HARVESTING MACHINE
TECHNICAL FIELD
[0001] The present invention relates to harvesting machines such as
combines. Harvesting machines include, in addition to combines, crop harvesting machines such as corn harvesting machines. Combines include head-feeding type combines shown in the embodiments described below, and normal type combines (also referred to as whole stalk charging type combines) as well. Combines include crawler travelling type combines, and wheel travelling type combines as well.
BACKGROUND ART
[0002] [1] A harvesting machine is configured to temporarily store crops that the
harvesting machine has harvested from a farm field while travelling, in a crop tank.
Such a harvesting machine performs harvesting work on one or more farm fields by repeatedly storing crops in the crop tank and discharging crops from the crop tank. In a combine (one example of a harvesting machine) disclosed in JP 2011-036193A (Patent Literature 1), the mass of grain in the crop tank (the yield) is calculated when it has been determined that preparations for precise measurement have been completed, on the grounds that a predetermined period of time (e.g. 10 seconds) has elapsed since an orientation controller of the combine that uses a hydraulic cylinder determined that the orientation, in terms of the inclination, of a travelling machine body is horizontal relative to the right-left direction and the front-rear direction. Although such a combine can accurately measure the mass of grain in the crop tank, it takes a long time to prepare for precise measurement. Therefore, there is demand to perform simplified measurement as well, without preparing for precise measurement.
[0003] [2] JP 2014-068543A (Patent Literature 2) discloses a combine that includes: a grain tank that is mounted on a travelling machine body so that grain can be stored therein; and a load cell that measures the weight of the grain tank, and that can calculate the weight of crop in the grain tank. The combine according to Patent Literature 2 includes: the load cell that detects the weight of the grain tank; an inclination sensor that detects the inclination of the travelling machine body; and a yield measuring means that calculates the weight of crop based on a weight detection signal that is inputted from the load cell. In this regard, if the inclination of the

machine body detected by the inclination sensor is within a permissible range, an instruction to calculate the weight of crop is outputted to the yield measuring means, and if the inclination of the machine body detected by the inclination sensor is out of the permissible range, the instruction to calculate the weight of crop is not outputted. The travelling machine body that is inclined is restored to the horizontal orientation upon a control instruction being outputted from an orientation correcting means to an orientation control apparatus. Patent Literature 2 discloses control in which whether or not the inclination of the machine body is within the permissible range is checked when the calculated yield is outputted, and if the inclination of the machine body is out of the permissible range, an instruction to restore the horizontal orientation is outputted to the orientation control apparatus.
With the load cell that measures the weight of the contents as well as the weight of the container, an error may occur in the results of measurement of the weight of the contents due to changes in the container over time and changes in a load cell attachment part over time. The zero point adjustment that is disclosed in JP 2009-264703A (Patent Literature 3) is effective for eliminating such an error. A load cell disclosed in Patent Literature 3 is for measuring the weight of a drying apparatus included in drying equipment, and is provided on the upper side of a frame member that is made of a sheet metal and that is fixed to the surface of the floor of a building. Therefore, this load cell is always maintained in the horizontal orientation unlike the load cell provided for the combine disclosed in Patent Literature 2 that can change orientation, and it is unnecessary to consider the inclination of the orientation in the zero point adjustment.
[0004] [3] As a combine that reaps stalks from a farm field and performs threshing while travelling, and measures the quality of grain when storing grain thus obtained in a grain tank, there is a conventional combine that is disclosed in JP 2013-118856A (Patent Literature 4).
In this combine, a receiving and holding part that makes a grain storage space for temporarily storing grain fed to a grain tank is formed, and the internal quality of grain that has been stored in the grain storage space is measured by an optical internal quality measurement apparatus. The bottom surface of the receiving and holding part is formed using a bottom plate (a shutter) that swings to open and close. Grain is temporarily stored when the bottom plate is in a closed state, and the grain temporarily stored is discharged when the bottom plate is in an open state. A supply (storage)

state detection sensor that detects that a predetermined amount or more of grain has been stored is provided at an inner upper end portion of the receiving and holding part. In a lower area of the receiving and holding part, a grain presence (grain level) sensor that detects whether or not grain is present at the level of height of the grain presence (grain level) sensor is provided on a side wall of the crop tank, at a position that is slightly lower than the lower end position of the bottom plate in the open state. Measurement processing using the internal quality measurement apparatus is performed each time the supply state detection sensor detects that a predetermined amount or more of grain has been supplied to the receiving and holding part. Thereafter, the bottom plate is switched to the open state, and the grain is discharged. Then, the bottom plate is restored to the closed state again, and grain is stored. As a result of an increase in the amount of grain in the grain tank, the top end of the bottom plate is eventually embedded in the grain, and it becomes impossible to switch the bottom plate from the open state to the closed state. Therefore, measurement processing is cancelled upon the presence of grain being detected by the grain presence sensor.
PRIOR ARTS
Patent Literatures
[0005] Patent Literature 1: Japanese Patent Unexamined Publication No.
2011-036193 (JP2011-036193A)
Patent Literature 2: Japanese Patent Unexamined Publication No. 2014-068543 (JP 2014-068543A)
Patent Literature 3: Japanese Patent Unexamined Publication No. 2009-264703 (JP 2009-264703A)
Patent Literature 4: Japanese Patent Unexamined Publication No. 2013-118856 (JP2013-118856A)
SUMMARY OF THE INVENTION
Problem to be Solved by the Invention
[0006] [1] A problem corresponding to Background Art [1] is as follows.
In view of the above-described situation, there is demand for a harvesting machine that can smoothly measure the amount of crop stored in a crop tank by performing either precise measurement or simplified measurement depending on the

user's demand at the time.
[0007] [2] A problem corresponding to Background Art [2] is as follows.
In view of the above-described situation, there is demand for a combine that can efficiently perform the zero point adjustment for a load cell that measures the weight of a grain tank that is mounted on a machine body that changes the orientation thereof [0008] [3] A problem corresponding to Background Art [3] is as follows.
According to Patent Literature 4, a grain level sensor that is constituted by a capacitance type proximity sensor is provided on a side wall of the grain tank, and there is the possibility of an error occurring due to the influence of the flow of grain flying out from the inlet port of the grain tank. Therefore, there is demand for a configuration in which the grain level sensor is unlikely to be affected by the flow of grain flying out from the inlet port.
[0009] [4] Another problem corresponding to Background Art [3] is as follows.
According to Patent Literature 4, whether or not a predetermined amount or more of grain sufficient for quality measurement has been stored in the receiving and holding part is detected by the storage state detection sensor, and if a failure occurs in this storage state detection sensor, it is impossible to perform quality measurement. Therefore, there is demand for technology for promptly and reliably detecting a failure in the storage state detection sensor.
Solution to the Problem
[0010] [1] The following is proposed as a solution corresponding to Problem [1].
A harvesting machine includes: a crop tank that temporarily stores crops that the harvesting machine has harvested while travelling over a farm field; a measuring device that measures an amount of crop that has been stored in the crop tank; and an unloader apparatus that discharges crop that has been stored in the crop tank to an outside. As a control system, the harvesting machine includes: a device control part that executes precise measurement oriented device setting processing to create a device state that allows the measuring device to perform precise measurement; and a measurement control part, the measurement control part including: a precise measurement execution part that performs, by the measuring device, precise measurement which involves the precise measurement oriented device setting

processing; and a simplified measurement execution part that executes, by the measuring device, simplified measurement which does not involve the precise measurement oriented device setting processing. The harvesting machine also includes: an operational instruction processing part that outputs a precise measurement instruction to perforin precise measurement and a simplified measurement instruction to perform simplified measurement, in response to an operation performed by using a manual operation device; and a measurement result recording part that, before the unloader apparatus performs crop discharging work, rewrites a simplified measurement result that has been recorded based on a preceding simplified measurement instruction, with a precise measurement result that is based on a succeeding precise measurement instruction.
[0011] With this configuration, the measurement control part that controls
the measurement of the amount of stored crop using the measuring device includes the
precise measurement execution part and the simplified measurement execution part.
Therefore, it is possible to measure the amount of stored crop (the yield) by using a
desired measurement method, by providing a precise measurement instruction to the
measurement control part if precise measurement is desired, and providing a
simplified measurement instruction to the measurement control part if simplified
measurement is desired. In regard to precise measurement, prior to actual
measurement, a device state that allows for precise measurement (e.g. a static stable
state of the vehicle body) is created, and then measurement is executed.
Measurement of the amount of crop that has been stored in the crop tank (also referred
to as the yield) is usually performed before the unloader apparatus performs crop
discharging work. In this regard, when precise measurement is desired after first
performing simplified measurement by providing a simplified measurement
instruction, if crop has not been discharged by the unloader apparatus, it is possible to
execute precise measurement by providing a precise measurement instruction.
Furthermore, in regard to measurement records, the measurement result of the
preceding simplified measurement is rewritten with the measurement result of the
succeeding precise measurement. This is preferable because, even if both simplified
measurement and precise measurement have been performed, the measurement result
of precise measurement has been recorded at the time of integration of the
measurement results that is performed after harvesting work.
[0012] As the manual operation device that is used by the driver (the

