Combine

Abstract

A combine is provided that makes it easy to detect clogging in the cutting unit regardless of the operator's skill level or working environment. The apparatus is equipped with a harvesting unit H that harvests crops in the packaging and returns them to the rear of the machine, a hydrostatic continuously variable transmission (40) that transmits power from the engine (2) to the harvesting unit H, a load detection device (3) that detects a load-related value, which is a value regarding the load of the hydrostatic continuously variable transmission (40), and a judgment unit (26) that determines whether a blockage has occurred in the harvesting unit H based on the load-related value detected by the load detection device (3).

Description

Technology Field

[0001] The present invention relates to a combine harvester equipped with a hydrostatic continuously variable transmission that transmits power from an engine to a cutting unit. Background Technology

[0002] As a combine harvester as described above, for example, the one described in Patent Document 1 is already known. This combine harvester is driven by power output from an engine.

[0003] In addition, in this combine, power from the engine is transmitted to the cutting unit through a hydrostatic continuously variable transmission (in Patent Document 1, "HST for cutting"). Therefore, by controlling the hydrostatic continuously variable transmission, the driving speed of the cutting unit can be changed. Prior art literature

[0004] Japanese Patent Publication No. 2014-113111 The problem to be solved

[0005] In the combine described in Patent Document 1, the cutting unit may become clogged due to the cutting chamber, etc. When the cutting unit becomes clogged, the operator needs to stop the operation of the combine and perform work to clear the clogging of the cutting unit.

[0006] Here, if an operator skilled in working with a combine is on board the combine, the clogging of the cutting unit can be detected by the sound or vibration generated from the combine when the cutting unit is clogged.

[0007] However, when the cutting unit is clogged, it is difficult for an inexperienced operator to detect the clogging from the sound or vibration generated by the combine.

[0008] In addition, even operators skilled in working with combines may find it difficult to detect sounds or vibrations emanating from the combine depending on the working environment. For example, when strong winds are blowing or loud noise is occurring around the field, it is difficult for the operator to detect sounds or vibrations emanating from the combine.

[0009] In addition, even when the combine is configured to drive automatically and the operator monitors the operation of the combine from outside the machine, it is difficult for the operator to detect sounds or vibrations generated by the combine.

[0010] The objective of the present invention is to provide a combine harvester that makes it easy to recognize clogging of the cutting unit regardless of the operator's skill level or working environment. means of solving the problem

[0011] The feature of the present invention is to have a cutting unit that cuts crops in a package and conveys them to the rear of the machine, a hydrostatic continuously variable transmission that changes power from an engine and transmits it to the cutting unit, a load detection device that detects a load-related value which is a value regarding the load of the hydrostatic continuously variable transmission, and a determination unit that determines whether a blockage has occurred in the cutting unit based on the load-related value detected by the load detection device.

[0012] When the cutting unit is clogged, the load on the hydrostatic continuously variable transmission is likely to increase relatively. Here, according to the present invention, whether or not a clogging has occurred in the cutting unit is determined based on a load-related value, which is a value regarding the load of the hydrostatic continuously variable transmission. Therefore, according to the present invention, whether or not a clogging has occurred in the cutting unit can be determined with high precision.

[0013] In addition, according to the present invention, when a blockage occurs in the cutting unit, it is determined by the judgment unit that a blockage has occurred in the cutting unit. Therefore, when it is determined that a blockage has occurred in the cutting unit, by executing processing according to the judgment result, such as notifying the operator that a blockage has occurred or stopping the operation of the combine, it is possible to realize a configuration that makes it easy to recognize a blockage in the cutting unit regardless of the operator's skill level or working environment.

[0014] In other words, with the present invention, it is possible to realize a combine harvester that makes it easy to recognize clogging of the cutting unit regardless of the operator's skill level or working environment.

[0015] In addition, in the present invention, the load detection device is suitable if it is configured to detect the rotational speed of the output shaft of the hydrostatic continuously variable transmission.

[0016] In a hydrostatic continuously variable transmission, the greater the load, the lower the rotational speed of the output shaft tends to be. In other words, the rotational speed of the output shaft of a hydrostatic continuously variable transmission is a load-related value.

