Harvester

Abstract

A harvester 1 is capable of harvesting crops while traveling unmanned in a field. The harvester 1 comprises: a machine body 19 including a travel device 11 that travels in a field; a harvest tank 14 for temporarily storing a harvest harvested while traveling; a measurement instrument for measuring the mass of the harvest stored in the harvest tank 14; a travel control unit capable of executing unmanned harvesting travel control for automatically controlling the travel device so as to travel unmanned in order to harvest a crop, and that executes discharge travel processing for controlling the travel device 11 so as to interrupt the unmanned harvesting travel control, travel to a discharge position where the harvest can be discharged from the harvest tank 14, and stop at the discharge position; and a yield acquisition unit capable of executing measurement processing for measuring the mass of the harvest stored in the harvest tank 14 by means of the measurement instrument while in a state in which the machine body 19 is stopped after completion of the discharge travel processing.

Description

harvester

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

[0002] For example, Japanese Patent Application Laid-Open Publication No. 2015-177750 discloses a harvester equipped with a measuring device for measuring the amount of harvested material stored in a harvested material tank. Japanese Patent Application Laid-Open Publication No. 2015-177750 discloses that highly reliable yield measurement is possible by measuring the yield while the harvester is stopped.

[0003] Japanese Patent Application Publication No. 2015-177750

[0004] Conventional harvesters, such as the one disclosed in Japanese Patent Application Laid-Open Publication No. 2015-177750, operate while harvesting, assuming that an operator is on board. On the other hand, in unmanned harvesters that harvest crops while traveling unmanned, the operator monitors the harvester from outside the harvester. It is conceivable that the operator not only monitors the harvester but also performs other tasks simultaneously. Therefore, a configuration that enables highly reliable yield measurement even while the operator is concentrating on other tasks is desirable.

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

[0006] The present invention is a harvesting machine capable of harvesting crops while traveling through a field unmanned, and is characterized by comprising: a body having a traveling device that travels through the field; a harvest tank that temporarily stores the harvested crop while traveling; a measuring device that measures the mass of the harvest stored in the harvest tank; a traveling control unit that is capable of executing unmanned harvesting traveling control to automatically control the traveling device to travel to harvest the crop unmanned, and that executes a discharge traveling process that interrupts the unmanned harvesting traveling control, travels to a discharge position where the harvest can be discharged from the harvest tank, and stops at the discharge position; and a yield acquisition unit that is capable of executing a measurement process in which the body is stopped after the discharge traveling process is completed and the measuring device measures the mass of the harvest stored in the harvest tank.

[0007] According to the present invention, the travel control unit is configured to travel to a discharge position for discharging the harvested product from the harvested product tank. The yield acquisition unit is configured to be able to execute a measurement process for measuring the mass of the harvested product while the vehicle is stationary. This allows for highly reliable yield measurement without being affected by vibrations or other factors during travel. This allows for a harvester that can perform highly reliable yield measurement during unmanned harvesting travel.

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

[0009] This configuration allows the measurement process to be carried out without being obstructed by objects, which allows for more reliable yield measurements.

[0010] In the present invention, it is preferable that the running device has a body attitude change mechanism that changes the ground attitude of the body, the running control unit is configured to execute a body attitude control process that controls the body attitude change mechanism so that the body assumes a predetermined attitude, the yield acquisition unit is configured to execute the measurement process after completion of the body attitude control process, and the running control unit is configured to start the body 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 machine has stopped and assumed a predetermined attitude. Therefore, the measuring device measures the mass of the harvested crop with the machine's center of gravity at a constant level. This allows for more reliable yield measurements. Furthermore, the machine's attitude control process is initiated when the object detection unit does not detect the object. This reduces the risk of operators working near the machine feeling surprised or uneasy.

[0012] In the present invention, there is provided a discharge device that discharges the harvested product from the harvest tank, and a discharge control unit that controls the discharge device, wherein the discharge control unit is configured to execute a position control process that controls 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 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 performs the measurement process after the machine has stopped and the discharge device has reached the predetermined measurement position. Therefore, the measuring device measures the mass of the harvested crop with the machine's center of gravity at a constant level. This allows for more reliable yield measurement. Furthermore, the machine's attitude control process is initiated when the object detection unit does not detect the object. This reduces the risk of operators working near the machine feeling surprised or uneasy.

[0014] In the present invention, it is preferable that the machine be provided with a discharge device that discharges the harvested product from the harvest tank, an operation reception unit that receives operations from an operator outside the machine, and a discharge control unit that controls the discharge device to discharge the harvested product in response to the operation reception unit receiving the operator's operation after the measurement process is completed.

[0015] This arrangement ensures that yield measurements are performed before the harvest is discharged.

[0016] In the present invention, it is preferable that an operation reception unit is provided that receives operations from an operator outside the machine body, and that the travel control unit is configured to resume the unmanned harvesting travel control in response to the operation reception unit receiving the operator's operation after the measurement process is completed.

[0017] With this configuration, the unmanned harvesting travel of the harvester is resumed in response to the operator operating the remote control device. Therefore, the unmanned harvesting travel of the harvester is resumed by the operator's intentional operation.

