configuration may also be adopted in which clogging in the auger 3 is determined using a threshold value of the reduced auger shaft rotational speed that has been optimized. Alternatively, the rotation speed of the engine 4 may be divided into a plurality of regions, and the auger rotation speed for determining clogging may be set for each region.

Abnormal driving of the conveying device 12 includes mechanical failures such as chain breakage and chain disengagement of the endless chain 34, clogging of harvested grain culms inside the conveying device 12, and the like. A mechanical power cut-off failure must be repaired once the job is terminated, while a culm jam may clear spontaneously or by slowing the vehicle. When harvested culms are clogged inside the conveying device 12, for example, slippage occurs between the forward rotation transmission belt transmission mechanism 47b 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 transport state determination unit 73B can determine clogging in the transport device 12 based on the decrease in the rotational speed of the auxiliary sprocket 36 .

In this embodiment, the rotation speed of the endless chain 34 and the auxiliary sprocket 36 depends on the engine rotation speed. Regardless of clogging, the rotation speed of the endless chain 34 and the auxiliary sprocket 36 decreases. In order to avoid erroneous determination of clogging caused by this, the transport 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 determines this ratio (decrease rate; normalized by the engine rotation speed). The clogging in the conveying device 12 may be determined using the threshold value of the reduced rotational speed of the 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 harvested material is entangled in the conveying device or clogging occurs due to a large amount of harvested material flowing into the conveying device, the tangling of the harvested matter can be resolved by reducing the amount of harvested material input to the conveying device. The gradual conveying of the harvest may clear the jam of the harvest. In other words, an effective way to clear the culm clogging is to reduce the vehicle speed to reduce the amount of culm harvested into the auger 3 or transport device 12 . Therefore, when the clogging determination unit 73 determines that at least one of the auger 3 and the conveying device 12 is clogged, the clogging determination unit 73 outputs a vehicle speed decrease command for decreasing the vehicle speed to the travel control unit 71 . Further, when at least one of the auger 3 and the conveying device 12 is clogged for a certain period of time, the clogging determination unit 73 stops the vehicle body 1 in order to avoid damage to the auger 3 and the conveying device 12 and engine stall. A stop command to stop the vehicle is output to the travel control unit 71 . This is because when the auger power transmission mechanism 50 is composed of a belt transmission mechanism that is relatively prone to slippage due to clogging, the rate of decrease in rotation speed that occurs in accordance with the degree of clogging occurs in a wide range when clogging occurs. 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 conveying device 12 is abnormally driven. Based on this notification command, a drive abnormality warning is issued through the notification device 64 . As a result, the notification control unit 74 as a notification unit can notify that the driving speed of the conveying device 12 has decreased. Examples of drive abnormality alarms include a clogging alarm when clogging is determined, a vehicle speed reduction notification when a vehicle speed reduction command is output, and a vehicle stop notification when a vehicle stop command is output.

FIG. 7 shows an example of the output of the vehicle speed reduction command and the vehicle stop command by the clogging determination unit 73. As shown in FIG. Although the horizontal axis in FIG. 7 indicates the rotational speed Rv of the auxiliary sprocket 36, it may be the above-mentioned decrease rate (the value obtained by dividing the rotational speed Rv by the rotational 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 the feeder inside the conveying device 12 decreases, the rotation speed Rv of the auxiliary sprocket 36 also decreases. In this embodiment, a vehicle stop threshold R1 is set as the first threshold, and vehicle speed decrease thresholds R2, R3, and R4 are provided as second thresholds set higher than the vehicle stop threshold R1.

The output of the vehicle speed reduction command and the vehicle stop command by the clogging determination unit 73 is performed when the running mode of the running control unit 71 is the automatic running mode. Therefore, as shown in FIG. 8, in the processing in the control unit 7, the traveling mode of the traveling control section 71 is determined (step #01). When the running mode of the running control unit 71 is the automatic running mode (step #01: automatic running mode), clogging is determined based on the rotation speed Rv (steps #02 to #05). When the rotational speed Rv becomes higher than (or higher than) the vehicle speed reduction threshold value R4 (step #02: No), the clogging determining unit 73 determines that the harvested culms are not clogging in the conveying device 12. . Then, the jam determination unit 73 does not output a vehicle speed reduction command or a vehicle stop command to the travel control unit 71, and the travel control unit 71 drives the travel device 18 so that the vehicle speed V of the vehicle body 1 becomes the original working vehicle speed V0. Control.

