JP7835657B2 - combine - Google Patents

Description

This invention relates to a combine harvester.

Patent Document 1 discloses a vehicle speed control system for controlling the vehicle speed of an agricultural vehicle that operates using a work device while moving on a running gear. The vehicle speed control system sets the vehicle speed according to the load of the power source driving the running gear and the work device.

Japanese Patent Publication No. 2020-110115

In a combine harvester, the power generated by the engine's rotation is distributed and transmitted to the travel mechanism, the harvesting mechanism for cutting unharvested grain, and the conveying mechanism for transporting the harvested grain to the threshing mechanism. Therefore, for example, if the yield is high and the threshing mechanism is under heavy load, the engine load also increases, potentially leading to engine stall. To address this, the vehicle speed control system disclosed in Patent Document 1 reduced the engine load by lowering the vehicle speed.

This invention was made in view of the above-mentioned problems, and its objective is to provide a combine harvester that stabilizes the load on the power source.

The combine harvester according to the present invention comprises a harvesting device, a load detection unit, and a harvesting width changing unit. The harvesting device harvests the target material while moving on a traveling device. The load detection unit detects the load on the traveling device and the power source driving the harvesting device. The harvesting width changing unit changes the harvesting width of the harvesting device based on the load detection result from the load detection unit.

According to the present invention, it is possible to provide a combine harvester that stabilizes the load on the power source.

This is a schematic diagram of the crop harvesting system according to this embodiment. This is a plan view of the combine harvester in this embodiment. This is a block diagram of the combine harvester in this embodiment. This is a block diagram of the mobile communication terminal in this embodiment. This is a diagram showing a field in which a combine harvester operates. This figure shows an example of a screen displayed on the display unit. This figure shows an example of a target path for back-and-forth mowing. This diagram shows the target path, which has been reset in accordance with the change in the harvesting width. This diagram shows an example of the harvesting width and straight path for six rows. This diagram shows the straight paths that have been readjusted according to the reduced harvesting width, which was changed from six rows to four rows. This figure shows an example of the harvesting width and straight path for four rows. This diagram shows the straight paths that have been readjusted according to the widening of the harvesting width from four rows to six rows. This figure shows an example of a target path for mowing. This diagram shows the target path, which has been reset in accordance with the change in the harvesting width. This flowchart shows an example of the operation of the crop harvesting system according to this embodiment.

The embodiments of the present invention will be described below with reference to the drawings. In the drawings, the same or corresponding parts will be denoted by the same reference numerals, and the description will not be repeated.

The crop harvesting system 100 according to this embodiment will be described with reference to Figures 1 to 4. Figure 1 is a schematic diagram of the crop harvesting system 100 according to this embodiment. Figure 2 is a plan view of the combine harvester 1 in this embodiment. Figure 3 is a block diagram of the combine harvester 1 in this embodiment. Figure 4 is a block diagram of the mobile communication terminal 7 in this embodiment.

For the sake of clarity, this specification may sometimes refer to the front-to-back, left-to-right, and up-and-down directions. Here, the front-to-back, left-to-right, and up-and-down directions are those viewed from the perspective of a worker (i.e., the driver) seated in the driver's seat (not shown) located in the operating space 2a (see Figure 1). However, these directions are defined solely for the sake of explanation, and there is no intention to limit the orientation of the combine harvester 1 during use based on these definitions.

The crop harvesting system 100 includes a self-propelled combine harvester 1, which is a work vehicle, and a portable communication terminal 7. The crop harvesting system 100 allows the operator to give instructions using the portable communication terminal 7, etc., to control the combine harvester 1, which will automatically drive and perform crop harvesting operations. This is an example of an automated driving system. Note that instructions for automated driving may also be given by operating control members provided on the combine harvester 1, rather than using the portable communication terminal 7.

Automatic driving means that the control unit 50 of the combine harvester 1 controls the driving devices so that at least steering is performed autonomously to follow a predetermined path. The control unit 50 is an example of an automatic driving control unit. Furthermore, in addition to steering, the system may also be configured to autonomously control vehicle speed or work using work devices. Automatic driving includes cases where a person is on board the combine harvester 1 and cases where no one is on board.

As shown in Figures 1 and 2, the combine harvester 1 of this embodiment comprises a traveling body 101, a traveling device 102, a harvesting device 200, a threshing device 300, a grain tank 400, a control unit 50, a storage unit 55, and a communication device 16. The traveling device 102 is positioned below the traveling body 101 and supports it. The harvesting device 200 is positioned in front of the traveling body 101. The harvesting device 200 and the threshing device 300 are examples of working devices. The communication device 16 is positioned above the traveling body 101. The control unit 50 is located inside the traveling body 101. The storage unit 55 is located inside the traveling body 101.

The traveling machine body 101 (combine harvester 1) is equipped with an engine 69 (see Figure 3), which is the power source. The engine 69 is, for example, a diesel engine. The engine 69 converts the thermal energy obtained by burning fuel into kinetic energy (power).

The running gear 102 propels the combine harvester 1. Specifically, the running gear 102 runs based on the power generated by the engine 69. The running gear 102 includes, for example, a pair of left and right crawler tracks. These tracks propel the combine harvester 1 in the forward and backward directions. They also allow the combine harvester 1 to rotate in the left and right directions.

The harvesting device 200 is driven based on the power generated by the engine 69. The harvesting device 200 cuts the unharvested grain stalks, which are the target object. In this embodiment, the harvesting device 200 comprises a harvesting frame 201, a cutting blade 202, a grain stalk lifting device 203, a grass separator 204, and a grain stalk conveying device 205.

The harvesting frame 201 is mounted on the front of the traveling machine body 101 so as to be able to move up and down. The cutting blade 202 is positioned below the harvesting frame 201. The harvesting device 200 moves the cutting blade 202 back and forth to cut the base of the unharvested grain stalks in the field.

The grain stalk lifting device 203 is positioned in front of the harvesting frame 201. It lifts the unharvested grain stalks in the field and rakes the root ends of the upright stalks backward. The root ends of the rake-in stalks are then cut by the cutting blade 202.

The grass dividers 204 are attached to the lower front of the grain stalk lifting device 203, protruding from the front, and divide the unharvested grain stalks in the field. In this embodiment, seven grass dividers 204 are arranged in a row in the left-right direction of the machine at appropriate intervals so that six rows of unharvested grain stalks can be divided one row at a time. That is, the harvesting device 200 in this embodiment has a maximum harvesting capacity of six rows. The maximum harvesting capacity is stored in advance in the storage unit 81, etc. The harvesting device 200 can perform harvesting with a number of rows less than or equal to the maximum harvesting capacity. However, when harvesting with a small number of rows, the harvesting amount decreases, and due to travel over the harvested area, threshing losses increase and straw gets caught, which may reduce the efficiency of the harvesting operation. Therefore, in this embodiment, a number of rows that suppresses the decrease in efficiency (for example, four rows) is stored in advance in the storage unit 81, etc. as the lower limit of the harvesting capacity.