[0018] FIG. 1 is a left side view of a combine harvester. FIG. 2 is a diagram showing the outer perimeter travel, the work target area, the unworked area, and the travel route. FIG. 3 is a block diagram showing the configuration of a control system. FIG. 4 is a state transition diagram of the modes of the control device. FIG. 5 is a flowchart showing the temporary suspension process of automatic harvesting travel due to object detection. FIG. 6 is a flowchart showing the resumption of automatic harvesting travel after the temporary suspension process of automatic harvesting travel due to object detection. FIG. 7 is a flowchart showing the temporary suspension process of automatic harvesting travel due to a decrease in reception accuracy of the satellite positioning module. FIG. 8 is a flowchart showing the resumption of automatic harvesting travel after the temporary suspension process of automatic harvesting travel due to a decrease in reception accuracy of the satellite positioning module. FIG. 9 is a flowchart showing the temporary suspension process of automatic harvesting travel due to grain discharge processing. FIG. 10 is a flowchart showing the resumption of automatic harvesting travel after the temporary suspension process of automatic harvesting travel due to grain discharge processing.

[0019] An embodiment of 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 drawings will be referred to as "forward," and the direction of the arrow "B" will be referred to as "rearward." The direction of the arrow "U" in the drawings will be referred to as "upward," and the direction of the arrow "D" will be referred to as "downward." The direction of the arrow "N" in the drawings will be referred to as "north," the direction of the arrow "S" as "south," the direction of the arrow "E" as "east," and the direction of the arrow "W" as "westward." Furthermore, "left" and "right" are defined based on the fore-and-aft direction of the harvester moving forward.

[0020] 1, a standard combine harvester 1, which is an example of a harvester, includes an indicator light 3, a harvesting section H, a crawler-type traveling device 11, a driving section 12, a threshing device 13, a grain tank 14, a conveying section 16, a grain discharge device 18, and a satellite positioning module 80. The grain tank 14 corresponds to a "harvest product tank."

[0021] The traveling device 11 is provided under the body 19 of the combine harvester 1. The traveling device 11 is driven by power from an engine (not shown) mounted on the combine harvester 1. The combine harvester 1 can travel by the traveling device 11.

[0022] The traveling device 11 is equipped with a vehicle attitude change mechanism 11A. The vehicle attitude change mechanism 11A is commonly known as a "Monroe" and is configured to be able to change the height position of the vehicle 19 relative to each of the left and right crawler mechanisms separately. In other words, the traveling device 11 has the vehicle attitude change mechanism 11A that changes the attitude of the vehicle 19 relative to the ground.

[0023] The driving unit 12, threshing device 13, and grain tank 14 are provided above the traveling device 11. The driving unit 12 has a driver's seat 12a. An operator (including a user, worker, supervisor, manager, etc., the same applies hereinafter) can ride in the driving unit 12. The satellite positioning module 80 is attached to the top surface of the driving unit 12.

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

[0025] The left and right weed dividing tools 10 are provided at the left and right ends of the front end of the harvesting section H. The left and right weed dividing tools 10 divide the planted culms in the field 5 (see Figure 2) into those to be harvested and those not to be harvested. The planted culms to the right of the left weed dividing tool 10 and to the left of the right weed dividing tool 10 are divided as those to be harvested. The planted culms to the left of the left weed dividing tool 10 and to the right of the right weed dividing tool 10 are divided as those not to be harvested.

[0026] The cutting blade 15 cuts the planted culms that have been divided as harvest targets by the left and right weed dividing tools 10. The reel 17 rotates around a reel axis 17b that runs along the left-right direction of the machine body, raking in the planted culms to be harvested. The cut culms cut by the cutting blade 15 are sent to the conveying section 16.

[0027] With this configuration, the harvesting section H harvests grain in the field 5 that is the travel target of the combine 1. The combine 1 is capable of harvesting travel, traveling by the traveling device 11 while harvesting grain in the field 5 with the harvesting section H.

[0028] The reaped stalks harvested by the harvesting section H are transported to the rear of the machine body by the transport section 16. As a result, the reaped stalks are transported to the threshing device 13.

[0029] The harvested stalks are threshed in the threshing device 13. The grains obtained by the threshing process are stored in the grain tank 14. The grain tank 14 temporarily stores the grain harvested while the machine is moving. The grains stored in the grain tank 14 are discharged outside the machine by the grain discharge device 18 as needed. The holding tray 18A is configured to support the horizontal cylinder portion of the horizontal conveying screw in the grain discharge device 18. The grain discharge device 18 has a vertical conveying screw and a horizontal conveying screw. The vertical conveying screw guides grains upward from the bottom of the grain tank 14 with a spiral screw and passes them to the horizontal conveying screw. The horizontal conveying screw guides the grains received from the vertical conveying screw to a discharge outlet at the tip of the horizontal cylinder portion with a spiral screw. The holding tray 18A is connected, for example, to the top of the threshing machine 13. The horizontal cylinder portion of the grain discharge device 18 is provided above the threshing device 13 and the grain tank 14.

[0030] 1 , a display / operation terminal 4 is disposed in the driving unit 12. The display / operation terminal 4 has, for example, a touch panel monitor and is configured to be able to display various information and to enable various setting operations related to automatic harvesting travel. In this embodiment, the display / operation terminal 4 is fixed to the driving unit 12. However, the present invention is not limited to this, and the display / operation terminal 4 may be configured to be detachable from the driving unit 12, or the display / operation terminal 4 may be located outside the combine harvester 1.

[0031] The obstacle sensor group 2 senses different directions to detect the presence or absence of objects around the body 19 of the combine harvester 1. An object is an obstacle to the combine harvester 1. In this embodiment, as shown in FIG. 1 , the obstacle sensor group 2 includes multiple millimeter-wave radars 2A as distance measurement sensors and multiple cameras 2B that generate captured images. The obstacle sensor group 2 corresponds to an "object detection unit."