When the rotational speed Rv becomes lower than (or lower than) the vehicle speed reduction threshold value R4 (step #02: Yes), the clogging determination unit 73 determines that the transport device 12 is clogged with harvested culms. If the rpm Rv is kept higher than (or above) the stop threshold R1, the clogging of the harvested grain may clear spontaneously or by reducing the vehicle speed. Therefore, when the drive speed becomes a value between the vehicle speed decrease threshold value R4 and the vehicle stop threshold value R1, which is preset to a value higher than the vehicle stop threshold value R1, the clogging determination unit 73 determines that the drive speed of the conveying device 12 is the rotation speed. A vehicle speed decrease command for gradually decreasing the vehicle speed V of the vehicle body 1 is output to the travel control unit 71 according to the magnitude of the number Rv.

When the rotation speed Rv is within the range between the vehicle speed reduction threshold value R3 and the vehicle speed reduction threshold value R4 (step #02: Yes, step #03: No), the clogging determination unit 73 determines that the vehicle speed V of the vehicle body 1 A vehicle speed decrease command is output to the travel control unit 71 so that the first low vehicle speed V1 is lower than the working vehicle speed V0 (step #06). Further, when the rotation speed Rv is within the range between the vehicle speed decrease threshold value R2 and the vehicle speed decrease threshold value 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 travel control unit 71 so that the second low speed vehicle speed V2 is even 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 reduction threshold value R2 (step #04: Yes, step #05: No), the clogging determination unit 73 determines that the vehicle speed V of the vehicle body 1 is the second low speed. A vehicle speed decrease command is output to the travel control unit 71 so that the third low vehicle speed V3, which is even lower than the vehicle speed V2, is obtained (step #08).

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

After one of the processes from step #06 to step #09 is performed, the clogging determination section 73 outputs a notification command to the notification control section 74 (step #12). Further, when the driving mode of the driving control unit 71 is the manual driving mode (step #01: manual driving mode), when the rotation speed Rv becomes lower than (or below) the stop threshold value R1 (step #11: Yes), The clogging determination section 73 outputs a notification command to the notification control section 74 (step #12). In this way, when the rotation speed Rv becomes lower than the stop threshold value R1 when the driving mode is the automatic driving mode, the clogging determination unit 73 outputs a stop command and causes the notification control unit 74 to notify the decrease of the rotation speed Rv. When the rotation speed Rv becomes lower than the stop threshold value R1 when the driving mode is the manual driving mode, the notification command is output to the notification control unit 74 without outputting the stop command.

The schematic diagram of FIG. 9 shows the path through which the power of the engine is transmitted to the conveying device 12, the auger 3, the reel 22, and the cutting device 21. As shown in FIG. The power transmitted to the conveying device 12 is transmitted to the relay shaft 12b via the relay transmission mechanism 12c and distributed to the auger 3, the reel 22, and the cutting device 21 from the relay shaft 12b. In this power transmission path, the conveying device 12 and the auger 3 are likely to be clogged with harvested culms.

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

When the conveying device 12 is clogged, the rotational speed detected by the conveying rotational speed detection sensor 37 decreases. At this time, the rotation speed of the endless chain 34, i.e., the relay transmission mechanism 12c is reduced to almost zero or completely zero, so that the rotational power from the engine 4 is transmitted to the auger shaft 30 on the terminal side of the relay shaft 12b. and the auger 3 can no longer rotate. Therefore, in conjunction with the decrease in the rotation speed detected by the transport rotation speed detection sensor 37, the rotation speed detected by the auger rotation speed detection sensor 9 also decreases. Then, clogging of the auger 3 by the auger state judging section 73A and clogging of the conveying apparatus 12 by the conveying state judging section 73B are both judged and notified by the informing device 64. FIG. In this case, the driver or administrator can determine that only the conveying device 12 is clogged, or that both the conveying device 12 and the auger 3 are clogged. Therefore, as a measure to remove clogging of the conveying device 12 or the auger 3, the driver or administrator can take actions such as reverse operation of the conveying device 12, for example.

