WO2025134625A1 - Harvester - Google Patents

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

Harvesting Machine

The present invention relates to an unmanned harvester that can harvest crops while traveling through a field.

For example, the harvester disclosed in JP 2015-177750 A is equipped with a measuring device that measures the amount of harvested material stored in a harvested material tank. JP 2015-177750 A discloses that highly reliable yield measurements are possible by measuring the yield while the harvester is stopped.

Japanese Patent Application Publication No. 2015-177750

In conventional harvesters such as that disclosed in Japanese Patent Publication No. 2015-177750, harvesting travel is performed on the assumption that an operator is on board. On the other hand, in harvesters that perform unmanned harvesting travel, harvesting crops while traveling unmanned, the operator etc. monitors the harvester from outside the harvester. It is also conceivable that the operator etc. not only monitors the harvester but also performs other tasks at the same time. For this reason, a configuration that allows for highly reliable yield measurement even when the operator etc. is concentrating on other tasks is desirable.

The object of the present invention is to provide a harvester that can perform reliable yield measurement while driving unmanned harvesting.

The present invention is a harvester capable of harvesting crops while traveling in a field in an unmanned manner, characterized in that it is equipped with a machine 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 can execute unmanned harvesting traveling control that automatically controls the traveling device to travel to harvest the crop in an unmanned manner, and 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 can execute a measurement process that measures the mass of the harvest stored in the harvest tank by the measuring device while the machine is stopped after the discharge traveling process is completed.

According to the present invention, the driving control unit is configured to drive to a discharge position for discharging the harvest from the harvest tank. The yield acquisition unit is configured to be able to execute a measurement process for measuring the mass of the harvest while the machine is stopped. This allows for highly reliable yield measurement without being affected by vibrations while driving. This realizes a harvester that is capable of highly reliable yield measurement during unmanned harvesting driving.

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 is configured not to execute the measurement process when the object detection unit detects the object.

This configuration allows the measurement process to be carried out without being obstructed by objects, making yield measurements even more reliable.

In the present invention, it is preferable that the traveling device has a vehicle attitude change mechanism that changes the vehicle's attitude relative to the ground, 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 the vehicle attitude control process is completed, and the traveling control unit is configured to start the vehicle attitude control process when the object detection unit does not detect the object.

In this configuration, the yield acquisition unit executes the measurement process after the machine has stopped and is in a specified attitude. Therefore, the mass of the harvested crop is measured by the measuring device with the machine's center of gravity in a constant state. This allows for more reliable yield measurements. In addition, the machine attitude control process is initiated if the object detection unit does not detect the object. This reduces the risk of operators working near the machine feeling surprised or uneasy.

In the present invention, a discharge device that discharges the harvested product from the harvest tank and a discharge control unit that controls the discharge device are provided, 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 the position control process is completed, and the discharge control unit is preferably configured to start the position control process when the object detection unit does not detect the object.

In this configuration, the yield acquisition unit performs the measurement process after the vehicle stops and the discharge device is positioned at a predetermined measurement position. Therefore, the mass of the harvested crop is measured by the measuring device with the center of gravity of the vehicle fixed. This allows for more reliable yield measurement.
Furthermore, when the object detection unit does not detect the object, the aircraft attitude control process is started, thereby reducing the risk of an operator working near the aircraft feeling startled or uneasy.

In the present invention, it is preferable to provide a discharge device that discharges the harvest 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 harvest in response to the operation reception unit receiving the operation from the operator after the measurement process is completed.

This configuration ensures that yield measurements are performed before the harvested crop is discharged.

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

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.

FIG. 1 is a diagram showing a perimeter travel, a work target area, an unworked area, and a travel route. FIG. 2 is a block diagram showing a configuration of a control system. FIG. 4 is a state transition diagram of the mode of the control device. 13 is a flowchart showing the process of temporarily suspending automatic harvesting travel due to object detection. FIG. A flowchart showing the resumption of automatic harvesting travel after a temporary interruption process of automatic harvesting travel due to object detection. 11 is a flowchart showing the process of temporarily suspending automatic harvesting travel due to a decrease in the reception accuracy of the satellite positioning module. FIG. A flowchart showing the resumption of automatic harvesting driving after a temporary interruption process of automatic harvesting driving due to a decrease in reception accuracy of the satellite positioning module. FIG. 11 is a flowchart showing the process of temporarily interrupting automatic harvesting travel due to grain discharge processing. 13 is a flow chart showing the resumption of automatic harvesting travel after a temporary interruption process of automatic harvesting travel due to grain discharge processing. FIG.

