Harvester with clog determining unit
A harvester capable of autonomous travel in a field includes: a harvesting unit that harvests a crop from the field; a conveyance device that conveys, toward the rear of a harvester body, a whole culm of the harvested crop harvested by the harvesting unit; a detection sensor that detects a drive speed of the conveyance device; and a clog determining unit that determines a clog of the harvested crop in the conveyance device on the basis of the drive speed. The clog determining unit outputs a vehicle stop command that stops the harvester body when the drive speed becomes lower than a pre-set first threshold during the autonomous travel.
1. A harvester capable of autonomous travel in a field, the harvester comprising:
a harvesting unit that harvests a crop from the field;
a conveyance device that conveys, toward the rear of a harvester body, a whole culm of the harvested crop harvested by the harvesting unit;
an engine capable of driving the conveyance device;
a detection sensor that detects a drive speed of the conveyance device;
a clog determining unit that determines a clog of the harvested crop in the conveyance device on the basis of the drive speed;
a travel mode managing unit configured to switch a travel mode to an autonomous travel mode in which the autonomous travel is executed and to a manual travel mode in which manual travel is executed; and
a notification unit configured to make a notification indicating that the drive speed has decreased,
wherein the clog determining unit is configured to detect a clog in the conveyance device by taking a ratio of the drive speed of the conveyance device to a rotation speed of the engine,
wherein when the ratio of the drive speed of the conveyance device to the rotation speed of the engine becomes lower than a pre-set first threshold during the autonomous travel while the travel mode is the autonomous travel mode, the clog determining unit outputs a vehicle stop command that stops the harvester body, and outputs, to the notification unit, a notification command for making a notification of the decrease in the drive speed, and when the ratio of the drive speed of the conveyance device to the rotation speed of the engine becomes lower than the first threshold while the travel mode is the manual travel mode, the clog determining unit outputs the notification command to the notification unit without outputting the vehicle stop command, and
wherein the travel mode managing unit switches the travel mode from the autonomous travel mode to the manual travel mode when the vehicle stop command has been output by the clog determining unit while the travel mode is the autonomous travel mode.
2. The harvester according to claim 1 ,
wherein a second threshold set higher than the first threshold is provided; and
when the ratio of the drive speed of the conveyance device to the rotation speed of the engine becomes a value between the first threshold and the second threshold, the clog determining unit outputs a speed reduction command that reduces a vehicle speed of the harvester body in stages, in accordance with a magnitude of the drive speed.