[0032] The millimeter-wave radar 2A is attached to two locations: the front end of the cabin that constitutes the driver's section 12, and the rear end of the threshing machine 13. The millimeter-wave radar 2A is a sensor that performs sensing by irradiating a detection target area with millimeter waves. In addition to the millimeter-wave radar 2A, LiDAR (lidar) and sonar can also be used as distance measurement sensors.

[0033] The cameras 2B are attached to four locations: the front end of the cabin constituting the driving section 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 their imaging angle is approximately 180 degrees. Therefore, these cameras 2B capture images in all directions of the machine body 19. The images captured by the cameras 2B are used as input images for a deep learning-type object detection algorithm or other image recognition algorithm. In other words, although not particularly limited, the cameras 2B in this embodiment are object recognition sensors that use AI.

[0034] When the harvesting unit H serving as a working device is raised, the harvesting unit H may enter the sensing range of the millimeter-wave radar 2A and camera 2B attached to the front end of the cabin, interfering with object detection. In this case, object detection by the millimeter-wave radar 2A and camera 2B in front of the vehicle 19 may be stopped, i.e., only the millimeter-wave radar 2A and camera 2B attached to the front end of the cabin may be set to OFF.

[0035] The indicator light 3 is, for example, a stacked indicator light of LEDs (light emitting diodes), and uses light and color to notify an operator or the like outside the machine of the status of the combine 1 (particularly the status of automatic harvesting travel).

[0036] When performing harvesting work in the field 5, the combine harvester 1 is configured to perform perimeter travel as shown by the travel trajectory TR in Figure 2, and then perform harvesting travel by automatic or manual travel. Note that perimeter travel refers to harvesting travel performed manually in the peripheral area of ​​the field 5. Note that the present invention is not limited to this, and harvesting travel performed in the peripheral area may be performed automatically. Furthermore, the combine harvester 1 can also perform harvesting travel manually in all areas of the field.

[0037] In Figure 2, the route traveled by the combine harvester 1 during the outer periphery travel is shown as a travel locus TR. As will be described in detail later, once the harvesting travel along this route is completed, the combine harvester 1 begins harvesting within the field 5. As shown in Figure 2, the outer periphery travel in this embodiment is harvesting travel that travels around the outermost periphery of the field 5 once. However, the present invention is not limited to this, and two or more round trips may also be performed.

[0038] [Explanation of Electronic Control System] As shown in Figure 3, the travel of the combine harvester 1 is controlled by a travel management system A. That is, the travel management system A controls the travel of the combine harvester 1, which is capable of automatic travel. The combine harvester 1 can perform automatic travel without an operator in the driving unit 12. That is, the combine harvester 1 is configured to be able to harvest crops while automatically traveling through the field 5 in an unmanned state with no operator in the driving unit 12. Harvesting crops while automatically traveling through the field 5 in an unmanned state by the combine harvester 1 is referred to as "unmanned harvesting travel."

[0039] The combine harvester 1 is configured to be able to harvest crops while automatically traveling through the field 5 with an operator present in the driving unit 12. Harvesting crops while the combine harvester 1 automatically travels through the field 5 with an operator present in the driving unit 12 is referred to as "manned harvesting traveling." Unmanned harvesting traveling and manned harvesting traveling are collectively referred to as "automatic harvesting traveling."

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

[0041] In this embodiment, as described above, the obstacle sensor group 2 includes two millimeter-wave radars 2A and four cameras 2B. Distance measurement signals from the millimeter-wave radars 2A and image capture signals (captured images) from the cameras 2B are sent to the control device 20.

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

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

[0044] The area calculation unit 22 calculates the field outer shape EA and the work area WA as shown in Figure 2 based on the position coordinates received from the position calculation unit 21. More specifically, the area calculation unit 22 calculates the travel trajectory TR (see Figure 2) of the combine 1 based on the above-mentioned perimeter 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 trajectory of the grass dividing tool 10 located on the outer side of the field, out of the left and right grass dividing tools 10, and the movement trajectory of the grass dividing tool 10 located on the inner side of the field.

[0045] Furthermore, the area calculation unit 22 calculates the field outer circumference EA based on the movement trajectory of the weeding tool 10 located outside the field. Note that in Figure 2, the calculated field outer circumference EA coincides with the actual outer circumference of the field 5, but the present invention is not limited to this. The calculated field outer circumference EA does not have to coincide with the actual outer circumference of the field 5. For example, the field outer circumference EA may be located closer to the field than the actual outer circumference of the field 5.

[0046] The area calculation unit 22 also calculates an unworked area UA based on the movement trajectory of the weeding tool 10 located inside the field. The unworked area UA is the area inside the movement trajectory of the weeding tool 10 located inside the field during peripheral travel (in other words, the area surrounded by this movement trajectory). Furthermore, the area calculation unit 22 calculates the work area WA by approximating the unworked area UA to a rectangle (oblong). The map generated by the area calculation unit 22 (field outline EA, unworked area UA, and work area WA) is sent to the path generation unit 23.

[0047] The path generation unit 23 generates multiple travel paths LI as shown in FIG. 2 based on the map received from the area calculation unit 22. The travel paths LI are paths along which the combine harvester 1 automatically travels to harvest in the work area WA. While not particularly limited, in this embodiment, the travel paths LI are multiple mesh lines extending vertically and horizontally as shown in FIG. 2. Furthermore, the multiple mesh lines do not have to be straight lines and may be curved. The multiple 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 automatically control the traveling device 11, harvesting unit H, threshing unit 13, grain discharge unit 18, etc. so that the combine harvester 1 automatically travels while harvesting crops. The drive control unit 24 is equipped with a mode management unit 24A, a traveling control unit 24B, and an operation control unit 24C. The operation control unit 24C corresponds to the "discharge control unit."

