Harvester

Abstract

To provide a harvester capable of reliably measuring yield during unmanned harvesting travel.SOLUTION: There is provided a harvester 1 capable of harvesting crops while traveling in a field in an unmanned state. The harvester includes: a machine body 19 having a traveling device 11 that travels through the field; a crop tank 14 that temporarily stores crops harvested while traveling; a measuring device that measures the weight of crops stored in the crop tank 14; a travel control unit that can execute unmanned harvesting travel control to automatically control the traveling device so as to travel for harvesting crops in an unmanned state, and that executes discharge travel processing to interrupt the unmanned harvesting travel control and control the traveling device 11 so as to travel to a discharge position where the crops can be discharged from the crop tank 14, and stop at the discharge position; and a yield acquisition unit capable of executing measurement processing to measure the weight of the crops stored in the crop tank 14 by the measuring device in a state where the machine body 19 has stopped after completion of the discharge travel processing.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a harvester capable of harvesting crops while traveling in a field unmanned.

Background Art

[0002] For example, the harvester disclosed in Patent Document 1 is provided with a measuring device for measuring the amount of harvested products stored in the harvested product tank. Patent Document 1 discloses that highly reliable yield measurement is possible by measuring the yield while the harvester is stopped.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a conventional harvester as disclosed in Patent Document 1, harvesting travel is performed on the premise that an operator boards. On the other hand, in a harvester in which unmanned harvesting travel for harvesting crops while traveling unmanned is performed, an operator or the like monitors the harvester outside the harvester. It is also conceivable that the operator or the like performs other operations simultaneously as well as monitoring. For this reason, even while the operator or the like is concentrating on other operations, a configuration that enables highly reliable yield measurement is desirable.

[0005] An object of the present invention is to provide a harvester capable of performing highly reliable yield measurement in unmanned harvesting travel.

Means for Solving the Problems

[0006] The present invention relates to a harvester capable of harvesting crops while traveling in a field unmanned, comprising a machine body having a traveling device for traveling in the field, a crop tank for temporarily storing the harvested crops while traveling, a measuring device for measuring the mass of the crops stored in the crop tank, and capable of executing an unmanned harvesting travel control for automatically controlling the traveling device to travel so as to harvest the crops unmanned, and a traveling control unit for executing a discharge travel process for controlling the traveling device to interrupt the unmanned harvesting travel control, travel to a discharge position where the crops can be discharged from the crop tank, and stop at the discharge position, and a yield acquisition unit capable of executing a measurement process for measuring the mass of the crops stored in the crop tank by the measuring device with the machine body stopped after completion of the discharge travel process.

[0007] According to the present invention, the traveling control unit is configured to travel to a discharge position for discharging the crops from the crop tank. And the yield acquisition unit is configured to be able to execute a measurement process for measuring the mass of the crops with the machine body stopped. For this reason, highly reliable yield measurement is possible without being affected by vibrations or the like during traveling. Thereby, a harvester capable of highly reliable yield measurement in unmanned harvesting travel is realized.

[0008] In the present invention, it is preferable that an object detection unit for detecting the presence or absence of an object around the machine body is provided, and the yield acquisition unit is configured to execute the measurement process when the object detection unit does not detect the object, and not to execute the measurement process when the object detection unit detects the object.

[0009] With this configuration, the measurement process is executed without being hindered by the object. Thereby, even more reliable yield measurement is possible.

[0010] In the present invention, the traveling device has an aircraft attitude change mechanism for changing the attitude of the aircraft with respect to the ground, the traveling control unit is configured to execute an aircraft attitude control process for controlling the aircraft attitude change mechanism so that the aircraft assumes a predetermined attitude, the yield acquisition unit is configured to execute the measurement process after completion of the aircraft attitude control process, and it is preferable that the traveling control unit is configured to start the aircraft attitude control process when the object detection unit does not detect the object.

[0011] With this configuration, the yield acquisition unit executes the measurement process after the aircraft has stopped and the aircraft has assumed a predetermined attitude. For this reason, the mass of the harvested product is measured by the measuring device in a state where the center of gravity of the aircraft is constant. Thereby, a more reliable yield measurement becomes possible. Further, the aircraft attitude control process is started when the object detection unit does not detect the object. Thereby, the possibility that an operator or the like working in the vicinity of the aircraft is surprised or feels anxious is reduced.

[0012] In the present invention, a discharge device for discharging the harvested product from the harvested product tank and a discharge control unit for controlling the discharge device are provided, the discharge control unit is configured to execute a position control process for controlling the discharge device so that the discharge device is at a predetermined measurement position, the yield acquisition unit is configured to execute the measurement process after completion of the position control process, and it is preferable that the discharge control unit is configured to start the position control process when the object detection unit does not detect the object.

[0013] With this configuration, the yield acquisition unit executes the measurement process after the aircraft has stopped and the discharge device is located at a predetermined measurement position. For this reason, the mass of the harvested product is measured by the measuring device in a state where the center of gravity of the aircraft is constant. Thereby, a more reliable yield measurement becomes possible. Further, the aircraft attitude control process is started when the object detection unit does not detect the object. Thereby, the possibility that an operator or the like working in the vicinity of the aircraft is surprised or feels anxious is reduced.

[0014] In the present invention, it is preferable that a discharging device for discharging the harvested product from the harvested product tank, an operation receiving unit for receiving an operation of an operator outside the machine body, and a discharging control unit for controlling the discharging device to discharge the harvested product in response to the operation receiving unit receiving the operation of the operator after completion of the measurement process are provided.

[0015] With this configuration, yield measurement is surely executed before discharging the harvested product.

[0016] In the present invention, it is preferable that an operation receiving unit for receiving an operation of an operator outside the machine body is provided, and the traveling control unit is configured to resume the unmanned harvesting traveling in response to the operation receiving unit receiving the operation of the operator after completion of the measurement process.

[0017] With this configuration, the unmanned harvesting traveling of the harvester is resumed in response to the operator operating the remote control device. For this reason, the unmanned harvesting traveling of the harvester is resumed by an operation with the intention of the operator.

Brief Description of Drawings

[0018]

Figure 1

Figure 2

Figure 3

Figure 4

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Figure 10

Embodiments for Carrying Out the Invention

[0019] Embodiments for carrying out the present invention will be described with reference to the drawings. In the following description, unless otherwise specified, the direction of the arrow "F" in the figure is defined as "front", the direction of the arrow "B" is defined as "rear", the direction of the arrow "U" is defined as "up", and the direction of the arrow "D" is defined as "down". Also, the direction of the arrow "N" in the figure is defined as "north", the direction of the arrow "S" is defined as "south", the direction of the arrow "E" is defined as "east", and the direction of the arrow "W" is defined as "west". Further, "left" and "right" are defined based on the front-rear direction line of the harvesting machine moving forward.