operator) to select either precise measurement or simplified measurement, a configuration in which switches (that may be buttons or dials) for precise measurement and simplified measurement are independently provided may be employed, and alternatively, a configuration in which switches that serve as other functional switches (that may be buttons or dials) may be employed. In one preferable embodiment corresponding to the former case, the manual operation device includes a simplified measurement switch that transmits a signal for outputting a simplified measurement instruction to the operational instruction processing part, and a precise measurement switch that transmits a signal for outputting a precise measurement instruction to the operational instruction processing part. This configuration allows the operator to operate a switch while clearly distinguishing between precise measurement and precise measurement. Therefore, it is possible to prevent a wrong switch from being selected. In one preferable embodiment corresponding to the latter case, the simplified measurement switch also serves as an activation switch for the unloader apparatus. Therefore, for example, a signal for outputting a simplified measurement instruction is sent out upon multiple operations being performed with the activation switch, and a signal that requests activation of the unloader apparatus is sent out upon a single operation being performed with the activation switch. Considering the fact that measurement of the amount of the stored crop is often paired with crop export work that is performed by the unloader apparatus as part of a series of work, the configuration in which the simplified measurement switch also serves as an activation switch for unloader apparatus provides the advantage that it is possible to smoothly perform the series of operations to perform simplified measurement and crop export work that are performed in a short period of time.
[0013] In one preferable embodiment, during the precise measurement
oriented device setting processing, one, some or all of: a process of changing an orientation of a vehicle body of the harvesting machine to a horizontal orientation; a process of blocking a driving force to a device for harvesting work; and a process of fixing a device for unloading work at a storage position is/are executed. With this configuration, as a result of changing the orientation of the vehicle body of the harvesting machine to the horizontal orientation, the crop tank takes on a stable orientation that is suitable for measurement. As a result of blocking a driving force to the device for harvesting work, vibrations are prevented from being transmitted to

the tank and the measuring device. As a result of fixing the device for unloading work at the storage position, measurement is stabilized due to the stabilized center of gravity of the vehicle body. Consequently, the reliability of precise measurement is improved.
[0014] If the amount of stored crop is calculated from a measurement value
that is outputted from the measuring device, a conversion table is required in order to derive the yield from the measurement value. In this regard, in cases where the conversion table varies depending on the type of crop, and in cases where identification data that specifies the type of crop is added as an attribute value of the yield, it is necessary to reliably specify the crop that is being harvested. Such crops vary depending on season or year, and thus, in recent years, accurate information regarding crop has been registered in a management center. Therefore, in one preferable embodiment, a conversion table for deriving a yield that is an amount of crop that has been stored in the crop tank, from a measurement value obtained by the measuring device, is built based on data that is transmitted from a management center via a data communication network in response to identification information regarding a farm field that is a harvesting target. In this regard, appropriate data is transmitted from the management center to the control part of the harvesting machine upon the identification information regarding the farm field that is the harvesting target being provided to the management center.
[0015] If the crop is rice, wheat or corn, it is necessary to transport the crop
that has been stored in the crop tank to the outside by using the unloader apparatus, several times during harvesting work for one farm field. Therefore, in one preferable embodiment, the harvesting machine further includes a display part that displays both: a unit yield that is an amount of crop that has been stored in the crop tank and being calculated from a result of measurement performed by the measuring device; and an integrated yield that is an integration of unit yields. This configuration allows the driver to check the yield of the stored crop at each instance of discharge work, and after completion of harvesting work for one farm field, the driver is able to check the total yield of the farm field. [0016] [2] The following is proposed as a solution corresponding to Problem [2].
A combine including: a travelling machine body; an orientation changing mechanism that changes an orientation of the travelling machine body; a grain tank that is mounted on the travelling machine body and stores grain that has been

transported from a threshing apparatus; an unloader apparatus that discharges grain that has been stored in the grain tank to an outside from a bottom part of the grain tank; a load cell that measures a weight of the grain tank; a yield measurement part that measures a yield of grain that has been stored in the grain tank, based on a result of measurement performed by the load cell; a zero point adjustment part that performs zero point adjustment processing for the yield measurement part; and a horizontal orientation control part that controls the orientation changing mechanism upon zero point adjustment processing being started by the zero point adjustment part, so as to bring the travelling machine body into a horizontal orientation.
[0017] With this configuration when zero point adjustment is performed on
the yield measurement part that uses the load cell, horizontal control using the orientation changing mechanism is performed at the beginning of zero point adjustment processing, and the travelling machine body is brought into the horizontal orientation. Consequently, it is possible to prevent a problem in which zero point adjustment including an error is performed, with the travelling machine body still in an inclined orientation, and the subsequent yield measurement is performed based on the zero point adjustment including this error.
[0018] In one preferable embodiment, the unloader apparatus includes: a
bottom part screw that is provided on the bottom part of the grain tank; a vertical transport screw conveyer that conveys grain that has been exported by the bottom part screw, in an upward direction; and a horizontal transport screw conveyer that is swingable in a top-bottom direction relative to the vertical transport screw conveyer, the unloader apparatus further including a holding apparatus that fixes the horizontal transport screw conveyer at a home position, and the holding apparatus fixes the horizontal transport screw conveyer at the home position upon the zero point adjustment processing being started by the zero point adjustment part. In the case where the above-described unloader apparatus is mounted on the combine in order to discharge grain that has been stored in the grain tank to the outside, if the lateral screw conveyer is not fixed by the holding apparatus, at the home position at which the lateral screw conveyer is most stable, there is the possibility of the travelling vehicle body being unstable. Zero point adjustment performed in such a state is more likely to be inaccurate. This problem can be solved by using a configuration in which the lateral screw conveyer is automatically fixed at the home position upon zero point adjustment processing being started.

[0019] If the lateral screw conveyer is not fixed at the home position, an
offset load that hinders accurate measurement may be applied to the grain tank. The
lateral screw conveyer is configured to swing in the top-bottom direction, and is
elongated and heavy because it is required that the lateral screw conveyer has a
discharging point, from which grain is discharged, at a position that is distanced from
the travelling machine body. Therefore, it is preferable that the lateral screw
conveyer is fixed by the holding apparatus by utilizing gravity that is generated by the
weight of the lateral screw conveyer. Therefore, in one preferable embodiment, the
horizontal transport screw conveyer uses hydraulic pressure to swing in the top-bottom
direction, and the holding apparatus uses a gravity fitting method under a condition
where hydraulic pressure has been released, to fix the horizontal transport screw
conveyer. With this configuration, the self-weight of the lateral screw conveyer is
ultimately used to fix the lateral screw conveyer, and the configuration of the holding
apparatus is simple. One specific configuration that uses a gravity fitting method
under a condition where hydraulic pressure has been released is a configuration in
which, preferably, a spindle-shaped protruding part and a recessed part that
corresponds to the protruding part are provided for the horizontal transport screw
conveyer and the holding apparatus, and the horizontal transport screw conveyer is
lifted once using hydraulic pressure. After the hydraulic pressure is released, with its
own weight, the two parts engage with each user. Therefore, in one preferable
embodiment of the present invention, if the horizontal transport screw conveyer is
located at the home position when the zero point adjustment processing is started by
the zero point adjustment part, the horizontal transport screw conveyer is first caused
to swing upward using hydraulic pressure, and is then fixed to the holding apparatus
using the gravity fitting method under a condition where hydraulic pressure has been
released. Consequently, the lateral screw conveyer is reliably brought into a stable
orientation before the zero point adjustment is actually performed.
[0020] In one preferable embodiment, the horizontal orientation control part
controls the orientation changing mechanism upon completion of the zero point adjustment processing, thereby bringing the travelling machine body into a lower limit orientation in which a height of the travelling machine body relative to a ground is the lowest. Upon completion of zero point adjustment processing and the occurrence of transition to travelling for reaping/threshing work, the orientation changing mechanism performs control so that the surface of the farm field and the travelling

