US 12,262,655 B2
Agricultural machine
Koichi Shintani, Sakai (JP); Takanori Morimoto, Sakai (JP); Tomohiro Kinoshita, Sakai (JP); Ken Sakuta, Sakai (JP); Fumiya Yoshimura, Sakai (JP); Tsuyoshi Harada, Sakai (JP); and Sho Watanabe, Sakai (JP)
Assigned to KUBOTA CORPORATION, Osaka (JP)
Filed by KUBOTA CORPORATION, Osaka (JP)
Filed on Sep. 26, 2022, as Appl. No. 17/952,368.
Application 17/952,368 is a continuation of application No. PCT/JP2021/012614, filed on Mar. 25, 2021.
Claims priority of application No. 2020-065145 (JP), filed on Mar. 31, 2020.
Prior Publication US 2023/0018138 A1, Jan. 19, 2023
Int. Cl. A01B 69/00 (2006.01); A01B 69/04 (2006.01); G05D 1/00 (2006.01)
CPC A01B 69/008 (2013.01) [G05D 1/0214 (2013.01)] 15 Claims
OG exemplary drawing
 
1. An agricultural machine comprising:
a vehicle body;
an obstacle detector to detect obstacles, the obstacle detector, when detecting an obstacle, being configured to issue detection information about the detected obstacle;
an autonomous travel controller to perform autonomous travel of the vehicle body, the autonomous travel controller being configured or programmed to, when being in an effective mode and receiving the detection information from the obstacle detector while performing the autonomous travel, execute stopping travel of the vehicle body based on the detection information; and
a mode switch operable to switch the autonomous travel controller between the effective mode and an ineffective mode in which the autonomous travel controller when performing the autonomous travel does not execute the stopping travel of the vehicle body based on the detection information regardless of whether the autonomous travel controller receives the detection information from the obstacle detector; wherein
the stopping travel of the vehicle body based on the detection information is a series of processes which includes:
(a) determining, based on the detection information, whether or not the travel of the vehicle body is to be stopped; and
(b) actually stopping travel of the vehicle body upon determining that the travel of the vehicle body is to be stopped.