[0017] Therefore, according to the above configuration, the load detection device can reliably realize a configuration for detecting load-related values.

[0018] In addition, in the present invention, the judgment unit is configured to determine that a blockage has occurred in the cutting unit when the load-related value detected by the load detection device changes by exceeding a predetermined threshold, and it is suitable to have a threshold setting unit that sets the threshold based on the state of the gas.

[0019] The load-related value in the cutting unit, when no blockage has occurred, may change depending on the state of the gas. Therefore, the judgment unit is configured to determine that a blockage has occurred in the cutting unit when the load-related value changes beyond a predetermined threshold. Furthermore, in a configuration where the threshold is constant, a situation is envisioned where the load-related value changes beyond the threshold even though no blockage has occurred in the cutting unit. As a result, the judgment unit incorrectly determines that a blockage has occurred in the cutting unit.

[0020] Here, according to the above configuration, the threshold is set based on the state of the gas. Therefore, as described above, it is easy to avoid a situation where the judgment unit incorrectly determines that a blockage has occurred in the cutting unit.

[0021] In addition, in the present invention, the threshold setting unit is suitable for setting the threshold based on the vehicle speed.

[0022] Load-related values ​​in a state where no blockage occurs in the harvesting unit may change depending on the vehicle speed. For example, if a combine is configured to control a hydrostatic continuously variable transmission according to the vehicle speed, the rotational speed of the output shaft of the hydrostatic continuously variable transmission changes depending on the vehicle speed. In this configuration, if a load detection device is configured to detect the rotational speed of the output shaft of the hydrostatic continuously variable transmission as a load-related value, the load-related value in a state where no blockage occurs in the harvesting unit changes depending on the vehicle speed.

[0023] Here, according to the above configuration, the threshold is set based on the vehicle speed. Therefore, the threshold is easy to set to an appropriate value.

[0024] In addition, in the present invention, the threshold setting unit is suitable for setting the threshold based on the rotational speed of the output shaft of the engine.

[0025] The load-related value in the mowing unit, when no blockage occurs, may vary depending on the rotational speed of the engine's output shaft. For example, the rotational speed of the output shaft of a hydrostatic continuously variable transmission (CVT) varies depending on the rotational speed of the engine's output shaft. Furthermore, if the load detection device is configured to detect the rotational speed of the output shaft of the hydrostatic continuously variable transmission as the load-related value, the load-related value in the mowing unit, when no blockage occurs, will vary depending on the rotational speed of the engine's output shaft.

[0026] Here, according to the above configuration, the threshold is set based on the rotational speed of the engine's output shaft. Therefore, the threshold is easy to set to an appropriate value.

[0027] In addition, in the present invention, it is suitable to provide a stop indicator that stops the gas when it is determined by the judgment unit that a blockage has occurred in the cutting unit.

[0028] According to this configuration, if a blockage occurs in the cutting unit, the combine stops moving. As a result, regardless of the operator's skill level or working environment, the operator can recognize the blockage in the cutting unit from the fact that the combine has stopped moving.

[0029] Therefore, according to this configuration, the operator can reliably detect a blockage in the cutting unit regardless of the operator's skill level or working environment. Brief explanation of the drawing

[0030] Figure 1 is a left side view of a combine. Figure 2 is a drawing illustrating a circuit run in a package. Figure 3 is a diagram illustrating a mowing drive along a mowing drive path. Figure 4 is a block diagram illustrating the configuration of the control unit. Figure 5 is a diagram illustrating the relationship between vehicle speed and threshold. Specific details for implementing the invention

[0031] A form for carrying out the present invention will be described based on the drawings. In addition, in the following description, unless otherwise specifically stated, the direction of arrow F in FIG. 1 will be "forward" and the direction of arrow B will be "backward".

[0032] [Overall Components of the Combine]

[0033] As illustrated in FIG. 1, the self-propelled combine (1) is equipped with a crawler-type driving device (11), a driving unit (12), a threshing device (13), a grain tank (14), a cutting unit H, a grain discharge device (18), and a satellite positioning module (80).

[0034] The driving device (11) is provided at the bottom of the combine (1). Additionally, the driving device (11) is driven by power from the engine (2) (see FIG. 4). And, the combine (1) is made possible by the driving device (11).

