A combine harvester includes a control device, and the control device functions as a travel route creation section which creates a travel route corresponding to a field, and as an automatic driving control section which controls automatic travel and automatic reaping along the travel route. The control device also functions as a lodging information setting section which automatically or manually sets lodging information associated with a lodging region in which grain culms are lodged in the field. The travel route creation section creates, on the basis of the lodging information, the travel route that includes reaping of the grain culms in the lodging region.

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.

A combine harvester is a work vehicle that performs automatic traveling in a field and is equipped with a control device and a portable terminal. The portable terminal includes the control device and the display part. The control device functions as the display control part to display, on the display part, the automatic traveling route for performing automatic traveling to the unworked region in the field, the start point that is the target point indicating the target position of the combine harvester in the field, the own vehicle marker indicating the own vehicle position of the combine harvester, and the guideline connecting the start point and the own vehicle marker.

The present invention provides a system for conducting agricultural operations in a field using autonomous vehicles in which a collision avoidance mechanism may be provided. The system may include providing a mission plan for autonomous vehicles to conduct agricultural operations, establishing a hierarchy for the vehicles, and monitoring for an event conditions indicating vehicles are traveling toward a collision with respect to one another. Upon receiving an event condition, the system may revise the mission plan to adjust a path of one of the vehicles based on the hierarchy in order to avoid the collision.

A combine harvester includes a control device and a portable terminal. The control device functions as an automatic traveling control part for controlling the combine harvester to perform automatic traveling on the basis of an automatic traveling route comprising a plurality of set straight traveling routes and a plurality of set turning routes, and as a discharge traveling control part for controlling the combine harvester to perform discharge traveling from a predetermined transition position on the automatic traveling route to a discharge position. The portable terminal includes the control device, and the control device functions as the transition position change part for changing, as the transition position, the first transition position that is set on the basis of the storage amount of harvested grain, to the new second transition position in response to the operation of the discharge transition operation part such as the discharge advance button and the discharge postpone button.

The use of self-powered, autonomous vehicles in agricultural and other domestic applications is provided. The vehicles include a self-propelled drive system, tracks or wheels operatively connected to the drive system, a power supply operatively connected to the drive system, an attachment mechanism for attaching equipment to the vehicle, and an intelligent control operatively connected to the drive system, power supply, and attachment mechanism. The vehicle is configured to connect to the equipment to perform agricultural operations based upon the equipment. Multiple vehicles can be used in a field at the same time. Furthermore, the invention includes the ability to move one or more of the autonomous vehicles from field to field, home to field, or from generally any first location to a second location.

A method and apparatus for controlling an agricultural harvesting campaign is disclosed in which predetermined harvesting activities are processed within a campaign timeline by a plurality of agricultural working machines of a machine fleet on a field allotment assigned to the harvesting campaign. The control of the harvesting campaign is executed on different application levels by continuously generating information, wherein the generated information is continuously provided to all of the application levels, and the generated data comprise remotely-sensed field information.

Described herein are systems, methods, and other techniques for controlling a velocity of an implement-equipped machine. An actual position of the implement-equipped machine is estimated based on sensor data captured using the machine's sensors. A cross track error between a target position and the actual position is calculated. An actual cross track error metric is calculated based on the cross track error. The actual cross track error metric is compared to a target cross track error metric to determine a velocity adjustment, where the velocity adjustment is determined so as to reduce a difference between the actual cross track error metric and the target cross track error metric. The velocity of the implement-equipped machine is adjusted by the velocity adjustment.

An agricultural system includes a controller comprising a memory and a processor, wherein the controller is configured to receive data from a first and second sensor, each of which are mounted on an agricultural header and configured to output data indicative of one-dimensional (1D) distances. The controller is configured to determine a first horizontal distance from the first sensor to a first plant stalk and a second horizontal distance from the second sensor to a second plant stalk based on the 1D distance data. The controller is also configured to control a steering system of the agricultural system to adjust a position of the agricultural header relative to the first and second plant stalks based on a difference between the first horizontal distance and the second horizontal distance.

An automated system for moving a crop harvester relative to an obstacle in a crop field. The system includes a sensor that is configured to sense a presence of the obstacle in the crop field, and transmit a signal corresponding to the presence of the obstacle. A motor is configured to move the crop harvester relative to the agricultural vehicle. A controller is configured to activate the motor based upon the signal received from the sensor and thereby move the crop harvester relative to the agricultural vehicle to prevent physical contact between crop harvester and the obstacle.