[0020] 〔Overall Configuration of Combine〕 As shown in FIG. 1, a conventional combine 1, which is an example of a harvesting machine, includes an indicator lamp 3, a harvesting unit H, a crawler-type traveling device 11, an operation unit 12, a threshing device 13, a grain tank 14, a conveying unit 16, a grain discharging device 18, and a satellite positioning module 80. The grain tank 14 corresponds to the "harvested product tank".

[0021] The traveling device 11 is provided at the lower part of the body 19 of the combine 1. Also, the traveling device 11 is driven by the power from an engine (not shown) mounted on the combine 1. And the combine 1 can travel by the traveling device 11.

[0022] The traveling device 11 is provided with an airframe attitude changing mechanism 11A. The airframe attitude changing mechanism 11A, also commonly known as the "Monroe", is configured to be able to separately change the height position of the airframe 19 with respect to each of the left and right crawler mechanisms. That is, the traveling device 11 has an airframe attitude changing mechanism 11A for changing the attitude of the airframe 19 with respect to the ground.

[0023] Further, the operation unit 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11. The operation unit 12 has an operator seat 12a. An operator (including a user, worker, monitor, administrator, etc., the same hereinafter) can board the operation unit 12. The satellite positioning module 80 is attached to the upper surface of the operation unit 12.

[0024] The harvesting unit H is provided at the front of the combine 1. And the conveying unit 16 is provided behind the harvesting unit H. Further, the harvesting unit H includes left and right weed separating tools 10, a cutting blade 15, and a reel 17. The harvesting unit H, together with the conveying unit 16, can be raised and lowered by a lifting mechanism (not shown).

[0025] The left and right weed separating tools 10 are provided at the left end and the right end at the front end of the harvesting unit H. The left and right weed separating tools 10 separate the standing grain straws in the field 5 (see Figure 2) into harvested and non-harvested ones. The standing grain straws on the right side of the left weed separating tool 10 and on the left side of the right weed separating tool 10 are separated as harvested objects. The standing grain straws on the left side of the left weed separating tool 10 and on the right side of the right weed separating tool 10 are separated as non-targets.

[0026] The cutting blade 15 cuts the standing grain straws separated as harvested objects by the left and right weed separating tools 10. Also, the reel 17 scrapes in the standing grain straws to be harvested while rotating around the reel axis 17b along the left-right direction of the airframe. The cut grain straws cut by the cutting blade 15 are sent to the conveying unit 16.

[0027] With this configuration, the harvesting unit H harvests the grains in the field 5 that the combine 1 is intended to travel on. Then, the combine 1 is capable of harvesting travel in which it travels by the traveling device 11 while harvesting the grains in the field 5 by the harvesting unit H.

[0028] The cut grain straws harvested by the harvesting unit H are conveyed rearward of the machine body by the conveying unit 16. Thereby, the cut grain straws are conveyed to the threshing device 13.

[0029] In the threshing device 13, the cut grain straws are threshed. The grains obtained by the threshing process are stored in the grain tank 14. The grain tank 14 temporarily stores the grains harvested while traveling. The grains stored in the grain tank 14 are discharged outside the machine by the grain discharging device 18 as necessary. The holding cradle 18A is configured to be able to support the horizontal cylinder portion of the horizontal conveying screw in the grain discharging device 18. The grain discharging device 18 has a vertical conveying screw and a horizontal conveying screw. The vertical conveying screw guides the grains upward from the bottom of the grain tank 14 with a spiral screw and delivers them to the horizontal conveying screw. The horizontal conveying screw guides the grains received from the vertical conveying screw with a spiral screw to the discharge port at the tip of the horizontal cylinder portion. The holding cradle 18A is connected to, for example, the upper part of the threshing device 13. The horizontal cylinder portion of the grain discharging device 18 is provided above the threshing device 13 and the grain tank 14.

[0030] Also, as shown in FIG. 1, a display operation terminal 4 is arranged in the operation unit 12. The display operation terminal 4 has, for example, a touch panel monitor, is configured to be able to display various information, and is configured to be able to perform various setting operations related to automatic harvesting travel. In the present embodiment, the display operation terminal 4 is fixed to the operation unit 12. Note that the present invention is not limited to this, and the display operation terminal 4 may be configured to be detachable from the operation unit 12, or the display operation terminal 4 may be located outside the combine 1.

[0031] The obstacle sensor group 2 senses in different directions and detects the presence or absence of objects around the body 19 of the combine 1. The object is an obstacle to the combine 1. In the present embodiment, as shown in FIG. 1, the obstacle sensor group 2 includes a plurality of millimeter-wave radars 2A as ranging sensors and a plurality of cameras 2B that generate captured images. The obstacle sensor group 2 corresponds to the 'object detection unit'.

[0032] The millimeter-wave radar 2A is attached at two locations, namely, the front end of the cabin constituting the operation unit 12 and the rear end of the threshing device 13. The millimeter-wave radar 2A is a sensor that irradiates a detection target area with millimeter waves for sensing. As a ranging sensor, in addition to the millimeter-wave radar 2A, LiDAR (lidar), sonar, etc. can be used.

[0033] The cameras 2B are attached at four locations, namely, the front end of the cabin constituting the operation unit 12, the right side of the cabin, the left side of the threshing device 13, and the rear end of the threshing device 13. The cameras 2B are equipped with wide-angle lenses, and the imaging angle of view is approximately 180 degrees. Therefore, these cameras 2B image the entire body 19. The captured images of the cameras 2B are used as input images for a deep learning-based learning type object detection algorithm or other image recognition algorithms. That is, although not particularly limited, the cameras 2B in the present embodiment are object recognition sensors using AI.

[0034] When the harvesting unit H as a working device is raised, the harvesting unit H may enter the sensing ranges of the millimeter-wave radar 2A and the camera 2B attached to the front end of the cabin and interfere with object detection. In this case, among the object detections by the millimeter-wave radar 2A and the camera 2B, the object detection in front of the body 19 may be stopped, that is, a configuration may be adopted in which only the millimeter-wave radar 2A and the camera 2B attached to the front end of the cabin are set to OFF.

[0035] The display lamp 3 is, for example, a stacked display lamp of an LED (Light Emitting Diode), and notifies an operator outside the machine, etc. of the state of the combine 1 (particularly, the state of automatic harvesting travel) by light and color.

[0036] When the combine 1 performs a harvesting operation in the field 5, as shown by the travel locus TR in FIG. 2, after performing an outer peripheral travel, it is configured to perform a harvesting travel by automatic travel or manual travel. Note that the outer peripheral travel is a harvesting travel performed in the outer peripheral area of the field 5 by manual operation. Note that the present invention is not limited to this, and the harvesting travel performed in the outer peripheral area may be performed by automatic travel. Further, the combine 1 can also perform a harvesting travel by manual operation in all areas within the field.