[0035] Additionally, the driving unit (12), threshing device (13), and grain tank (14) are provided on the upper side of the driving device (11). An operator who monitors the operation of the combine (1) may ride in the driving unit (12). Additionally, the operator may monitor the operation of the combine (1) from outside the device of the combine (1).

[0036] The grain discharge device (18) is connected to the grain tank (14). Additionally, the satellite positioning module (80) is installed on the upper surface of the driving unit (12).

[0037] The cutting unit H is provided in the front part of the combine (1). The cutting unit H has a clipper-type cutting device (15) and a conveying device (16).

[0038] The cutting device (15) cuts the base of the planted stem of the packaging (corresponding to the “crop” related to the present invention). Then, the conveying device (16) conveys the stem cut by the cutting device (15) to the rear side.

[0039] With this configuration, the cutting unit H cuts the planting gaps of the pavement. The combine (1) is capable of cutting and driving by the driving device (11) while cutting the planting gaps of the pavement by the cutting unit H.

[0040] In addition, with this configuration, the cutting unit H cuts the planting space of the packaging and returns it to the rear of the machine.

[0041] The grains conveyed by the conveying device (16) are threshed in the threshing device (13). The grains obtained by the threshing process are stored in the grain tank (14). The grains stored in the grain tank (14) are discharged outside the machine by the grain discharge device (18) as needed.

[0042] Additionally, a communication terminal (not shown) is provided in the driving unit (12). The communication terminal is configured to display various information. In this embodiment, the communication terminal is fixed to the driving unit (12). However, the present invention is not limited to this, and the communication terminal may be configured to be detachable from the driving unit (12), and the communication terminal may be located outside the device of the combine (1).

[0043] Here, the combine (1) is configured to harvest grain in the field by performing a circular run while harvesting grain in the outer periphery area of ​​the field as shown in FIG. 2, and then performing a cutting run in the inner periphery area of ​​the field as shown in FIG. 3.

[0044] In this embodiment, the circular driving shown in FIG. 2 is performed by manual driving. In addition, the mowing driving in the inner area shown in FIG. 3 is performed by automatic driving.

[0045] Furthermore, the present invention is not limited thereto, and the circular driving shown in FIG. 2 may be performed by automatic driving. Additionally, the mowing driving in the inner area shown in FIG. 3 may be performed by manual driving.

[0046] In addition, the operator can change the rotational speed of the engine (2) by operating the communication terminal described above.

[0047] Depending on the condition of the crop, the appropriate working speed varies. If the operator operates the communication terminal to set the rotational speed of the engine (2) to an appropriate rotational speed, the work can be performed at a working speed suitable for the condition of the crop.

[0048] [Configuration of the Control Unit]

[0049] As illustrated in FIG. 4, the combine (1) is equipped with a control unit (20). The control unit (20) has a vehicle position calculation unit (21), an area calculation unit (22), a path calculation unit (23), and a driving control unit (24).

[0050] The satellite positioning module (80) receives GPS signals from artificial satellites used in the GPS (Global Positioning System). Then, as shown in FIG. 4, the satellite positioning module (80) sends positioning data indicating the self-position of the combine (1) to the self-position calculation unit (21) based on the received GPS signals.

[0051] The vehicle position calculation unit (21) calculates the position coordinates of the combine (1) over time based on the positioning data output by the satellite positioning module (80). The calculated position coordinates of the combine (1) over time are sent to the area calculation unit (22) and the driving control unit (24).

[0052] The area calculation unit (22) calculates the outer area SA and the work target area CA based on the temporal position coordinates of the combine (1) received from the vehicle position calculation unit (21), as shown in FIG. 3.

[0053] More specifically, the area calculation unit (22) calculates the driving trajectory of the combine (1) during a circular drive on the outer side of the pavement based on the temporal position coordinates of the combine (1) received from the vehicle position calculation unit (21). Then, the area calculation unit (22) calculates the area on the outer side of the pavement where the combine (1) drove circularly while harvesting grain as the outer area SA based on the calculated driving trajectory of the combine (1). In addition, the area calculation unit (22) calculates the area on the inner side of the pavement, which is larger than the calculated outer area SA, as the work target area CA.

