# US 10,503,169 B2 · Travel working machine > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,503,169 B2 - Document ID: US10503169B2 - Status: Granted - Kind: B2 - Application number: 15/579,292 - Filed: 2016-05-25 - Published: 2018-10-18 - Granted: 2019-12-10 - Earliest claimed: 2015-09-01 - Assignees: Kubota Corporation - Applicants: Kubota Corporation - Inventors: Shunya Takase; Tetsuya Nakajima; Aya Tanabe; Shigeki Hayashi - Web page: https://patentgrep.com/patent/US10503169B2 ## CPC - G05D 1/0061: {for transition from automatic pilot to manual pilot and vice versa} - A01B 69/008: {automatic} - A01D 41/127: Control or measuring arrangements specially adapted for combines - A01D 41/1278: {for automatic steering} - B60K 28/10: responsive to conditions relating to the vehicle - B60W 50/10: Interpretation of driver requests or demands - B60W 60/0051: {from occupants to vehicle} - B60W 60/0053: {from vehicle to occupant} - B60W 60/0059: {Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity} - G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) - G05D 1/0278: {using satellite positioning signals, e.g. GPS} - B60W 2050/0006: {Digital architecture hierarchy} - B60W 2050/0295: {Inhibiting action of specific actuators or systems} - B60W 2300/158: Harvesters - B60Y 2200/222: Harvesters - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - A01B: SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL (making or covering furrows or holes for sowing, planting or manuring A01C5/00; mowers convertible to soil working apparatus or capable of soil working A01D42/04; mowers combined with soil working implements A01D43/12; soil working for engineering purposes E01, E02, E21) - A01D: HARVESTING; MOWING - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY ## Abstract A travel working machine includes: an automatic travel control unit 61 configured to implement automatic travel based on automatic travel information necessary for automatic travel; a manual travel control unit 52 configured to implement manual travel based on an operation signal from a manual travel operating unit 9; a machine body status detecting unit 51 configured to output machine body status information indicating a machine body status based on the operation signal and a detection signal received from a status detecting device 8; and an automatic travel management section 7 configured to determine forbiddance of automatic travel by the automatic travel control unit 61 and permission of the automatic travel based on the machine body status information, and output a control command in automatic travel forbiddance, for deciding control of the machine body after a command to forbid the automatic travel has been issued, based on the machine body status information. ## Claims ### Claim 1 A travel working machine comprising: an automatic travel control unit configured to implement automatic travel based on automatic travel information necessary for automatic travel; a manual travel control unit configured to implement manual travel based on an operation signal from a manual travel operating unit; a machine body status detecting unit configured to output machine body status information indicating a machine body status based on the operation signal and a detection signal received from a status detecting device; and an automatic travel management section configured to determine forbiddance of automatic travel by the automatic travel control unit and permission of the automatic travel based on the machine body status information, and output a control command selected from a plurality of control commands in automatic travel forbiddance, for deciding control of the machine body after a command to forbid the automatic travel has been issued, based on the machine body status information. ### Claim 2 (depends on 1) The travel working machine according to claim 1, further comprising: a first vehicle-mounted network configured to transmit data between the manual travel control unit and the machine body status detecting unit, receive data from the manual travel control unit and the machine body status detecting unit, and transmit data therefrom to the manual travel control unit and the machine body status detecting unit; a second vehicle-mounted network configured to receive data from the automatic travel control unit, and transmit data therefrom to the automatic travel control unit; and a relay unit configured to function as a bridge between the first vehicle-mounted network and the second vehicle-mounted network, wherein the relay unit has a filtering function of selecting data that is to be transmitted between the first vehicle-mounted network and the second vehicle-mounted network. ### Claim 3 (depends on 2) The travel working machine according to claim 2, wherein the automatic travel management section includes a first automatic travel management section that is linked to the manual travel control unit in the first vehicle-mounted network, and a second automatic travel management section that is linked to the automatic travel control unit in the second vehicle-mounted network, and the machine body status information is transmitted from the machine body status detecting unit via the relay unit to the second automatic travel management section. ### Claim 4 (depends on 2) The travel working machine according to claim 2, wherein an own vehicle position detecting