[0049] The mode management unit 24A manages the modes 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 suspension mode, and an alarm mode. The automatic harvesting travel mode has two sub-modes: an unmanned harvesting travel mode and a manned harvesting travel mode.

[0050] The unmanned harvesting travel mode is a mode that allows automatic travel by the drive control unit 24 in a state where an operator or the like is not detected by the driving unit 12. In the unmanned harvesting travel mode, the combine 1 travels while automatically harvesting crops in an unmanned state without an operator riding in the driving unit 12. In other words, the unmanned harvesting travel of the combine 1 is realized in the unmanned harvesting travel mode.

[0051] The manned harvesting traveling mode is a mode that does not allow automatic traveling by the drive control unit 24 when an operator or the like is not detected by the driving unit 12. In the manned harvesting traveling mode, the combine 1 travels while automatically harvesting crops with an operator on board the driving unit 12. In other words, manned harvesting traveling of the combine 1 is realized in the manned harvesting traveling mode.

[0052] The automatic harvesting travel mode setting unit 27 is configured to be able to select and set either a manned harvesting travel mode or an 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 accepting manual operation from, for example, the display operation terminal 4, or may be configured to execute the selection and setting by accepting manual operation from, for example, a smartphone or tablet computer.

[0053] In the manned harvesting travel mode, it is possible to selectively set "enabled" or "disabled" to detect surrounding objects by the obstacle sensor group 2. In the unmanned harvesting travel mode, the detection of surrounding objects by the obstacle sensor group 2 is always set to "enabled."

[0054] When the obstacle sensor group 2 is set to "disabled" and the sub-mode is set to manned harvesting mode, automatic harvesting travel is possible with an operator seated in the driver's seat 12a and monitoring the surroundings. This allows automatic harvesting travel under manned monitoring even if at least one sensor in the obstacle sensor group 2 fails.

[0055] When the control device 20 is in manual travel mode, the travel control unit 24B and the work control unit 24C output steering amounts, speed change commands, and the like, and control the travel devices 11 and the work devices based on operations by the operator on the driving unit 12. This allows manual operation. Note that the travel route LI generated by the route generation unit 23 can be used for guidance purposes to guide the combine 1 along the travel route LI, even in manual operation.

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

[0057] The travel control unit 24B is configured to control the travel device 11 to control the automatic travel of the combine harvester 1. The travel control unit 24B controls the automatic travel of the combine harvester 1 based on the position coordinates of the combine harvester 1 and 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 is performed along the travel route LI.

[0058] The travel control unit 24B selects a travel route LI from among the plurality of travel routes LI that have not yet been traveled. The drive control unit 24 preferably selects a travel route LI based on the position coordinates of the combine harvester 1 received from the position calculation unit 21 so that the combine harvester 1 travels efficiently.

[0059] When the above-mentioned submode is set to the unmanned harvesting traveling mode, the traveling control unit 24B is configured to execute unmanned harvesting traveling control, which automatically controls the traveling device 11 to travel unmanned to harvest crops.

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

[0061] The yield acquisition unit 25 acquires the amount of grain stored in the grain tank 14 based on the detection signal from the yield measurement unit 30. The yield measurement unit 30 is, for example, a load cell, and is placed below the grain tank 14 and comes into contact with the bottom of the grain tank 14. Therefore, the yield measurement unit 30 is configured to measure the mass of the grain stored in the grain tank 14.

[0062] The notification unit 26 is configured to notify the state of the combine harvester 1 with the indicator 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 harvester 1 with a sound such as a buzzer or voice guidance, as necessary.

[0063] 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 running management system A includes a remote control device 40. The remote control device 40 is configured to accept manual operations by an operator who monitors the combine harvester 1 from outside the combine harvester 1. The operator can use the remote control device 40 to perform operations related to the automatic running of the combine harvester 1.

[0065] 1 and 3, the remote control device 40 has an operating tool 41 and an end button 42. After the plurality of travel routes LI described above have been generated, if the operating tool 41 receives manual operation while the combine harvester 1 is not traveling automatically, the remote control device 40 sends a predetermined signal to the drive control unit 24. In response to the signal, the drive control unit 24 starts the combine harvester 1 traveling automatically for harvesting.

[0066] While the combine harvester 1 is traveling automatically, the operator can monitor the automatic traveling of the combine harvester 1 from outside the combine harvester 1 while holding the remote control device 40.

[0067] [Regarding Mode Switching in the Control Device] Mode switching in the control device 20 will be described with reference to Fig. 4. The mode management unit 24A shown in Fig. 3 can switch modes when predetermined conditions are met. As shown in Fig. 4, the mode of the combine harvester 1 can be switched from a manual driving mode to an automatic harvesting driving mode.

[0068] The manual driving mode is not switched to the automatic harvesting driving mode directly, but via the automatic preparation mode. If an event occurs during automatic harvesting that causes the automatic harvesting driving to be terminated, the control device 20 automatically switches from the automatic harvesting driving mode to one of the automatic preparation mode, alarm mode, discharge driving mode, and temporary suspension mode.