The embodiment for carrying out the present invention will be explained with reference to the drawings. In the following explanation, unless otherwise specified, the direction of the arrow "F" in the figure is "forward" and the direction of the arrow "B" is "backward". The direction of the arrow "U" in the figure is "up" and the direction of the arrow "D" is "down". The direction of the arrow "N" in the figure is "north", the direction of the arrow "S" is "south", the direction of the arrow "E" is "east", and the direction of the arrow "W" is "west". Furthermore, "left" and "right" are defined based on the fore-and-aft direction line of the harvester moving forward.

[Overall configuration of the combine]
As shown in Fig. 1, a normal combine harvester 1, which is an example of a harvester, is equipped with 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."

The running gear 11 is provided under the body 19 of the combine harvester 1. The running gear 11 is driven by power from an engine (not shown) mounted on the combine harvester 1. The combine harvester 1 can run using the running gear 11.

The traveling device 11 is equipped with a vehicle attitude change mechanism 11A. The vehicle attitude change mechanism 11A is commonly known as "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 a vehicle attitude change mechanism 11A that changes the attitude of the vehicle 19 relative to the ground.

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

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

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 FIG. 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 the planted culms to the right of the right weed dividing tool 10 are divided as those not to be harvested.

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 about a reel axis 17b extending in the left-right direction of the machine body to rake in the planted culms to be harvested. The culms cut by the cutting blade 15 are sent to a conveying section 16.

With this configuration, the harvesting section H harvests grains in the field 5 through which the combine harvester 1 is traveling. The combine harvester 1 is capable of harvesting travel, traveling on the traveling device 11 while harvesting grains in the field 5 with the harvesting section H.

The harvested stalks harvested by the harvesting section H are transported to the rear of the machine by the transport section 16. This transports the harvested stalks to the threshing device 13.

In the threshing device 13, the harvested stalks 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 the machine is moving. The grains stored in the grain tank 14 are discharged outside the machine by the grain discharge device 18 as necessary. The holding tray 18A is configured to support the horizontal tube 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 the grains upward from the bottom of the grain tank 14 with a spiral screw and passes them on to the horizontal conveying screw. The horizontal conveying screw guides the grains received from the vertical conveying screw to the discharge outlet at the tip of the horizontal tube portion with a spiral screw. The holding tray 18A is connected, for example, to the top of the threshing device 13. The horizontal cylinder portion of the grain discharge device 18 is located above the threshing device 13 and the grain tank 14.

Also, as shown in FIG. 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 driving. In this embodiment, the display operation terminal 4 is fixed to the driving 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 driving unit 12, or the display operation terminal 4 may be located outside the combine 1.

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 measuring sensors and multiple cameras 2B that generate captured images. The obstacle sensor group 2 corresponds to an "object detection unit."

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 device 13. The millimeter wave radar 2A is a sensor that performs sensing by irradiating the 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.

The cameras 2B are attached to four locations: the front end of the cabin that constitutes 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 fitted with wide-angle lenses, and their shooting 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 algorithms. In other words, although not particularly limited, the cameras 2B in this embodiment are object recognition sensors that use AI.

When the harvesting unit H 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 aircraft 19 may be stopped, in other words, only the millimeter wave radar 2A and camera 2B attached to the front end of the cabin may be set to OFF.

The indicator light 3 is, for example, a stacked indicator light of LEDs (light emitting diodes), and notifies the operator outside the machine of the state of the combine 1 (particularly the state of automatic harvesting travel) with light and color.

When performing harvesting work in the field 5, the combine harvester 1 is configured to perform peripheral travel as shown by the travel trajectory TR in FIG. 2, and then perform harvesting travel by automatic or manual travel. Note that peripheral travel is harvesting travel performed in the peripheral area of the field 5 by manual operation. Note that the present invention is not limited to this, and harvesting travel performed in the peripheral area may be performed by automatic travel. The combine harvester 1 is also capable of harvesting travel by manual operation in all areas of the field.