The grain stalk conveying device 205 is positioned between the grain stalk lifting device 203 and the front end of the feed chain 301. The grain stalk conveying device 205 holds the harvested grain stalks cut by the cutting blade 202 and conveys them toward the feed chain 301.

With the above configuration, the combine harvester 1 can move around the field by driving the traveling device 102 based on the power of the engine 69, which is the power source, and can continuously harvest the unharvested grain stalks in the field by driving the harvesting device 200.

The threshing device 300 is driven by power generated by the engine 69. The threshing device 300 performs threshing of the harvested grain stalks conveyed to the traveling machine 101 by the grain stalk conveying device 205. Threshing is included in the harvesting process. The grain tank 400 stores the grain threshed by the threshing device 300. Specifically, the threshing device 300 includes a feed chain 301, a winnowing fan 303, and a dust removal fan 305. The threshing device 300 threshes the ear end of the harvested grain stalks conveyed to the traveling machine 101. The threshing device 300 then separates the threshed ear end (threshed grain) by oscillating (specific gravity separation).

The feed chain 301 grips the root end of the harvested grain stalks, which have been transported from the harvesting device 200 by the grain stalk conveying device 205, and transports them toward the rear of the traveling machine body 101. The ear end of the harvested grain stalks is introduced into the threshing device 300 and threshed.

The winnowing fan 303 supplies sorting air towards the harvested grain stalks after threshing. As a result, straw and impurities are removed from the grain (threshed grain). The grain, free of straw and impurities, is transported to the grain tank 400 for storage. The dust removal fan 305 discharges the dust from the rear of the grain stalk conveying device 205 to the outside of the machine.

The traveling machine body 101 (combine harvester 1) further comprises a cabin 2. The cabin 2 is box-shaped, and inside the cabin 2 is a driving space 2a for an operator to sit in the driver's seat and operate the combine harvester 1. The driving space 2a houses equipment necessary for operating the combine harvester 1, such as a driver's seat (not shown), a steering wheel, and a main gear lever. For example, the steering wheel is positioned in front of the driver's seat. The steering wheel is operated by the operator seated in the driver's seat to change the direction of travel of the traveling device 102 shown in Figure 1. When the combine harvester 1 is in manual driving mode, the operator can turn the combine harvester 1 by operating the steering wheel. Turns include, for example, 90-degree turns (α-turns), U-turns, and fishtail turns.

For example, the main gear shift lever is located to the left of the driver's seat. The main gear shift lever is operated by the operator seated in the driver's seat to switch the direction of travel of the vehicle's travel mechanism 102 (shown in Figure 1) between forward and reverse.

The main gear lever has various switches. These switches include, for example, a switch for adjusting the threshing depth, a switch for raising the harvesting device 200, a switch for lowering the harvesting device 200, a switch for adjusting the height of the harvesting device 200, and a switch for switching whether or not to transmit the power generated by the engine 69 to the harvesting device 200 and the threshing device 300. The steering wheel, main gear lever, and various switches output signals to the control unit 50 indicating the instructions corresponding to the operator's operation.

The communication device 16 includes a positioning antenna 61, an inertial measuring device 62, and a communication antenna 63.

The positioning antenna 61 receives radio waves (positioning signals) from positioning satellites that constitute the Global Navigation Satellite System (GNSS). The inertial measurement device 62 includes a three-axis angular velocity sensor and three-directional acceleration sensors.

The communication antenna 63 is an antenna for wireless communication with the mobile communication terminal 7. Wireless communication may utilize Wi-Fi (registered trademark) or other wireless LAN (Local Area Network) technologies, or Bluetooth (registered trademark) or other short-range wireless communication technologies. Furthermore, the combine harvester 1 may be equipped with a mobile communication antenna (not shown) for communication using mobile phone lines and the internet.

The control unit 50 controls the traveling device 102, the harvesting device 200, and the threshing device 300. Specifically, as shown in Figure 3, the control unit 50 is a computing device such as a CPU (Central Processing Unit).

The control unit 50 receives signals output from the steering wheel, main gear lever, and various switches, and controls the travel device 102, harvesting device 200, and threshing device 300 according to the instructions indicated by the signals. The control unit 50 may be a single piece of hardware, or it may be multiple pieces of hardware that can communicate with each other.

The storage unit 55 is a main memory device such as ROM (Read Only Memory) and RAM (Random Access Memory). The storage unit 55 may further include an auxiliary storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). Various programs and data are stored in the storage unit 55. The control unit 50 reads and executes various programs from the storage unit 55.

Furthermore, in addition to the inertial measurement device 62 described above, the control unit 50 is connected to a position acquisition unit 64, a communication processing unit 65, a vehicle speed sensor 66, a steering angle sensor 67, a harvesting sensor 68, an engine 69, and a rotational speed sensor 70.

The position acquisition unit 64 acquires the position of the combine harvester 1, for example, as latitude and longitude information, using the positioning signal received by the positioning antenna 61 from the positioning satellite. The position acquisition unit 64 may also perform positioning using the known RTK-GNSS (Real Time Kinetic GNSS) method after receiving a positioning signal from a reference station (not shown) by an appropriate method. The reference station is installed at a known location around the field. Alternatively, the position acquisition unit 64 may perform positioning using the DGNSS (Differential GNSS) method. Alternatively, the position acquisition unit 64 may acquire the position based on radio wave strength, such as from a wireless LAN, or by inertial navigation using the measurement results of the inertial measurement device 62.

The communication processing unit 65 transmits and receives data with the mobile communication terminal 7 via the communication antenna 63.

The vehicle speed sensor 66 detects the vehicle speed of the combine harvester 1. The vehicle speed sensor 66 is installed on the axle or other part of the running gear 102. When the vehicle speed sensor 66 is installed on the axle of the running gear 102, the vehicle speed sensor 66 generates pulses corresponding to the rotation of the axle. The detection result data obtained by the vehicle speed sensor 66 is output to the control unit 50.

The steering angle sensor 67 is, for example, installed on the steering wheel and detects the steering angle of the steering wheel. The detection result data obtained by the steering angle sensor 67 is output to the control unit 50.