machine body become parallel. The lower limit orientation in which the height of the travelling machine body relative to the ground is the lowest is suitable as a reference starting orientation for this control. Also, since the travelling machine body is brought into the lower limit orientation every time zero point adjustment processing has been completed, the driver can be aware that the zero point adjustment processing has been completed.
[0021] At the time of factory shipment, the above-described zero point
adjustment is performed under a measurement environment that is most appropriate for adjustment. The measurement environment for the zero point adjustment that is performed after shipment is often worse than the measurement environment for the zero point adjustment at the time of factory shipment. Therefore, the zero point adjustment after shipment does not work well in some cases. Considering this fact, it is preferable that the zero point adjustments under the two measurement environments are distinguished from each other. In one preferable embodiment, the zero point adjustment processing includes: basic zero point adjustment processing that is performed before factory shipment; and temporary zero point adjustment processing that is performed after factory shipment; and a temporary zero point adjustment parameter that is calculated as per the temporary zero point adjustment processing is replaced with a basic zero point adjustment parameter that is calculated as per the basic zero point adjustment processing. In this regard, since the basic zero point adjustment parameter is more important than the temporary zero point adjustment parameter, it is preferable that the basic zero point adjustment parameter will be set again even if the temporary zero point adjustment parameter is temporarily set instead of the basic zero point adjustment parameter. Therefore, in one preferable embodiment, the basic zero point adjustment parameter is recorded on a memory before being replaced with the temporary zero point adjustment parameter, and the basic zero point adjustment parameter is set again upon the temporary zero point adjustment parameter being reset. [0022] [3] The following is proposed as a solution corresponding to Problem [3].
A combine including: a grain tank that stores grain that has been transported from a threshing apparatus; and a grain discharging apparatus that discharges grain that has been stored in the grain tank to an outside from a bottom part of the grain tank, and a tube-shaped member is provided inside the grain tank. The tube-shaped member forms a grain path, and the grain path has: an inlet port that is an upper port

for taking in some of the grain that has been transported from the threshing apparatus;
and a discharge port that is a lower port for discharging the grain that has been taken in
from the inlet port to the grain tank. A temporary storage part is provided halfway of
the grain path, and a storage shutter is provided for the temporary storage part. The
storage shutter is movable between: a closed position for storing, at which the storage
shutter takes on a horizontal orientation in order to store grain that has been taken in
from the inlet port of the temporary storage part; and an open position for discharging,
at which the storage shutter takes on a downward orientation in order to discharge the
stored grain from the temporary storage part. The combine includes: a grain level
detector that is provided in the grain path and detects that a below-shutter distance has
reached a predetermined value, the below-shutter distance being a distance between a
lower end of the storage shutter in the downward orientation and an upper surface of
the grain that has been stored in the grain tank; and a quality measurement part that
detects quality of grain that has been stored in the temporary storage part.
Furthermore, the combine includes a shutter control part that controls a position
changing operation of the storage shutter, and stops the position changing operation of
the storage shutter based on a detection signal from the grain level detector.
[0023] Upon starting reaping and threshing work, as grain that has been
transported from the threshing apparatus and discharged from the inlet port of the grain tank is stored in the grain tank, the upper surface level of the grain gradually rises toward the storage shutter from below. With this configuration, the grain level detector that detects the upper surface level of grain that hinders the operation of the storage shutter is provided in the grain path. Specifically, the grain level detector is provided inside the tube-shaped member, and the tube-shaped member serves as a protection cover. Consequently, the grain level detector is unlikely to be affected by the flow of grain flying out from the inlet port of the grain tank.
[0024] In one preferable embodiment, the tube-shaped member has: a first
wall that faces toward a central part of the grain tank; and a second wall that faces a wall member of the grain tank, and the storage shutter is a swing shutter that swings about a swing shaft that is supported by the first wall, and the grain level detector is provided on the first wall. When the storage shutter is at the open position for discharging, at which the storage shutter takes on a downward orientation, if the lower end of the storage shutter thrusts into the grain that has been stored in the grain tank, the storage shutter stops operating. Therefore, it is important to detect the upper

surface level of the grain in the vicinity of the lower end of the storage shutter in the downward orientation. With this configuration, the lower end of the storage shutter in the downward orientation approaches the first wall, and therefore it is possible to accurately detect the upper surface level of the grain in the vicinity of the lower end, using the grain level detector that is provided on the first wall.
[0025] In one preferable embodiment, the grain level detector has a
detection surface that is flat, and the grain level detector is provided such that the
detection surface is flush with the first wall. With this configuration, the grain level
detector does not protrude to the grain path, and therefore grain that falls along the
grain path is prevented from being damaged by the grain level detector.
[0026] In one preferable embodiment, a second grain level detector is
provided in the grain path and detects that the below-shutter distance has reached a predetermined value that is different from the predetermined value. With this configuration, there are two grain level detectors including the aforementioned grain level detector, and therefore it is possible to more reliably detect the upper surface level of the grain.
In the case where two grain level detectors are provided in this way, it is possible to effectively address trouble in which a failure occurs in one of the grain level detectors, by setting the second grain level detector so as to detect the same upper surface level as the first grain level detector (the predetermined value that serves as a reference value for detecting that the below-shutter distance has been reached is the same for the two grain level detectors).
On the other hand, if the upper surface level of the grain that is detected by the first grain level detector and the upper surface level of the grain that is detected by the second grain level detector are different from each other (the predetermined value that serves as a reference value for detecting that the below-shutter distance has been reached is different for the two grain level detectors), the results of detection can be separately used for a warning and for an emergency alarm.
In both configurations, in order to obtain the same advantage as that of the aforementioned grain level detector (the first grain level detector), it is preferable that the second grain level detector is also provided in the grain path.
[0027] If the first grain level detector and the second grain level detector are
provided in the grain path facing each other, it is possible to estimate the inclination of the upper surface level of the grain that has entered the grain path, based on signals

from the two grain level detectors. This estimation of the inclination of the upper surface level of the grain allows the storage shutter to be driven until the last possible moment before the grain enter the trajectory of swing of the storage shutter so that grain quality measurement can be performed. [0028] [4] The following is proposed as a solution corresponding to Problem [4].
A combine including: a grain tank that stores grain that has been transported from a threshing apparatus; a grain discharging apparatus that discharges grain that has been stored in the grain tank to an outside from a bottom part of the grain tank; a grain path that is provided inside the grain tank, and has: an inlet port that is an upper port for taking in some of the grain that has been transported from the threshing apparatus; and a discharge port that is a lower port for discharging the grain that has been taken in from the inlet port to the grain tank; a temporary storage part that is located halfway of the grain path; a storage shutter that is provided for the temporary storage part, and that is movable between: a closed position for storing, at which the storage shutter stores the grain taken in from the inlet port in the temporary storage part; and an open position for discharging, at which the storage shutter discharges the stored grain from the temporary storage part; a storage amount detector that outputs a storage complete signal upon an amount of grain that has been stored in the temporary storage part reaching a predetermined amount; a quality measurement part that detects quality of grain that has been stored in the temporary storage part; a shutter control part that controls a position changing operation of the storage shutter; a yield measuring device that measures a yield of grain that has been stored in the grain tank; and a failure determination part that determines that a failure has occurred in the storage amount detector, based on a fact that the storage amount detector has not outputted the storage complete signal despite the amount of grain that has been stored in the temporary storage part, estimated based on a result of measurement by the yield measuring device, having exceeded the predetermined amount.
[0029] With this configuration, the storage amount detector outputs a
storage complete signal upon the amount of grain that has been stored in the temporary storage part reaching, for example, the predetermined amount that is the amount suitable for the quality measurement part to detect the quality of the grain. Using this fact, the amount of grain that has been stored in the temporary storage part, i.e. the storage amount, in a normal case is estimated based on the result of measurement by the yield measuring device. Therefore, if the storage amount detector has not