[0069] First, transition from manual travel mode to automatic preparation mode is possible when [Condition 01] shown in FIG. 4 is satisfied. Examples of [Condition 01] include the following: [Condition 01-1]: The travel device 11 is stopped. [Condition 01-2]: The travel control unit 24B determines a travel route LI near the vehicle's position based on the latest position coordinates of the combine harvester 1, and is able to calculate the positional deviation between the vehicle's position and the travel route LI. [Condition 01-3]: The harvesting unit H and the threshing device 13 are 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 volume is below a threshold). [Condition 01-6]: There is room in fuel (the remaining fuel is above a 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 manned harvesting travel mode). [Condition 01-9]: The boarding / alighting door of the driver's section 12 is closed.

[0070] In other words, Condition 01 is a group of preliminary conditions for automatic harvesting travel, and when all (or almost all) of these conditions are met, the travel device 11 and the work equipment group ( FIG. 3 ) necessary for automatic operation are ready. Then, when Condition 01 necessary for transitioning to automatic preparation mode is met, the operator operates the operating tool 41 of the remote control device 40, and the mode of the control device 20 transitions from manual travel mode to automatic preparation mode. If the operator wants to transition the mode of the control device 20 from automatic preparation mode to manual mode, the operator operates the end button 42 of the remote control device 40, and the mode of the control device 20 transitions from automatic preparation mode to manual mode.

[0071] The following conditions are examples of conditions ([Condition 02]) for transitioning 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 unmanned harvesting travel mode, or in the case of manned harvesting travel mode when detection of surrounding objects by the obstacle sensor group 2 is set to "enabled"). [Condition 02-2]: The operating tool 41 of the remote control device 40 is operated.

[0072] In addition, if the sub-mode of the automatic harvesting driving mode is set to the manned harvesting driving mode and the detection of surrounding objects by the obstacle sensor group 2 is set to ``disabled,'' the judgment of [Condition 02-1] is omitted.

[0073] As shown in Figures 1 and 3, the operating device 41 is composed of a first button 41A and a second button 41B 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 device 41 is composed of a plurality of buttons. In this embodiment, the manual operation that causes the combine harvester 1 to start automatic traveling is to simultaneously press and hold the first button 41A and the second button 41B for one second. The control device 20 is configured to execute a process that causes the combine harvester 1 to perform automatic harvesting traveling (unmanned harvesting traveling in the unmanned harvesting traveling mode; the same applies below) in response to the operator operating the remote operating device 40.

[0074] When [Condition 03] shown in Figure 4 is satisfied, the mode of the control device 20 transitions 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. In other words, when the end button 42 is operated while the combine harvester 1 is traveling automatically, the remote control device 40 sends a predetermined signal to the drive control unit 24. In response to this signal, the drive control unit 24 ends the automatic harvesting travel of the combine harvester 1. As a result, the travel of the combine harvester 1 stops.

[0075] Furthermore, if an abnormality occurs during the automatic harvesting travel of the combine harvester 1 and corresponds to [Condition 04] shown in FIG. 4, the automatic harvesting travel of the combine harvester 1 is stopped, and the control device 20 transitions from automatic harvesting travel mode to alarm mode. At this time, the traveling device 11, the harvesting section H, and the threshing device 13 are stopped. [Condition 04] includes, for example, the following events. If at least one of the following events or a specified event other than the following events occurs, the control device 20 transitions from automatic harvesting travel mode to alarm mode based on [Condition 04]. [Condition 04-1]: A momentary interruption occurs in electronic control devices such as the control device 20 or peripheral devices. [Condition 04-2]: The vehicle speed is abnormal (the vehicle speed is above a threshold). [Condition 04-3]: An abnormal load (such as a blockage) is detected in the harvesting section H or the threshing device 13. [Condition 04-4]: The position coordinates of the combine harvester 1 deviate outside the allowable range with respect to the travel path LI. [Condition 04-5]: The boarding / alighting door of the driver's section 12 is opened.

[0076] When the mode of the control device 20 has shifted 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 driving section 12, the alarm mode is canceled and the mode of the control device 20 shifts to the manual travel mode. To resume automatic harvesting travel, the operator or the like must perform a predetermined operation so that [Condition 01] and [Condition 02] are satisfied again.

[0077] [Processing for Temporarily Suspending Automatic Harvesting Travel Due to Object Detection] Even if an event occurs that suspends the automatic harvesting travel of the combine harvester 1, if the event can be immediately resolved, it is desirable to configure the combine harvester 1 so that the automatic harvesting travel of the combine harvester 1 can be quickly resumed without switching the control device 20 to alarm mode. For this reason, in this embodiment, the control device 20 is configured to be able to switch from automatic harvesting travel mode to automatic preparation mode. Furthermore, [Condition 05] shown in FIG. 4 is set as a condition for switching the control device 20 from automatic harvesting travel mode to automatic preparation mode.

[0078] As described above, the control device 20 is configured to allow the selection of whether to "enable" or "disable" the detection of surrounding objects by the obstacle sensor group 2. In the unmanned harvesting travel mode, the control device 20 automatically sets the detection of surrounding objects by the obstacle sensor group 2 to "enable."

[0079] Condition 05 shown in Figure 4 includes the situation where the obstacle sensor group 2 detects the presence of an object around the combine harvester 1 while the detection of surrounding objects by the obstacle sensor group 2 is set to "enabled." When the presence of an object around the combine harvester 1 is detected, the obstacle sensor group 2 detects and transmits a signal to the control device 20. In response to the detection signal, the control device 20 suspends the automatic harvesting travel of the combine harvester 1. As a result, the travel of the combine harvester 1 is temporarily stopped.