The harvesting sensor 68 detects the height of the harvesting device 200 and its operating status. The detection data obtained by the harvesting sensor 68 is output to the control unit 50. Based on the detection results from the harvesting sensor 68, the control unit 50 can determine whether or not the harvesting device 200 is performing harvesting work.

The rotational speed sensor 70 detects the rotational speed of the engine 69, which is the power source. The data obtained from the rotational speed sensor 70 is output to the control unit 50.

In this embodiment, the control unit 50 is capable of controlling the automatic operation of the combine harvester 1, such as vehicle speed control and steering control. Specifically, under the control of the control unit 50, the combine harvester 1 can autonomously perform forward, reverse, and turning maneuvers. Furthermore, the control unit 50 can, for example, autonomously perform steering and also control the vehicle speed in response to operator input.

When autonomously changing the vehicle speed, the control unit 50 controls the vehicle to bring the current vehicle speed detected by the vehicle speed sensor 66 closer to the target vehicle speed. Vehicle speed control is achieved, for example, by changing at least one of the following: the gear ratio of the transmission in the transmission case (not shown) or the rotational speed of the engine 69. Note that vehicle speed control also includes control to reduce the vehicle speed to zero so that the combine harvester 1 stops.

When steering is performed autonomously, the control unit 50 controls the steering angle detected by the steering angle sensor 67 to approach the target steering angle. This steering angle control is achieved, for example, by driving a steering actuator located on the rotation axis of the steering wheel. Alternatively, the control unit 50 may adjust the turning angle of the running gear 102 by directly adjusting the rotation of the left and right crawler tracks of the running gear 102, instead of driving the steering actuator.

Furthermore, the control unit 50 controls the operation of the harvesting device 200 and the threshing device 300 based on predetermined conditions. Specifically, the control unit 50 controls the height adjustment and harvesting operation of the harvesting device 200, as well as the threshing operation by the threshing device 300.

Furthermore, in addition to controlling automatic driving, controlling the operation of the harvesting device 200 and threshing device 300, and determining whether to continue harvesting work based on the detection results of various sensors, the control unit 50 can also control the movement of the combine harvester 1, control the operation of the harvesting device 200 and threshing device 300, and determine whether to continue harvesting work in response to remote operation by an operator using a mobile communication terminal 7.

Next, the mobile communication terminal 7 will be described with reference to Figure 4. As shown in Figure 4, the mobile communication terminal 7 comprises a communication antenna 71, a communication processing unit 72, a display unit 73, an operation unit 74, and a control unit 80. The mobile communication terminal 7 is a tablet device, smartphone, or laptop computer, etc. The mobile communication terminal 7 performs various processes related to the automatic driving of the combine harvester 1, as described later, but at least some of these processes can also be performed by the control unit 50 of the combine harvester 1. Conversely, at least some of the various processes related to automatic driving performed by the control unit 50 of the combine harvester 1 can also be performed by the mobile communication terminal 7. Alternatively, the mobile communication terminal 7 may be mounted on the combine harvester 1. That is, the combine harvester 1 may have the functions of the mobile communication terminal 7.

The communication antenna 71 is an antenna for wireless communication with the combine harvester 1. The communication processing unit 72 transmits and receives data with the combine harvester 1 via the communication antenna 71. Specifically, the control unit 80 can receive detection results from various sensors installed on the combine harvester 1 via the communication processing unit 72 and the communication antenna 71.

As described above, since the combine harvester 1 can connect to a mobile phone network, the mobile communication terminal 7 can connect to the mobile phone network via the combine harvester 1. Therefore, for example, some of the information stored in the storage unit 55 of the combine harvester 1 or the storage unit 81 of the control unit 80 can be stored on an external server. Note that the mobile communication antenna (not shown) may be provided on the mobile communication terminal 7 instead of the combine harvester 1.

The display unit 73 is a liquid crystal display or an organic EL (Electroluminescence) display, etc. The display unit 73 can display, for example, information about the field, information about automatic driving, information about the settings of the combine harvester 1, detection results from various sensors, and warning information.

The operation unit 74 includes at least one of a touch panel or hardware keys. The touch panel is positioned on top of the display unit 73 and can detect operation by the operator's fingers, etc. The hardware keys are positioned on the side of the casing of the mobile communication terminal 7 or around the display unit 73, etc., and can detect pressure applied by the operator's fingers, etc.

The control unit 80 includes a calculation unit and input/output unit (not shown), as well as a storage unit 81. The control unit 80 is an example of a control device. The calculation unit is a processor or microprocessor, etc. The storage unit 81 is a main memory device such as ROM and RAM. The storage unit 81 may further include an auxiliary storage device such as an HDD or SSD. Various programs and data are stored in the storage unit 81. The calculation unit reads various programs from the storage unit 81 and executes them. Through the cooperation of the above hardware and software, the control unit 80 can be operated as a field contour setting unit 83, an area setting unit 84, a vehicle position acquisition unit 85, a display processing unit 86, a load detection unit 87, a harvesting width changing unit 88, and a target route setting unit 90. The processing performed by the field contour setting unit 83, the area setting unit 84, the vehicle position acquisition unit 85, the display processing unit 86, the load detection unit 87, the harvesting width changing unit 88, and the target route setting unit 90 will be described later. Alternatively, the combine harvester 1 may be equipped with a control unit 80, which is an example of a control device, instead of the mobile communication terminal 7.

Next, the automatic operation of the combine harvester 1 in this embodiment will be described with reference to Figures 5 and 6. Figure 5 shows a field 98 on which the combine harvester 1 operates. Figure 6 shows an example of the screen displayed on the display unit 73.

As shown in Figure 6, the display unit 73 displays a map image MP showing the area around the field 98. The map image MP includes a field image 98P showing the field 98. The map image MP may be stored in, for example, the storage unit 81, or it may be acquired from outside the mobile communication terminal 7 via a mobile phone line and the internet. Specifically, the display processing unit 86 of the mobile communication terminal 7 acquires the map image MP including the field image 98P and displays the map image MP on the display unit 73.

Furthermore, the display processing unit 86 displays an icon 1P indicating the position of the combine harvester 1 on the display unit 73. Specifically, the position acquisition unit 64 or inertial measuring device 62, etc., detects the position information 99 of the combine harvester 1. The communication processing unit 65 transmits the position information 99 detected by the position acquisition unit 64 or inertial measuring device 62, etc., to the mobile communication terminal 7. The communication processing unit 72 of the mobile communication terminal 7 receives the position information 99 transmitted from the combine harvester 1. The vehicle position acquisition unit 85 acquires the position information 99 received by the communication processing unit 72. Based on the position information 99 acquired by the vehicle position acquisition unit 85, the display processing unit 86 identifies the position of the combine harvester 1 and displays an icon 1P indicating the combine harvester 1 at the corresponding position in the map image MP on the display unit 73.