[0037] In FIG. 2, the path along which the combine 1 travels during the outer peripheral travel is shown by the travel locus TR. Although details will be described later, when the harvesting travel along this path is completed, the harvesting travel inside the field 5 is performed. The outer peripheral travel in the present embodiment is, as shown in FIG. 2, a harvesting travel that goes around the outermost periphery of the field 5. Note that the present invention is not limited to this, and a circumferential travel of two or more rounds may be performed.

[0038] 〔Explanation of the electronic control system〕 As shown in FIG. 3, the travel of the combine 1 is controlled by a travel management system A. That is, the travel management system A controls the travel of the combine 1 that can perform automatic travel. Note that the combine 1 can perform automatic travel in a state where no operator is on board the driving unit 12. That is, the combine 1 is configured to be able to harvest crops while automatically traveling through the field 5 in a state where no operator is on board the driving unit 12. The combine 1 automatically traveling through the field 5 in a state where no operator is on board and harvesting crops is referred to as 'unmanned harvesting travel'.

[0039] In addition, the combine harvester 1 is configured to be able to harvest crops while automatically traveling in the field 5 in a manned state with an operator on board the driver's cab 12. The operation of the combine harvester 1 automatically traveling in the field 5 while harvesting crops in a manned state with an operator on board the driver's cab 12 is referred to as "manned harvesting travel". Further, the unmanned harvesting travel and the manned harvesting travel are collectively referred to as "automatic harvesting travel".

[0040] As shown in FIG. 3, the travel management system A includes a control device 20. The control device 20 has a position calculation unit 21, an area calculation unit 22, a path generation unit 23, and a drive control unit 24. Note that the control device 20 is mounted on the combine harvester 1. Further, the obstacle sensor group 2, the indicator lamp 3, the yield measurement unit 30, the remote operation device 40, and the satellite positioning module 80 are included in the travel management system A. The yield measurement unit 30 corresponds to the "measuring instrument". The remote operation device 40 corresponds to the "operation reception unit".

[0041] In the present embodiment, as described above, the obstacle sensor group 2 includes two millimeter-wave radars 2A and four cameras 2B. The distance measurement signal from the millimeter-wave radar 2A and the imaging signal (captured image) from the camera 2B are sent to the control device 20.

[0042] The satellite positioning module 80 receives a positioning signal from a navigation satellite GS (see FIG. 1) used in GNSS (Global Navigation Satellite System, such as GPS, GLONASS, Galileo, QZSS, BeiDou, etc.) and sends the positioning signal to the position calculation unit 21.

[0043] The position calculation unit 21 calculates the position coordinates of the combine harvester 1 over time based on the positioning data output by the satellite positioning module 80. The calculated position coordinates are sent to the area calculation unit 22 and the drive control unit 24.

[0044] Based on the position coordinates received from the position calculation unit 21, the area calculation unit 22 calculates the field outer shape EA and the work target area WA as shown in FIG. 2. More specifically, the area calculation unit 22 calculates the travel trajectory TR (see FIG. 2) of the combine 1 based on the above-described outer circumferential travel based on the position coordinates received from the position calculation unit 21. Then, based on the calculated travel trajectory TR, the area calculation unit 22 calculates the movement trajectories of the threshing tools 10 located outside the field among the left and right threshing tools 10, and the movement trajectories of the threshing tools 10 located inside the field.

[0045] Furthermore, the area calculation unit 22 calculates the field outer shape EA based on the movement trajectory of the threshing tool 10 located outside the field. In FIG. 2, the calculated field outer shape EA coincides with the actual outer shape line of the field 5, but the present invention is not limited to this. The calculated field outer shape EA does not have to coincide with the actual outer shape line of the field 5. For example, the field outer shape EA may be located inside the field relative to the actual outer shape line of the field 5.

[0046] Also, the area calculation unit 22 calculates the unworked area UA based on the movement trajectory of the threshing tool 10 located inside the field. The unworked area UA is the area inside the movement trajectory of the threshing tool 10 located inside the field in the outer circumferential travel (in other words, the area surrounded by the movement trajectory). Furthermore, the area calculation unit 22 calculates the work target area WA by approximating the unworked area UA to a rectangle (rectangular shape). The map (field outer shape EA, unworked area UA, and work target area WA) generated by the area calculation unit 22 is sent to the path generation unit 23.

[0047] Based on the map received from the area calculation unit 22, the path generation unit 23 generates a plurality of travel paths LI as shown in FIG. 2. The travel path LI is a path for the combine 1 to perform automatic harvesting travel in the work target area WA. Although not particularly limited, as shown in FIG. 2, in the present embodiment, the travel path LI is a plurality of mesh lines extending in the vertical and horizontal directions. Also, the plurality of mesh lines may not be straight and may be curved. The plurality of travel paths LI generated by the path generation unit 23 are sent to the travel control unit 24B of the drive control unit 24.

[0048] The drive control unit 24 is configured to be able to automatically control the travel device 11, the harvesting unit H, the threshing device 13, the grain discharging device 18, etc. so that the combine 1 harvests crops while traveling automatically. The drive control unit 24 is provided with a mode management unit 24A, a travel control unit 24B, and a work control unit 24C. The work control unit 24C corresponds to the 'discharge control unit'.

[0049] The mode management unit 24A manages the mode of the control device 20. As shown in FIG. 4, the modes of the control device 20 include a manual travel mode, an automatic preparation mode, an automatic harvesting travel mode, a discharge travel mode, a temporary interruption mode, and an alarm mode. Note that two sub - modes, an unmanned harvesting travel mode and a manned harvesting travel mode, are set in the automatic harvesting travel mode.

[0050] The unmanned harvesting travel mode is a mode that allows automatic travel by the drive control unit 24 when no operator or the like is detected in the operation unit 12. In the unmanned harvesting travel mode, the combine 1 travels automatically while harvesting crops in a state where no operator is on board the operation unit 12. In other words, the unmanned harvesting travel of the combine 1 is manifested in the unmanned harvesting travel mode.

[0051] The manned harvesting travel mode is a mode that does not allow automatic driving by the drive control unit 24 when no operator or the like is detected in the driver's cab 12. In the manned harvesting travel mode, the combine 1 automatically harvests crops while traveling with an operator on board the driver's cab 12. In other words, the manned harvesting travel of the combine 1 is manifested in the manned harvesting travel mode.

[0052] The automatic harvesting travel mode setting unit 27 is configured to enable selection and setting of either the manned harvesting travel mode or the unmanned harvesting travel mode in the automatic harvesting travel mode. The automatic harvesting travel mode setting unit 27 may be configured to execute the selection and setting by receiving a manual operation from, for example, the display operation terminal 4, or may be configured to execute the selection and setting by receiving a manual operation from, for example, a smartphone or a tablet computer.

