JP7378282B2 - combine - Google Patents

Description

The present invention relates to a combine harvester equipped with a hydrostatic continuously variable transmission that changes the speed of power from an engine and transmits it to a reaping section.

As the above-mentioned combine harvester, for example, the one described in Patent Document 1 is already known. This combine runs on power output from an engine.

In this combine harvester, power from the engine is transmitted to the reaping section via a hydrostatic continuously variable transmission ("reaping HST" in Patent Document 1). Therefore, by controlling the hydrostatic continuously variable transmission, the driving speed of the reaping section can be changed.

Japanese Patent Application Publication No. 2014-113111

In the combine harvester described in Patent Document 1, the reaping section may become clogged with reaped grain culms and the like. If the reaping section becomes clogged, the operator must stop working with the combine and perform work to unclog the reaping section.

Here, if an operator who is skilled in combine harvester work is on board the combine harvester, if the reaping section becomes clogged, the clogged reaping section can be detected from the sounds, vibrations, etc. generated by the combine.

However, when the reaping section becomes clogged, it is difficult for an unskilled operator to detect the clogged reaping section from the sounds, vibrations, etc. generated by the combine harvester.

Further, even for an operator who is skilled in working with a combine harvester, depending on the working environment, it may be difficult to feel the sounds, vibrations, etc. generated by the combine harvester. For example, when strong winds are blowing or when there is a lot of noise around the field, it is difficult for the operator to feel the sounds, vibrations, etc. generated by the combine harvester.

Further, even when the combine harvester is configured to be able to run automatically and the operator monitors the operation of the combine from outside the combine, it is difficult for the operator to feel the sounds, vibrations, etc. generated by the combine.

An object of the present invention is to provide a combine harvester in which clogging in the reaping section can be easily recognized regardless of the skill level of the operator or the working environment.

The present invention is characterized by a combine harvester that travels while reaping crops in the field, and includes a reaping section that reaps the crops in the field and transports the harvested crops to the rear of the machine, and a hydrostatic pressure that changes the speed of power from the engine and transmits it to the reaping section. a continuously variable transmission, a load detection device that detects a load-related value that is a value related to the load of the hydrostatic continuously variable transmission, and a reaping section based on the load-related value detected by the load detection device. a determination unit that determines whether or not clogging has occurred in the reaping unit, and the determination unit determines whether the load-related value detected by the load detection device changes across a predetermined threshold value. The device is configured to determine that a blockage has occurred, and includes a threshold value setting section that sets the threshold value based on the state of the aircraft, and the threshold value setting section is configured to determine that the threshold value is determined based on the vehicle speed and the rotational speed of the output shaft of the engine. The purpose of the present invention is to set the threshold value.

When the reaping section becomes clogged, the load on the hydrostatic continuously variable transmission tends to become relatively large.
Here, in the present invention, it is determined whether or not the reaping section is clogged based on a load-related value that is a value related to the load of the hydrostatic continuously variable transmission. Therefore, according to the present invention, it is possible to accurately determine whether or not the cutting section is clogged.

According to the present invention, if the reaping section is clogged, the determining section determines that the reaping section is clogged. Therefore, if it is determined that a blockage has occurred in the reaping section, actions are taken according to the determination result, such as notifying the operator of the blockage or stopping the combine harvester from running. This makes it possible to realize a configuration that makes it easy to recognize clogging in the reaping section, regardless of the skill level of the operator or the working environment.