outputted a storage complete signal despite the estimated storage amount being far beyond the predetermined amount that has been set in advance, the failure determination part can determine that a failure has occurred in the storage amount detector.
[0030] In one preferable embodiment, the combine further includes a shutter
position detector that detects a positional change of the storage shutter, and the failure determination part determines that a failure has occurred in the storage amount detector based on a result of measurement over time by the yield measuring device and a result of detection by the shutter position detector. With this configuration, the shutter position detector can accurately detect the time at which the storage shutter reaches the closed position for storing when grain starts to be stored in the temporary storage part. Consequently, it is possible to more immediately and more accurately detect that a failure has occurred in the storage amount detector.
[0031] In one preferable embodiment, the failure determination part
determines that a failure has occurred in the storage shutter, based on a fact that the
shutter position detector has not detected a positional change of the storage shutter
despite a control signal that instructs the storage shutter to perform a position changing
operation being outputted from the shutter control part. Therefore, it is possible to
address a problem in which an appropriate signal is not outputted from the storage
amount detector due to an operational failure of the storage shutter. For example,
with respect to a phenomenon in which grain is not stored in the temporary storage
part due to the storage shutter being unable to be moved to the closed position for
storing, it is possible to distinguish between a failure that has occurred in the storage
shutter and a failure that has occurred in the storage amount detector.
[0032] In one preferred embodiment, the failure determination part
determines that a failure has occurred in the storage amount detector, based on a fact that an increase in the yield, from when the storage shutter was moved to the closed position for storing, has reached a predetermined amount. An increase in the amount of grain that flows into the grain tank can be calculated based on the result of measurement of the yield. Therefore, if the increase is an amount at which a storage complete signal should be outputted from the storage amount detector, it is possible to determine that a failure has occurred in the storage amount detector. Also, the proportion of the amount of grain that passes through the grain path to the amount of grain that is discharged from the inlet port can be calculated in advance. Therefore,

the relationship between the increase in the amount of grain and the amount of grain stored in the temporary storage part can be expressed as a function or a table. Therefore, if a storage complete signal is not outputted despite the increase in the amount of grain in the grain tank, from when the storage shutter is closed, being far beyond the value corresponding to the predetermined amount at which the storage amount detector should output the storage complete signal, it can be determined that a failure has occurred in the storage amount detector.
[0033] In another preferable embodiment, the failure determination part
determines that a failure has occurred in the storage amount detector, based on a fact
that the storage amount detector continues outputting the storage complete signal
despite the storage shutter having moved from the closed position for storing to the
open position for discharging. Specifically, if the storage amount detector continues
outputting a storage complete signal despite the storage shutter having been moved
from the closed position for storing to the open position for discharging and grain
having been discharged from the temporary storage part, the failure determination part
can determine that a failure has occurred in the storage amount detector.
[0034] Other features and advantageous effects achieved by the features will
become apparent from reading the following description with reference to the accompanying drawings. In the following description, the direction in which the travelling machine body of the harvesting machine (the combine) moves back and forth is referred to as a front-rear direction, the horizontal direction that is orthogonal to the front-rear direction is referred to as a right-left direction, and the direction that is orthogonal to the front-rear direction and the right-left direction is referred to as a top-bottom direction, unless specified otherwise.
BRIEF DESCRIPTION OF THE DRAWINGS
[0035] Fig. 1 is a diagram showing a first embodiment of the present
invention (the same applies to the following drawings up to Fig. 6), and is a schematic diagram illustrating a basic control flow including simplified measurement control and precise measurement control;
Fig. 2 is a side view of a combine that is an example of a harvesting machine;
Fig. 3 is a plan view of the combine;
Fig. 4 is a perspective view showing a structure around a load cell that performs grain tank measurement;

Fig. 5 is a cross-sectional view showing the structure around the load cell that performs grain tank measurement;
Fig. 6 is a functional block diagram showing functional units included in a measurement control system;
Fig. 7 is a diagram showing a second embodiment of the present invention (the same applies to the following drawings up to Fig. 15), and is a schematic diagram illustrating a basic control flow of a zero point adjustment that is performed for a yield measurement unit that uses a load cell, in a combine that is an example of a harvesting machine;
Fig. 8 is a side view of the combine;
Fig. 9 is a plan view of the combine;
Fig. 10 is a side view schematically showing a configuration of an orientation changing mechanism;
Fig. 11 is a side view showing the orientation changing mechanism in a rolling state;
Fig. 12 is a side view showing the orientation changing mechanism in a pitching state;
Fig. 13 is a diagram illustrating how a load of a grain tank is received during horizontal swinging of the grain tank about a vertical axis;
Fig. 14 is a schematic diagram showing a relationship between a rear stay and a lock pin;
Fig. 15 is a functional block diagram showing functional units included in a measurement control system;
Fig. 16 is a diagram showing a third embodiment of the present invention (the same applies to the following drawings up to Fig. 25), and is a schematic diagram showing a basic configuration for performing grain quality measurement that is mounted on a combine (a crawler travelling head-feeding type combine) that is an example of a harvesting machine;
Fig. 17 is a schematic diagram showing a basic principle of control for detecting a failure in a storage amount detector that is used for grain quality measurement;
Fig. 18 is a side view of the combine;
Fig. 19 is a plan view of the combine;
Fig. 20 is a plan view in transverse section showing a front part of a grain

tank that is mounted on the combine;
Fig. 21 is a schematic diagram showing an inside of the grain tank;
Fig. 22 is a side view in vertical section of a measurement unit when a storage shutter that is provided inside a tube-shaped member that is provided for the grain tank is at a closed position;
Fig. 23 is a side view in vertical section of the measurement unit when the storage shutter is at an open position;
Fig. 24 is a diagram illustrating how to attach the measurement unit to the grain tank; and
Fig. 25 is a functional block diagram of a measurement control system that is built in the combine.
EMBODIMENTS OF THE INVENTION First Embodiment
[0036] First, a first embodiment will be described.
[0037] Before specific description of this embodiment, a basic principal of
control for calculating the amount of crop stored in a crop tank before the crop is discharged by an unloader apparatus will be described with reference to Fig. 1. Fig. 1 shows a harvesting machine for harvesting crops such as wheat and rice. As is well known, this harvesting machine includes: a crop tank (a grain tank) that temporarily stores crop (grain); and an unloader apparatus that discharges the crop stored in the crop tank. A measuring device that measures the amount of crop stored in the crop tank is provided near the crop tank.
[0038] To measure the amount of crop stored in the crop tank, two methods,
namely precise measurement and simplified measurement, can be employed. In precise measurement, in order to prevent devices provided for the harvesting machine from causing disturbance, and to prevent a measurement error of the measuring device from occurring due to disturbance as much as possible, precise measurement oriented device setting processing is performed for the devices so that, for example, a stopped state of a driving device, and a stable state of a balancing device in terms of the orientation, are realized. As a result, the number of devices that may cause disturbance for the measuring device is reduced, and a state that is suitable for precise measurement is created. In simplified measurement, part of or all of the above-described precise measurement oriented device setting processing is omitted.

Therefore, with simplified measurement, although accurate measurement as is the case with precise measurement cannot be expected, the time required for measurement is reduced due to the omission of precise measurement oriented device setting processing.
[0039] Selection between precise measurement and simplified measurement
is performed by operating a manual operation device that is provided in the vicinity of
a driver's seat (#01). The manual operation device can be constituted by a switch, a
button, a lever or the like. However, if a display device such as a liquid crystal panel
is provided, the manual operation device may be a software button displayed on the
display screen of the display device. An operation performed on the software button
is inputted via a touch panel. If the driver selects simplified measurement by using
the manual operation device, a simplified measurement request is outputted (#11), and
if the driver selects precise measurement, a precise measurement request is outputted
(#21). The requests are provided to a measurement control system.
[0040] In the measurement control system, upon the simplified measurement
request being received, "simplified" is set to a measurement flag (#12), and simplified measurement is executed (#14). In simplified measurement, the measuring device promptly operates to measure the weight of the crop including the crop tank, and to output a measurement value as a measurement result. The measurement value thus obtained is converted into a yield by using a measurement value/yield conversion table. Note that the measurement value/yield conversion table may vary for different models of harvesting machines, different varieties of crops and so on. Therefore, the driver transmits the identification information regarding the harvesting machine and the identification information regarding the farm field that is the harvesting area, to a management center in advance, and downloads a measurement value/yield conversion table that can be appropriately used for the current harvesting work, via a communication network. If the measurement value/yield conversion table to be downloaded includes information regarding the farm field name, the crop variety and so on, these pieces of information can be linked with the calculated yield, as yield attribute values.
[0041] The measurement flag is repeatedly read until the completion of
simplified measurement (#15), and the content thereof is checked (#16). The reading of the measurement flag and the cheeking of the content of the measurement flag are repeated until the start of unload work. This procedure is performed to address the