[0053] In the manned harvesting travel mode, it is possible to select and set whether the detection of surrounding objects by the obstacle sensor group 2 is "effective" or "ineffective". In the unmanned harvesting travel mode, the detection of surrounding objects by the obstacle sensor group 2 is always set to "effective".

[0054] When the setting of the obstacle sensor group 2 is set to "invalid" and the manned harvesting travel mode is set in the sub-mode, an operator can sit on the driver's seat 12a, and automatic harvesting travel becomes possible while the operator monitors the surroundings. Thereby, even when a failure occurs in at least one of the sensors in the obstacle sensor group 2, automatic harvesting travel with manned monitoring becomes possible.

[0055] When the mode of the control device 20 is selected as the manual travel mode, based on the operation by the operator boarding the driver's cab 12, the travel control unit 24B and the work control unit 24C output a steering amount, a shift command, etc., and control the travel device 11 and the work device group. Thereby, manual operation is realized. Note that the travel route LI generated by the route generation unit 23 can be used for guidance purposes so that the combine 1 travels along the travel route LI even during manual operation.

[0056] When the mode of the control device 20 is selected to be the automatic driving mode, the travel control unit 24B selects, from among a plurality of travel routes LI, the travel route LI along which the combine 1 should travel, based on the position coordinates of the combine 1 received from the position calculation unit 21.

[0057] And the travel control unit 24B is configured to control the automatic travel of the combine 1 by controlling the travel device 11. The travel control unit 24B controls the automatic travel of the combine 1 based on the position coordinates of the combine 1 and the information indicating the travel route LI selected by the travel control unit 24B. More specifically, the travel control unit 24B controls the travel device 11 so that automatic harvesting travel along the travel route LI is performed.

[0058] The travel control unit 24B selects the travel route LI from among the travel routes LI that have not yet been traveled. It is preferable that the drive control unit 24 selects the travel route LI based on the position coordinates of the combine 1 received from the position calculation unit 21 so that the travel of the combine 1 becomes efficient.

[0059] When the above-described sub-mode is set to the unmanned harvesting travel mode, the travel control unit 24B is configured to execute unmanned harvesting travel control for automatically controlling the travel device 11 to travel for harvesting crops without a driver.

[0060] The work control unit 24C controls a group of work devices such as the harvesting unit H, the threshing device 13, and the grain discharging device 18.

[0061] The yield acquisition unit 25 acquires the storage amount of grains in the grain tank 14 based on the detection signal of the yield measurement unit 30. The yield measurement unit 30 is, for example, a load cell, which is disposed below the grain tank 14 and contacts the bottom of the grain tank 14. For this reason, the yield measurement unit 30 is configured to measure the mass of the grains stored in the grain tank 14.

[0062] The notification unit 26 is configured to notify the state of the combine 1 with the display lamp 3 according to the mode of the control device 20. In addition, the notification unit 26 is configured to notify the state of the combine 1 with sounds such as a buzzer or voice guidance as necessary.

[0063] Note that the control device 20 and each element included in the control device 20 may be a physical device such as a microcomputer, or may be a functional unit in software.

[0064] As shown in FIG. 3, the travel management system A includes a remote operation device 40. The remote operation device 40 is configured to receive a manual operation of an operator who monitors the combine 1 from outside the combine 1. The operator can perform an operation related to the automatic travel of the combine 1 using the remote operation device 40.

[0065] Specifically, as shown in FIGS. 1 and 3, the remote operation device 40 has an operating tool 41 and an end button 42. After the plurality of travel routes LI described above are generated, when the operating tool 41 receives a manual operation while the combine 1 is not performing automatic travel, the remote operation device 40 sends a predetermined signal to the drive control unit 24. The drive control unit 24 starts the automatic harvesting travel of the combine 1 according to the signal.

[0066] While the combine 1 is performing automatic travel, the operator can monitor the automatic travel of the combine 1 from outside the combine 1 while holding the remote operation device 40.

[0067] [Regarding the mode switching in the control device] Regarding the mode switching in the control device 20, it will be described based on FIG. 4. The mode management unit 24A shown in FIG. 3 can switch modes by satisfying a predetermined condition. As shown in FIG. 4, the mode of the combine 1 can be switched from the manual travel mode to the automatic harvesting travel mode.

[0068] The switching from the manual driving mode to the automatic harvesting driving mode is not carried out directly, but via the automatic preparation mode. Also, when an event occurs to end the automatic harvesting driving during the automatic harvesting driving, the mode of the control device 20 is automatically switched from the automatic harvesting driving mode to any one of the automatic preparation mode, the alarm mode, the discharge driving mode, and the temporary interruption mode.

[0069] First, the transition from the manual driving mode to the automatic preparation mode is possible when the [Condition 01] shown in FIG. 4 is satisfied. The following are exemplified as [Condition 01]. [Condition 01-1]: The traveling device 11 is stopped. [Condition 01-2]: The traveling control unit 24B can determine the traveling route LI in the vicinity of the vehicle position based on the latest position coordinates of the combine 1 and calculate the positional deviation between the vehicle position and the traveling route LI. [Condition 01-3]: The driving of the harvesting unit H and the threshing device 13 is stopped. [Condition 01-4]: The satellite positioning module 80 is operating normally. [Condition 01-5]: There is room in the grain tank 14 (the storage amount is below the threshold). [Condition 01-6]: There is room in the fuel (the remaining fuel is above the threshold). [Condition 01-7]: An unworked area UA remains. [Condition 01-8]: The seat belt of the driver's seat 12a is fastened (only in the case of the manned harvesting driving mode). [Condition 01-9]: The boarding and alighting door of the driver's cab 12 is closed.

[0070] That is, condition 01 is a preliminary set of conditions for automatic harvesting travel. When all (or almost all) of these conditions are met, the traveling device 11 and the working implement group (Fig. 3) necessary for automatic driving are ready. Then, when the operator operates the operating tool 41 of the remote control device 40 in a state where condition 01 necessary for shifting to the automatic preparation mode is satisfied, the mode of the control device 20 shifts from the manual travel mode to the automatic preparation mode. Incidentally, when the operator wants to shift the mode of the control device 20 from the automatic preparation mode to the manual mode, when the operator operates the end button 42 of the remote control device 40, the mode of the control device 20 shifts from the automatic preparation mode to the manual mode.

[0071] The following conditions are exemplified as the conditions ([condition 02]) for shifting from the automatic preparation mode to the automatic harvesting travel mode. [Condition 02-1]: The obstacle sensor group 2 does not detect the presence of an object around the combine 1 (in the case of the unmanned harvesting travel mode, or in the case of the manned harvesting travel mode where the detection of surrounding objects by the obstacle sensor group 2 is set to 'effective'). [Condition 02-2]: The operating tool 41 of the remote control device 40 has been operated.

