US 12,324,370 B2
Harvester, surrounding condition detection system, surrounding condition detection program, recording medium recording the surrounding condition detection program and surrounding condition detection method
Takashi Nakabayashi, Sakai (JP); Tomohiko Sano, Amagasaki (JP); Osamu Yoshida, Amagasaki (JP); and Kazuo Sakaguchi, Amagasaki (JP)
Assigned to Kubota Corporation, Osaka (JP)
Appl. No. 17/269,747
Filed by Kubota Corporation, Osaka (JP)
PCT Filed May 21, 2019, PCT No. PCT/JP2019/020075
§ 371(c)(1), (2) Date Feb. 19, 2021,
PCT Pub. No. WO2020/039671, PCT Pub. Date Feb. 27, 2020.
Claims priority of application No. 2018-154142 (JP), filed on Aug. 20, 2018.
Prior Publication US 2021/0169002 A1, Jun. 10, 2021
Int. Cl. A01D 41/127 (2006.01); A01B 69/00 (2006.01); G05D 1/00 (2024.01)
CPC A01D 41/127 (2013.01) [A01B 69/00 (2013.01); G05D 1/021 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A harvester configured to harvest crops while traveling in a field, comprising a detection system; and a detection unit,
wherein the detection system further comprises at least one computer configured to execute:
a self-machine position detection function operable to detect a self-machine position;
a map creation function operable to create, based on the self-machine position, a map indicative of a position of a reaped land in the field where the crops have been reaped and a position of an un-reaped land in the field where the crops have not yet been reaped; and
an operational mode setting function for setting operational modes of a plurality of detection modules respectively, based on the map and the self-machine position,
wherein the detection unit further comprises:
the plurality of detection modules capable of detecting condition of surrounding of a machine body of the harvester, wherein the detection unit is included in the machine body,
wherein the operational mode setting function is configured to distinguish between a particular detection module being directed to detection of the condition of the un-reaped land and a particular detection module being directed to detection of the condition of the reaped land among the plurality of detection modules,
wherein the operational mode setting function causes a detection function of the particular detection module being directed to detection of the condition of the un-reaped land to stop in response to a presence of the un-reaped land determined based on the map and the self-machine position, while allowing a detection function of the particular detection module being directed to detection of the condition of the reaped land in response to a presence of the reaped land determined based on the map and the self-machine position, and
wherein, after the detection function of the particular detection module being directed to detection of the condition of the un-reaped land is stopped, the operational mode setting function causes the harvester to continue traveling in the field.