In FIG. 2, the route traveled by the combine harvester 1 during the outer perimeter run is shown as the run trajectory TR. As will be described in detail later, once the harvest run along this route is completed, the harvest run inside the field 5 is performed. The outer perimeter run in this embodiment is a harvest run that goes around the outermost perimeter of the field 5 once, as shown in FIG. 2. However, the present invention is not limited to this, and two or more perimeter runs may be performed.

[Explanation of electronic control system]
As shown in FIG. 3, the running of the combine harvester 1 is controlled by a running management system A.
That is, the driving management system A controls the driving of the combine harvester 1 that is capable of automatic driving. The combine harvester 1 can perform automatic driving when no operator is on board the driving unit 12. That is, the combine harvester 1 is configured to be able to harvest crops while automatically driving the field 5 in an unmanned state with no operator on board the driving unit 12. Harvesting crops while automatically driving the combine harvester 1 in an unmanned state is referred to as "unmanned harvesting driving."

The combine harvester 1 is also configured to be able to harvest crops while automatically traveling through the field 5 with an operator in the driving section 12. When the combine harvester 1 automatically travels through the field 5 with an operator in the driving section 12, harvesting crops, this is referred to as "manned harvesting travel." Furthermore, unmanned harvesting travel and manned harvesting travel are collectively referred to as "automatic harvesting travel."

3, the driving 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 included in the travel management system A. The yield measurement unit 30 corresponds to the "measurement device." The remote control device 40 corresponds to the "operation reception unit."

In this 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 image capture signal (captured image) from the camera 2B are sent to the control device 20.

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.

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.

The area calculation unit 22 calculates the field outer shape EA and the work area WA as shown in FIG. 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 FIG. 2) of the combine 1 based on the above-mentioned outer 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 outside 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 inside of the field.

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 FIG. 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 inside the field relative to the actual outer circumference of the field 5.

The area calculation unit 22 also calculates the 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 that movement trajectory). Furthermore, the area calculation unit 22 calculates the work area WA by approximating the unworked area UA to a rectangle (rectangle). The map generated by the area calculation unit 22 (field outer shape EA, unworked area UA, and work area WA) is sent to the path generation unit 23.

The path generating unit 23 generates multiple travel paths LI as shown in FIG. 2 based on the map received from the area calculating unit 22. The travel paths LI are paths along which the combine harvester 1 automatically travels for harvesting in the work area WA. Although not particularly limited, in this embodiment, as shown in FIG. 2, the travel paths LI are multiple mesh lines extending vertically and horizontally. 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 generating unit 23 are sent to the travel control unit 24B of the drive control unit 24.

The drive control unit 24 is configured to automatically control the traveling device 11, harvesting unit H, threshing device 13, grain discharge device 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 a work control unit 24C. The work control unit 24C corresponds to the "discharge control unit."

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 driving mode, an automatic preparation mode, an automatic harvest driving mode, a discharge driving mode, a temporary interruption mode, and an alarm mode. The automatic harvest driving mode has two sub-modes: an unmanned harvest driving mode and a manned harvest driving mode.

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 where no operator is on the driving unit 12.
In other words, the unmanned harvesting travel of the combine 1 is realized in the unmanned harvesting travel mode.

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

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

In manned harvesting driving mode, the detection of surrounding objects by the obstacle sensor group 2 can be selectively set to "enabled" or "disabled." In unmanned harvesting driving mode, the detection of surrounding objects by the obstacle sensor group 2 is always set to "enabled."

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

When the mode of the control device 20 is selected as the manual driving mode, the driving control unit 24B and the work control unit 24C output steering amount, gear change commands, etc., based on the operation by the operator on board the driving unit 12, and control the driving device 11 and the work devices. This realizes manual driving. Note that the driving route LI generated by the route generation unit 23 can be used for the purpose of guidance for the combine harvester 1 to travel along the driving route LI, even in manual driving.

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

The travel control unit 24B is configured to control the automatic travel of the combine harvester 1 by controlling the travel device 11. 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.

The driving control unit 24B selects a driving route LI from among the multiple driving routes LI that have not yet been driven. It is preferable that the drive control unit 24 selects a driving route LI so that the combine harvester 1 travels efficiently based on the position coordinates of the combine harvester 1 received from the position calculation unit 21.

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

The operation control unit 24C controls the operation devices such as the harvesting unit H, the threshing device 13, and the grain discharge device 18.