Also, the driver can determine that the auger 3 and/or the conveying device 12 are clogged by observing the movement of the reel 22 which is visible from the driver's seat. When the reel 22 is rotating properly, the conveying device 12 is rotating normally, so the operator can determine that only the auger 3 is clogged. If the reel 22 is not rotating, the driver can determine that only the conveying device 12 is clogged, or that both the conveying device 12 and the auger 3 are clogged.

[Another embodiment]
(1) In the above-described embodiment, the conveying rotation speed detection sensor 37 is composed of a magnetic sensor that magnetically detects the tooth-like projections provided on the outer peripheral surface of the auxiliary sprocket 36. Various speed detection sensors (such as optical sensors) may be used.

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

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

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

(5) In the embodiment described above, the running mode management unit 76 is configured to be switchable between the automatic running mode and the manual running mode, but the running mode is not limited to the automatic running mode and the manual running mode. For example, when the driving mode management unit 76 switches from the automatic driving mode to the manual driving mode, the driving mode management unit 76 first switches to the manual preparation mode, and then switches to the manual driving mode after the manual driving conditions are met. It can be. In addition, the running mode management unit 76 may be configured to switch from the automatic running mode to the abnormal mode when it is determined that the harvested material is clogged during automatic running.

(6) In the above-described embodiment, the three vehicle speed reduction thresholds R2, R3, and R4 are provided as the second thresholds. It may be four gloss).

It should be noted that the configurations disclosed in the above-described embodiments (including other embodiments, the same shall apply hereinafter) can be applied in combination with configurations disclosed in other embodiments as long as there is no contradiction. The embodiments disclosed in this specification are examples, and the embodiments of the present invention are not limited thereto, and can be modified as appropriate without departing from the scope of the present invention.

The present invention can be applied to a corn harvester, etc., in addition to a common combine.

11: reaping part (harvesting part)
12: Conveying device 37: Conveying rotational speed detection sensor (detection sensor)
73: Jamming 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 a field;
a conveying device that conveys all the culms of the crop harvested by the harvesting unit to the rear of the machine body;
a detection sensor that detects the driving speed of the conveying device;
a clogging determination unit that determines clogging of the harvested material in the conveying device based on the driving speed;
a running mode management unit capable of switching the running mode between an automatic running mode for executing the automatic running and a manual running mode for executing the manual running ,
The clogging determination unit outputs a stop command to stop the machine body when the driving speed becomes lower than a preset first threshold value during the automatic traveling when the traveling mode is the automatic traveling mode, and the traveling A harvester that does not output the stop command when the drive speed is lower than the first threshold when the mode is the manual travel mode . A harvester capable of automatically traveling in a field,
a harvesting unit for harvesting crops in a field;
a conveying device that conveys all the culms of the crop harvested by the harvesting unit to the rear of the machine body;
a detection sensor that detects the driving speed of the conveying device;
a clogging determination unit that determines clogging of the harvested material in the conveying device based on the driving speed;
a running mode management unit capable of switching the running mode between an automatic running mode for executing the automatic running and a manual running mode for executing the manual running,
The clogging determination unit outputs a stop command to stop the machine body when the driving speed becomes lower than a preset first threshold value during the automatic traveling,
The running mode management unit switches the running mode to the manual running mode when the clogging determination unit outputs the stop command. A second threshold set higher than the first threshold is provided,
When the driving speed becomes a value between the first threshold value and the second threshold value, the clogging determination unit issues a vehicle speed reduction command to gradually reduce the vehicle speed of the machine body according to the magnitude of the driving speed. 3. The harvester according to claim 1 or 2 , which outputs . A notification unit that can notify the decrease in the driving speed is provided ,
When the driving speed becomes lower than the first threshold value when the driving mode is the automatic driving mode, the clogging determination unit outputs a notification command for causing the notification unit to notify the reduction of the driving speed. and, when the driving speed is lower than the first threshold value when the driving mode is the manual driving mode, the notification command is output to the notification unit. harvester.

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