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

[0081] The process executed when Condition 05 is met will be described with reference to FIG. 5. When the obstacle sensors 2 detect an object around the combine 1, the control device 20 switches from the automatic harvesting mode to the automatic preparation mode (step #01). At this time, the travel control unit 24B stops the travel device 11 (step #02). The travel device 11, the harvesting unit H, and the threshing device 13 then stop.

[0082] Furthermore, the notification unit 26 controls the indicator light 3 to notify the detection of an object (step #03). At this time, for example, a red light among the indicator lights 3 (stacked indicator lights) flashes. An audible notification is also issued from a buzzer, audio speaker, or the like provided on the combine harvester 1. That is, the control device 20 is configured to execute a process to stop the combine harvester 1 and interrupt the automatic harvesting travel of the combine harvester 1 in response to the obstacle sensor group 2 detecting an object after the start of automatic harvesting travel, and to cause the notification unit 26 to notify the detection of an object. The indicator light 3 is then configured to notify the operator, etc., of the detection status of the obstacle sensor group 2.

[0083] After automatic harvesting travel is interrupted due to the occurrence of [Condition 05] (shown as "A" in Figures 5 and 6), the above-mentioned [Condition 02] must be satisfied in order to resume automatic harvesting travel. That is, as shown in Figure 6, a determination is made as to whether the obstacle sensor group 2 no longer detects an object ([Condition 2-1], step #04). The determination of step #04 is repeated until a "Yes" determination is made in step #04, and the combine harvester 1 remains stopped and in a standby state. That is, the control device 20 is configured to disable the process of causing the combine harvester 1 to resume automatic harvesting travel if the obstacle sensor group 2 detects an object (step #04: No).

[0084] If step #04 returns a "Yes" result, the notification unit 26 notifies the non-detection of an object (step #05). At this time, for example, the indicator light 3 (stacked indicator light) may be configured to flash a green or yellow (orange) light, or all colors of light may flash. The notification may also be sound, such as from a buzzer or audio speaker provided on 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 an object when the obstacle sensors 2 no longer detect an object after the automatic harvesting travel interruption process.

[0085] Then, it is determined whether the operating tool 41 of the remote control device 40 has been operated ([Condition 2-2], step #06), and the determination of step #06 is repeated until a Yes determination is made in step #06, and the combine harvester 1 remains stopped and in a standby state. After the automatic harvesting travel interruption process, the control device 20 is configured to be able to execute a process to cause the combine harvester 1 to resume automatic harvesting travel in response to the obstacle sensor group 2 no longer detecting an object and the operator operating the remote control device 40.

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

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

[0088] Even if automatic harvesting travel is interrupted due to object detection on the turning route (a route that turns halfway between two travel routes LI), automatic harvesting travel is resumed by traveling along the turning route. As a result, even if the mode of the control device 20 is set to the unmanned harvesting travel mode and unmanned harvesting travel is interrupted, there is no need for an operator to manually move the combine 1 onto the travel route LI, and unmanned harvesting travel can be smoothly resumed.

[0089] [Processing for temporarily suspending automatic harvesting travel due to a decrease in reception accuracy of the satellite positioning module] As shown in Figure 4, this embodiment has a temporary suspension mode as one of the modes of the control device 20. The temporary suspension mode is a mode for temporarily suspending automatic harvesting travel in response to the occurrence of an interruption factor, and for immediately resuming automatic harvesting travel once the interruption factor is resolved.

[0090] Condition 11 for the control device 20 to transition from the automatic harvesting driving mode to the temporary suspension mode includes the reception accuracy of the satellite positioning module 80 falling below a threshold. Factors that can cause the reception accuracy of the satellite positioning module 80 to fall below the threshold include an insufficient number of receivable navigation satellites GS and the occurrence of multipath signals.

[0091] The process executed when Condition 11 is met is described below with reference to FIG. 7. When the reception accuracy of the satellite positioning module 80 falls below a threshold, the control device 20 switches from automatic harvesting mode to temporary suspension mode (step #11). At this time, the travel control unit 24B stops the travel device 11 (step #12). The travel device 11, the harvesting unit H, and the threshing device 13 then stop.

[0092] Furthermore, the notification unit 26 controls the indicator light 3 to notify the user of the deterioration in reception accuracy (step #13). At this time, the indicator light 3 (stacked indicator light) flashes, for example, yellow (orange). Alternatively, a buzzer or audio speaker provided on the combine harvester 1 may be used to notify the user of the deterioration. In other words, the control device 20 is configured to stop the combine harvester 1 and interrupt the automatic harvesting travel if the reception accuracy of the satellite positioning module 80 becomes worse than a preset threshold after the start of automatic harvesting travel.

[0093] After automatic harvesting travel is interrupted due to the occurrence of [Condition 11] (shown as "B" in Figures 7 and 8), [Condition 12] must be satisfied in order to resume automatic harvesting travel. That is, as shown in Figure 8, it is determined whether the reception accuracy of the satellite positioning module 80 has recovered to a threshold or higher ([Condition 12], step #14). The determination of step #14 is repeated until a Yes determination is made in step #14, and the combine 1 remains stopped and in a standby state.

[0094] If step #14 returns "Yes," the control device 20 switches from the temporary suspension mode to the automatic harvesting travel mode (step #15), and automatic harvesting travel resumes (step #16). That is, the control device 20 is configured to execute a process to cause the combine 1 to resume automatic harvesting travel when the reception accuracy of the satellite positioning module 80 improves to a preset threshold or higher after the automatic harvesting travel suspension process. With this configuration, the control device 20 can automatically resume automatic harvesting travel when the reception accuracy recovers, even without the operator operating the remote control device 40.