[0072] Incidentally, when the sub-mode of the automatic harvesting travel mode is set to the manned harvesting travel mode and the detection of surrounding objects by the obstacle sensor group 2 is set to 'invalid', the determination of [condition 02-1] is omitted.

[0073] As shown in FIGS. 1 and 3, the operating tool 41 is composed of a first button 41A and a second button 41B that are adjacent to each other on the left and right. Both the first button 41A and the second button 41B are buttons. That is, the operating tool 41 is composed of a plurality of buttons. In the present embodiment, the manual operation for starting the automatic travel of the combine 1 is to simultaneously long-press the first button 41A and the second button 41B for one second. And the control device 20 is configured to execute a process of causing the combine 1 to perform automatic harvesting travel (unmanned harvesting travel in the case of the unmanned harvesting travel mode, the same hereinafter) in response to the operator operating the remote control device 40.

[0074] When the [Condition 03] shown in FIG. 4 is satisfied, the mode of the control device 20 shifts from the automatic harvesting travel mode to the manual travel mode. The condition included in [Condition 03] is that the end button 42 of the remote control device 40 is operated. That is, when the combine 1 is performing automatic travel and the end button 42 receives an operation, the remote control device 40 sends a predetermined signal to the drive control unit 24. The drive control unit 24 ends the automatic harvesting travel of the combine 1 according to the signal. As a result, the travel of the combine 1 stops.

[0075] Also, during the automatic harvesting travel of the combine 1, if any abnormality occurs and it corresponds to [Condition 04] shown in FIG. 4, the automatic harvesting travel of the combine 1 is aborted, and the mode of the control device 20 shifts from the automatic harvesting travel mode to the alarm mode. At this time, the travel device 11, the harvesting unit H, and the threshing device 13 stop. [Condition 04] includes, for example, the following events. If it corresponds to at least one of the following events or a predetermined event other than the following events, based on [Condition 04], the mode of the control device 20 shifts from the automatic harvesting travel mode to the alarm mode. [Condition 04-1]: Momentary interruption has occurred in the electronic control devices such as the control device 20 and peripheral devices. [Condition 04-2]: The vehicle speed is abnormal (the vehicle speed is equal to or higher than the threshold value). [Condition 04-3]: An abnormal load (such as jamming) has been detected in the harvesting unit H or the threshing device 13. [Condition 04-4]: The position coordinates of the combine 1 deviated outside the allowable range with respect to the travel route LI. [Condition 04-5]: The boarding and alighting doors of the driver's cab 12 opened.

[0076] When the mode of the control device 20 shifts from the automatic harvesting travel mode to the alarm mode, if an operator or the like rushes to the combine 1 and performs a predetermined operation on the display operation terminal 4 or the like arranged in the driver's cab 12, the alarm mode is canceled and the mode of the control device 20 shifts to the manual travel mode. In order to resume the automatic harvesting travel, it is necessary for an operator or the like to perform a predetermined operation so as to satisfy [Condition 01] and [Condition 02] again.

[0077] [Temporary interruption process of automatic harvesting travel by object detection] Even when an event that interrupts the automatic harvesting travel of the combine 1 occurs, if the event can be resolved immediately, it is desirable to have a configuration that can quickly resume the automatic harvesting travel of the combine 1 without shifting the mode of the control device 20 to the alarm mode. For this reason, in the present embodiment, the mode of the control device 20 is configured to be able to shift from the automatic harvesting travel mode to the automatic preparation mode. And [Condition 05] shown in FIG. 4 is set as a condition for shifting the mode of the control device 20 from the automatic harvesting travel mode to the automatic preparation mode.

[0078] As described above, the control device 20 is configured to be able to select and set 'effective' or 'invalid' for the detection of surrounding objects by the obstacle sensor group 2. And in the unmanned harvesting travel mode, the control device 20 automatically sets the detection of surrounding objects by the obstacle sensor group 2 to be 'effective'.

[0079] In [Condition 05] shown in FIG. 4, when the detection of surrounding objects by the obstacle sensor group 2 is set to "effective", it includes the case where the obstacle sensor group 2 detects the presence of an object around the combine 1. When the presence of an object is detected around the combine 1, the obstacle sensor group 2 detects and transmits a signal to the control device 20. Then, the control device 20 interrupts the automatic harvesting travel of the combine 1 in response to the detection signal. As a result, the travel of the combine 1 temporarily stops.

[0080] Note that in [Condition 05], when the mode of the control device 20 is the manned harvesting travel mode, it may include the case where the seat belt of the driver's seat 12a is removed.

[0081] The process executed based on the fulfillment of [Condition 05] will be described with reference to FIG. 5. When the obstacle sensor group 2 detects an object around the combine 1, the mode of the control device 20 shifts from the automatic harvesting travel mode to the automatic preparation mode (Step #01). At this time, the travel control unit 24B stops the travel device 11 (Step #02). Then, the travel device 11, the harvesting unit H, and the threshing device 13 stop.

[0082] Furthermore, the notification unit 26 controls the indicator lamp 3 to notify the detection of the object (Step #03). At this time, for example, the red light of the indicator lamp 3 (stacked indicator lamp) blinks. Also, an audible notification is made from a buzzer, a voice speaker, etc. provided in the combine 1. That is, the control device 20 is configured to execute a process of stopping the combine 1 and interrupting the automatic harvesting travel of the combine 1 in response to the detection of an object by the obstacle sensor group 2 after the start of the automatic harvesting travel, and notifying the notification unit 26 of the detection of the object. And the indicator lamp 3 is configured to notify the operator, etc. of the detection status of the obstacle sensor group 2.

[0083] After the automatic harvesting operation is interrupted based on meeting [Condition 05] (shown as "A" in FIGS. 5 and 6), in order to resume the automatic harvesting operation, it is necessary to satisfy the above-mentioned [Condition 02]. That is, as shown in FIG. 6, it is determined whether or not the obstacle sensor group 2 has stopped detecting an object ([Condition 2-1], Step #04), and the determination in Step #04 is repeated until a Yes determination is made in Step #04, and the combine 1 remains in a standby state while stopped. That is, the control device 20 is configured such that when the obstacle sensor group 2 is detecting an object (Step #04: No), the process of restarting the automatic harvesting operation of the combine 1 cannot be executed.

[0084] When a Yes determination is made in Step #04, the notification unit 26 notifies the non-detection of the object (Step #05). At this time, for example, among the display lights 3 (stacked display lights), a configuration in which green or yellow (orange) light blinks may be used, or a configuration in which all-color light blinks may be used. Also, acoustic notification may be performed from a buzzer, voice speaker, etc. provided in the combine 1. That is, the control device 20 is configured to execute a process of causing the notification unit 26 to notify the non-detection of the object in response to the obstacle sensor group 2 having stopped detecting an object after the interruption process of the automatic harvesting operation.