The yield acquisition unit 25 acquires the amount of grain stored 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, and is disposed below the grain tank 14 and contacts the bottom of the grain tank 14. Therefore, the yield measurement unit 30 is configured to measure the mass of grains stored in the grain tank 14.

The notification unit 26 is configured to notify the state of the combine harvester 1 with the indicator lights 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 sounds such as a buzzer or audio guidance as necessary.

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 part in software.

As shown in FIG. 3, the driving management system A is equipped with 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 driving of the combine harvester 1.

More specifically, as shown in Figs. 1 and 3, the remote control device 40 has an operating tool 41 and an end button 42. After the above-mentioned multiple travel routes LI have been generated, if the operating tool 41 receives manual operation when the combine harvester 1 is not traveling automatically, the remote control device 40 sends a specified signal to the drive control unit 24. In response to the signal, the drive control unit 24 starts the automatic harvesting travel of the combine harvester 1.

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.

[Regarding mode switching in the control device]
The switching of modes in the control device 20 will be described with reference to Fig. 4. The mode management section 24A shown in Fig. 3 is capable of switching modes when a predetermined condition is satisfied.
As shown in FIG. 4, the mode of the combine 1 can be switched from a manual traveling mode to an automatic harvesting traveling mode.

The manual driving mode is not switched to the automatic harvest driving mode directly, but via the automatic preparation mode. Also, if an event occurs during automatic harvest driving that ends the automatic harvest driving, the mode of the control device 20 is automatically switched from the automatic harvest driving mode to one of the automatic preparation mode, alarm mode, discharge driving mode, or temporary interruption mode.

First, the transition from the manual driving mode to the automatic preparation mode is possible when [Condition 01] shown in Fig. 4 is satisfied. The following are examples of [Condition 01].
[Condition 01-1]: The traveling device 11 is stopped.
[Condition 01-2]: The travel control unit 24B determines a travel route LI in the vicinity of the vehicle position based on the latest position coordinates of the combine harvester 1, and is capable of calculating the positional deviation between the vehicle position and the travel route LI.
[Condition 01-3]: The operation of the harvesting section 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 amount of storage is below the threshold value).
[Condition 01-6]: There is a fuel reserve (remaining fuel is above the threshold).
[Condition 01-7]: Unworked area UA remains.
[Condition 01-8]: The seat belt of the driver's seat 12a is fastened (only in manned harvesting driving mode).
[Condition 01-9]: The boarding/alighting door of the driver's section 12 is closed.

In other words, condition 01 is a group of preliminary conditions for automatic harvesting driving, and when all (or almost all) of these are met, the travel device 11 and work equipment group (Figure 3) required for automatic operation are prepared. Then, when the operator operates the operation tool 41 of the remote control device 40 with condition 01 required for switching to automatic preparation mode being met, the mode of the control device 20 switches from the manual travel mode to the automatic preparation mode. Note that if the operator wishes to switch 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 switches from automatic preparation mode to manual mode.

The following conditions are exemplified as conditions for transitioning from the automatic preparation mode to the automatic harvesting driving mode ([Condition 02]).
[Condition 02-1]: The obstacle sensor group 2 does not detect the presence of objects around the combine 1 (in the unmanned harvesting travel mode, or in the manned harvesting travel mode where detection of surrounding objects by the obstacle sensor group 2 is set to "enabled").
[Condition 02-2]: The operation tool 41 of the remote control device 40 is operated.

If the submode 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 determination of [Condition 02-1] is omitted.

As shown in Figs. 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 press and hold the first button 41A and the second button 41B simultaneously 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 control device 40.

When [Condition 03] shown in FIG. 4 is satisfied, the mode of the control device 20 transitions from the automatic harvesting driving mode to the manual driving 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 combine harvester 1 is performing automatic driving and the end button 42 receives an operation, the remote control device 40 sends a specified signal to the drive control unit 24. In response to the signal, the drive control unit 24 ends the automatic harvesting driving of the combine harvester 1. As a result, the driving of the combine harvester 1 stops.

Furthermore, if any abnormality occurs during the automatic harvesting travel of the combine 1 and falls under [Condition 04] shown in Fig. 4, the automatic harvesting travel of the combine 1 is stopped and the mode of the control device 20 is shifted from the automatic harvesting travel mode to the 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 is met, the mode of the control device 20 is shifted from the automatic harvesting travel mode to the 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 equal to or greater than a threshold value).
[Condition 04-3]: An abnormal load (clogging, etc.) was detected in the harvesting section H or the threshing device 13.
[Condition 04-4]: The position coordinates of the combine 1 have deviated 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 open.