Furthermore, the position information 99 may include information indicating the orientation of the combine harvester 1, i.e., the direction of travel, as detected by the rudder angle sensor 67 or the inertial measuring device 62, etc. The display processing unit 86 may also change the orientation of icon 1P to match the orientation of the combine harvester 1 included in the position information 99.

In this embodiment, when the combine harvester 1 is operated automatically, the operator first manually drives the combine harvester 1 along the outline 981 of the actual field 98. In the example shown in Figure 5, the operator manually drives the combine harvester 1 counterclockwise along the outline 981 from the entrance EX1 of the field 98. As the combine harvester 1 travels along the outline 981, it harvests the unharvested grain stalks along its path.

The position acquisition unit 64 or inertial measuring device 62, etc., periodically detects the position information 99 of the combine harvester 1 during manual operation. The multiple position information 99 of the combine harvester 1 detected by the position acquisition unit 64 or inertial measuring device 62, etc., are sequentially transmitted to the mobile communication terminal 7.

The communication processing unit 72 of the mobile communication terminal 7 receives multiple location information 99 transmitted from the combine harvester 1. The vehicle position acquisition unit 85 acquires the multiple location information 99 received by the communication processing unit 72.

The display processing unit 86, based on the multiple location information 99 acquired by the vehicle position acquisition unit 85, displays pointers 99P corresponding to each of the multiple location information 99 at the corresponding positions on the map image MP of the display unit 73.

The field contour setting unit 83 sets the contour 981P of the field 98 based on the multiple position information 99 acquired by the vehicle position acquisition unit 85 and the harvesting width d of the harvesting device 200. The harvesting width d is the width corresponding to the number of harvesting rows set by the operator during manual operation, and is any number of rows greater than or equal to the lower limit of harvesting rows and less than or equal to the maximum number of harvesting rows.

For example, the operator selects four pointers 99PA, 99PB, 99PC, and 99PD from among the multiple pointers 99P displayed on the display unit 73 using the mobile communication terminal 7. When the operation unit 74 detects the selection of pointers 99PA, 99PB, 99PC, and 99PD, the field contour setting unit 83 sets a roughly rectangular outline 981P with the pointers 99PA, 99PB, 99PC, and 99PD as the four corner points. Alternatively, the field contour setting unit 83 may set the roughly rectangular frame connecting the pointers 99PA, 99PB, 99PC, and 99PD as the outline 981P.

Alternatively, the field contour setting unit 83, rather than the operator, may select the four corner pointers 99P from among multiple pointers 99P and set a roughly rectangular frame connecting these four pointers 99P as the contour 981P.

Alternatively, the contour 981P may be set based on the travel trajectory of the combine harvester 1 rather than the pointer 99P. The display processing unit 86 calculates the trajectory of the combine harvester 1 across the field 98 based on the multiple position information 99 acquired by the vehicle position acquisition unit 85 and the harvesting width d of the harvesting device 200. The display processing unit 86 overlays the calculated trajectory onto the map image MP on the display unit 73. The operator, for example, selects four points at the four corners of the trajectory displayed on the display unit 73 using the mobile communication terminal 7. When the operation unit 74 detects the selection of the four corner points, the field contour setting unit 83 sets the contour 981P of a roughly rectangular frame with the four corner points as vertices.

Once the field contour setting unit 83 sets the contour 981P, the area setting unit 84 sets the headland area A, the unharvested area B, and the harvested area C within the field 98 based on the contour 981P. The display processing unit 86 may overlay the various areas set by the area setting unit 84 onto the map image MP on the display unit 73.

Here, with reference to Figures 7 and 8, the various regions set in this embodiment will be described. Figure 7 shows an example of a target path P for reciprocating mowing. Figure 8 shows a target path P that has been reset according to a change in the mowing width.

For example, the area setting unit 84 sets a headland area A inside the outline 981P of the field 98. The headland area A is used as a space for the combine harvester 1 to turn around or change direction. It is also used as a space for the combine harvester 1 to move to a location where harvested crops are unloaded onto trucks, etc. Furthermore, the headland area A is used as a space for the combine harvester 1 to move to a location where fuel is refueled.

Furthermore, for example, the area setting unit 84 sets an unharvested area B inside the headland area A. The unharvested area B is the area where harvesting work by the combine harvester 1 will be performed, and it is the area where unharvested grain stalks exist. The area setting unit 84 sets the trajectory of the combine harvester 1 as it traveled through the unharvested area B, harvesting the unharvested grain stalks, into the harvested area C. Specifically, the area setting unit 84 determines, based on the detection results of the harvesting sensor 68, whether or not the combine harvester 1 harvested the unharvested grain stalks along its travel path.

Next, the method for setting the target path will be explained. After the contour 981P has been set by manual driving, the operator will perform a roundabout mowing within the field 98 by manual driving to generate the mowed area to be set as headland area A. Note that the roundabout mowing to generate headland area A may be performed by automatic driving only in a straight line.

After the mowing of the headland area A is completed, an un-moved area B is established inside headland area A. The target path setting unit 90 sets a target path P for automatic reciprocating mowing for the un-moved area B shown in Figure 7. The target path P includes multiple straight paths Pn. In the example in Figure 7, n = 1, 2, 3, ..., 7. The combine harvester 1 travels from the start "S" of the target path P to the goal "G" in the order of straight paths P1, P2, P3, ..., P7. The idle path (shown as a dashed line in Figure 7) when the combine harvester 1 moves from the end position of a straight path Pn to the start position of the next straight path Pn+1 is not particularly limited. The combine harvester 1 may automatically or manually travel along the idle path.

The display processing unit 86 overlays the target route P set by the target route setting unit 90 onto the map image MP on the display unit 73. In Figure 7, the target route P is a line displayed overlaid on the unharvested area B. The direction of travel of the straight routes P1 to P7 that constitute the target route P is indicated by arrows. The display processing unit 86 also displays the letter "S" at the start position of the target route P and the letter "G" at the end position. Furthermore, the display processing unit 86 may change the display mode to allow the operator to distinguish between the straight routes Pn and the idle route.

