US 12,245,548 B2
Agricultural work machine such as harvester
Shunsuke Edo, Sakai (JP); Kenichi Iwami, Sakai (JP); Shunsuke Miyashita, Sakai (JP); and Takashi Nakabayashi, Sakai (JP)
Assigned to Kubota Corporation, Osaka (JP)
Appl. No. 17/605,907
Filed by Kubota Corporation, Osaka (JP)
PCT Filed Apr. 24, 2020, PCT No. PCT/JP2020/017734
§ 371(c)(1), (2) Date Oct. 22, 2021,
PCT Pub. No. WO2020/218528, PCT Pub. Date Oct. 29, 2020.
Claims priority of application No. 2019-083819 (JP), filed on Apr. 25, 2019; and application No. 2019-083821 (JP), filed on Apr. 25, 2019.
Prior Publication US 2022/0210971 A1, Jul. 7, 2022
Int. Cl. A01D 41/127 (2006.01); A01D 41/14 (2006.01); G06V 10/82 (2022.01); G06V 20/58 (2022.01)
CPC A01D 41/127 (2013.01) [A01D 41/141 (2013.01); G06V 10/82 (2022.01); G06V 20/58 (2022.01)] 25 Claims
OG exemplary drawing
 
1. A harvester configured to effect a work-performing traveling for harvesting agricultural products in a field while traveling in the field autonomously, the harvester comprising:
a traveling device effecting the work-performing traveling;
a machine body supported to the traveling device;
a harvesting section supported to a front portion of the machine body and for harvesting the products in the field;
a threshing device for threshing the harvested product;
a conveying device for conveying the harvested product from the harvesting section to the threshing device;
a grain tank for storing a threshed product;
a vertical conveying section coupled to a lower portion of the grain tank;
a horizontal conveying section coupled to an upper end portion of the vertical conveying section;
a discharging device for discharging the product stored in the grain tank from a discharging section provided at a leading end portion of the horizontal conveying section;
an imaging device provided at a front portion of the machine body and at a position higher than the harvesting section so as to view down a product present in an un-worked area located forwardly of the harvesting section;
a detecting section for detecting abnormality in the field from an image imaged by the imaging device; and
a controlling section for executing an abnormality situation control as a control in accordance with the abnormality detected in the field,
wherein the imaging device is provided in the horizontal conveying section,
wherein the discharging device is configured for selectively assuming a mode in which the discharging device is stored at a storage position and a mode which is assumed when the stored product is to be discharged and the discharging section protrudes from the machine body, and
wherein the autonomous traveling is effected only when the discharging device is stored at the storage position.