When the mode of the control device 20 has changed from the automatic harvesting driving mode to the alarm mode, if an operator rushes to the combine 1 and performs a specified operation on the display operation terminal 4 or the like arranged in the driving section 12, the alarm mode is released and the mode of the control device 20 changes to the manual driving mode. To resume automatic harvesting driving, the operator must perform the specified operation again to satisfy [Condition 01] and [Condition 02].

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

As described above, the control device 20 is configured to allow the selection of whether detection of surrounding objects by the obstacle sensor group 2 is "enabled" or "disabled." In the unmanned harvesting driving mode, the control device 20 automatically sets detection of surrounding objects by the obstacle sensor group 2 to "enabled."

[Condition 05] shown in FIG. 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 is detected around the combine harvester 1, 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 interrupts the automatic harvesting travel of the combine harvester 1. As a result, the travel of the combine harvester 1 is temporarily halted.

In addition, [Condition 05] may also include the seat belt of the driver's seat 12a being unbuckled when the control device 20 is in the manned harvesting driving mode.

The process executed when [Condition 05] is met will be described with reference to FIG.
When the obstacle sensor group 2 detects an object around the combine harvester 1, the control device 20 switches 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.

Furthermore, the notification unit 26 controls the indicator lights 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. In addition, an audible notification is also given from a buzzer or audio speaker provided on the combine harvester 1. In other words, the control device 20 is configured to execute a process to stop the combine harvester 1 and interrupt the automatic harvesting travel in response to the obstacle sensor group 2 detecting an object after the start of automatic harvesting travel, and to have the notification unit 26 notify the detection of an object. The indicator lights 3 are configured to notify the operator, etc. of the detection status of the obstacle sensor group 2.

After automatic harvesting travel is interrupted based on the fact that [Condition 05] is met (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, it is determined whether 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 stopped and in a standby state. That is, the control device 20 is configured such that if the obstacle sensor group 2 detects an object (step #04: No), the control device 20 is unable to execute the process of causing the combine 1 to resume automatic harvesting travel.

If the determination in step #04 is Yes, the notification unit 26 notifies the non-detection of an object (step #05). At this time, for example, the indicator lights 3 (stacked indicator lights) may be configured to flash green or yellow (orange), or all colors of light may flash. The notification may also be made by sound from a buzzer or audio speaker provided on the combine 1. In other words, the control device 20 is configured to execute a process to cause the notification unit 26 to notify the non-detection of an object in response to the obstacle sensor group 2 no longer detecting an object after the automatic harvesting travel is interrupted.

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 in 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. The control device 20 is configured to be able to execute a process to cause the combine harvester 1 to resume automatic harvesting travel after the automatic harvesting travel interruption process has been interrupted, in response to the obstacle sensor group 2 no longer detecting an object and the operator operating the remote control device 40.

Specifically, when 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. In other words, 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 operates multiple operating tools 41 continuously for one second or more.

If the answer in step #07 is Yes, the mode of the control device 20 transitions from the automatic preparation mode to the automatic harvesting driving mode (step #07), and the automatic harvesting driving is resumed (step #08).

Even if the automatic harvesting drive is interrupted due to object detection in the middle of the turning path (a path that turns halfway between two travel paths LI), the automatic harvesting drive is resumed so that the harvester travels along the turning path. As a result, even if the mode of the control device 20 is set to the unmanned harvesting drive mode and the unmanned harvesting drive is interrupted, there is no need for an operator to manually move the combine 1 onto the travel path LI, and the unmanned harvesting drive is resumed smoothly.

[Temporary suspension of automatic harvesting travel due to a decrease in the reception accuracy of the satellite positioning module]
As shown in Fig. 4, in this embodiment, a temporary interruption mode is provided as a mode of the control device 20. The temporary interruption mode is a mode for temporarily interrupting automatic harvesting travel in response to the occurrence of an interruption factor, and immediately resuming automatic harvesting travel in response to the elimination of the interruption factor.

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.