In the example shown in Figure 7, the target path setting unit 90 sets the target path P for reciprocating harvesting, but it may also set the target path P for circling harvesting. An example of a circling harvesting target path P will be described later. Whether the target path setting unit 90 sets the target path P for reciprocating harvesting or circling harvesting can be specified by the operator in advance or when setting the target path P. Furthermore, the operator can specify, in advance or when setting the target path P, the information necessary for setting the target path P, such as the harvesting width of the harvesting device 200, the turning radius of the combine harvester 1, the row spacing and direction of the grain stalks, and whether the harvesting operation can handle excess rows.

Figure 9 shows the harvesting width d1 for six rows and the straight paths P1 and P3. The harvesting width d1 is defined as the harvesting width when the target path P is set. In this example, the harvesting width d1 is set to correspond to the maximum number of harvesting rows, which is six. Therefore, as shown in Figure 9, the straight path P1 is set to pass through the center of the harvesting width d1, i.e., the center of the six rows. By traveling along the straight path P1, the combine harvester 1 harvests six rows of grain stalks E. Similarly, the straight path P3 is also set to pass through the center of the six rows. By traveling along the straight path P3, the combine harvester 1 harvests six rows of grain stalks E. Note that the harvesting width d1 when setting the target path P is not limited to six rows.

The target route P set by the target route setting unit 90 is transmitted to the combine harvester 1 by the communication processing unit 72. The communication processing unit 65 of the combine harvester 1 receives the target route P transmitted by the mobile communication terminal 7.

The operator manually moves the combine harvester 1 to the start position "S" on the target route P for automatic driving displayed on the display unit 73. After moving the combine harvester 1 to the start position "S", the operator operates the control member provided on the mobile communication terminal 7 or the combine harvester 1 to start the automatic driving of the combine harvester 1. The control unit 50 performs the harvesting work while the combine harvester 1 automatically drives according to the target route P for automatic driving received from the mobile communication terminal 7.

While the combine harvester 1 is automatically driving and performing harvesting operations, the area setting unit 84 periodically updates the size of the unharvested area B and the harvested area C based on the position information 99 acquired by the vehicle position acquisition unit 85, the detection results of the harvesting sensor 68, and the harvesting width d1, etc. The display processing unit 86 may display the updated unharvested area B and harvested area C on the display unit 73. Furthermore, the display processing unit 86 may update the display position of the icon 1P indicating the current position of the combine harvester 1 based on the position information 99 acquired by the vehicle position acquisition unit 85.

While the combine harvester 1 is automatically driving and performing harvesting operations, the rotation speed sensor 70 detects the rotation speed of the engine 69. More specifically, the rotation speed sensor 70 detects the rotation speed while the combine harvester 1 is automatically driving along each of the straight paths P1 to P7. The data obtained from the rotation speed sensor 70 is transmitted by the communication processing unit 65 to the mobile communication terminal 7. The communication processing unit 72 of the mobile communication terminal 7 receives the detection results from the rotation speed sensor 70 transmitted by the combine harvester 1.

The load detection unit 87 detects the load on the engine 69, which is the power source that drives the traveling device 102 and the harvesting device 200, etc. For example, the load detection unit 87 calculates the average rotational speed for each of the straight paths P1 to P7, and uses the calculated average value as the load detection result for each of the straight paths P1 to P7. For example, in the example in Figure 7, the load detection unit 87 calculates the average rotational speed of the engine 69 detected while automatically traveling along the straight path P1, and uses the calculated average value as the load detection result for the straight path P1.

Furthermore, the load detected by the load detection unit 87 on the engine 69 is not limited to the rotational speed of the engine 69, but may also be the degree of decrease in the rotational speed of the engine 69, etc.

The harvesting width changing unit 88 changes the harvesting width d1 set for the target path P to the harvesting width d2 based on the load detection result of the load detection unit 87. For example, the harvesting width changing unit 88 changes the harvesting width d1 on the upcoming travel path (e.g., straight path P3) to the harvesting width d2 based on the load detection result detected on the adjacent path (e.g., straight path P1) adjacent to the travel path to be traveled (e.g., straight path P3).

The cutting width changing unit 88 narrows the cutting width d1 if the load detection result is equal to or greater than a predetermined first threshold. For example, if the rotational speed of the engine 69 detected in the straight path P1 is equal to or greater than the first threshold, the cutting width changing unit 88 determines that the load is high. If the load on the straight path P1 is high, the cutting width changing unit 88 narrows the cutting width d1 of the straight path P3, which is adjacent to the straight path P1 and will be traveled on, compared to the cutting width d1 of the straight path P1. Since the crop growth conditions in the adjacent straight paths P1 and P3 are expected to be similar, the yields are also expected to be about the same. Therefore, the load on the cutting device 200 and engine 69 in the straight path P1 and the load on the cutting device 200 and engine 69 in the straight path P3 are also expected to be about the same. In this case, narrowing the cutting width d1 reduces the load on the cutting device 200, thereby suppressing overload on the engine 69.

Here, we will explain specific examples with reference to Figures 9 and 10. Figure 10 shows a straight path P3a that has been reset according to the harvesting width d2, which has been narrowed from 6 rows to 4 rows. In the examples in Figures 9 and 10, the harvesting width d1, which was 6 rows in the straight path P3 before the change, has been narrowed to a harvesting width d2 of 4 rows in the straight path P3a after the change. The harvesting width changing unit 88 limits the range of change so that the reduced harvesting width d2 does not fall below the lower limit of the number of harvesting rows.

The harvesting width adjustment unit 88 widens the harvesting width d1 if the load detection result is below a predetermined second threshold. The second threshold is any value below the first threshold. For example, if the engine speed 69 detected in the straight path P1 is below the second threshold, the harvesting width adjustment unit 88 determines that the load is low. If the load on the straight path P1 is low, the harvesting width adjustment unit 88 widens the harvesting width d1 of the straight path P3, which is adjacent to and about to be traveled, compared to the harvesting width d1 of the straight path P1. The engine load on the straight path P3 is likely to be low, similar to the straight path P1. Therefore, it is expected that there is sufficient load capacity on the engine 69 in the straight path P3. By widening the harvesting width d1 in this case, work efficiency can be improved without causing overload on the engine 69.

Here, we will explain a specific example with reference to Figures 11 and 12. Figure 11 shows an example of a harvesting width d1 for four rows and straight paths P1 and P3. Figure 12 shows a straight path P3a that has been reset according to the harvesting width d2, which has been widened from four rows to six rows. In the examples in Figures 11 and 12, straight paths P1 and P3 are set with a harvesting width d1 for four rows. Because the load on straight path P1 was "low," the harvesting width d1, which was for four rows in the straight path P3 before the change, has been widened to a harvesting width d2 for six rows in the straight path P3a after the change. The harvesting width changing unit 88 limits the range of change so that the widened harvesting width d2 does not exceed the maximum number of harvesting rows. Also, if the harvesting width d1 before the change is the maximum number of harvesting rows, the harvesting width changing unit 88 does not change the harvesting width d1 because it is not possible to widen the harvesting width any further.