situation in which the driver first selects simplified measurement, and then re-selects
precise measurement. In both the case of re-selection and the case of first selection,
if the driver selects precise measurement by using the manual operation device, a
precise measurement request is outputted (#21), and is provided to the measurement
control system. As a result, "precise" is set to the measurement flag (#22).
Therefore, if simplified measurement is selected first and then precise measurement is
selected, the content of the measurement flag is changed from "simplified" to
"precise". Consequently, when the checking of the content of the measurement flag
is performed in step #16, if the content of the measurement flag is "precise", a jump to
step #23 occurs and precise measurement oriented device setting processing is
performed, and then precise measurement is performed (#24). As a matter of course,
if precise measurement is selected from the beginning, steps #21, #22 and #23 are
sequentially performed and then precise measurement is performed (#24).
[0042] In precise measurement oriented device setting processing performed
in step #23, for example, the vehicle body is stopped, the orientation of the vehicle body is changed to be horizontal, work devices including the unloader apparatus are fixed in a stable orientation, and the driving device is stopped, and thus causes of disturbance in measurement are removed as much as possible. Precise measurement mentioned here means measurement in a situation where disturbance in measurement has been reduced, and does not differ from simplified,measurement in terms of how the measurement is performed.
[0043] When the checking of the content of the measurement flag is
performed in step #16, if the content of measurement flag is "simplified", the yield obtained by simplified measurement is recorded on a memory (#17), and the content of the measurement flag is set to " " (null) (#18). In terms of data analysis after harvesting work, it is favorable that, when the yield is recorded, a type code that specifies that the measurement that has been executed is simplified measurement, a farm field identification code and so on are recorded as well as data indicating the yield. Note that yields obtained through instances of unload work, which are recorded on the memory, are integrated for each farm field so as to be displayable as an integrated yield per farm field, and are recorded for later use.
[0044] In precise measurement as well, the calculated yield is recorded on
the memory (#27), and the content of the measurement flag is set to " " (null) (#28). Also in this case, when the yield is recorded, a type code that specifies that the

measurement that has been executed is precise measurement, a farm field
identification code and so on are recorded as well as data indicating the yield.
[0045] Upon the completion of yield measurement, exporting work (unload
work) is started in order to carry the crop stored in the crop tank to the outside (e.g. to a truck), using the unloader apparatus (#30).
[0046] Next, one specific embodiment of the harvesting machine will be
described with reference to the drawings. Fig. 2 is a side view of a combine that is an
example of the harvesting machine, and Fig. 3 is a plan view of the same. This
combine is a head-feeding type combine, and a machine body frame 10 that constitutes
the machine body is supported over the ground by a pair of right and left crawler
travelling apparatuses 11. A reaping part 12 that reaps planted stalks and transports
the reaped stalks rearward of the machine body is provided on a front part of the
machine body, and a manipulation part 14 that includes a front console 13A and a side
console 13B is provided rearward of the reaping part 12. Furthermore, a threshing
apparatus 15 that performs the threshing/separation of the reaped stalks, a grain tank
(one example of a crop tank) 9 that stores grain that has been subjected to separation
and collection by the threshing apparatus 15, an unloader apparatus 8 that discharges
grain from the grain tank 9, a waste straw processing apparatus 16 that processes waste
straw and so on are arranged. As shown in Fig. 3, the front console 13A includes a
manipulation lever, a transmission lever, and a liquid crystal panel 70 that serves as a
display device for displaying various kinds of information. The side console 13B
includes manual operation devices 30 used for selecting either precise measurement or
simplified measurement for yield measurement. In this embodiment, a simplified
measurement switch 31 that sends out a signal for outputting a simplified
measurement instruction, and a precise measurement switch 32 that sends out a signal
for outputting precise measurement instruction are separately provided.
[0047] The threshing apparatus 15 performs threshing processing on the ear
tip side of the reaped stalks that have been transported from the reaping part 12, performs separation between: individual grains that have been separated from each other; and dust such as straw dust, through the separating action of a separation mechanism (not shown) that is provided in the threshing apparatus 15, and transports the individual grains to the grain tank 9 as the crop. Waste straw that has undergone threshing processing is subjected to shredding processing in the waste straw processing apparatus 16.

[0048] As can be understood from Figs. 2 and 3, a grain transport
mechanism for feeding grain from the threshing apparatus 15 to the grain tank 9 is
provided. This grain transport apparatus is constituted by: a first-crop collection
screw 17a that is provided on a bottom part of the threshing apparatus 15; and a grain
elevator apparatus 17b that is of a screw conveyer type. The grain that has been
laterally transported by the first-crop collection screw 17a is transported upward by the
grain elevator apparatus 17b, and is fed to the inside of the grain tank 9 via an input
port that is formed in an upper part of the grain tank 9. Although not shown in the
drawings, a rotary vane that flips the grain toward the inside of the grain tank 9 is
provided in an upper end area of the grain elevator apparatus 17b so that grains are
distributed as uniformly as possible in the horizontal direction in the grain tank 9.
[0049] The unloader apparatus 8 includes: a bottom part screw 81 that is
provided on a bottom part of the grain tank 9; a vertical transport screw conveyer 82 that is provided on a side of the grain tank 9 that is rearward of the machine body; and a horizontal transport screw conveyer 83 that extends over the threshing apparatus 15. Grain stored in the grain tank 9 is fed from the bottom part screw 81 to the horizontal transport screw conveyer 83 via the vertical transport screw conveyer 82, and is discharged to the outside from a discharge port 84 that is provided at the front end of the horizontal transport screw conveyer 83. The vertical transport screw conveyer 82 is configured to be rotatable about a vertical axis P2 using the operation of an electrical motor 85, and the horizontal transport screw conveyer 83 is configured to be swingable in the top-bottom direction about a horizontal axis PI at a base end part using a hydraulic cylinder 86. With this configuration, it is possible to position the discharge port 84 of the horizontal transport screw conveyer 83 so that grain can be discharged to a transportation truck or the like outside the machine. The home position of the horizontal transport screw conveyer 83 (the home position of the unloader apparatus 8) is a position in which the horizontal transport screw conveyer 83 is substantially horizontal and the entirety of the horizontal transport screw conveyer 83 is located inside the contour of the harvesting machine in plan view. The horizontal transport screw conveyer 83 is firmly held and fixed at this home position by a holding apparatus 87 from below.
[0050] The bottom part of the grain tank 9 includes a left bottom wall and a
right bottom wall that are inclined relative to each other so as to form a wedge shape extending downward, and the bottom part screw 81 is provided at the pointed portion

thereof. A left side wall and a right side wall that are connected to the respective upper ends of the left bottom wall and the right bottom wall stand substantially upright. Due to such a configuration of the grain tank 9, grain inputted from the grain tank 9 flows downward toward the bottom part screw 81.
[0051] As shown in Fig. 2, a swing pivot shaft part 90 that is tube-shaped is
provided on a rear end part of the grain tank 9. The swing axis of the swing pivot
shaft part 90 extends coaxial with the vertical axis P2, and the grain tank 9 can swing
outward in the horizontal direction about the vertical axis P2, as indicated by dotted
lines in Fig. 3. Specifically, the grain tank 9 can be moved between: a work position
at which the grain tank 9 can receive grain from the grain elevator apparatus 17b; and
a maintenance position at which the grain tank 9 protrudes laterally outward, and the
front part thereof is separated from the threshing apparatus 15 so that the space that is
behind the manipulation part 14 and on the right of the threshing apparatus 15 is open.
[0052] As shown in Fig. 2, Fig. 4 and Fig. 5, the combine includes a load
cell 20 that constitutes a measuring device 2 that outputs the weight of grain stored in the grain tank 9 as a measurement result. Fig. 4 is a perspective view of an area around the load cell 20 when the grain tank 9 is in the process of transition from the maintenance position to the work position. Fig. 5 is a cross-sectional view of an area around the load cell 20 when the grain tank 9 has returned to the work position. At this position, the load cell 20 receives the weight of the grain tank 9, and outputs the weight as a measurement result. The load cell 20 is attached to the machine body frame 10, and a receiving guide piece 21 that guides a lower part of the grain tank 9 toward a weight detection part 20a of the load cell 20 is provided so as to cover the load cell 20. Along with the grain tank 9 rotating from the maintenance position to the work position, the receiving guide piece 21 guides the grain tank 9 to a position above the weight detection part 20a of the load cell 20 while supporting the lower end of the grain tank 9, and the load cell 20 measure the weight of the grain tank 9 at this position. The receiving guide piece 21 has an inclined surface so as to guide the grain tank 9 while lifting the grain tank 9 along with the grain tank 9 rotating from the maintenance position to the work position. A flat surface further extends from this inclined surface, and a front end part at the front end of the flat surface constitutes an inclined surface that is inclined downward.
[0053] The receiving guide piece 21 has a skirt part, and is pivotally
supported by a pivot pin so as to be able to swing about a machine body front-rear axis