That is, according to the present invention, it is possible to realize a combine harvester in which clogging of the reaping section can be easily recognized regardless of the skill level of the operator or the working environment.
Further, the load-related value in a state where no clogging occurs in the reaping section may change depending on the state of the machine body. Therefore, in a configuration where the determination unit is configured to determine that a clogging has occurred in the reaping unit when the load-related value changes across a predetermined threshold value, and the threshold value is constant, the reaping unit It is assumed that a load-related value changes across a threshold value even though there is no clogging in the section. As a result, the determination unit incorrectly determines that the reaping unit is clogged.
Here, according to the above configuration, the threshold value is set based on the state of the aircraft. Therefore, it is easy to avoid a situation in which the determining section erroneously determines that the reaping section is clogged as described above.
Further, the load-related value in a state where no clogging occurs in the reaping section may change depending on the vehicle speed. For example, if the combine harvester 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 the 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 when the reaping section is not clogged The related value will change depending on the vehicle speed.
Here, according to the above configuration, the threshold value is set based on the vehicle speed. Therefore, the threshold value is easily set to an appropriate value.
Further, the load-related value in a state where no clogging occurs in the reaping section may change depending on the rotational speed of the output shaft of the engine. For example, the rotational speed of the output shaft of a hydrostatic continuously variable transmission changes depending on the rotational speed of the output shaft of the engine. 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 when no clogging occurs in the reaping section. will change depending on the rotational speed of the output shaft of the engine.
Here, according to the above configuration, the threshold value is set based on the rotational speed of the output shaft of the engine. Therefore, the threshold value is easily set to an appropriate value.

Furthermore, in the present invention, it is preferable that the load detection device is configured to detect the rotational speed of the output shaft of the hydrostatic continuously variable transmission.

The larger the load on the hydrostatic continuously variable transmission, the lower the rotational speed of the output shaft of the hydrostatic continuously variable transmission. That is, the rotational speed of the output shaft of the hydrostatic continuously variable transmission is a load-related value.

Therefore, according to the above configuration, it is possible to reliably realize a configuration in which the load detection device detects a load-related value.

Furthermore, in the present invention, it is preferable to include a stop instruction section that stops the machine when the determination section determines that the reaping section is clogged.

According to this configuration, when a blockage occurs in the reaping section, the combine harvester stops running. As a result, regardless of the skill level of the operator or the working environment, the operator can recognize that the reaping section is clogged because the combine has stopped running.

Therefore, with this configuration, the operator can reliably recognize the clogging of the reaping section, regardless of the operator's skill level or work environment.

It is a left side view of a combine. It is a figure showing lap running in a field. It is a figure which shows the reaping travel along the reaping travel route. FIG. 2 is a block diagram showing a configuration related to a control section. It is a figure showing the relationship between vehicle speed and a threshold value.

Embodiments for carrying out the present invention will be described based on the drawings. In the following description, unless otherwise specified, the direction of arrow F shown in FIG. 1 will be referred to as "front" and the direction of arrow B will be referred to as "rear."

[Overall configuration of combine harvester]
As shown in FIG. 1, the self-removal type combine 1 includes a crawler-type traveling device 11, a driving section 12, a threshing device 13, a grain tank 14, a reaping section H, a grain discharging device 18, and a satellite positioning module 80. We are prepared.

The traveling device 11 is provided at the lower part of the combine 1. Further, the traveling device 11 is driven by power from the engine 2 (see FIG. 4). Further, the combine 1 can be self-propelled by the traveling device 11.

Further, the driving unit 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11. An operator who monitors the work of the combine harvester 1 can board the operating section 12 .
Note that the operator may monitor the work of the combine harvester 1 from outside the combine harvester 1.

The grain discharge device 18 is connected to the grain tank 14 . Further, the satellite positioning module 80 is attached to the upper surface of the driving section 12.

The reaping part H is provided at the front part of the combine 1. The reaping section H includes a clipper-type cutting device 15 and a conveying device 16.

The cutting device 15 cuts the base of planted grain culms (corresponding to "crops" according to the present invention) in the field.
Then, the conveying device 16 conveys the grain culm cut by the cutting device 15 to the rear side.

With this configuration, the reaping section H reaps the planted grain culms in the field. The combine 1 is capable of reaping travel in which the reaping unit H reaps the planted grain culms in the field while the traveling device 11 travels.

Further, with this configuration, the reaping section H reaps the planted grain culms in the field and conveys them to the rear of the machine.

The grain culms transported by the transport 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 to the outside of the machine by a grain discharge device 18 as necessary.

Further, a communication terminal (not shown) is arranged in the operating section 12. The communication terminal is configured to be able to display various information. In this embodiment, the communication terminal is fixed to the operating section 12. However, the present invention is not limited thereto, and the communication terminal may be configured to be detachable from the operating section 12, or the communication terminal may be located outside the combine harvester 1.