The harvesting width changing unit 88 does not change the harvesting width d1 to harvesting width d2 if the load detection result is less than the first threshold and greater than the second threshold, but keeps it at harvesting width d1. For example, if the engine speed 69 detected in the straight path P1 is less than the first threshold and greater than the second threshold, the harvesting width changing unit 88 determines that the load is "medium". If the load on the straight path P1 is "medium", the harvesting width changing unit 88 does not change the harvesting width d1 of the straight path P3 that is adjacent to and about to be traveled.

Since the crop growth conditions are expected to be similar in adjacent straight paths P1 and P3, the yields are also expected to be similar. Therefore, the load on the harvesting device 200 and engine 69 in straight path P1 is also expected to be similar in straight path P3. In this embodiment 1, however, the adjacent straight path P1 was selected as the adjacent path to straight path P3; this is not the only option.

The harvesting width changing unit 88 may change the harvesting width d1 for multiple straight paths, rather than changing it for each individual straight path. For example, the harvesting width changing unit 88 may change the harvesting width d1 of straight paths P5 and P7 shown in Figure 7 based on the load detection results in the adjacent straight path P3. Alternatively, the harvesting width changing unit 88 may change the harvesting width d1 of straight paths P5 and P7 based on the load detection results in the adjacent straight paths P1 and P3.

The target path setting unit 90 resets the target path P based on the changed harvesting width d2 when the harvesting width change unit 88 changes the harvesting width d2. As shown in Figure 9, the harvesting width d1 of the straight path P3 was 6 rows when the target path P was set. However, suppose the harvesting width d1 of the straight path P3 is narrowed to a harvesting width d2 of 4 rows by the harvesting width change unit 88. In that case, as shown in Figure 10, the target path setting unit 90 resets the straight path P3a so that it passes through the center of the 6 rows, which is the sum of the 4 rows of harvesting width d2 and the 2 rows that have already been harvested. That is, the straight path P3 is reset to a straight path P3a that is shifted 2 rows to the right in accordance with the changed harvesting width d2.

Furthermore, if the straight path P3 is shifted by two rows to the straight path P3a, an unharvested area equivalent to the shifted two rows will be created between the straight path P3a and the adjacent straight path P5. Therefore, the target path setting unit 90 resets the straight paths P5, P7, etc., which share the same direction of travel as the straight path P3, to straight paths P5a, P7a, etc., which are shifted two rows to the right. In this way, the target path setting unit 90 resets the target path P based on the harvesting width d2 changed by the harvesting width changing unit 88.

As shown in Figure 11, the harvesting width d1 of the straight path P3 was 4 rows when the target path P was set. However, suppose the harvesting width d1 of the straight path P3 is widened to a harvesting width d2 of 6 rows by the harvesting width changing unit 88. In that case, as shown in Figure 12, the target path setting unit 90 readjusts the straight path P3a so that it passes through the center of the changed harvesting width d2 of 6 rows. That is, the straight path P3 is readjusted to a straight path P3a that is shifted 2 rows to the left in accordance with the changed harvesting width d2.

Thus, by changing the harvesting width according to the engine load 69, the combine harvester 1 can reduce the load on the harvesting device 200 when the yield is high, and as a result, reduce the load on the engine 69. Therefore, the load on the engine 69 can be stabilized. This reduces the possibility of the engine stalling due to an increased load on the engine 69. Furthermore, by reducing the load on the harvesting device 200, it becomes possible to maintain a constant vehicle speed, preventing a decrease in the conveying speed of the grain stalk conveying device 205 due to a decrease in vehicle speed. This stabilizes the conveying posture of the harvested grain stalks and reduces threshing loss.

Furthermore, the harvesting width d1 when setting the target route P may be set based on the load detection results when manually driving through the headland area A. The target route setting unit 90 may also set the target route P using the harvesting width d1 set based on the load detection results in the headland area A. However, since the crop growth conditions in the headland area A may differ from those in other areas, the yield may differ between the headland area A and other areas. In such cases, it is preferable for the operator to manually set the harvesting width d1.

Next, an example of the timing for resetting the target path P will be described. The harvesting width changing unit 88 changes the harvesting width d1 of the second straight path Pn+2 to the harvesting width d2 between the end position of the first straight path Pn (which has just finished automatically traveling) and the start position of the second straight path Pn+2, which is close to the first straight path Pn and about to be automatically traveled. More preferably, the harvesting width changing unit 88 changes the harvesting width d1 of the second straight path Pn+2 immediately after automatically traveling the first straight path Pn, that is, immediately after passing the end position of the first straight path Pn.

Furthermore, the target path setting unit 90 resets the target path P from the end position of the first straight path Pn, which has just been automatically traveled, to the start position of the second straight path Pn+2, which is close to the first straight path Pn and will be automatically traveled next, among the multiple straight paths P1 to P7 included in the target path P. More preferably, immediately after automatically traveling the first straight path Pn, that is, immediately after passing the end position of the first straight path Pn, the target path setting unit 90 resets the target path P based on the harvesting width d2 of the second straight path Pn+2, which has been changed by the harvesting width changing unit 88.

As a specific example, consider Figure 8, where the combine harvester 1 has finished automatically traveling along straight path P1 and is moving towards the adjacent straight path P3. Straight path P1 is the first straight path Pn, and straight path P3 is the second straight path Pn+2. In this scenario, the harvesting width changing unit 88 changes the harvesting width d1 of straight path P3 to harvesting width d2 between the end position P1e of the straight path P1, which has been automatically traveled, and the start position P3s of the straight path P3, which is adjacent to straight path P1 and which the combine harvester will now automatically travel along. Subsequently, the target path setting unit 90 resets at least a portion of the target path P, including straight path P3, based on the changed harvesting width d2 of straight path P3. As a result, the combine harvester 1 can continue automatic travel without stopping, even when the harvesting width d1 is changed. Furthermore, by performing harvesting work without changing the harvesting width d1 while automatically traveling along one straight path Pn, no unharvested areas are created.

More preferably, immediately after passing the end position P1e of the straight path P1, the harvesting width changing unit 88 changes the harvesting width d1 of the straight path P3 adjacent to the straight path P1 to the harvesting width d2. Subsequently, the target path setting unit 90 resets at least a portion of the target path P, including the straight path P3, based on the changed harvesting width d2 of the straight path P3. This allows the display unit 73 to display the reset target path P with sufficient time. The operator can recognize the straight path P3a that will be automatically traveled in advance with sufficient time.