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

Furthermore, the notification unit 26 controls the indicator lights 3 to notify the deterioration of the reception accuracy (step #13). At this time, the indicator lights 3 (stacked indicator lights), for example, a yellow (orange) light, flashes. The notification may also be made by sound from a buzzer or audio speaker provided on the combine harvester 1. In other words, the control device 20 is configured to execute a process of stopping the combine harvester 1 and causing the combine harvester 1 to suspend the automatic harvesting run in response to the reception accuracy of the satellite positioning module 80 becoming worse than a preset threshold value after the start of automatic harvesting run.

After automatic harvesting travel is interrupted because [Condition 11] is met (as shown by "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), and the determination in step #14 is repeated until a Yes determination is made in step #14, and the combine 1 remains stopped and in a standby state.

If the determination in step #14 is Yes, the mode of the control device 20 transitions from the temporary interruption mode to the automatic harvesting driving mode (step #15), and automatic harvesting driving is resumed (step #16). That is, the control device 20 is configured to execute a process to cause the combine 1 to resume automatic harvesting driving in response to the reception accuracy of the satellite positioning module 80 improving to a preset threshold or higher after the automatic harvesting driving has been suspended. With this configuration, the control device 20 can automatically resume automatic harvesting driving in response to recovery of reception accuracy, even if the operator does not operate the remote control device 40.

Even if automatic harvesting travel is interrupted due to a decrease in reception accuracy in the middle of a turning route (a route that turns halfway between two travel routes LI), automatic harvesting travel is resumed by traveling along that 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.

[Temporary interruption of automatic harvesting due to grain discharge process]
As shown in Fig. 4, in this embodiment, a discharge mode is provided as a mode of the control device 20. The discharge mode is a mode in which, when the grain tank 14 becomes full of grains, the combine 1 stops automatic harvesting travel and moves to a discharge position where the grains can be discharged.

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

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

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 the automatic harvesting travel of the combine 1 in response to the harvest amount becoming greater than a preset threshold value after the start of automatic harvesting travel, and to travel to a discharge position where the crop can be discharged from the grain tank 14 and stop at the discharge position.

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 grains 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 grains stored in the grain tank 14.

The mass of the grains is measured by the yield measurement unit 30. However, because the yield measurement unit 30 is located below the grain tank 14, the measurement results of the yield measurement unit 30 are prone to errors 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.

In this embodiment, steps #24 to #30 are performed 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.

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

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 means 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 below a preset threshold value, and the inclination of the vehicle 19 is below a preset angle and approaches horizontal. It is preferable if the measured attitude is a horizontal attitude (a state in which the vehicle 19 is horizontal). The vehicle attitude control process may 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.

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

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

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, when 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 (step #25, step #26).

When the attitude of the machine body 19 becomes the measurement attitude (step #26: Yes), the work 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 means that the horizontal tube part of the horizontal feed screw in the grain discharge device 18 is placed so that its weight is firmly placed on the holding base 18A. If the horizontal tube part is securely placed in the holding base 18A, the center of gravity position of the machine body 19 is stable, and the measurement results of the yield measurement unit 30 are 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 results is likely to be ensured. The position control process for the grain discharge device 18 is executed in the processing of steps #27 to #29.

In step #27, it is determined whether or not an object has been detected by the obstacle sensor group 2. 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 sensors 2 do not detect an object.

If the answer is Yes in step #27, the operation control unit 24C drives and controls 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).

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 starts operating again (step #28, step #29).

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.

When the horizontal cylinder portion of the grain discharge device 18 is located at the measurement position (step #29: Yes), before the yield acquisition unit 25 executes 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 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. This avoids the risk of the combine 1 vibrating or the center of gravity of the combine 1 shifting due to, for example, an operator unconsciously working around the driving unit 12 of the combine 1. As a result, the risk of the measurement accuracy of the yield measurement unit 30 decreasing is avoided.

The information regarding the mass of the harvested crop acquired by the yield acquisition unit 25 is 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 is transmitted to a management computer (not shown) via a wireless communication network.

If the answer 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 is completed by the travel control unit 24B. In this embodiment, the processes from interrupting the automatic harvesting travel (step #21) to measuring the mass of the harvested product (step #31) are executed automatically without requiring any operation from the operator.

After the discharge driving process based on the fact that [Condition 11] is met and the measurement process by the yield acquisition unit 25 are completed (shown as "C" in Figures 9 and 10), [Condition 22] for resuming automatic harvesting driving includes the following items.
[Condition 22-1] The discharge of grains from the grain tank 14 to the outside of the machine has been completed.
[Condition 22-2] The operation tool 41 of the remote control device 40 is operated.