Here, the combine harvester 1 runs in circles while harvesting grains in the outer peripheral area of the field as shown in FIG. 2, and then performs reaping travel in the inner area of the field as shown in , configured to harvest grain in the field.

In this embodiment, the lap running shown in FIG. 2 is performed manually. Further, reaping travel in the inner region shown in FIG. 3 is performed automatically.

Note that the present invention is not limited to this, and the circular travel shown in FIG. 2 may be performed automatically. Moreover, the reaping travel in the inner area shown in FIG. 3 may be performed by manual travel.

Note that the operator can change the rotational speed of the engine 2 by operating the above-mentioned communication terminal.

Appropriate working speed varies depending on the condition of the crop. If the operator operates the communication terminal and sets 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 crops.

[Configuration related to control unit]
As shown in FIG. 4, the combine 1 includes a control section 20. The control unit 20 includes a vehicle position calculation unit 21, an area calculation unit 22, a route calculation unit 23, and a travel control unit 24.

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

The own 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 positional coordinates of the combine harvester 1 over time are sent to the area calculation section 22 and the travel control section 24.

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

More specifically, the area calculation unit 22 calculates the traveling locus of the combine harvester 1 while traveling around the outer circumference of the field, based on the position coordinates of the combine harvester 1 over time received from the own vehicle position calculation unit 21. . Then, based on the calculated travel locus of the combine harvester 1, the area calculation unit 22 calculates, as an outer peripheral area SA, an area on the outer peripheral side of the field where the combine harvester 1 has traveled around while harvesting grain. Further, the area calculation unit 22 calculates an area inside the field from the calculated outer peripheral area SA as the work target area CA.

For example, in FIG. 2, the travel route of the combine 1 for traveling around the outer periphery of the field is shown by arrows. In the example shown in FIG. 2, the combine 1 runs three laps. When the reaping travel along this travel route is completed, the field will be in the state shown in FIG. 3.

As shown in FIG. 3, the area calculation unit 22 calculates the area on the outer periphery side of the field where the combine harvester 1 travels around while harvesting grain as the outer periphery area SA. Further, the area calculation unit 22 calculates an area inside the field from the calculated outer peripheral area SA as the work target area CA.

Then, as shown in FIG. 4, the calculation result by the area calculation section 22 is sent to the route calculation section 23.

Based on the calculation results received from the area calculation unit 22, the route calculation unit 23 calculates a reaping travel route LI, which is a travel route for reaping travel in the work target area CA, as shown in FIG. In addition, as shown in FIG. 3, in this embodiment, the reaping travel path LI is a plurality of mesh lines extending in the vertical and horizontal directions. Further, the plurality of mesh lines may not be straight lines, but may be curved.

As shown in FIG. 4, the reaping travel route LI calculated by the route calculation unit 23 is sent to the travel control unit 24.

The traveling control unit 24 is configured to be able to control the traveling device 11. The travel control unit 24 then controls automatic travel of the combine 1 based on the position coordinates of the combine 1 received from the own vehicle position calculation unit 21 and the reaping travel route LI received from the route calculation unit 23. More specifically, as shown in FIG. 3, the travel control unit 24 controls the travel of the combine 1 so that the harvesting travel is performed automatically along the reaping travel route LI.

That is, the combine 1 is capable of automatic travel.

[Flow of harvesting work using a combine harvester]
Below, as an example of harvesting work by the combine harvester 1, a flow when the combine harvester 1 performs the harvesting work in the field shown in FIG. 2 will be described.

First, the operator manually operates the combine 1 and, as shown in FIG. 2, performs a reaping run around the outer periphery of the field along the boundary line BD of the field. In the example shown in FIG. 2, the combine 1 runs three laps. When this round trip is completed, the field will be in the state shown in FIG. 3.

