Abstract: A harvester capable of autonomous travel in a field includes: a harvesting unit that harvests a crop from the field; a conveyance device that conveys, toward the rear of a harvester body, a whole culm of the harvested crop harvested by the harvesting unit; a detection sensor that detects a drive speed of the conveyance device; and a clog determining unit that determines a clog of the harvested crop in the conveyance device on the basis of the drive speed. The clog determining unit outputs a vehicle stop command that stops the harvester body when the drive speed becomes lower than a pre-set first threshold during the autonomous travel.

Abstract: A harvesting machine includes a harvesting part provided forward of a machine body, and harvests crops in a farm field; and a plurality of crop sensors provided in the harvesting part at intervals in a left-right direction, and detect the presence of crops upon coming into contact with the crops. The harvesting machine may also include a harvesting width detector that detects a harvesting width corresponding to crops harvested through harvesting work that has actually been performed, included in a workable width within which harvesting work can be performed by the harvesting part; and a travel transmission unit that changes the travel speed of the machine body. The harvesting machine may also include a speed controller that shifts the travel transmission unit to a lower speed as the harvesting width increases, and shifts the travel transmission unit to a higher speed as the harvesting width decreases.

Abstract: The present disclosure includes a travel operation unit that is configured to be manually operated and includes a mode operation tool for switching between automatic driving and manual driving, a manual travel control unit that includes a manual travel mode in which manual driving is performed based an operation signal received from the travel operation unit, and an automatic travel control unit that includes an automatic travel mode in which automatic driving is performed, a temporary stop mode in which a vehicle body is temporarily stopped during automatic driving for transitioning from the automatic travel mode to the manual travel mode, and a check mode in which whether a state of the travel operation unit satisfies a manual driving transition condition required for starting manual driving is checked in transition from the temporary stop mode to the manual travel mode.

Abstract: A harvester capable of autonomous travel in a field includes: a harvesting unit that harvests a crop from the field; a conveyance device that conveys, toward the rear of a harvester body, a whole culm of the harvested crop harvested by the harvesting unit; a detection sensor that detects a drive speed of the conveyance device; and a clog determining unit that determines a clog of the harvested crop in the conveyance device on the basis of the drive speed. The clog determining unit outputs a vehicle stop command that stops the harvester body when the drive speed becomes lower than a pre-set first threshold during the autonomous travel.

Abstract: The present disclosure includes a travel operation unit that is configured to be manually operated and includes a mode operation tool for switching between automatic driving and manual driving, a manual travel control unit that includes a manual travel mode in which manual driving is performed based an operation signal received from the travel operation unit, and an automatic travel control unit that includes an automatic travel mode in which automatic driving is performed, a temporary stop mode in which a vehicle body is temporarily stopped during automatic driving for transitioning from the automatic travel mode to the manual travel mode, and a check mode in which whether a state of the travel operation unit satisfies a manual driving transition condition required for starting manual driving is checked in transition from the temporary stop mode to the manual travel mode.

Abstract: A harvesting machine including: a harvesting part 4 that is provided forward of a machine body, and harvests crops in a farm field; and a plurality of crop sensors that are provided in the harvesting part at intervals in a left-right direction, and detect the presence of crops upon coming into contact with the crops. The harvesting machine may also include: a harvesting width detector that detects a harvesting width corresponding to crops harvested through harvesting work that has actually been performed, included in a workable width within which harvesting work can be performed by the harvesting part 4; and a travel transmission unit that changes the travel speed of the machine body. The harvesting machine may also include a speed controller that shifts the travel transmission unit to a lower speed as the harvesting width increases, and shifts the travel transmission unit to a higher speed as the harvesting width decreases, based on the result of detection performed by the harvesting width detector.