US 11,665,999 B2
Harvester with clog determining unit
Takashi Nakabayashi, Sakai (JP); Sotaro Hayashi, Sakai (JP); Masayuki Horiuchi, Sakai (JP); Mitsuhiro Seki, Sakai (JP); Kyosuke Yamaoka, Sakai (JP); Toshiki Watanabe, Sakai (JP); and Takanori Hori, Sakai (JP)
Assigned to Kubota Corporation, Osaka (JP)
Appl. No. 16/764,274
Filed by Kubota Corporation, Osaka (JP)
PCT Filed Nov. 16, 2018, PCT No. PCT/JP2018/042392
§ 371(c)(1), (2) Date May 14, 2020,
PCT Pub. No. WO2019/107176, PCT Pub. Date Jun. 6, 2019.
Claims priority of application No. JP2017-228194 (JP), filed on Nov. 28, 2017; application No. JP2018-123590 (JP), filed on Jun. 28, 2018; and application No. JP2018-145122 (JP), filed on Aug. 1, 2018.
Prior Publication US 2020/0367434 A1, Nov. 26, 2020
Int. Cl. A01D 41/127 (2006.01); A01D 75/18 (2006.01); A01D 61/04 (2006.01); A01D 41/12 (2006.01); A01D 61/00 (2006.01); A01D 69/00 (2006.01); A01F 12/18 (2006.01)
CPC A01D 61/04 (2013.01) [A01D 41/1208 (2013.01); A01D 41/1271 (2013.01); A01D 41/1274 (2013.01); A01D 61/002 (2013.01); A01D 61/008 (2013.01); A01D 69/00 (2013.01); A01D 75/182 (2013.01); A01F 12/18 (2013.01)] 2 Claims
OG exemplary drawing
 
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.