1. A harvester that includes a harvesting device for harvesting a crop in a field and a traveling device, and that is capable of performing traveling 5 harvesting in which the crop in the field is harvested with use of the harvesting device while traveling with use of the traveling device, the harvester comprising: a crop tank configured to store the crop harvested by the harvesting device; 10 a weight detection unit configured to detect a storage weight, which is a value that indicates a weight of the crop stored in the crop tank; a maximum weight calculation unit configured to calculate a maximum weight, which is a value that indicates a weight of the crop at a maximum storage amount of the crop tank; 15 a unit harvest weight calculation unit configured to calculate a unit harvest weight, which is a weight of the crop harvested per unit of harvest-travel distance; and a maximum travel distance calculation unit configured to calculate a maximum travel distance, which is a maximum distance that can be traveled 20 during the traveling harvesting before the amount of the crop stored in the crop tank reaches the maximum storage amount, based on the storage weight detected by the weight detection unit, the maximum weight calculated by the maximum weight calculation unit, and the unit harvest weight calculated by the unit harvest weight calculation unit. 25

2. The harvester according to claim 1, further comprising: an accumulation height detection unit configured to detect an accumulation height of the crop stored in the crop tank, wherein the maximum weight calculation unit calculates the 30 maximum weight based on the storage weight detected by the weight detection unit and the accumulation height detected by the accumulation height detection unit.

3. The harvester according to claim 1, further comprising: 35 a moisture detection unit configured to detect a moisture content of the crop harvested by the harvesting device, 63 wherein the maximum weight calculation unit calculates the maximum weight based on the moisture content detected by the moisture detection unit. 5 4. A maximum travel distance calculation program for causing a computer to execute: a weight detection function of detecting a storage weight, which is a value that indicates a weight of a crop stored in a crop tank of a harvester, the harvester including a harvesting device for harvesting the crop in a field and a 10 traveling device, the harvester being capable of performing traveling harvesting in which the crop in the field is harvested with use of the harvesting device while traveling with use of the traveling device, and the harvester further including the crop tank that stores the crop harvested by the harvesting device; 15 a maximum weight calculation function of calculating a maximum weight, which is a value that indicates a weight of the crop at a maximum storage amount of the crop tank; a unit harvest weight calculation function of calculating a unit harvest weight, which is a weight of the crop harvested per unit of harvest-travel 20 distance; and a maximum travel distance calculation function of calculating a maximum travel distance, which is a maximum distance that the harvester can travel during the traveling harvesting before the amount of the crop stored in the crop tank reaches the maximum storage amount, based on the 25 storage weight detected by the weight detection function, the maximum weight calculated by the maximum weight calculation function, and the unit harvest weight calculated by the unit harvest weight calculation function.

5. A recording medium having recorded thereon a maximum travel 30 distance calculation program for causing a computer to execute: a weight detection function of detecting a storage weight, which is a value that indicates a weight of a crop stored in a crop tank of a harvester, the harvester including a harvesting device for harvesting the crop in a field and a traveling device, the harvester being capable of performing traveling 35 harvesting in which the crop in the field is harvested with use of the harvesting device while traveling with use of the traveling device, and the 64 harvester further including the crop tank that stores the crop harvested by the harvesting device; a maximum weight calculation function of calculating a maximum weight, which is a value that indicates a weight of the crop at a maximum 5 storage amount of the crop tank; a unit harvest weight calculation function of calculating a unit harvest weight, which is a weight of the crop harvested per unit of harvest-travel distance; and a maximum travel distance calculation function of calculating a 10 maximum travel distance, which is a maximum distance that the harvester can travel during the traveling harvesting before the amount of the crop stored in the crop tank reaches the maximum storage amount, based on the storage weight detected by the weight detection function, the maximum weight calculated by the maximum weight calculation function, and the unit 15 harvest weight calculated by the unit harvest weight calculation function.

6. A maximum travel distance calculation method comprising: a weight detection step of detecting a storage weight, which is a value that indicates a weight of a crop stored in a crop tank of a harvester, the 20 harvester including a harvesting device for harvesting the crop in a field and a traveling device, the harvester being capable of performing traveling harvesting in which the crop in the field is harvested with use of the harvesting device while traveling with use of the traveling device, and the harvester further including the crop tank that stores the crop harvested by 25 the harvesting device; a maximum weight calculation step of calculating a maximum weight, which is a value that indicates a weight of the crop at a maximum storage amount of the crop tank; a unit harvest weight calculation step of calculating a unit harvest 30 weight, which is a weight of the crop harvested per unit of harvest-travel distance; and a maximum travel distance calculation step of calculating a maximum travel distance, which is a maximum distance that the harvester can travel during the traveling harvesting before the amount of the crop stored in the 35 crop tank reaches the maximum storage amount, based on the storage weight detected in the weight detection step, the maximum weight calculated in the 65 maximum weight calculation step, and the unit harvest weight calculated in the unit harvest weight calculation step.