P4 that extends in the front-rear direction of the machine body, relative to a bracket
110a that is fixed to the machine body frame 10. A through hole, that is formed in
the bracket 110a in order to allow the pivot pin to pass therethrough, is greater than the
pivot pin in terms of size in the top-bottom direction. Consequently, play is formed
between the pivot pin and the through hole. Due to such play, the receiving guide
piece 21 can be displaced in the top-bottom direction within a predetermined range
relative to the machine body front-rear axis P4. Specifically, the receiving guide
piece 21 is switchable between a load receiving state in which the receiving guide
piece 21 is located at a position where the receiving guide piece 21 covers the weight
detection part 20a of the load cell 20 from above and a retracted state in which the
receiving guide piece 21 has retracted upward and outward so as to open a space above
the load cell 20. Furthermore, with this configuration, when the space above the load
cell 20 is open, it is also possible to attach and detach the load cell 20 without
attaching or detaching the receiving guide piece 21. Note that, in the present
embodiment, as shown in Fig. 5, the weight detection part 20a of the load cell 20 is
covered from above by a cap member 20A that is formed in the shape of a cylinder
that faces downward. Therefore, when the grain tank 9 is at the work position, the
upper surface of the cap member 20A abuts against a lower surface of the receiving
guide piece 21, and a lower surface of the cap member 20A abuts against a pressure
receiving surface of the weight detection part 20a from above. Specifically, a load on
the front side of the grain tank 9 is received by the load cell 20 with the receiving
guide piece 21 and the cap member 20A being interposed therebetween.
[0054] Next, a configuration that allows the receiving guide piece 21 to
receive a load on the front side of the grain tank 9 at the work position will be described. A supporting platform 23 that has an angular shape is attached to a lower part of the grain tank 9, and a roller 22 is rotatably supported on a vertical wall 23a of the supporting platform 23 using a horizontal supporting shaft 22a. The lower end of the roller 22 is located at a position that is lower than a lower surface of a horizontal wall 23b of the supporting platform 23 so that the roller 22 is guided to be abut against the receiving guide piece 21. Therefore, in the state where the roller 22 is guided by the receiving guide piece 21, the horizontal wall 23b of the supporting platform 23 is not in contact with the receiving guide piece 21, and the horizontal wall 23b of the supporting platform 23 is brought into surface contact with the flat surface of the receiving guide piece 21 only when the roller 22 has been removed from the front end

part of the receiving guide piece 21. In order to reliably achieve this surface contact, the supporting platform 23 is attached to the grain tank 9 such that the height of the supporting platform 23 is adjustable using an adjustment mechanism. As shown in Fig. 5, the adjustment mechanism can be easily established by e.g. a combination of a fixing bolt that fixes the supporting platform 23 to the grain tank 9 using an elongated hole, and an adjustment bolt whose upper end is pressed against the lower surface of the grain tank 9.
[0055] Furthermore, an auxiliary guiding member 190 is provided on a
lower part of the grain tank 9 so as to be adjacent to the supporting platform 23. The
auxiliary guiding member 190 is a sledge-shaped member that is attached to a front
surface of a supporting member 97, and includes an auxiliary roller 191. When the
grain tank 9 moves from the maintenance position to the work position, the auxiliary
roller 191 rotates along an inclined surface of an inclined platform 111 that is provided
on the machine body frame 10. The auxiliary guiding member 190 and the inclined
platform 111 are designed so as to have a relative positional relationship in which the
auxiliary roller 191 is removed from the inclined platform 111 when the roller 22 has
passed the receiving guide piece 21. Specifically, when the grain tank 9 is at the
work position, the roller 22 and the auxiliary roller 191 are both suspended in the air,
and the weight of the grain tank 9 is measured by the load cell 20 in a stable state
where a lower surface of the horizontal wall 23b of the supporting platform 23 and the
flat surface of the receiving guide piece 21 are in surface contact.
[0056] A measurement result (a measurement value) obtained by the load
cell 20 may contain an error if the machine body of the combine is inclined or a large
vibration is produced by the machine body. Therefore, a device setting control
function for precise measurement is provided in order to correct, as much as possible,
negative conditions of the combine that may have an adverse effect on measurement
by the load cell 20 so as to allow precise measurement to be performed. Each device
is operated through this device setting control function for precise measurement, and
the combine is brought into a state that is suitable for the load cell 20 to measure the
weight of the grain tank 9. In simplified measurement, the operation of each device
using the device setting control function for precise measurement is omitted.
[0057] Fig. 6 shows: a yield measurement control unit 5 that is a core
element of a control system for measuring the yield (the amount of crop); an input signal processing part 61 that functions as a data input part for the yield measurement

control unit 5; and a device control part 62 that controls various operation devices in the combine. The yield measurement control unit 5, the input signal processing part 61, and the device control part 62 are connected to each other via an on-board LAN or other data transmission lines. This control system uses the measurement principal that has been described with reference to Fig. 1.
[0058] A measurement value from the load cell 20 and detection signals
from sensors/switches 300 are inputted to the input signal processing part 61. Furthermore, a simplified measurement request signal is inputted from the simplified measurement switch 31 included in the manual operation devices 30, and similarly, a precise measurement request signal is inputted from the precise measurement switch 32 included in the manual operation devices 30. These input signals are subjected to necessary pre-processing, and are then transferred to the yield measurement control unit 5.
[0059] The sensors/switches 300 include state detectors such as sensors and
switches that detect the state of the devices that constitute the combine. The state detectors include, for example: a speed detector that detects that the combine has stopped; a detector that detects that a vehicle body horizontal control mechanism provided for the combine has transitioned to a horizontal orientation that is the home position; a detector that detects the state of a clutch that controls power transmission to the reaping part 12 and the threshing apparatus 15; and a detector that detects the home position of the unloader apparatus 8 (a storage position of the unloader apparatus 8) that is fixed and held by the holding apparatus 87 of the horizontal transport screw conveyer 83.
[0060] In the present embodiment, the simplified measurement switch 31
included in the manual operation devices 30 also functions as a switch for activating grain discharge processing that is to be performed by the unloader apparatus 8. Upon the simplified measurement switch 31 being pressed once (a single operation), grain discharge processing by the unloader apparatus 8 is activated. Upon the simplified measurement switch 31 being pressed twice in a row (multiple operations), simplified measurement of the yield is performed first, and then grain discharge processing is performed. When precise measurement of the yield is desired, another switch, namely the precise measurement switch 32, is to be pressed. Also, as described above, even after multiple operations are performed with the simplified measurement switch 31, it is possible to perform precise measurement by operating the precise

measurement switch 32, unless grain discharge processing has been started.
[0061] The device control part 62 can directly or indirectly provide control
signals to various operation devices that are included in the unloader apparatus 8, the
reaping part 12, the threshing apparatus 15 and so on. The device control part 62
includes, as a function that particularly relates to the present invention, a device setting
processing part 621 for precise measurement that, when the load cell 20 is to perform
precise measurement of the weight, provides control signals to the operation devices
so that the combine comes into a state that is suitable for precise measurement.
[0062] In the yield measurement control unit 5, an operational instruction
processing part 51, a measurement control part 52, a yield calculation part 53, and a measurement result recording part 54 are substantially built as software. The operational instruction processing part 51 receives a signal that is outputted according to an operation performed by using the manual operation devices 30, via the input signal processing part 61. For example, upon receiving a signal that requests simplified measurement, the operational instruction processing part 51 outputs a simplified measurement instruction, which instructs to perform simplified measurement, to the measurement control part 52, and upon receiving a signal that requests precise measurement, the operational instruction processing part 51 outputs a precise measurement instruction, which instructs to perform precise measurement, to the measurement control part 52.
[0063] The measurement control part 52 includes a simplified measurement
execution part 521 that performs simplified weight measurement using the load cell 20, and a precise measurement execution part 522 that performs precise weight measurement using the load cell 20. The simplified measurement execution part 521, upon receiving a simplified measurement instruction from the operational instruction processing part 51, immediately provides a measurement execution instruction to the yield calculation part 53. The precise measurement execution part 522, upon receiving a precise measurement instruction from the operational instruction processing part 51, first instructs the device control part 62 to execute device processing for precise measurement using the device setting processing part 621 for precise measurement. Upon receiving a notification that indicates the completion of device processing for precise measurement from the device control part 62, the precise measurement execution part 522 provides a measurement execution instruction to the yield calculation part 53.