[0095] Even if automatic harvesting travel is interrupted due to a decrease in reception accuracy on a turning route (a route that turns halfway between two travel routes LI), automatic harvesting travel is resumed by traveling along the turning route. As a result, even if the mode of the control device 20 is set to the unmanned harvesting travel mode and unmanned harvesting travel is interrupted, there is no need for an operator or the like to manually move the combine 1 onto the travel route LI, and unmanned harvesting travel can be smoothly resumed.

[0096] 4, in this embodiment, a discharge mode is provided as a mode of the control device 20. In the discharge mode, when the grain tank 14 becomes full with grain, the combine 1 suspends automatic harvesting travel and moves to a discharge position where the grain can be discharged.

[0097] Condition 21 for the control device 20 to transition from automatic harvesting driving mode to discharge mode includes the amount of grain stored in the grain tank 14 exceeding a preset threshold value.

[0098] The process executed when Condition 21 is met will be described with reference to FIG. 9 . When the amount of grain stored in the grain tank 14 exceeds the threshold, the control device 20 switches from automatic harvesting mode to 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, to the edge of the field 5. At this time, the path generation unit 23 generates a path connecting the current position coordinates calculated by the position calculation unit 21 and the discharge position. The travel control unit 24B then controls the travel device 11 to travel along this path until the combine 1 reaches the discharge position (step #23: No).

[0099] In other words, the travel control unit 24B of the control device 20 is configured to execute a discharge travel process that controls the travel device 11 to interrupt automatic harvesting travel and travel to a discharge position where the crop can be discharged from the grain tank 14 and stop at the discharge position when the harvest yield becomes greater than a predetermined threshold after the start of automatic harvesting travel.

[0100] In this embodiment, as shown in step #31, when the combine harvester 1 reaches the discharge position (step #23: Yes), the yield measurement unit 30 measures the mass of the grain stored in the grain tank 14 while the combine harvester 1 is stopped. The yield acquisition unit 25 executes a measurement process to acquire the mass of the grain stored in the grain tank 14.

[0101] The mass of the grain is measured by the yield measurement unit 30. However, because the yield measurement unit 30 is located below the grain tank 14, errors are likely 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 harvester 1 and changes in the center of gravity. For this reason, it is not sufficient for the yield measurement unit 30 to simply perform the measurement process while the combine harvester 1 is stopped.

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

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

[0104] The control device 20 is configured to execute a vehicle attitude control process that controls the vehicle attitude change mechanism 11A so that the vehicle 19 assumes a predetermined attitude. In this embodiment, the measured attitude refers to an attitude in which the height position of the vehicle 19 relative to each of the left and right crawler mechanisms of the traveling device 11 is equal to or less than a predetermined threshold, and the vehicle 19 is tilted at or less than a predetermined angle, approaching horizontal. The measured attitude is preferably a horizontal attitude (a state in which the vehicle 19 is horizontal). The vehicle attitude control process may also be a process that changes the vehicle attitude change mechanism 11A to a predetermined state (for example, a state in which the vehicle 19 is at its lowest point). The vehicle attitude control process for the vehicle attitude change mechanism 11A is executed in steps #24 to #26.

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

[0106] If the answer is Yes in step #24, the traveling control unit 24B drives and controls the vehicle attitude change mechanism 11A (step #25) while the attitude of the vehicle 19 is not in the measurement attitude (step #26: No).

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

[0108] When the machine body 19 assumes the measurement position (step #26: Yes), the operation control unit 24C of the control device 20 is configured to execute a position control process to control the grain discharge device 18 so that the grain discharge device 18 is in a predetermined measurement position. In this embodiment, the measurement position refers to a state in which the horizontal cylinder portion of the lateral feed screw in the grain discharge device 18 is securely placed on the support pedestal 18A so that its weight is firmly supported. If the horizontal cylinder portion is securely placed on the support pedestal 18A, the center of gravity of the machine body 19 is stabilized, making it easier for the measurement results of the yield measurement unit 30 to be accurate. The measurement position may be another predetermined position. If measurements are performed at the same position, it is easier to ensure the reproducibility of the measurement results. The position control process for the grain discharge device 18 is executed in steps #27 to #29.

[0109] In step #27, it is determined whether or not the obstacle sensor group 2 has detected 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 has not detected an object.

[0110] If the answer is Yes in step #27, the work control unit 24C controls the operation of the grain discharge device 18 (step #28) while the horizontal tube portion of the grain discharge device 18 is not positioned 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 discharger 18 is stopped. Then, if the obstacle sensor group 2 no longer detects an object (step #27: Yes), the position control process is resumed and the grain discharger 18 is driven again (steps #28 and #29).

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

[0113] When the horizontal tube portion of the grain discharge device 18 is positioned at the measurement position (Step #29: Yes), before the yield acquisition unit 25 performs the measurement process, it is determined in Step #30 whether 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 perform the measurement process when the obstacle sensor group 2 has not detected an object, and is configured not to perform the measurement process when the obstacle sensor group 2 has detected an object. This prevents the combine 1 from vibrating or the center of gravity of the combine 1 from shifting due to, for example, an operator unintentionally working around the driving unit 12 of the combine 1. As a result, the measurement accuracy of the yield measurement unit 30 is prevented from decreasing.