[0054] For example, in FIG. 2, the driving path of the combine (1) for circular driving on the outer side of the pavement is indicated by an arrow. In the example shown in FIG. 2, the combine (1) performs three circular drivings. And when the harvesting driving along this driving path is completed, the pavement becomes the state shown in FIG. 3.

[0055] As illustrated in FIG. 3, the area calculation unit (22) calculates the area on the outer side of the packaging where the combine (1) travels around while harvesting grain as the outer area SA. Additionally, the area calculation unit (22) calculates the area on the inner side of the packaging, which is larger than the calculated outer area SA, as the work target area CA.

[0056] And, as illustrated in FIG. 4, the result of the calculation by the area calculation unit (22) is sent to the path calculation unit (23).

[0057] The path calculation unit (23) calculates a mowing drive path LI, which is a driving path for mowing drive in the work target area CA, based on the calculation result received from the area calculation unit (22), as shown in FIG. 3. In addition, as shown in FIG. 3, in this embodiment, the mowing drive path LI is a plurality of mesh lines extending in the longitudinal and transverse directions. In addition, the plurality of mesh lines may not be straight and may be curved.

[0058] As shown in FIG. 4, the cutting driving path LI calculated by the path calculation unit (23) is sent to the driving control unit (24).

[0059] The driving control unit (24) is configured to control the driving device (11). The driving control unit (24) controls the automatic driving of the combine (1) based on the position coordinates of the combine (1) received from the vehicle position calculation unit (21) and the harvesting driving path LI received from the path calculation unit (23). More specifically, the driving control unit (24) controls the driving of the combine (1) so that the harvesting driving is performed by automatic driving along the harvesting driving path LI, as shown in FIG. 3.

[0060] That is, the combine (1) can drive automatically.

[0061] [Flow of Harvesting Operations by Combine]

[0062] Below, as an example of a harvesting operation by a combine (1), the flow of a case where the combine (1) performs a harvesting operation in the field shown in FIG. 2 will be explained.

[0063] Initially, the operator manually operates the combine (1) to perform a mowing run along the boundary line BD of the pavement on the outer perimeter of the pavement, as shown in FIG. 2. In the example shown in FIG. 2, the combine (1) performs a three-round run. When this run is completed, the pavement is in the state shown in FIG. 3.

[0064] The area calculation unit (22) calculates the driving trajectory of the combine (1) during the circular driving shown in FIG. 2 based on the temporal position coordinates of the combine (1) received from the vehicle position calculation unit (21). Then, as shown in FIG. 3, the area calculation unit (22) calculates the area on the outer side of the pavement where the combine (1) drove circularly while harvesting the planting area, based on the calculated driving trajectory of the combine (1), as the outer area SA. In addition, the area calculation unit (22) calculates the area on the inner side of the pavement, which is greater than the calculated outer area SA, as the work target area CA.

[0065] Next, the path calculation unit (23) sets the cutting driving path LI in the work target area CA based on the calculation result received from the area calculation unit (22), as shown in FIG. 3.

[0066] Then, when the operator presses the automatic driving start button (not shown), automatic driving along the harvesting driving path LI is started as shown in FIG. 3. At this time, the driving control unit (24) controls the driving of the combine (1) so that the harvesting driving is performed by the automatic driving along the harvesting driving path LI.

[0067] When automatic driving is started in the work target area CA, the combine (1) performs a mowing drive covering the entire work target area CA.

[0068] While the harvesting is being performed by the combine (1), the harvested grain stalks harvested by the cutting device (15) as described above are conveyed to the threshing device (13) by the conveying device (16). Then, in the threshing device (13), the harvested grain stalks are threshed.

[0069] [Composition regarding power transmission]

[0070] As illustrated in FIG. 4, the combine (1) is equipped with a first transmission mechanism (31) and a second transmission mechanism (32). Power from the engine (2) is distributed to the first transmission mechanism (31) and the second transmission mechanism (32) through the engine output shaft (2a). Additionally, the engine output shaft (2a) is the output shaft of the engine (2).