[0064] The yield calculation part 53 calculates the yield from a measurement
value that is a result of measurement by the load cell 20, using a measurement value/yield conversion table 153A that has been set. The measurement value/yield conversion table 153A differs depending on the type of crop such as rice and wheat, and the specifications of the combine. In the present embodiment, the measurement value/yield conversion table 153A is set based on data that is transmitted from a remote management center at the time of data exchange that is performed when the combine arrives at the farm field that is the target of harvest work, through processing for the confirmation of the farm field performed via a data communication network between the combine and the management center.
[0065] The measurement result recording part 54 records the yield
calculated by the yield calculation part 53, on a memory 55. If a yield obtained by simplified measurement, previously performed based on a simplified measurement instruction, has been written on the memory; and if a yield is obtained by precise measurement performed based on a precise measurement instruction, then the yield obtained by precise measurement is recorded, with rewriting or overriding the yield obtained by simplified measurement. When a yield is recorded on the memory 55, the type of measurement (precise measurement or simplified measurement) performed to calculate the yield, the name of the farm field, the type of crop and so on are also recorded as attribute values.
Other Embodiments Modified from First Embodiment
[0066] (1) In the above-described embodiment, one end of the grain tank 9
serves as a pivot and the other end is a floating structure, and the load cell 20 is
provided between a lower end part of the floating structure and the machine body
frame 10 to perform the measurement of the weight of the grain tank 9. Instead
thereof, the grain tank 9 may be supported on the machine body frame 10 at a plurality
of supporting points, and the load cell 20 may be located at the supporting points.
[0067] (2) Furthermore, as the measuring device 2 for calculating the yield
of grain stored in the grain tank 9, a measuring device that directly measures the weight of grain or capacity, instead of measuring the weight including the weight of the grain tank 9, may be employed.
[0068] (3) The way to partition the functional parts as shown in Fig. 6 is
described only as an example, and instead thereof, the functional parts may be

integrated or divided as appropriate. Any configuration may be employed insofar as the control functions of the present invention can be realized, and the functions may be realized as hardware, software or both.
Second Embodiment
[0069] Next, a second embodiment will be described.
[0070] Before specific description of this embodiment, the flow of
information during the zero point adjustment processing performed on a yield measurement part 153 that is mounted on the combine, using the load cell 20, will be described with reference to Fig. 7. This combine includes: a travelling machine body 101; an orientation changing mechanism 200 that changes the orientation/posture of the travelling machine body 101 relative to the ground (the inclination relative to the travelling apparatus (a crawler travelling apparatus 111 A in Fig. 7)); a grain tank (one example of a crop tank) 109 that is mounted on the travelling machine body 101 and stores grain that has been transported from a threshing apparatus; and an unloader apparatus 108 that discharges grain stored in the grain tank 109 from a bottom part of the grain tank 109 to the outside. The combine further includes a load cell 20 measuring the weight of the grain tank 109 and the yield measurement part 153 measuring the yield of grain stored in the grain tank 109, based on the result of measurement by the load cell 20. The combine still further includes a zero point adjustment part 155 that performs the zero point adjustment on the yield measurement part 153 including the load cell 20. In order to improve the reliability of the zero point adjustment, when the zero point adjustment by the zero point adjustment part 155 is started, or more accurately, prior to the substantial execution of the zero point adjustment processing, the travelling machine body 101 is orientated to be horizontal relative to the ground surface, using the function of a horizontal orientation control part 3 52 that controls the orientation changing mechanism 200.
[0071] Usually, a manual operation device 130 that is provided in the
vicinity of the driver's seat is operated in order to perform the zero point adjustment. The manual operation device 130 can be constituted by a switch, a button, a lever or the like. However, if a display device such as a liquid crystal panel is provided, the manual operation device 130 may be a software button displayed on the display screen of the display device. An operation performed on the software button is inputted via a touch panel. In such a configuration, since the button used to perform the zero

point adjustment is not used so frequently, the button may be located at a low level in
the button layer. Upon the driver selecting the zero point adjustment by using the
manual operation device 130, a zero point adjustment request is outputted and is
provided to the zero point adjustment part 155 (#01), Note that, according to the
present invention, the zero point adjustment that is performed before factory shipment
and the zero point adjustment that is performed by the user or a service person after
factory shipment are distinguished from each other, and the former is referred to as the
basic zero point adjustment, and the latter is referred to as the temporary zero point
adjustment. However, since the two kinds of zero point adjustments per se are
processed substantially in a same manner, both will be simply referred to as "the zero
point adjustment" when there is no particular need to distinguish one from the other.
[0072] In the illustrated control as shown in Fig. 7, in order to prevent
disturbance during zero point adjustment processing, pre-processing is executed in which the zero point adjustment part 155 causes the horizontal orientation control part 152 to operate the orientation changing mechanism 200 for bring the travelling machine body to a horizontal orientation. In this pre-processing, the zero point adjustment part 155 provides a horizontal orientation instruction to the horizontal orientation control part 152 in response to a zero point adjustment request (#02). In response to this horizontal orientation instruction, the horizontal orientation control part 152 controls the orientation changing mechanism 200 so that the travelling machine body is brought into the horizontal orientation, to thereby establish the horizontal orientation of the travelling machine body 101 (#03).
[0073] Furthermore, the zero point adjustment part 155 has an additional
function of executing another pre-processing in which, upon receiving the zero point adjustment request, the horizontal transport screw conveyer of the unloader apparatus 108 is reliably fixed at the home position, using a holding apparatus. A typical horizontal transport screw conveyer is the final conveyer for discharging grain, and is swingable in the top-bottom direction; and when there is no need to use the horizontal transport screw conveyer, the horizontal transport screw conveyer is fixed by the holding apparatus at the home position in a substantially horizontal orientation. Preferably, the fixing by the holding apparatus is realized by using a gravity fitting method under a condition where hydraulic pressure has been released. If the gravity fitting method is to be employed, for example, a spindle-shaped protruding part and a recessed part that corresponds to the protruding part are provided for the horizontal

transport screw conveyer and the holding apparatus. The horizontal transport sc conveyer is lifted once using an external driving force. After the external drr force is released, with its own weight, the protrusion-shaped part and recess-shaped part engage with each other. In order to execute a series of £ processes, the zero point adjustment part 155 outputs a basic state instruction to unloader control part 151 (#04). Upon receipt of the basic state instruction, unloader control part 151 provides a basic state control signal to the unlo apparatus 108 (#05). Even if the horizontal transport screw conveyer has not 1 appropriately fixed by the holding apparatus before performing the zero p adjustment, the horizontal transport screw conveyer can be reliably fixed by holding apparatus after these steps.
[0074] The zero point adjustment part 155 has a further functior
performing post-processing in which, after the completion of zero point adjustr processing, the orientation changing mechanism 200 is controlled so that the travel machine body 101 is brought into a lower limit orientation in which the height o! travelling machine body 101 relative to the ground is the lowest. In post-processing, upon the completion of zero point adjustment processing, the : point adjustment part 155 provides a lower limit orientation instruction to horizontal orientation control part 152 (#21), and the horizontal orientation cor part 152 outputs the lower limit control signal to the orientation changing mechar 200 (#22) and thus the lower limit orientation of the travelling machine body 1C realized.
[0075] After the completion of pre-processing, zero point adjustn
processing is substantially performed. Zero point adjustment processing well-known processing per se, and the disclosure of Patent Literature 2 can referenced, for example. To be described briefly, the weight of an empty grain i 109 in which no grain is stored is measured (#11), and the zero point is calcul based on this measurement value (#12). Here, a parameter that indicates this ; point is referred to as a zero point adjustment parameter. The zero point adjustn parameter thus calculated is taken in by a parameter setting part 153a of the y measurement part 153, and is used as a zero point for yield measurement (#13). r that the zero point adjustment parameter that is calculated as per the zero p adjustment that is performed before factory shipment and the zero point adjustn parameter that is calculated as per the zero point adjustment that is performed by