The target path setting unit 90 may handle excess rows when setting the target path P. That is, the target path setting unit 90 sets the harvesting width d1 of the final straight path P7 included in the target path P to be greater than or equal to a predetermined width, which is the lower limit of harvesting rows. If, for example, the final straight path P7 is to be harvested as one row, i.e., the harvesting width d1 is one row, then attempting to harvest one row of grain with a six-row combine harvester 1 would result in unstable conveying posture of the grain stalks by the grain stalk conveying device 205, making it easy for grain stalks to be missed. Furthermore, the harvesting device 200 would end up taking in the remaining five rows of straw.

Therefore, when the harvesting width d1 of the final straight path P7 falls below the minimum number of harvested rows, the target path setting unit 90 sets the harvesting width d1 of the multiple straight paths Pn (for example, straight paths P5 and P6) preceding the final straight path P7 to be narrowed by one or two rows, or widened by one or two rows. This ensures that the harvesting width d1 of the final straight path P7 is equal to or greater than the minimum number of harvested rows, thereby suppressing the occurrence of unharvested plants and the collection of discarded straw. The target path setting unit 90 may also perform a similar row-over-row adjustment when resetting the target path P.

Next, an example of perimeter mowing will be explained with reference to Figures 13 and 14. Figure 13 shows an example of the target path P for perimeter mowing. Figure 14 shows the target path P reset according to a change in the mowing width.

In the example shown in Figure 13, the target path setting unit 90 sets a target path P for automatic circling mowing in the unharvested area B. The target path P includes multiple straight paths P1 to P11. The combine harvester 1 travels from the start "S" of the target path P to the goal "G" in the order of straight paths P1, P2, P3, P4, P5, P6, P7, P8, P9, P10, and P11. The idle path (shown as a dashed line in Figure 13) when the combine harvester 1 moves from the end position of straight path Pn to the start position of the next straight path Pn+1 is not particularly limited. The combine harvester 1 may travel the idle path automatically or manually.

The harvesting width changing unit 88 changes the harvesting width d1 of each linear path in the longitudinal direction of the target path P based on the load detection results of adjacent linear paths. For example, based on the load detection results in linear path P1, the harvesting width changing unit 88 changes the harvesting width d1 of linear path P5 adjacent to linear path P1 to harvesting width d2. Based on the load detection results in linear path P5, the harvesting width changing unit 88 changes the harvesting width d1 of linear path P9 adjacent to linear path P5 to harvesting width d2. Based on the load detection results in linear path P9, the harvesting width changing unit 88 changes the harvesting width d1 of linear path P11 adjacent to linear path P9 to harvesting width d2. Similarly, based on the load detection results in linear path P3, the harvesting width changing unit 88 changes the harvesting width d1 of linear path P7 adjacent to linear path P3 to harvesting width d2. The harvesting width changing unit 88 changes the harvesting width d1 of the straight path P10 adjacent to the straight path P7 to the harvesting width d2, based on the load detection result in the straight path P7.

Furthermore, the harvesting width changing unit 88 may change the harvesting width d1 of each straight path in the shorter direction of the target path P based on the load detection results of adjacent straight paths. For example, the harvesting width changing unit 88 changes the harvesting width d1 of straight path P6 to harvesting width d2 based on the load detection results of straight path P2. Also, the harvesting width changing unit 88 changes the harvesting width d1 of straight path P8 to harvesting width d2 based on the load detection results of straight path P4.

In Figure 13, the harvesting width d1 when setting the target route P is assumed to be set to a harvesting width corresponding to 4 rows. As shown in Figure 14, the combine harvester 1 is traveling along straight routes P1 to P8 and is about to travel along straight route P9. In this case, the harvesting width changing unit 88 widens the harvesting width d1 of straight route P9 to 6 rows, which is wider than 4 rows, because the straight route P5 adjacent to straight route P9 had a "low load". Based on the harvesting width d2 changed by the harvesting width changing unit 88, the target route setting unit 90 resets straight route P9 to straight route P9a, and also resets straight route P11 adjacent to straight route P9 to straight route P11a. The method for resetting each straight route Pn is as explained in Figures 9 to 12.

The target path setting unit 90, similar to the reciprocating mowing method, resets the target path P during the period from the end position of the first straight path Pn, which has just completed automatic travel, to the starting position of the second straight path Pn+4, which is close to the first straight path Pn and about to be automatically traveled. More preferably, immediately after completing automatic travel on the first straight path Pn, that is, immediately after passing the end position of the first straight path Pn, the target path setting unit 90 resets the target path P based on the cutting width d2 of the second straight path P+4, which has been changed by the cutting width changing unit 88.

As a specific example, consider Figure 14, where the combine harvester 1 has finished automatically traveling along straight path P5 and is moving towards the adjacent straight path P9. Straight path P5 is the first straight path Pn, and straight path P9 is the second straight path Pn + 4. In this scenario, the harvesting width changing unit 88 changes the harvesting width d1 of straight path P9 to the harvesting width d2 between the end position P5e of the straight path P5, which has been automatically traveled, and the start position P9s of the straight path P9, which is adjacent to straight path P5 and which the combine harvester will now automatically travel. Subsequently, the target path setting unit 90 resets at least a portion of the target path P, including straight path P9, based on the changed harvesting width d2 of straight path P9.

Furthermore, the target path setting unit 90 may handle excess rows during both the initial setting and resetting of the target path P, similar to the reciprocating mowing method.

Next, an example of the operation of the crop harvesting system 100 according to this embodiment will be described with reference to Figure 15. Figure 15 is a flowchart showing an example of the operation of the crop harvesting system 100 according to this embodiment.

First, the vehicle position acquisition unit 85 acquires the position information 99 of the combine harvester 1 (step S11).

The field contour setting unit 83 sets the contour 981P of the field 98 based on the multiple position information 99 acquired by the vehicle position acquisition unit 85 (step S12).

The area setting unit 84 sets the headland area A, the unharvested area B, and the harvested area C inside the contour 981P. Furthermore, the area setting unit 84 periodically updates the unharvested area B and the harvested area C based on multiple position information 99 acquired by the vehicle position acquisition unit 85 (step S13).

The target route setting unit 90 sets a target route P for automated driving in the unharvested area B (step S14).