[0085] Then, it is determined whether or not the operating tool 41 of the remote operation device 40 has been operated ([Condition 2-2], Step #06), and the determination in Step #06 is repeated until a Yes determination is made in Step #06, and the combine 1 remains in a standby state while stopped. The control device 20 is configured such that after the interruption process of the automatic harvesting operation, in response to the obstacle sensor group 2 having stopped detecting an object and the operator having operated the remote operation device 40, the process of restarting the automatic harvesting operation of the combine 1 can be executed.

[0086] Specifically, when the operator simultaneously presses and holds the first button 41A and the second button 41B for one second, the determination in step #06 becomes Yes. That is, the control device 20 is configured to execute a process of restarting the automatic harvesting travel of the combine 1 in response to the obstacle sensor group 2 no longer detecting an object, the operator operating a plurality of operating tools 41 simultaneously, and the operator continuously operating a plurality of operating tools 41 for one second or more.

[0087] When the determination in step #07 is Yes, the mode of the control device 20 shifts from the automatic preparation mode to the automatic harvesting travel mode (step #07), and the automatic harvesting travel is restarted (step #08).

[0088] Even when the automatic harvesting travel is interrupted by detecting an object during the turning path (the path that turns midway between two travel paths LI), the automatic harvesting travel is restarted to travel along the turning path. As a result, the mode of the control device 20 is set to the unmanned harvesting travel mode, and even when the unmanned harvesting travel is interrupted, there is no need for an operator or the like to manually move the combine 1 onto the travel path LI, and the unmanned harvesting travel is smoothly restarted.

[0089] 〔Temporary interruption process of automatic harvesting travel due to decreased reception accuracy of satellite positioning module〕 As shown in FIG. 4, in this embodiment, the control device 20 is provided with a temporary interruption mode as a mode. The temporary interruption mode is a mode for temporarily interrupting the automatic harvesting travel in response to the occurrence of an interruption factor and immediately restarting the automatic harvesting travel in response to the elimination of the interruption factor.

[0090] The [condition 11] for the mode of the control device 20 to shift from the automatic harvesting travel mode to the temporary interruption mode includes that the reception accuracy of the satellite positioning module 80 has fallen below the threshold value. Examples of factors for the reception accuracy of the satellite positioning module 80 falling below the threshold value include a shortage of the number of available navigation satellites GS and the occurrence of multipath.

[0091] The process executed based on meeting [[Condition 11]] will be described with reference to FIG. 7. When the reception accuracy of the satellite positioning module 80 falls below the threshold value, the mode of the control device 20 shifts from the automatic harvesting travel mode to the temporary interruption mode (Step #11). At this time, the travel control unit 24B stops the travel device 11 (Step #12). Then, the travel device 11, the harvesting unit H, and the threshing device 13 stop.

[0092] Furthermore, the notification unit 26 controls the indicator lamp 3 to notify of the decrease in the reception accuracy (Step #13). At this time, for example, the yellow (orange) light of the indicator lamp 3 (stacked indicator lamp) blinks. Also, audible notification may be performed from a buzzer, a voice speaker, etc. provided in the combine 1. That is, the control device 20 is configured to execute a process of stopping the combine 1 and interrupting the automatic harvesting travel of the combine 1 in response to the reception accuracy of the satellite positioning module 80 becoming worse than a preset threshold value after the start of the automatic harvesting travel.

[0093] After the automatic harvesting travel is interrupted based on meeting [[Condition 11]] (shown as "B" in FIGS. 7 and 8), in order to resume the automatic harvesting travel, it is necessary to satisfy [[Condition 12]]. That is, as shown in FIG. 8, it is determined whether the reception accuracy of the satellite positioning module 80 has recovered to be equal to or higher than the threshold value ([[Condition 12]], Step #14). The determination in Step #14 is repeated until a Yes determination is made in Step #14, and the combine 1 remains in a standby state while stopped.

[0094] When a Yes determination is made in Step #14, the mode of the control device 20 shifts from the temporary interruption mode to the automatic harvesting travel mode (Step #15), and the automatic harvesting travel is resumed (Step #16). That is, the control device 20 is configured to execute a process of resuming the automatic harvesting travel of the combine 1 in response to the reception accuracy of the satellite positioning module 80 becoming better than a preset threshold value after the interruption process of the automatic harvesting travel. With this configuration, even if the operator does not operate the remote control device 40, the control device 20 can automatically resume the automatic harvesting travel in response to the recovery of the reception accuracy.

[0095] Even if the automatic harvesting travel is interrupted due to a decrease in reception accuracy during the turning path (the path that turns midway between the two traveling paths LI), the automatic harvesting travel resumes along the turning path. As a result, the mode of the control device 20 is set to the unmanned harvesting travel mode, and even when the unmanned harvesting travel is interrupted, it is not necessary for an operator or the like to manually move the combine 1 onto the traveling path LI, and the unmanned harvesting travel resumes smoothly.

[0096] [Temporary interruption process of automatic harvesting travel due to grain discharge process] As shown in FIG. 4, in the present embodiment, a discharge mode is provided as a mode of the control device 20. The discharge mode is a mode for the combine 1 to interrupt the automatic harvesting travel and move to a discharge position where the grain can be discharged when the grain tank 14 is full of grain.

[0097] [Condition 21] for the mode of the control device 20 to shift from the automatic harvesting travel mode to the discharge mode includes that the storage amount of the grain stored in the grain tank 14 becomes more than a preset threshold value.

[0098] The process executed based on meeting [Condition 21] will be described with reference to FIG. 9. When the storage amount of the grain tank 14 exceeds the threshold value, the mode of the control device 20 shifts from the automatic harvesting travel mode to the discharge mode (step #21). At this time, the harvesting unit H and the threshing device 13 stop, and the combine 1 moves to the discharge position (step #22). The discharge position is set, for example, at the edge of the field 5. At this time, the path generation unit 23 generates a path extending between the current position coordinates calculated by the position calculation unit 21 and the discharge position. Then, the travel control unit 24B controls the travel device 11 to travel along the path until the combine 1 reaches the discharge position (step #23: No).

[0099] That is, the traveling control unit 24B of the control device 20 is configured to execute a discharge traveling process of controlling the traveling device 11 so that, in response to the harvested amount exceeding a preset threshold value after the start of the automatic harvesting travel, the combine 1 interrupts the automatic harvesting travel and travels to a discharge position where the crop can be discharged from the grain tank 14 and stops at the discharge position.

[0100] In the present embodiment, as shown in step #31, when the combine 1 reaches the discharge position (step #23: Yes), the yield measurement unit 30 measures the mass of the grains stored in the grain tank 14 with the combine 1 in a stopped state. The yield acquisition unit 25 executes a measurement process of acquiring the mass of the grains stored in the grain tank 14.