The area calculation unit 22 calculates the travel locus of the combine harvester 1 during the circular run shown in FIG. 2 based on the temporal position coordinates of the combine harvester 1 received from the own vehicle position calculation unit 21. Then, as shown in FIG. 3, based on the calculated travel trajectory of the combine harvester 1, the area calculation unit 22 defines an area on the outer peripheral side of the field where the combine harvester 1 has traveled around while reaping the planted grain culms as an outer peripheral area SA. Calculated as Further, the area calculation unit 22 calculates an area inside the field from the calculated outer peripheral area SA as the work target area CA.

Next, the route calculation unit 23 sets a reaping travel route LI in the work target area CA, as shown in FIG. 3, based on the calculation result received from the area calculation unit 22.

Then, when the operator presses an automatic travel start button (not shown), automatic travel along the reaping travel route LI is started, as shown in FIG. At this time, the travel control unit 24 controls the travel of the combine harvester 1 so that the reaping travel is performed automatically along the reaping travel route LI.

When automatic travel in the work area CA is started, the combine 1 performs reaping travel so as to cover the entire work area CA.

While the combine 1 is running for reaping, the reaped grain culm cut by the cutting device 15 is conveyed to the threshing device 13 by the conveying device 16 as described above. Then, in the threshing device 13, the harvested grain culm is threshed.

[Configuration related to power transmission]
As shown in FIG. 4, the combine 1 includes 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 via the engine output shaft 2a. Note that the engine output shaft 2a is an output shaft of the engine 2.

The first transmission mechanism 31 transmits power from the engine 2 to the traveling device 11. Thereby, the traveling device 11 is driven by the power from the engine 2.

Further, as shown in FIG. 4, the combine harvester 1 includes a reaping HST 40 (corresponding to the "hydraulic continuously variable transmission" according to the present invention) and a third transmission mechanism 33. The reaping HST 40 also includes a hydraulic pump 41 and a hydraulic motor 42.

The second transmission mechanism 32 transmits power from the engine 2 to the hydraulic pump 41. In the reaping HST 40, power is transmitted from the hydraulic pump 41 to the hydraulic motor 42. At this time, the power is changed in speed between the hydraulic pump 41 and the hydraulic motor 42. The speed-changed power is then transmitted to the third transmission mechanism 33 via the motor output shaft 42a. Note that the motor output shaft 42a is the output shaft of the hydraulic motor 42.

The third transmission mechanism 33 transmits power from the hydraulic motor 42 to the reaping section H. Thereby, the reaping section H is driven by the power from the engine 2.

In this way, the combine 1 includes the reaping HST 40 that changes the speed of the power from the engine 2 and transmits it to the reaping section H.

[Configuration related to reaping speed control]
As shown in FIG. 4, the combine 1 includes a vehicle speed detection section S1. Further, the control section 20 includes a reaping speed control section 28.

The vehicle speed detection unit S1 detects the vehicle speed of the combine harvester 1. The detection result by the vehicle speed detection section S1 is sent to the reaping speed control section 28.

The reaping speed control section 28 controls the reaping HST 40 based on the detection result by the vehicle speed detecting section S1. Thereby, the reaping speed control section 28 controls the driving speed of the reaping section H. That is, the reaping speed control section 28 is configured to control the driving speed of the reaping section H based on the vehicle speed of the combine harvester 1.

More specifically, the reaping speed control section 28 controls the reaping HST 40 such that the higher the vehicle speed of the combine harvester 1 is, the higher the driving speed of the reaping section H becomes.

[Configuration related to determination section]
As shown in FIG. 4, the combine 1 includes a load detection device 3. Further, the control section 20 includes a determination section 26.

The load detection device 3 is configured to detect the rotational speed of the motor output shaft 42a.

Here, when the load on the reaping 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 reaping HST 40.

In this specification, a value related to the load of the reaping HST 40 is referred to as a load-related value. That is, the load detection device 3 is configured to detect load-related values.

As described above, the combine harvester 1 includes the load detection device 3 that detects a load-related value that is a value related to the load of the reaping HST 40.

The detection result by the load detection device 3 is sent to the determination section 26.

The determination unit 26 determines whether or not the reaping unit H is clogged based on the detection result by the load detection device 3.

