US 12,356,878 B2
Combine harvester and travel route correction method
Hidetaka Suzuki, Osaka (JP); Yuji Yamaguchi, Osaka (JP); and Yasuto Nishii, Osaka (JP)
Assigned to YANMAR HOLDINGS CO., LTD., Osaka (JP)
Appl. No. 18/039,960
Filed by Yanmar Holdings Co., Ltd., Osaka (JP)
PCT Filed Oct. 27, 2021, PCT No. PCT/JP2021/039602
§ 371(c)(1), (2) Date Jun. 1, 2023,
PCT Pub. No. WO2022/118572, PCT Pub. Date Jun. 9, 2022.
Prior Publication US 2024/0032452 A1, Feb. 1, 2024
Int. Cl. A01B 69/04 (2006.01); A01D 41/127 (2006.01)
CPC A01B 69/008 (2013.01) [A01D 41/1278 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A combine harvester for conducting an automatic reaping travel according to a travel route, the combine harvester comprising:
a travel route creation unit configured to create the travel route including;
a first straight-line course; and
a second straight-line course parallel to and adjacent to the first straight-line course in a yet-to-be-reaped region in a field;
an automatic drive control unit configured to control automatic traveling and automatic reaping in association with the travel route;
a course movement unit configured to move the first straight-line course in a direction intersecting with a forward direction to correct the travel route while the automatic reaping travel is performed based on the first straight-line course; and
a course correction unit configured to, when the first straight-line course is moved in one direction, incline at least a part of the second straight-line course to the one direction to correct the part of the second straight-line course.