module for acquiring own vehicle position information is connected to the second vehicle-mounted network. ### Claim 5 (depends on 1) The travel working machine according to claim 1, wherein the machine body status information contains information indicating a current status of the machine body. ### Claim 6 (depends on 1) The travel working machine according to claim 1, wherein the machine body status information contains information indicating a difference between a target value and an actual value. ### Claim 7 (depends on 1) The travel working machine according to claim 1, wherein the automatic travel management section forbids automatic travel by the automatic travel control unit in a case where an anomaly in the automatic travel control unit is detected. ### Claim 8 (depends on 1) The travel working machine according to claim 1, wherein, in a case where automatic travel by the automatic travel control unit is forbidden, an engine stop command is outputted. ### Claim 9 (depends on 1) The travel working machine according to claim 1, wherein the plurality of control commands includes at least a travel stop command of the machine body, and a travel continuation command after the command to forbid the automatic travel. ### Claim 10 (depends on 1) The travel working machine according to claim 1, wherein, in a case where automatic travel by the automatic travel control unit is forbidden, manual travel by the manual travel control unit is permitted. ### Claim 11 (depends on 1) The travel working machine according to claim 1, wherein the detection signal used for outputting the machine body status information can be selected. ### Claim 12 (depends on 9) The travel working machine according to claim 9, wherein, in a case where automatic travel by the automatic travel control unit is forbidden, the travel stop command is outputted. ### Claim 13 A travel working machine comprising: an automatic travel control unit configured to implement automatic travel based on automatic travel information necessary for automatic travel; a manual travel control unit configured to implement manual travel based on an operation signal from a manual travel operating unit; a machine body status detecting unit configured to output machine body status information indicating a machine body status based on the operation signal and a detection signal received from a status detecting device; and an automatic travel management section configured to determine forbiddance of automatic travel by the automatic travel control unit and permission of the automatic travel based on the machine body status information, and output a control command selected from a plurality of control commands in automatic travel forbiddance, for deciding control of the machine body after a command to forbid the automatic travel has been issued, based on the machine body status information; wherein the operation signal comprises a direction change to avoid an obstacle, and the control of the machine body after the direction change is decided by the command to forbid the automatic travel. ### Claim 14 A travel working machine comprising: an automatic travel control unit configured to implement automatic travel based on automatic travel information necessary for automatic travel; a manual travel control unit configured to implement manual travel based on an operation signal from a manual travel operating unit; a machine body status detecting unit configured to output machine body status information indicating a machine body status based on the operation signal and a detection signal received from a status detecting device; and an automatic travel management section configured to determine forbiddance of automatic travel by the automatic travel control unit and permission of the automatic travel based on the machine body status information, and output a control command in automatic travel forbiddance, for deciding control of the machine body after a command to forbid the automatic travel has been issued, based on the machine body status information; wherein the manual travel control unit and the machine body status detecting unit are connected to a first vehicle-mounted network, the automatic travel control unit is connected to a second vehicle-mounted network, the travel working machine further includes a relay unit configured to function as a bridge between the first vehicle-mounted network and the second vehicle-mounted network, and the relay unit has a filtering function of selecting data that is to be transmitted between the first vehicle-mounted network and the second vehicle-mounted network. ### Claim 15 (depends on 14) The travel working machine according to claim 14, wherein the automatic travel management section includes a first automatic travel management section that is linked to the manual travel control unit in the first vehicle-mounted network, and a second automatic travel management section that is linked to the automatic travel control unit in the second vehicle-mounted network, and the machine body status information is transmitted from the machine body status detecting unit via the relay unit to the second automatic travel management section. ### Claim 16 (depends on 15) The travel working machine according to claim 15, wherein an own vehicle position detecting module for acquiring own vehicle position information is connected to the second vehicle-mounted network.