[0071] The first transmission mechanism (31) transmits power from the engine (2) to the driving device (11). By doing so, the driving device (11) is driven by power from the engine (2).

[0072] Additionally, as illustrated in FIG. 4, the combine (1) is equipped with a cutting HST (40) (equivalent to a “hydrostatic stepless transmission” according to the present invention) and a third transmission mechanism (33). Additionally, the cutting HST (40) has a hydraulic pump (41) and a hydraulic motor (42).

[0073] The second transmission mechanism (32) transmits power from the engine (2) to the hydraulic pump (41). Then, in the mowing HST (40), power is transmitted from the hydraulic pump (41) to the hydraulic motor (42). At this time, the power is shifted between the hydraulic pump (41) and the hydraulic motor (42). Then, the shifted power is transmitted to the third transmission mechanism (33) through the motor output shaft (42a). Also, the motor output shaft (42a) is the output shaft of the hydraulic motor (42).

[0074] The third transmission mechanism (33) transmits power from the hydraulic motor (42) to the cutting unit H. As a result, the cutting unit H is driven by power from the engine (2).

[0075] In this way, the combine (1) is equipped with a cutting HST (40) that transmits power from the engine (2) to the cutting unit H.

[0076] [Configuration regarding mowing speed control]

[0077] As illustrated in FIG. 4, the combine (1) is equipped with a vehicle speed detection unit S1. Additionally, the control unit (20) has a cutting speed control unit (28).

[0078] The vehicle speed detection unit S1 detects the vehicle speed of the combine (1). The detection result by the vehicle speed detection unit S1 is sent to the cutting speed control unit (28).

[0079] The cutting speed control unit (28) controls the cutting HST (40) based on the detection result by the vehicle speed detection unit S1. Accordingly, the cutting speed control unit (28) controls the driving speed of the cutting unit H. That is, the cutting speed control unit (28) is configured to control the driving speed of the cutting unit H based on the vehicle speed of the combine (1).

[0080] More specifically, the cutting speed control unit (28) controls the cutting HST (40) so that the driving speed of the cutting unit H increases as the vehicle speed of the combine (1) increases.

[0081] [Composition of the Adjudication Panel]

[0082] As illustrated in FIG. 4, the combine (1) is equipped with a load detection device (3). Additionally, the control unit (20) has a judgment unit (26).

[0083] The load detection device (3) is configured to detect the rotational speed of the motor output shaft (42a).

[0084] Here, when the load of the mowing HST (40) increases, the rotational speed of the motor output shaft (42a) decreases. That is, the rotational speed of the motor output shaft (42a) is a value related to the load of the mowing HST (40).

[0085] In this specification, the value regarding the load of the cutting HST (40) is referred to as the load-related value. That is, the load detection device (3) is configured to detect the load-related value.

[0086] In this way, the combine (1) is equipped with a load detection device (3) that detects a load-related value, which is a value regarding the load of the cutting HST (40).

[0087] The detection result by the load detection device (3) is sent to the judgment unit (26).

[0088] The judgment unit (26) determines whether a blockage has occurred in the cutting unit H based on the detection result by the load detection device (3).

[0089] In this way, the combine (1) is equipped with a determination unit (26) that determines whether a blockage has occurred in the cutting unit H based on a load-related value detected by a load detection device (3).

[0090] When the judgment unit (26) determines that a blockage has occurred in the cutting unit H, the judgment unit (26) sends a predetermined signal to the stop indicator unit (27). This signal indicates that a blockage has occurred in the cutting unit H.

[0091] When the stop instruction unit (27) receives this signal, it sends a signal to the driving control unit (24) to stop the aircraft. The driving control unit (24) controls the driving device (11) according to this signal to stop the aircraft.

[0092] In this way, the combine (1) is equipped with a stop indicator (27) that stops the machine when it is determined by the judgment unit (26) that a blockage has occurred in the cutting unit H.

[0093] Below, the judgment by the judgment unit (26) will be explained in detail.

[0094] As illustrated in FIG. 4, the control unit (20) has a threshold setting unit (25). Additionally, the combine (1) is equipped with a rotation detection unit S2.