[0101] The mass of the grains is measured by the yield measurement unit 30. However, since the yield measurement unit 30 is disposed below the grain tank 14, errors tend to occur in the measurement results of the yield measurement unit 30 due to factors such as the inclination of the body 19 of the combine 1 and changes in the center of gravity position. Therefore, it is insufficient to simply have the yield measurement unit 30 execute the measurement process with the combine 1 in a stopped state.

[0102] In the present embodiment, the processes of steps #24 to #30 are executed to keep the inclination and the center of gravity position of the body 19 of the combine 1 as constant as possible when the yield measurement unit 30 executes the measurement process.

[0103] Specifically, drive control of the body attitude change mechanism 11A as shown in step #25 and drive control of the grain discharge device 18 as shown in step #28 are executed. These drive controls are executed when the obstacle sensor group 2 does not detect an object (steps #24, #27).

[0104] The control device 20 is configured to execute a body attitude control process for controlling the body attitude change mechanism 11A so that the body 19 assumes a predetermined attitude. In the present embodiment, the measured attitude means an attitude in which the height position of the body 19 with respect to each of the left and right crawler mechanisms of the traveling device 11 is equal to or less than a preset threshold value, and the inclination of the body 19 is equal to or less than a preset angle and approaches horizontal. It is preferable that the measured attitude is a horizontal attitude (a state in which the body 19 is horizontal). The body attitude control process may be a process of changing the body attitude change mechanism 11A to a predetermined state (for example, a state in which the body 19 has descended the most). The body attitude control process for the body attitude change mechanism 11A is executed in the processes of step #24 to step #26.

[0105] In step #24, it is determined whether or not the obstacle sensor group 2 has detected an object. If a No determination is made in step #24, the determination in step #24 is repeated. The travel control unit 24B of the control device 20 is configured to start the body attitude control process when the obstacle sensor group 2 has not detected an object.

[0106] If a Yes determination is made in step #24, the travel control unit 24B drives and controls the body attitude change mechanism 11A while the attitude of the body 19 is not the measured attitude (step #26: No) (step #25).

[0107] If the obstacle sensor group 2 detects an object during the body attitude control process (step #24: No), the body attitude control process is interrupted and the body attitude change mechanism 11A stops. Then, when the obstacle sensor group 2 no longer detects an object (step #24: Yes), the body attitude control process is restarted and the body attitude change mechanism 11A is driven again (step #25, step #26).

[0108] When the attitude of the aircraft body 19 becomes the measured attitude (step #26: Yes), the work control unit 24C of the control device 20 is configured to execute a position control process for controlling the grain discharge device 18 so that the grain discharge device 18 is at a predetermined measurement position. In the present embodiment, the measurement position means that the horizontal cylinder portion of the horizontal feed screw in the grain discharge device 18 is housed in the holding cradle 18A so as to be firmly weighted. If the horizontal cylinder portion is securely housed in the holding cradle 18A, the center of gravity position of the aircraft body 19 is stabilized, and the measurement result of the yield measurement unit 30 is likely to be accurate. The measurement position may be another predetermined position. If the measurement is performed at the same position, the reproducibility of the measurement result is easily ensured. The position control process for the grain discharge device 18 is executed in the processes of step #27 to step #29.

[0109] In step #27, it is determined whether or not the obstacle sensor group 2 detects an object. If the determination in step #27 is No, the determination in step #27 is repeated. The work control unit 24C of the control device 20 is configured to start the position control process when the obstacle sensor group 2 does not detect an object.

[0110] If the determination in step #27 is Yes, the work control unit 24C drives and controls the grain discharge device 18 (step #28) while the horizontal cylinder portion of the grain discharge device 18 is not at the measurement position (step #29: No).

[0111] If the obstacle sensor group 2 detects an object during the position control process (step #27: No), the position control process is interrupted and the grain discharge device 18 stops. Then, when the obstacle sensor group 2 no longer detects an object (step #27: Yes), the position control process is resumed and the grain discharge device 18 is driven again (step #28, step #29).

[0112] In this way, the yield acquisition unit 25 is configured to execute the measurement process after the completion of the aircraft body attitude control process and after the completion of the position control process.

[0113] When the horizontal cylinder portion of the grain discharging device 18 is in the measurement position (step #29: Yes), before the yield acquisition unit 25 executes the measurement process, it is determined in step #30 whether or not the obstacle sensor group 2 has detected an object. If the determination in step #30 is No, the determination in step #30 is repeated. That is, the yield acquisition unit 25 is configured to execute the measurement process when the obstacle sensor group 2 has not detected an object, and is configured not to execute the measurement process when the obstacle sensor group 2 has detected an object. Thereby, for example, the possibility that the combine 1 vibrates or the center of gravity position of the combine 1 shifts due to an operator or the like working around the operation unit 12 of the combine 1 inadvertently is avoided. As a result, the possibility that the measurement accuracy of the yield measurement unit 30 decreases is avoided.

[0114] Information regarding the mass of the harvested product acquired by the yield acquisition unit 25 is, for example, displayed on the display operation terminal 4, or displayed on a terminal (not shown, such as a smartphone or a tablet computer) carried by an operator or the like, or transmitted to a management computer (not shown) via a wireless communication network.

[0115] If the determination in step #30 is Yes, the yield acquisition unit 25 acquires the measurement result of the yield measurement unit 30, that is, the mass of the grains (step #31). In this way, the yield acquisition unit 25 is configured to be able to execute a measurement process for measuring the mass of the grains stored in the grain tank 14 by the yield measurement unit 30 in a state where the machine body 19 has stopped after the completion of the discharge traveling process by the traveling control unit 24B. In the present embodiment, the processes from the interruption of the automatic harvesting travel (step #21) to the measurement process of the mass of the harvested product (step #31) are automatically executed without requiring an operation from the operator.

[0116] After the discharge traveling process based on the fulfillment of [Condition 11] and the measurement process by the yield acquisition unit 25 are completed (shown as "C" in FIGS. 9 and 10), [Condition 22] for restarting the automatic harvesting travel includes the following matters. [Condition 22-1] The discharge of the grains from the grain tank 14 to the outside of the machine is completed. [Condition 22-2] The operating tool 41 of the remote operation device 40 was operated.

[0117] As shown in FIG. 10, before the discharge of the grain by the work control unit 24C, it is determined whether or not the operating tool 41 of the remote operation device 40 has been operated (step #32). If the determination in step #32 is No, the determination in step #32 is repeated. At this time, the work control unit 24C is in a state of waiting for the operator's operation.