As described above, the combine harvester 1 includes the determination section 26 that determines whether or not the reaping section H is clogged based on the load-related value detected by the load detection device 3.

If the determination unit 26 determines that the reaping unit H is clogged, the determination unit 26 sends a predetermined signal to the stop instruction unit 27 . This signal is a signal indicating that the reaping section H is clogged.

When the stop instruction section 27 receives this signal, it sends an instruction signal for stopping the aircraft to the travel control section 24. The traveling control unit 24 controls the traveling device 11 according to this instruction signal and stops the aircraft.

In this way, the combine harvester 1 includes the stop instruction section 27 that stops the machine when the determination section 26 determines that the reaping section H is clogged.

The determination by the determination unit 26 will be described in detail below.

As shown in FIG. 4, the control section 20 includes a threshold setting section 25. Further, the combine harvester 1 includes a rotation detection section S2.

As described above, the vehicle speed detection unit S1 detects the vehicle speed of the combine harvester 1. Then, the detection result by the vehicle speed detection section S1 is sent to the threshold value setting section 25.

The threshold value setting unit 25 sets the threshold value TH based on the detection result received from the vehicle speed detection unit S1. That is, the threshold value setting unit 25 sets the threshold value TH based on the vehicle speed.

In this embodiment, the threshold value setting unit 25 sets the threshold value TH such that the higher the vehicle speed, the higher the threshold value TH, as shown in FIG.

Further, the rotation detection section S2 detects the rotation speed of the engine output shaft 2a. Then, as shown in FIG. 4, the detection result by the rotation detection section S2 is sent to the threshold value setting section 25.

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

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. Note that the relationship between the rotational speed of the engine output shaft 2a and the threshold value TH in this embodiment is the same as the relationship shown in FIG. 5, so illustration thereof is omitted.

As explained above, the threshold value setting unit 25 sets the threshold value TH based on the state of the combine harvester 1 body. Note that both the vehicle speed and the rotational speed of the engine output shaft 2a correspond to the "state of the aircraft body" according to the present invention.

That is, the combine 1 includes a threshold setting unit 25 that sets the threshold TH based on the state of the machine. The threshold value TH set by the threshold value setting section 25 is sent to the determination section 26 .

The determination unit 26 is configured to determine that the reaping unit H is clogged when the load-related value detected by the load detection device 3 changes across a predetermined threshold TH.

For example, when the rotational speed of the engine output shaft 2a is maintained at a predetermined speed and the vehicle speed of the combine 1 is the first vehicle speed V1, as shown in FIG. Assume that the first threshold value TH1 is the first threshold value TH1.

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 higher than the first threshold TH1, the determination unit 26 determines that the reaping unit H is clogged. It is determined that this has not occurred.

Further, when the vehicle speed is the first vehicle speed V1, the rotational speed of the motor output shaft 42a detected by the load detection device 3 changes from a value larger than the first threshold value TH1 to a value smaller than the first threshold value TH1. In this case, the determining unit 26 determines that the reaping unit H is clogged.

In addition, when the rotational speed of the motor output shaft 42a detected by the load detection device 3 changes from a value larger than the first threshold value TH1 to a value smaller than the first threshold value TH1, the above-mentioned “load detection device 3 This corresponds to the case where the load-related value detected by changes across a predetermined threshold TH.

When the reaping section H becomes clogged, the load on the reaping HST 40 tends to become relatively large. Here, with the configuration described above, it is determined whether or not the reaping section H is clogged based on the load-related value. Therefore, with the configuration described above, it is possible to accurately determine whether or not the reaping section H is clogged.

With the configuration described above, when the reaping section H is clogged, the determining section 26 determines that the reaping section H is clogged. Therefore, if it is determined that a blockage has occurred in the reaping section H, processing is executed according to the determination result, such as notifying the operator that the blockage has occurred or stopping the combine harvester 1 from running. By doing so, it is possible to realize a configuration in which clogging of the reaping section H can be easily recognized regardless of the skill level of the operator or the working environment.

Note that the embodiment described above is merely an example, and the present invention is not limited thereto, and can be modified as appropriate.