[0095] As described above, the vehicle speed detection unit S1 detects the vehicle speed of the combine (1). Then, the detection result by the vehicle speed detection unit S1 is sent to the threshold setting unit (25).

[0096] The threshold setting unit (25) sets the threshold TH based on the detection result received from the vehicle speed detection unit S1. That is, the threshold setting unit (25) sets the threshold TH based on the vehicle speed.

[0097] In this embodiment, the threshold setting unit (25) sets the threshold TH such that the higher the vehicle speed, the higher the threshold TH becomes, as shown in FIG. 5.

[0098] In addition, the rotation detection unit S2 detects the rotational speed of the engine output shaft (2a). And, as shown in FIG. 4, the detection result by the rotation detection unit S2 is sent to the threshold setting unit (25).

[0099] The threshold setting unit (25) sets the threshold TH based on the detection result received from the rotation detection unit S2. That is, the threshold setting unit (25) sets the threshold TH based on the rotational speed of the engine output shaft (2a).

[0100] In this embodiment, the threshold setting unit (25) sets the threshold TH such that the higher the rotational speed of the engine output shaft (2a), the higher the threshold TH becomes. Also, since the relationship between the rotational speed of the engine output shaft (2a) and the threshold TH in this embodiment is the same as the relationship shown in FIG. 5, the illustration is omitted.

[0101] As explained above, the threshold setting unit (25) sets the threshold TH based on the state of the combine (1). In addition, the vehicle speed and the rotational speed of the engine output shaft (2a) both correspond to the "state of the vehicle" according to the present invention.

[0102] That is, the combine (1) is equipped with a threshold setting unit (25) that sets a threshold TH based on the state of the gas. The threshold TH set by the threshold setting unit (25) is sent to a judgment unit (26).

[0103] The judgment unit (26) is configured to determine that a blockage has occurred in the cutting unit H when the load-related value detected by the load detection device (3) changes beyond a predetermined threshold TH.

[0104] For example, when the rotational speed of the engine output shaft (2a) is maintained at a predetermined speed, as shown in FIG. 5, when the vehicle speed of the combine (1) is the first vehicle speed V1, the threshold TH set by the threshold setting unit (25) is the first threshold TH1.

[0105] In this case, when the vehicle speed is the first vehicle speed V1 and the rotational speed of the motor output shaft (42a) detected by the load detection device (3) is greater than the first threshold TH1, the judgment unit (26) determines that no blockage has occurred in the cutting unit H.

[0106] In addition, when the vehicle speed is the first vehicle speed V1, if the rotational speed of the motor output shaft (42a) detected by the load detection device (3) changes from a value greater than the first threshold TH1 to a value smaller than the first threshold TH1, the judgment unit (26) determines that a blockage has occurred in the cutting unit H.

[0107] In addition, if the rotational speed of the motor output shaft (42a) detected by the load detection device (3) changes from a value greater than the first threshold TH1 to a value smaller than the first threshold TH1, it corresponds to the case described above where "the load-related value detected by the load detection device (3) changes by exceeding a predetermined threshold TH."

[0108] If the cutting unit H is clogged, the load on the cutting HST (40) is likely to increase relatively. Here, with the configuration described above, whether or not a clogging has occurred in the cutting unit H is determined based on the load-related value. Therefore, with the configuration described above, whether or not a clogging has occurred in the cutting unit H can be determined with high precision.

[0109] And, with the configuration described above, if a blockage occurs in the cutting unit H, the judgment unit (26) determines that a blockage has occurred in the cutting unit H. Therefore, when it is determined that a blockage has occurred in the cutting unit H, the operator is notified of the blockage, or the operation of the combine (1) is stopped, and by executing the processing according to the judgment result, a configuration that makes it easy to recognize a blockage in the cutting unit H can be realized regardless of the operator's skill level or working environment.

[0110] Furthermore, the embodiments described above are merely examples, and the present invention is not limited thereto and can be appropriately modified.

[0111] [Other embodiments]

[0112] (1) The driving device (11) may be a wheel type or a semi-crawler type.