7. An agricultural work vehicle comprising: 5 an information acquisition unit configured to acquire field surface information that indicates a characteristic of a field surface; and a turning speed control unit configured to control a turning speed based on the field surface information acquired by the information acquisition unit. 10

8. The agricultural work vehicle according to claim 7, wherein the field surface information includes information that indicates a wet location tendency at positions in a field, and the turning speed control unit sets the turning speed lower in a case of 15 making a traveling turn at a position where the wet location tendency is relatively high than in a case of making a traveling turn at a position where the wet location tendency is relatively low.

9. The agricultural work vehicle according to claim 7 or 8, 20 wherein the field surface information includes information that indicates whether or not the field is a ridged field, and the turning speed control unit sets the turning speed lower in a case of traveling in a ridged field than in a case of traveling in a field that is not a ridged field. 25

10. The agricultural work vehicle according to any one of claims 7 to 9, wherein the information acquisition unit is configured to be capable of communicating with a management server that manages the agricultural work vehicle, and 30 the information acquisition unit acquires the field surface information from the management server.

11. A turning control program for causing a computer to execute: an information acquisition function of acquiring field surface 35 information that indicates a characteristic of a field surface; and a turning speed control function of controlling a turning speed of an 66 agricultural work vehicle based on the field surface information acquired by the information acquisition function.

12. A recording medium having recorded thereon a turning control 5 program for causing a computer to execute: an information acquisition function of acquiring field surface information that indicates a characteristic of a field surface; and a turning speed control function of controlling a turning speed of an agricultural work vehicle based on the field surface information acquired by 10 the information acquisition function.

13. A turning control method comprising: an information acquisition step of acquiring field surface information that indicates a characteristic of a field surface; and 15 a turning speed control step of controlling a turning speed of an agricultural work vehicle based on the field surface information acquired in the information acquisition step.

14. A combine control system for controlling a combine having a grain 20 tank that stores a grain, the combine control system comprising: a detection unit configured to detect that a storage weight of the grain in the grain tank has reached a maximum value; an acquisition unit configured to acquire turning precision information that indicates a turning precision of the combine; 25 a determination unit configured to determine whether or not the turning precision of the combine has decreased, based on the turning precision information acquired by the acquisition unit; and a maximum value reducing unit configured to reduce the maximum value if the determination unit determines that the turning precision of the 30 combine has decreased.

15. The combine control system according to claim 14, wherein the acquisition unit is configured to acquire a first retry count that indicates the number of retries performed by the combine on one turning 35 path, and the determination unit determines that the turning precision of the 67 combine has decreased if the storage weight of the grain in the grain tank is greater than or equal to a predetermined weight, and furthermore the first retry count has reached a predetermined first value. 5 16. The combine control system according to claim 14 or 15, wherein the acquisition unit is configured to acquire a second retry count that indicates a cumulative number of retries in turning operations performed by the combine, and the determination unit determines that the turning precision of the 10 combine has decreased if the storage weight of the grain in the grain tank is greater than or equal to a predetermined weight, and furthermore the second retry count has reached a predetermined second value.

17. The combine control system according to any one of claims 14 to 16, 15 wherein the acquisition unit is configured to acquire a retry turn count that indicates the number of turning operations in which a retry was performed among turning operations performed by the combine, and the determination unit determines that the turning precision of the combine has decreased if the storage weight of the grain in the grain tank is 20 greater than or equal to a predetermined weight, and furthermore the retry turn count has reached a predetermined third value.

18. The combine control system according to any one of claims 14 to 17, wherein the acquisition unit is configured to acquire a target turning 25 radius of the combine and an actual turning radius of the combine, and the determination unit determines that the turning precision of the combine has decreased if the storage weight of the grain in the grain tank is greater than or equal to a predetermined weight, and furthermore a difference between the target turning radius and the actual turning radius is greater 30 than or equal to a predetermined value.

19. The combine control system according to any one of claims 14 to 18, wherein if the determination unit determines that the turning precision of the combine has decreased, the maximum value reducing unit 35 changes the maximum value to the storage weight of the grain in the grain tank that was detected when the determination unit determined that the 68 turning precision of the combine has decreased.

20. The combine control system according to any one of claims 14 to 19, further comprising: 5 a discharge control unit configured to cause a grain discharge operation to start if the determination unit determines that the turning precision of the combine has decreased.

21. A combine control program for controlling a combine having a grain 10 tank that stores a grain, the combine control program causing a computer to execute: a detection function of detecting that a storage weight of the grain in the grain tank has reached a maximum value; an acquisition function of acquiring turning precision information that 15 indicates a turning precision of the combine; a determination function of determining whether or not the turning precision of the combine has decreased, based on the turning precision information acquired by the acquisition function; and a maximum value reducing function of reducing the maximum value if 20 the determination function determines that the turning precision of the combine has decreased.

