Abstract: A working vehicle includes a steering handle, a vehicle body to travel by manual steering via the steering handle or automatic steering for the steering handle based on a scheduled traveling line, a setting switch to switch between valid and invalid, a setting mode to set at least the automatic steering before the automatic steering is started, and a display including a driving display portion to display driving information of the vehicle body during traveling. When the setting mode is switched to be valid, the display changes a displaying state of the driving display portion to another different displaying state different from the displaying state where the setting mode is invalid.

Abstract: A mobile machine movable between multiple rows of trees includes one or more sensors to output sensor data indicating a distribution of objects in a surrounding environment of the mobile machine, and a data generator. While performing localization, the data generator is configured or programmed to detect trunks of the rows of trees in the surrounding environment of the mobile machine based on the sensor data that is repeatedly output from the one or more sensors, and generate local map data from which to generate environment map data indicating a distribution of the detected trunks of the rows of trees and record the local map data to a storage.

Abstract: A mobile machine movable between multiple rows of trees includes one or more sensors to output sensor data indicating a distribution of objects in a surrounding environment of the mobile machine, a storage to store environment map data indicating a distribution of trunks of the multiple rows of trees, a localization processor, and a controller to control movement of the mobile machine in accordance with a position of the mobile machine estimated by the localization processor. The localization processor is configured or programmed detect the trunks of the rows of trees in the surrounding environment of the mobile machine based on the sensor data that is repeatedly output from the one or more sensors while the mobile machine is moving, and perform matching between the detected trunks of the rows of trees and the environment map data to estimate a position of the mobile machine.

Abstract: A mobile machine movable between multiple rows of trees includes at least two LiDAR sensors to output two-dimensional or three-dimensional point clouds data indicating a distribution of objects in a surrounding environment of the mobile machine, a storage to store environment map data indicating a distribution of trunks of the multiple rows of trees, a localization processor, and a controller to control movement of the mobile machine in accordance with a position of the mobile machine as estimated by the localization processor. The localization processor is configured or programmed to detect the trunks of the rows of trees in the surrounding environment of the mobile machine based on the point clouds data that is repeatedly output from the at least two LiDAR sensors while the mobile machine is moving, and to perform matching between the detected trunks of the rows of trees and the environment map data to estimate a position of the mobile machine.

Abstract: An agricultural robot includes a traveling body, a working unit on the traveling body to do work relating to a crop, an optical sensor on the traveling body, and a crop estimator to perform estimation of the crop based on sensor data obtained by the optical sensor. The crop estimator includes a data extractor to designate the crop to be subjected to the estimation based on the sensor data and extract, as partial data, a portion of the sensor data that corresponds to the designated crop, and an estimator to perform the estimation of the crop based on a surface condition of the crop obtained from the partial data extracted by the data extractor.

Abstract: A combine includes: a reaper to reap planted grain culms in a field; a threshing apparatus to thresh the reaped grain culms and separate the reaped grain culms into separated material containing normal grain and material to be discharged other than the separated material; a grain tank in which the separated material is storable; a conveying apparatus to convey the separated material from a separation section to the grain tank; a temporary storage section to take out and store some of the separated material that is being conveyed by the conveying apparatus; an image capture unit to capture an image of the separated material stored in the temporary storage section; and an image analysis module to analyze the image captured by the image capture unit, and perform distinguishing processing for distinguishing the normal grain in the separated material stored in the temporary storage section from foreign matter.

Abstract: A threshing state management system includes an image capture unit 80 that captures an image of a threshed material threshed by a threshing apparatus, a state detection neural network 72 that outputs a threshing processing state in the threshing apparatus based on image input data generated based on the captured image from the image capture unit 80, a parameter determination unit 73 that determines a control parameter of the threshing apparatus based on the threshing processing state, and a threshing control unit TU that controls the threshing apparatus based on the control parameter.

Abstract: A harvesting machine includes: a machine main body 1; a harvesting unit 15 that is provided forward of the machine main body 1 and is capable of swinging upward and downward relative to the machine main body 1; a height detection unit that is capable of detecting a height position H at which the harvesting unit 15 is located; and an obstacle detection unit that is capable of detecting an obstacle that is located forward thereof in a travel direction.

Abstract: An agricultural robot includes a machine body, a wheeled traveling device to support the machine body such that the machine body is capable of traveling, the traveling device including at least three wheels, a manipulator including an arm and a robot hand, the arm being attached to the machine body, the robot hand being attached to the arm and capable of holding an object, and a balance controller to control positions of the at least three wheels, respectively, to achieve a balance between the machine body and the manipulator.

Abstract: An obstacle detection system for an agricultural work vehicle includes: an obstacle estimation unit 52 that estimates a region in a field based on a detection signal from an obstacle sensor 21 in which region an obstacle is present, and outputs obstacle present region information; an image capturing unit 22 that outputs a captured image of the field; an obstacle detection unit 54 that detects the obstacle from an input image and outputs obstacle detection information; and an image preprocessing unit 53 that generates, as an image to be input to the obstacle detection unit 54, a trimmed image obtained by trimming the captured image so as to include the region in which the obstacle is present, based on the obstacle present region information and shooting-angle-of-view information regarding the image capturing unit 22.

Abstract: Provided is a harvester configured to effect a work-performing traveling for harvesting agricultural products in a field while traveling in the field autonomously. This harvester includes 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 harvesting the products in the field, 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 detecting abnormality in the field from an image imaged by the imaging device, and a controlling section executing an abnormality situation control as a control in accordance with the abnormality detected in the field.

Abstract: Provided is a working vehicle capable of operation and driving that includes a plurality of image capture devices 4 that capture an image of surroundings of a vehicle body; a direction detection unit 51 that detects an advancement direction of the operation and driving; an image selection unit 52 that acquires, as a detection image, a surrounding area image captured by one image capture device 4 of the plurality of image capture devices 4 capturing a front advancement direction detected by the direction detection unit 51; and a detection unit 53 that analyzes the detection image acquired by the image selection unit 52 and detects an obstacle.

Abstract: A working vehicle includes a steering handle, a vehicle body to travel by manual steering via the steering handle or automatic steering for the steering handle based on a scheduled traveling line, a setting switch to switch between valid and invalid, a setting mode to set at least the automatic steering before the automatic steering is started, and a display including a driving display portion to display driving information of the vehicle body during traveling. When the setting mode is switched to be valid, the display changes a displaying state of the driving display portion to another different displaying state different from the displaying state where the setting mode is invalid.