[0113] (2) In the above embodiment, the cutting travel path LI calculated by the path calculation unit (23) is a plurality of mesh lines extending in the longitudinal and transverse directions. However, the present invention is not limited to this, and the cutting travel path LI calculated by the path calculation unit (23) does not have to be a plurality of mesh lines extending in the longitudinal and transverse directions. For example, the cutting travel path LI calculated by the path calculation unit (23) may be a spiral travel path. Also, the cutting travel path LI does not have to be orthogonal to other cutting travel path LIs. Also, the cutting travel path LI calculated by the path calculation unit (23) may be a plurality of parallel lines that are parallel to each other.

[0114] (3) In the above embodiment, the operator manually operates the combine (1) to perform a mowing run in a circular motion along the boundary line BD of the packaging in the outer part of the packaging as shown in FIG. 2. However, the present invention is not limited to this, and the combine (1) may be configured to drive automatically to perform a mowing run in a circular motion along the boundary line BD of the packaging in the outer part of the packaging. In addition, the number of rotations at this time may be a number other than 3 rotations. For example, the number of rotations at this time may be 2 rotations.

[0115] (4) Some or all of the vehicle location calculation unit (21), area calculation unit (22), path calculation unit (23), driving control unit (24), threshold setting unit (25), judgment unit (26), stop instruction unit (27), and cutting speed control unit (28) may be provided outside the combine (1), and for example, may be provided in a management server provided outside the combine (1).

[0116] (5) In the above embodiment, the case in which the rotational speed of the motor output shaft (42a) detected by the load detection device (3) changes from a value greater than the first threshold TH1 to a value less than the first threshold TH1 was described. However, the judgment unit (26) may be configured to determine that a blockage has occurred in the cutting unit H when the load-related value detected by the load detection device (3) changes from a value less than the threshold TH to a value greater than the threshold TH.

[0117] (6) The load detection device (3) may be configured to detect a value other than the rotational speed of the motor output shaft (42a). For example, the load detection device (3) may detect the internal hydraulic pressure of the mowing HST (40). The internal hydraulic pressure of the mowing HST (40) corresponds to the “load-related value” of the present invention.

[0118] Additionally, for example, the load detection device (3) may detect the ratio of the rotational speed of the motor output shaft (42a) and the hydraulic pressure inside the cutting HST (40). This ratio corresponds to the "load-related value" of the present invention.

[0119] (7) A threshold setting unit (25) does not need to be provided. That is, the threshold TH does not need to be unchangeable.

[0120] (8) The combine (1) may be configured so that it cannot drive automatically. Industrial applicability

[0121] The present invention can be used not only in self-propelled combines but also in ordinary combines. Explanation of the symbols

[0122] 1: Combine 2: Engine 2a: Engine output shaft (engine output shaft) 3: Load detection device 25: Threshold setting section 26: Judgment panel 27: Stop indicator 40: Mowing HST (Hydraulic Continuously Variable Transmission) 42a: Motor output shaft (output shaft of a hydrostatic continuously variable transmission) H: Cutting unit TH: Threshold

Claims

Claim 1 A combine harvester that drives while harvesting crops in a field, comprising: a harvesting unit that harvests crops in a field and returns them to the rear of the machine; a hydrostatic continuously variable transmission that transmits power from an engine to the harvesting unit by changing the transmission speed; a load detection device that detects a load-related value, which is a value regarding the load of the hydrostatic continuously variable transmission; and a determination unit that determines whether a blockage has occurred in the harvesting unit based on the load-related value detected by the load detection device, wherein the determination unit is configured to determine that a blockage has occurred in the harvesting unit when the load-related value detected by the load detection device changes by exceeding a predetermined threshold, and comprises a threshold setting unit that sets the threshold based on the state of the machine, wherein the threshold setting unit sets the threshold based on the vehicle speed and the rotational speed of the output shaft of the engine. Claim 2 A combine according to claim 1, wherein the load detection device is configured to detect the rotational speed of the output shaft of the hydrostatic continuously variable transmission. Claim 3 A combine according to claim 1 or 2, comprising a stop indicator that stops the machine when it is determined by the judgment unit that a blockage has occurred in the cutting unit. Claim 4 delete Claim 5 delete Claim 6 delete Claim 7 delete Claim 8 delete Claim 9 delete Claim 10 delete Claim 11 delete

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