[0118] When the operating tool 41 of the remote operation device 40 is operated (step #32: Yes), the work control unit 24C controls the grain discharge device 18 to discharge the grain in response to the remote operation device 40 receiving the operator's operation after the measurement process by the yield acquisition unit 25 (step #33). The work control unit 24C continues to control the grain discharge device 18 while the discharge of the grain is not completed (step #34: No).

[0119] When the discharge of the grain is completed (step #34: Yes), [Condition 22-2] is satisfied. Then, before the resumption of the automatic harvesting travel, it is determined whether or not the operating tool 41 of the remote operation device 40 has been operated (step #35). If the determination in step #35 is No, the determination in step #35 is repeated. At this time, the travel control unit 24B is in a state of waiting for the operator's operation.

[0120] When the operating tool 41 of the remote operation device 40 is operated (step #35: Yes), [Condition 22-2] is satisfied. Then, the automatic harvesting travel is resumed (step #36). At this time, the grain discharge device 18 is stored in the storage position. That is, the travel control unit 24B is configured to resume the automatic harvesting travel control in response to the remote operation device 40 receiving the operator's operation after the completion of the measurement process and after the completion of the discharge of the grain. In other words, the control device 20 is configured to be able to execute a process of resuming the automatic harvesting travel of the combine 1 in response to the operator operating the remote operation device 40 after the grain has been discharged from the grain tank 14.

[0121] 〔Alternative Embodiment〕 The present invention is not limited to the configurations exemplified in the above-described embodiments, and representative alternative embodiments of the present invention will be exemplified below.

[0122] (1) The operating tool 41 may be composed of three or more buttons.

[0123] (2) In the above-described embodiment, the obstacle sensor group 2 senses different four directions to detect the presence or absence of an object around the body 19 of the combine 1. However, the present invention is not limited to this embodiment. For example, the obstacle sensor group 2 may be configured to sense the front and rear two directions. The camera 2B was treated as a monocular camera, but it may be a stereo camera. Further, the obstacle sensor group 2 may be provided with LiDAR, sonar, or the like.

[0124] (3) In the above-described embodiment, the yield acquisition unit 25 is configured to execute the measurement process when the obstacle sensor group 2 does not detect an object, and not to execute the measurement process when the obstacle sensor group 2 detects an object. However, the present invention is not limited to this embodiment. For example, even when the obstacle sensor group 2 detects an operator or the like, if the position control process by the work control unit 24C is completed and the operator or the like is not touching the combine 1, the yield acquisition unit 25 may be configured to execute the measurement process.

[0125] (4) The remote control device 40 may be a smartphone or a tablet computer. In this case, the operating tool 41 and the end button 42 may be buttons displayed on a touch panel monitor.

[0126] (5) The traveling device 11 is not limited to having a crawler mechanism, and may have a wheel configuration.

[0127] (6) The harvesting machine may be various harvesting machines such as a conventional combine, a self-threshing combine, a corn harvester, a sugarcane harvester, a soybean harvester, and a root vegetable harvester.

[0128] (7) In the above-described embodiment, the notification unit 26 controls the display lamp 3 to notify of the detection of an object. However, the present invention is not limited to this embodiment, and the notification unit 26 may be configured to transmit information regarding the detection of an object to a remote control device 40 or another portable terminal possessed by an operator via a wireless communication network. Then, the remote control device 40 or another portable terminal (smartphone or tablet computer) possessed by the operator may be configured to notify of the detection of an object.

[0129] (8) The configuration may be such that the above-described aircraft attitude control process is not performed. Also, the configuration may be such that the above-described position control process is not performed.

[0130] Note that the configurations disclosed in the above-described embodiments (including other alternative embodiments, the same applies hereinafter) can be applied in combination with the configurations disclosed in other embodiments as long as no contradiction occurs. Also, the embodiments disclosed in this specification are examples, and the embodiments of the present invention are not limited thereto, and can be appropriately modified within the scope not departing from the object of the present invention.

Industrial Applicability

[0131] The present invention is applicable to a harvester that can harvest crops while traveling in a field unmanned.

Explanation of Signs

[0132] 2: Obstacle sensor group (object detection unit) 5: Field 11: Travel device 11A: Aircraft attitude change mechanism 14: Grain tank (harvested product tank) 19: Aircraft body 24B: Travel control unit 24C: Work control unit (discharge control unit) 25: Yield acquisition unit 30: Yield measurement unit (measurer) 40: Remote control device (operation reception unit)

Claims

1. A harvester capable of harvesting crops while traveling in a field unmanned, comprising: a machine body having a traveling device for traveling in the field; a harvested product tank for temporarily storing the harvested product harvested while traveling; a measuring device for measuring the mass of the harvested product stored in the harvested product tank; a traveling control unit capable of executing unmanned harvesting traveling control for automatically controlling the traveling device so as to travel to harvest the crop unmanned, and capable of interrupting the unmanned harvesting traveling control and traveling to a discharge position where the harvested product can be discharged from the harvested product tank and stopping at the discharge position to control the traveling device to execute a discharge traveling process; a yield acquisition unit capable of executing a measurement process for measuring the mass of the harvested product stored in the harvested product tank by the measuring device in a state where the machine body has stopped after completion of the discharge traveling process. The harvester is provided with these components.

2. An object detection unit for detecting the presence or absence of an object around the machine body is provided, The yield acquisition unit is configured to execute the measurement process when the object detection unit does not detect the object, and is configured not to execute the measurement process when the object detection unit detects the object. The harvester according to Claim 1.

3. The traveling device has a machine body attitude change mechanism for changing the attitude of the machine body with respect to the ground, The traveling control unit is configured to execute a machine body attitude control process for controlling the machine body attitude change mechanism so that the machine body assumes a predetermined attitude, The yield acquisition unit is configured to execute the measurement process after completion of the machine body attitude control process, The traveling control unit is configured to start the machine body attitude control process when the object detection unit does not detect the object. The harvester according to Claim 2.

4. a discharge device for discharging the harvested product from the harvested product tank; a discharge control unit for controlling the discharge device; and are provided, The discharge control unit is configured to execute a position control process for controlling the discharge device so that the discharge device is at a predetermined measurement position, The yield acquisition unit is configured to execute the measurement process after completion of the position control process, The discharge control unit is configured to start the position control process when the object detection unit does not detect the object. The harvester according to Claim 2.

5. a discharge device for discharging the harvested product from the harvested product tank; an operation reception unit for receiving the operation of an operator outside the machine body; A discharge control unit that controls the discharge device to discharge the harvested product in response to the operation receiving unit receiving the operator's operation after completion of the measurement process, and the harvesting machine according to any one of claims 1 to 4 including the same.

6. An operation receiving unit that receives the operation of an operator outside the machine body is provided. The traveling control unit is configured to resume the unmanned harvesting traveling control in response to the operation receiving unit receiving the operator's operation after completion of the measurement process, and the harvesting machine according to any one of claims 1 to 4 including the same.

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