user or a service person after factory shipment are distinguished from each other, and
the former is referred to as the basic zero point adjustment parameter, and the latter is
referred to as the temporary zero point adjustment parameter. However, they are
simply referred to as "the zero point adjustment parameter" when there is no particular
need to distinguish them from each other. The basic zero point adjustment parameter
is recorded on a parameter memory 153b before being replaced with the temporary
zero point adjustment parameter, and if the temporary zero point adjustment parameter
is reset, the basic zero point adjustment parameter will be set again (#14).
[0076] Next, one specific embodiment of the combine will be described with
reference to the drawings, in which Fig. 8 is a side view of the combine and Fig. 9 is a
plan view of the same. This combine is a head-feeding type combine, and a machine
body frame 110 that constitutes the travelling machine body 101 is supported over the
ground by a pair of right and left crawler travelling apparatuses 111 A. A reaping part
112 that reaps planted stalks and transports the reaped stalks rearward of the machine
body is provided on a front part of the machine body, and a manipulation part 114 that
includes a front console 113A and a side console 113B is provided rearward of the
reaping part 112. Furthermore, a threshing apparatus 115 that performs the
threshing/separation of the reaped stalks, a grain tank (one example of a crop tank) 109
that stores grain that has been subjected to separation and collection by the threshing
apparatus 115, an unloader apparatus 108 that discharges grain from the grain tank
109, a waste straw processing apparatus 116 that processes waste straw, and so on are
arranged. As shown in Fig. 9, the front console 113A includes a manipulation lever,
a transmission lever, and a liquid crystal panel 170 that serves as a display device for
displaying various kinds of information. The side console 113B includes a manual
operation device 130 used for performing the zero point adjustment.
[0077] The threshing apparatus 115 performs threshing processing on the ear
tip side of the reaped stalks that have been transported from the reaping part 112,
performs separation between: individual grains that have been separated from each
other; and dust such as straw dust, through the separating action of a separation
mechanism (not shown) that is provided in the threshing apparatus 115, and transports
the individual grains to the grain tank 109 as the crop. Waste straw that has
undergone threshing processing is subjected to shredding processing in the waste straw
processing apparatus 116.
[0078] As can be understood from Figs. 8 and 9, a grain transport

mechanism for feeding grain from the threshing apparatus 115 to the grain tank 109 is provided. This grain transport apparatus is constituted by: a first-crop collection screw 117a that is provided on a bottom part of the threshing apparatus 115; and a grain elevator apparatus 117b that is of a screw conveyer type. The grain that has been laterally transported by the first-crop collection screw 117a is transported upward by the grain elevator apparatus 117b, and is fed to the inside of the grain tank 109 via an input port that is formed in an upper part of the grain tank 109. Although not shown in the drawings, a rotary vane that flips the grain toward the inside of the grain tank 109 is provided in an upper end area of the grain elevator apparatus 117b so that grains are distributed as uniformly as possible in the horizontal direction in the grain tank 109.
[0079] As schematically shown in Figs. 10, 11 and 12, the orientation
changing mechanism 200 is provided between the machine body frame 110 and the truck frames Ilia of the crawler travelling apparatus 111 A, to perform a rolling function for bringing the machine body frame 110 into a horizontal orientation relative to the right-left inclination of the machine body by moving either one of the right and left truck frames Ilia upward or downward; and a pitching function for bringing the machine body frame 110 into a horizontal orientation relative to the front-rear inclination of the machine body by moving either one of a front part and a rear part of the truck frames Ilia.
[0080] A supporting metal 201 is provided below a front part of the machine
body frame 110, and the supporting metal 201 includes a shaft part 202 that extends in
the right-left direction of the machine body and is rotatable. A base part of a forward
operation arm 203 is fixed to an inner end part of the shaft part 202, and the end part
that is opposite the base part of the front operation arm 203 is located on the side of a
rear part of the machine body. A base part of a forward elevation arm 204 is fixed to
an outer end part of the shaft part 202, and the other end part of the front elevation ami
204 is fixed to the truck frames Ilia with a shaft 205 being interposed therebetween.
[0081] A supporting metal 206 is provided below a rear part of the machine
body frame 110, and the supporting metal 206 includes a shaft part 207 that extends in the right-left direction of the machine body and is rotatable. A base part of a rear operation arm 208 is fixed to an inner end part of the shaft part 207, and the end part that is opposite the base part of the rear operation arm 208 is located on the side of a rear part of the machine body. One end of a rear elevation first ami 209 is fixed to an

outer end part of the shaft part 207, and the other end part of the rear elevation first arm 209 is attached to a shaft 210. A base part of a rear elevation second arm 211 is attached to the shaft 210 so as to be swingable, and the other end of the rear elevation second arm 211 is fixed to the truck frames Ilia with a shaft 212 being interposed therebetween.
[0082] A piston rod 214 of a single action type hydraulic cylinder 213 for
rolling is attached to an end part of the forward operation arm 203, using a shaft. The hydraulic cylinder 213 is provided to span the forward operation ami 203 and the machine body frame 110 in the vertical direction. Also, a piston rod 217 of a single action type hydraulic cylinder 216 for rolling and pitching is attached to an end part of the rear operation arm 208, using a shaft. The hydraulic cylinder 216 is provided to span the rear operation arm 208 and the machine body frame 110 in the vertical direction.
[0083] Two hydraulic cylinders 213 are respectively provided on front parts
of the right and left truck frames Ilia, and two hydraulic cylinders 216 are
respectively provided on rear parts of the right and left truck frames Ilia. It is
possible to allow the machine body to perform a pitching operation and a rolling
operation by causing each of the hydraulic cylinders 213, 216 to operate individually
and controlling the amount of operation of each of the hydraulic cylinders 213, 216.
The hydraulic cylinders 213 for rolling and the hydraulic cylinders 216 for rolling and
pitching have the same cross-sectional area. When the machine body is to perform a
rolling operation, the right or left hydraulic cylinders 213, 216 are expanded or
contracted by the same amount, and when the machine body is to perform a pitching
operation, only the right and left hydraulic cylinders 216 are expanded or contracted.
[0084] As shown in Fig. 10, the front operation arm 203 and the front
elevation ami 204 are both provided so as to extend rearward of the machine body
relative to the shaft part 202, and the length of the front operation arm 203 in the
direction from the shaft part 202 to the rear side of the machine body is set so as to be
the same as or shorter than the length of the front elevation ami 204 in the direction
from the shaft part 202 to the rear side of the machine body. The hydraulic cylinder
213 extends in the vertical direction, with the piston rod 214 provided at a lower
portion thereof so as to protrude and retract relative to the forward operation arm 203.
[0085] Also, the rear operation arm 208, the rear elevation first ami 209 and
the rear elevation second ami 211 are all provided so as to extend rearward of the

machine body relative to the shaft part 207, and the length of the rear operation arm 208 in the direction from the shaft part 207 to the rear side of the machine body is set so as to be the same as or shorter than the length of the rear elevation first arm 209 and the rear elevation second arm 211 in the direction from the shaft part 207 to the rear side of the machine body. The hydraulic cylinder 216 extends in the vertical direction, with the piston rod 217 provided at a lower portion thereof so as to protrude and retract relative to the rear operation arm 208.
[0086] By controlling the hydraulic cylinders 213, 216 of the
above-described orientation changing mechanism 200, it is possible to create the horizontal orientation of the travelling machine body 101 regardless condition of the ground surface, and it is also possible to create the lower limit orientation of the travelling machine body 101 that is a horizontal orientation in which the height from the ground of the travelling machine body 101 is the lowest.
[0087] As shown in Figs. 8 and 9, the unloader apparatus 108 includes: a
bottom part screw 181 that is provided on the bottom part of the grain tank 109; a vertical transport screw conveyer 182 that is provided on a side of the grain tank 109 that is rearward of the machine body; and a horizontal transport screw conveyer 183 that extends over the threshing apparatus 115. Grain stored in the grain tank 109 is fed from the bottom part screw 181 to the horizontal transport screw conveyer 183 via the vertical transport screw conveyer 182, and is discharged to the outside from a discharge port 184 that is provided at the front end of the horizontal transport screw conveyer 183. The vertical transport screw conveyer 182 is configured to rotate about the vertical axis P2 using the operation of an electrical motor 185, and the horizontal transport screw conveyer 183 is configured to be swingable in the top-bottom direction about the horizontal axis PI at a base end part using a hydraulic cylinder 186. With this configuration, it is possible to position the discharge port 184 of the horizontal transport screw conveyer 183 so that grain can be discharged to a transportation truck or the like outside the machine. The home position of the horizontal transport screw conveyer 183 (the home position of the unloader apparatus 108) is a position at which the horizontal transport screw conveyer 183 is substantially horizontal and the entirety of the horizontal transport screw conveyer 183 is located inside the contour of the harvesting machine in plan view. The horizontal transport screw conveyer 183 is firmly held and fixed at this home position by a holding apparatus 187 from below.