After completing harvesting in headland area A, the operator instructs the portable communication terminal 7 to begin automatic driving along the target route P. Upon detection of this operation by the operation unit 74, the communication processing unit 72 instructs the combine harvester 1 to begin automatic driving. When the communication processing unit 65 of the combine harvester 1 receives the instruction to begin automatic driving, the control unit 50 causes the combine harvester 1 to automatically drive along the target route P while performing harvesting (step S15).

The load detection unit 87, the harvesting width changing unit 88, and the target route setting unit 90 repeatedly perform the processes in steps S16 to S21 for each straight section during automatic driving. The load detection unit 87 detects the load of the engine 69 along the straight section (step S16).

The harvesting width changing unit 88 determines whether the load detection result of the engine 69 in the straight path is equal to or greater than a first threshold (step S17). If the load detection result is equal to or greater than the first threshold (step S17: Yes), the harvesting width changing unit 88 proceeds to step S18. If the load detection result is less than the first threshold (step S17: No), the harvesting width changing unit 88 proceeds to step S19.

The harvesting width changing unit 88 narrows the harvesting width of the straight path adjacent to the straight path where the load detection result is determined to be above the first threshold (step S18).

The harvesting width changing unit 88 determines whether the load detection result of the engine 69 in the straight path is below the second threshold (step S19). If the load detection result is below the second threshold (step S19: Yes), the harvesting width changing unit 88 proceeds to step S20. If the load detection result is greater than the second threshold (step S19: No), the harvesting width changing unit 88 proceeds to step S16.

The harvesting width changing unit 88 widens the harvesting width of the straight path adjacent to the straight path where the load detection result is determined to be less than the second threshold (step S20).

The target path setting unit 90 resets the target path P based on the harvesting width changed in step S18 or step S20 (step S21).

In this embodiment, the combine harvester 1 automatically traveled along the target path P, but the operator may manually operate the combine harvester 1 along the target path P. In the case of manual operation, the operator does not need to change the harvesting width d according to the engine load 69, thus improving work efficiency. Furthermore, in this embodiment, the harvesting width of the self-propelled combine harvester 1 was changed, but it is also possible to change the harvesting width of a conventional combine harvester.

The embodiment has been described above with reference to the drawings (Figures 1 to 15). However, the present invention is not limited to the above-described embodiment and can be implemented in various forms without departing from its essence. Furthermore, the multiple components disclosed in the above embodiment can be modified as appropriate. For example, some components from all the components shown in one embodiment may be added to the components of another embodiment, or some components from all the components shown in one embodiment may be removed from the embodiment.

Furthermore, the drawings schematically illustrate each component to facilitate understanding of the invention. The thickness, length, number, and spacing of each component shown may differ from the actual dimensions due to the limitations of drawing creation. Also, the configurations of each component shown in the above embodiments are merely examples and are not particularly limiting. It goes without saying that various modifications are possible without substantially departing from the effects of the present invention.

This application discloses the following caveats. These caveats are not intended to limit the present invention.

(Note 1)
A mowing device that cuts objects while moving using a mobile device,
A load detection unit for detecting the load on the power source that drives the traveling device and the harvesting device,
A combine harvester comprising a cutting width changing unit that changes the cutting width of the cutting device based on the load detection result of the load detection unit.

(Note 2)
The combine harvester described in Appendix 1, wherein the harvesting width changing unit changes the harvesting width in the travel path based on the load detection result detected in the adjacent path adjacent to the travel path to be traveled.

(Note 3)
The harvesting width changing unit narrows the harvesting width when the load detection result is equal to or greater than a predetermined first threshold, as described in Appendix 1 or Appendix 2 of the combine harvester.

(Note 4)
The harvesting width changing unit widens the harvesting width when the load detection result is less than or equal to a predetermined second threshold, as described in any of the appendices 1 to 3 of the combine harvester.

(Note 5)
A target path setting unit that sets a target path within the field,
The system includes an automatic driving control unit that automatically drives along the aforementioned target path,
The harvesting width changing unit changes the harvesting width based on the load detection result detected during automatic driving, as described in any of Appendix 1 to Appendix 4 of the combine harvester.

(Note 6)
The combine harvester described in Appendix 5, wherein the target path setting unit resets the target path based on the harvesting width changed by the harvesting width changing unit.

(Note 7)
The combine harvester according to Appendix 5 or Appendix 6, wherein the target route setting unit resets the target route from the end position of a first straight route that has finished automatically traveling, to the start position of a second straight route that is close to the first straight route and will be automatically traveled, among a plurality of straight routes included in the target route.

(Note 8)
The combine harvester according to any one of the appendices 5 to 7, wherein the target path setting unit sets the harvesting width of the final straight path included in the target path to a predetermined width or greater.

This invention is applicable to both self-propelled and conventional combine harvesters.

1. Combine harvester 50 control unit (automatic driving control unit)
69. Engine (power source)
87 Load detection unit 88 Harvesting width changing unit 90 Target path setting unit 98 Field 102 Traveling device 200 Harvesting devices d, d1, d2 Harvesting width E Grain stalk (target object)
P Target path P1-P11, P3a, P5a, P9a Straight path P1e, P5e End position P3s, P9s Start position

Claims (7)

A mowing device that cuts objects while moving using a mobile device,
A load detection unit for detecting the load on the power source that drives the traveling device and the harvesting device,
The system includes a cutting width changing unit that changes the cutting width of the cutting device based on the load detection result of the load detection unit,
The harvesting width changing unit of the combine harvester changes the harvesting width in the travel path based on the load detection result detected in the adjacent path that is close to the travel path to be traveled . The combine harvester according to claim 1 , wherein the harvesting width changing unit narrows the harvesting width when the load detection result is equal to or greater than a predetermined first threshold. The combine harvester according to claim 1 , wherein the harvesting width changing unit widens the harvesting width when the load detection result is less than or equal to a predetermined second threshold. A target path setting unit that sets a target path within the field,
The system includes an automatic driving control unit that automatically drives along the aforementioned target path,
The combine harvester according to claim 1, wherein the harvesting width changing unit changes the harvesting width based on the load detection result detected during automatic driving. The combine harvester according to claim 4 , wherein the target path setting unit resets the target path based on the harvesting width changed by the harvesting width changing unit. The combine harvester according to claim 4 or 5, wherein the target route setting unit resets the target route from the end position of a first straight route that has finished automatically traveling, to the start position of a second straight route that is close to the first straight route and will be automatically traveled, among a plurality of straight routes included in the target route. The combine harvester according to claim 4 or 5 , wherein the target path setting unit sets the harvesting width of the final straight path included in the target path to a predetermined width or greater.