[0114] Information regarding the mass of the harvested crop acquired by the yield acquisition unit 25 may be displayed, for example, on the display operation terminal 4, or on a terminal carried by an operator (not shown, such as a smartphone or tablet computer), 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, i.e., 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 in which the yield measurement unit 30 measures the mass of the grains stored in the grain tank 14 while the machine body 19 is stopped after the discharge travel process by the travel control unit 24B is completed. In this embodiment, the process from interrupting the automatic harvesting travel (step #21) to measuring the mass of the harvested product (step #31) is executed automatically without requiring any operation from the operator.

[0116] After the discharge travel process based on whether or not [Condition 11] is met and the measurement process by the yield acquisition unit 25 are completed (shown as "C" in Figures 9 and 10), the following items are included in [Condition 22] for resuming automatic harvesting travel. [Condition 22-1] Discharge of grain from the grain tank 14 to the outside of the machine has been completed. [Condition 22-2] The operating tool 41 of the remote control device 40 has been operated.

[0117] 10, before the work control unit 24C discharges the grains, it is determined whether the operating tool 41 of the remote control 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 enters a state of waiting for an operation by the operator.

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

[0119] When the grain discharge is completed (Step #34: Yes), Condition 22-2 is satisfied. Then, before the automatic harvesting travel resumes, it is determined whether the operating tool 41 of the remote control 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 enters a state of waiting for an operation by the operator.

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

[0121] Other Embodiments The present invention is not limited to the configurations exemplified in the above-described embodiments, and other representative embodiments of the present invention will be exemplified below.

[0122] (1) The operating device 41 may be configured with three or more buttons.

[0123] (2) In the above-described embodiment, the obstacle sensor group 2 senses four different directions to detect the presence or absence of objects around the body 19 of the combine harvester 1. This is not limiting, and the obstacle sensor group 2 may be configured to sense in two directions, forward and backward. The camera 2B is described as a monocular camera, but it may also be a stereo camera. Furthermore, the obstacle sensor group 2 may be equipped 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 is configured not to execute the measurement process when the obstacle sensor group 2 detects an object. This is not limiting, and for example, even if the obstacle sensor group 2 detects an operator or the like, the yield acquisition unit 25 may be configured to execute the measurement process if the position control process by the work control unit 24C is completed and the operator or the like is not touching the combine harvester 1.

[0125] (4) The remote control device 40 may be a smartphone or a tablet computer. In this case, the operation 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 one having a crawler mechanism, and may be configured to have wheels.

[0127] (6) The harvester may be any of various harvesters such as a conventional combine, a head-feeding combine, a corn harvester, a sugarcane harvester, a soybean harvester, or a root vegetable harvester.

[0128] (7) In the above-described embodiment, the notification unit 26 controls the indicator light 3 to notify of the detection of an object. However, the present invention is not limited to this embodiment. The notification unit 26 may be configured to transmit information regarding the detection of an object to the remote control device 40 or another mobile terminal carried by the operator via a wireless communication network. The remote control device 40 or another mobile terminal carried by the operator (such as a smartphone or a tablet computer) may then notify of the detection of an object.

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

[0130] The configurations disclosed in the above-described embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with the configurations disclosed in other embodiments, unless a contradiction occurs. Furthermore, the embodiments disclosed in this specification are merely examples, and the present invention is not limited to these, and can be modified as appropriate within the scope of the purpose of the present invention.

[0131] The present invention is applicable to a harvester that is capable of harvesting crops while traveling in a field unmanned.

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

Claims

1. A harvester capable of harvesting crops while traveling in a field unmanned, comprising: a body having a traveling device that travels in the field; a harvest tank that temporarily stores the harvested crop while traveling; a measuring device that measures the mass of the harvest stored in the harvest tank; a traveling control unit that is capable of executing unmanned harvesting traveling control that automatically controls the traveling device to travel to harvest the crop unmanned, and that executes a discharge traveling process that interrupts the unmanned harvesting traveling control, controls the traveling device to travel to a discharge position where the harvest can be discharged from the harvest tank and stops at the discharge position; and a yield acquisition unit that is capable of executing a measurement process that measures the mass of the harvest stored in the harvest tank using the measuring device while the body is stopped after the discharge traveling process is completed.

2. A harvester as described in claim 1, further comprising an object detection unit which detects the presence or absence of an object around the body of the machine, and 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.

3. The harvester described in claim 2, wherein the traveling device has a vehicle attitude change mechanism that changes the ground attitude of the vehicle, the traveling control unit is configured to execute a vehicle attitude control process that controls the vehicle attitude change mechanism so that the vehicle assumes a predetermined attitude, the yield acquisition unit is configured to execute the measurement process after completion of the vehicle attitude control process, and the traveling control unit is configured to start the vehicle attitude control process when the object detection unit does not detect the object.

4. A harvester as described in claim 2 or 3, comprising: a discharge device that discharges the harvest from the harvest tank; and a discharge control unit that controls the discharge device, wherein the discharge control unit is configured to execute a position control process that controls 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 the discharge control unit is configured to start the position control process when the object detection unit does not detect the object.

5. A harvester as described in any one of claims 1 to 4, comprising: a discharge device for discharging the harvest from the harvest tank; an operation receiving unit for receiving operations from an operator outside the machine body; and a discharge control unit for controlling the discharge device to discharge the harvest in response to the operation receiving unit receiving the operation from the operator after the measurement process is completed.

6. A harvesting machine as described in any one of claims 1 to 5, further comprising an operation receiving unit that receives operations from an operator outside the machine body, and the driving control unit is configured to resume the unmanned harvesting driving control in response to the operation receiving unit receiving the operation from the operator after the measurement process is completed.

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