[Other embodiments]
(1) The traveling device 11 may be of a wheel type or a semi-crawler type.

(2) In the embodiment described above, the reaping travel route LI calculated by the route calculation unit 23 is a plurality of mesh lines extending in the vertical and horizontal directions. However, the present invention is not limited thereto, and the reaping travel route LI calculated by the route calculation unit 23 does not have to be a plurality of mesh lines extending in the vertical and horizontal directions. For example, the reaping travel route LI calculated by the route calculation unit 23 may be a spiral travel route. Furthermore, the reaping travel route LI does not have to be orthogonal to another reaping travel route LI. Further, the reaping travel route LI calculated by the route calculation unit 23 may be a plurality of parallel lines that are parallel to each other.

(3) In the above embodiment, the operator manually operates the combine harvester 1 to perform a reaping run around the outer periphery of the field along the field boundary line BD, as shown in FIG. . However, the present invention is not limited to this, and the combine harvester 1 may be configured to automatically travel and perform reaping travel so as to travel around the outer circumference of the field along the field boundary line BD. . Further, the number of rounds at this time may be a number other than three.
For example, the number of rounds at this time may be two.

(4) Some or all of the own vehicle position calculation unit 21, area calculation unit 22, route calculation unit 23, travel control unit 24, threshold setting unit 25, determination unit 26, stop instruction unit 27, and reaping speed control unit 28 All of them may be provided outside the combine 1, and may be provided in a management server provided outside the combine 1, for example.

(5) In the above embodiment, a case will be described in which the rotational speed of the motor output shaft 42a detected by the load detection device 3 changes from a value larger than the first threshold value TH1 to a value smaller than the first threshold value TH1. did. However, the determination unit 26 determines that clogging has occurred in the reaping unit H when the load-related value detected by the load detection device 3 changes from a value smaller than the threshold TH to a value larger than the threshold TH. It may be configured as follows.

(6) The load detection device 3 may be configured to detect values other than the rotational speed of the motor output shaft 42a. For example, the load detection device 3 may detect the oil pressure inside the reaping HST 40. The oil pressure inside the reaping HST 40 corresponds to a "load-related value" according to the present invention.

Further, for example, the load detection device 3 may detect the ratio between the rotational speed of the motor output shaft 42a and the oil pressure inside the reaping HST 40. This ratio corresponds to a "load-related value" according to the present invention.

(7) The threshold setting unit 25 may not be provided. That is, the threshold value TH may be unchangeable.

(8) The combine harvester 1 may be configured so that it cannot run automatically.

The present invention can be used not only for self-extracting type combine harvesters but also for ordinary type combine harvesters.

1 Combine harvester 2 Engine 2a Engine output shaft (engine output shaft)
3 Load detection device 25 Threshold value setting section 26 Judgment section 27 Stop instruction section 40 Reaping HST (hydrostatic continuously variable transmission)
42a Motor output shaft (output shaft of hydrostatic continuously variable transmission)
H Reaping section TH Threshold

Claims (3)

A combine harvester that runs while reaping crops in the field,
a reaping section that reaps crops in the field and transports them to the rear of the machine;
a hydrostatic continuously variable transmission that changes the speed of power from the engine and transmits it to the reaping section;
a load detection device that detects a load-related value that is a value related to the load of the hydrostatic continuously variable transmission;
a determination unit that determines whether or not the reaping unit is clogged based on the load-related value detected by the load detection device;
The determination unit is configured to determine that the reaping unit is clogged when the load-related value detected by the load detection device changes across a predetermined threshold;
comprising a threshold value setting unit that sets the threshold value based on the state of the aircraft,
The threshold value setting unit is a combine harvester that sets the threshold value based on a vehicle speed and a rotational speed of an output shaft of the engine. The combine harvester according to claim 1, wherein the load detection device is configured to detect a rotational speed of an output shaft of the hydrostatic continuously variable transmission. The combine harvester according to claim 1 or 2, further comprising a stop instruction section that stops the machine when the determination section determines that the reaping section is clogged.

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