As shown in FIG. 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 is in a state of waiting for an operation by the operator.

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).

When the discharge of grains is completed (step #34: Yes), [Condition 22-2] is satisfied. Then, before the automatic harvesting travel is resumed, 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.

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 after 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 grains are discharged from the grain tank 14.

[Another embodiment]
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 described below.

(1) The operating device 41 may be composed of three or more buttons.

(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 limited to the embodiment, and for example, the obstacle sensor group 2 may be configured to sense in two directions, forward and backward. The camera 2B is treated as a monocular camera, but it may also be a stereo camera. Furthermore, the obstacle sensor group 2 may be equipped with LiDAR, sonar, etc.

(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 limited to the embodiment, and for example, even if the obstacle sensor group 2 detects an operator, etc., 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, etc. is not touching the combine harvester 1.

(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.

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

(6) The harvester may be any of a variety of harvesters, such as a normal combine, a head-feeding combine, a corn harvester, a sugarcane harvester, a soybean harvester, or a root vegetable harvester.

(7) In the above embodiment, the notification unit 26 controls the indicator light 3 to notify the detection of an object. This is not limited to the embodiment, and 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 (a smartphone or a tablet computer) may be configured to notify the detection of an object.

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

The configurations disclosed in the above-described embodiment (including other embodiments, the same applies below) can be applied in combination with configurations disclosed in other embodiments, unless a contradiction arises.
Furthermore, the embodiments disclosed in this specification are merely examples, and the present invention is not limited to these embodiments, and can be modified as appropriate without departing from the scope of the present invention.

The present invention can be applied to a harvester that can harvest crops while traveling unmanned in a field.

2: Obstacle sensor group (object detection section)
5: Field 11: Traveling device 11A: Machine attitude changing mechanism 14: Grain tank (harvest tank)
19: Machine body 24B: Travel control unit 24C: Work control unit (discharge control unit)
25: Yield acquisition unit 30: Yield measurement unit (measurement device)
40: Remote control device (operation reception unit)

Claims (6)

A harvester capable of harvesting crops while traveling in a field without a human driver,
A machine having a traveling device that travels in the field;
A harvest tank that temporarily stores the harvested crop while traveling;
a measuring device for measuring the mass of the harvest stored in the harvest tank;
a travel control unit that is capable of executing an unmanned harvesting travel control for automatically controlling the travel device to travel in an unmanned manner to harvest the crop, and that executes a discharge travel process that interrupts the unmanned harvesting travel control, controls the travel device to travel to a discharge position where the harvested product can be discharged from the harvested product tank, and stops at the discharge position;
The harvesting machine is equipped with a yield acquisition unit that is capable of performing a measurement process to measure the mass of the harvest stored in the harvest tank using the measuring device while the machine is stopped after the discharge driving process is completed. An object detection unit is provided to detect the presence or absence of an object around the aircraft,
The harvester of claim 1, wherein the yield acquisition unit is configured to perform the measurement process when the object detection unit does not detect the object, and is configured not to perform the measurement process when the object detection unit detects the object. The traveling device has an airframe attitude changing mechanism for changing the airframe attitude relative 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,
The harvester according to claim 2 , wherein the travel control unit is configured to start the vehicle attitude control process when the object detection unit does not detect the object. a discharge device for discharging the harvest from the harvest tank;
A discharge control unit that controls the discharge device is provided.
The discharge control unit is configured to execute a position control process to control the discharge device so that the discharge device is in a predetermined measurement position;
the yield acquisition unit is configured to execute the measurement process after completion of the position control process;
The harvester according to claim 2 or 3, wherein the discharge control unit is configured to start the position control process when the object detection unit does not detect the object. a discharge device for discharging the harvest from the harvest tank;
an operation reception unit that receives operations from an operator outside the aircraft;
A harvester as described in any one of claims 1 to 4, further comprising a discharge control unit that controls the discharge device to discharge the harvested product in response to the operation receiving unit accepting an operation from the operator after the measurement process is completed. An operation reception unit that receives an operation from an operator outside the aircraft is provided,
A harvester as described in any one of claims 1 to 5, wherein the driving control unit is configured to resume the unmanned harvesting driving control in response to the operation receiving unit accepting an operation from the operator after the measurement process is completed.

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