A control portion includes a vehicle-position acquiring portion, a field-contour setting portion, a region setting portion, and a display processing portion. The vehicle-position acquiring portion acquires position information indicating a position of the combine harvester traveling on a field. The field-contour setting portion sets a contour of a field on the basis of a plurality of pieces of the position information. The region setting portion sets a region not subject to a work indicating a region which is not a target for the work by the combine harvester inside the field or outside the field on the basis of the contour. The display processing portion causes a field image showing the field and an identification image for identifying the region not subject to the work, to be displayed on a display portion.

In a combine harvester, a terminal-side control device of a portable terminal functions as a route creation unit and a route determination unit. The route creation unit creates an autonomous travel route including a plurality of work routes for performing work in an unworked region of the field and a turning route connecting the two work routes. The route determination unit determines whether the position of the combine harvester during traveling of the combine harvester on the turning route and the position of the field outline satisfy a predetermined positional relationship with regard to the autonomous travel route, confirms the autonomous travel route when it is determined that the predetermined positional relationship is satisfied, and recreates the autonomous travel route to satisfy the predetermined positional relationship when it is determined that the predetermined positional relationship is not satisfied.

In a combine harvester, a terminal-side control device of a portable terminal functions as a route creation unit and a route determination unit. The route creation unit creates an autonomous travel route including a plurality of work routes for performing work in an unworked region of the field and a turning route connecting the two work routes. The route determination unit determines whether the position of the combine harvester during traveling of the combine harvester on the turning route and the position of the field outline satisfy a predetermined positional relationship with regard to the autonomous travel route, confirms the autonomous travel route when it is determined that the predetermined positional relationship is satisfied, and recreates the autonomous travel route to satisfy the predetermined positional relationship when it is determined that the predetermined positional relationship is not satisfied.

The setting processing section of the combine harvester sets a travel mode to an autonomous travel mode or a manual travel mode, and maintains the autonomous travel mode when the combine harvester set in the autonomous travel mode satisfies the autonomous travel maintaining condition.

A self-propelled forage harvester and a method for controlling said forage harvester are disclosed. A measuring device of the forage harvester may have a plurality of electrodes spaced at a distance from each other. These electrodes may be arranged or positioned in an intermediate channel of a harvested material processing channel of the forage harvester and may form a plurality of capacitors. Further, delivery-specific parameters and/or material-specific parameters may be discernible from the measurements of the electrical capacitances of the plurality of capacitors.

A self-propelled forage harvester and a method for controlling said forage harvester are disclosed. A measuring device of the forage harvester may have a plurality of electrodes spaced at a distance from each other. These electrodes may be arranged or positioned in an intermediate channel of a harvested material processing channel of the forage harvester and may form a plurality of capacitors. Further, delivery-specific parameters and/or material-specific parameters may be discernible from the measurements of the electrical capacitances of the plurality of capacitors.

A travel system is a system that causes a reaping unit to perform reaping work while causing a combine harvester to autonomously travel along a target route in a work area. A work processing unit controls an operation (position) of the reaping unit in the work area based on work region information including information on an unworked region where the reaping work has not finished and information on a worked region where the reaping work has finished.

A travel system is a system that causes a reaping unit to perform reaping work while causing a combine harvester to autonomously travel along a target route in a work area. A work processing unit controls an operation (position) of the reaping unit in the work area based on work region information including information on an unworked region where the reaping work has not finished and information on a worked region where the reaping work has finished.

The self-propelled combine harvester comprising an internal combustion engine and at least a first electric machine, mechanically connected to the internal combustion engine and adapted to convert mechanical power generated by the internal combustion engine into electrical power. There is also provided a storage system for energy generated by the first electric machine. A first continuously variable mechanical transmission connects the internal combustion engine to a first functional unit and is combined with a second electric machine configured to operate at least in motor mode and electrically connected to the storage system to receive electrical energy from the storage system. A control unit of the combine harvester is configured to control the first electric machine and the second electric machine as a function of an operating parameter of the first functional unit.

The self-propelled combine harvester comprising an internal combustion engine and at least a first electric machine, mechanically connected to the internal combustion engine and adapted to convert mechanical power generated by the internal combustion engine into electrical power. There is also provided a storage system for energy generated by the first electric machine. A first continuously variable mechanical transmission connects the internal combustion engine to a first functional unit and is combined with a second electric machine configured to operate at least in motor mode and electrically connected to the storage system to receive electrical energy from the storage system. A control unit of the combine harvester is configured to control the first electric machine and the second electric machine as a function of an operating parameter of the first functional unit.