22. A recording medium having recorded thereon a combine control program for controlling a combine having a grain tank that stores a grain, the 25 combine control program causing a computer to execute: a detection function of detecting that a storage weight of the grain in the grain tank has reached a maximum value; an acquisition function of acquiring turning precision information that indicates a turning precision of the combine; 30 a determination function of determining whether or not the turning precision of the combine has decreased, based on the turning precision information acquired by the acquisition function; and a maximum value reducing function of reducing the maximum value if the determination function determines that the turning precision of the 35 combine has decreased. 69

23. A combine control method for controlling a combine having a grain tank that stores a grain, the combine control method comprising: a detection step of detecting that a storage weight of the grain in the grain tank has reached a maximum value; 5 an acquisition step of acquiring turning precision information that indicates a turning precision of the combine; a determination step of determining whether or not the turning precision of the combine has decreased, based on the turning precision information acquired in the acquisition step; and 10 a maximum value reducing step of reducing the maximum value if it is determined in the determination step that the turning precision of the combine has decreased. 70

WE CLAIM:
1. A harvester that includes a harvesting device for harvesting a crop in
a field and a traveling device, and that is capable of performing traveling
5 harvesting in which the crop in the field is harvested with use of the
harvesting device while traveling with use of the traveling device, the
harvester comprising:
a crop tank configured to store the crop harvested by the harvesting
device;
10 a weight detection unit configured to detect a storage weight, which is
a value that indicates a weight of the crop stored in the crop tank;
a maximum weight calculation unit configured to calculate a
maximum weight, which is a value that indicates a weight of the crop at a
maximum storage amount of the crop tank;
15 a unit harvest weight calculation unit configured to calculate a unit
harvest weight, which is a weight of the crop harvested per unit of
harvest-travel distance; and
a maximum travel distance calculation unit configured to calculate a
maximum travel distance, which is a maximum distance that can be traveled 20 during the traveling harvesting before the amount of the crop stored in the
crop tank reaches the maximum storage amount, based on the storage weight
detected by the weight detection unit, the maximum weight calculated by the
maximum weight calculation unit, and the unit harvest weight calculated by
the unit harvest weight calculation unit. 25
2. The harvester according to claim 1, further comprising:
an accumulation height detection unit configured to detect an accumulation height of the crop stored in the crop tank,
wherein the maximum weight calculation unit calculates the 30 maximum weight based on the storage weight detected by the weight detection unit and the accumulation height detected by the accumulation height detection unit.
3. The harvester according to claim 1, further comprising:
35 a moisture detection unit configured to detect a moisture content of
the crop harvested by the harvesting device,
63

wherein the maximum weight calculation unit calculates the maximum weight based on the moisture content detected by the moisture detection unit.
5 4. A maximum travel distance calculation program for causing a
computer to execute:
a weight detection function of detecting a storage weight, which is a value that indicates a weight of a crop stored in a crop tank of a harvester, the harvester including a harvesting device for harvesting the crop in a field and a
10 traveling device, the harvester being capable of performing traveling harvesting in which the crop in the field is harvested with use of the harvesting device while traveling with use of the traveling device, and the harvester further including the crop tank that stores the crop harvested by the harvesting device;
15 a maximum weight calculation function of calculating a maximum
weight, which is a value that indicates a weight of the crop at a maximum storage amount of the crop tank;
a unit harvest weight calculation function of calculating a unit harvest weight, which is a weight of the crop harvested per unit of harvest-travel
20 distance; and
a maximum travel distance calculation function of calculating a maximum travel distance, which is a maximum distance that the harvester can travel during the traveling harvesting before the amount of the crop stored in the crop tank reaches the maximum storage amount, based on the
25 storage weight detected by the weight detection function, the maximum weight calculated by the maximum weight calculation function, and the unit harvest weight calculated by the unit harvest weight calculation function.
5. A recording medium having recorded thereon a maximum travel
30 distance calculation program for causing a computer to execute:
a weight detection function of detecting a storage weight, which is a value that indicates a weight of a crop stored in a crop tank of a harvester, the harvester including a harvesting device for harvesting the crop in a field and a traveling device, the harvester being capable of performing traveling 35 harvesting in which the crop in the field is harvested with use of the harvesting device while traveling with use of the traveling device, and the
64

harvester further including the crop tank that stores the crop harvested by the harvesting device;
a maximum weight calculation function of calculating a maximum weight, which is a value that indicates a weight of the crop at a maximum 5 storage amount of the crop tank;
a unit harvest weight calculation function of calculating a unit harvest weight, which is a weight of the crop harvested per unit of harvest-travel distance; and
a maximum travel distance calculation function of calculating a 10 maximum travel distance, which is a maximum distance that the harvester can travel during the traveling harvesting before the amount of the crop stored in the crop tank reaches the maximum storage amount, based on the storage weight detected by the weight detection function, the maximum weight calculated by the maximum weight calculation function, and the unit 15 harvest weight calculated by the unit harvest weight calculation function.
6. A maximum travel distance calculation method comprising:
a weight detection step of detecting a storage weight, which is a value that indicates a weight of a crop stored in a crop tank of a harvester, the
20 harvester including a harvesting device for harvesting the crop in a field and a traveling device, the harvester being capable of performing traveling harvesting in which the crop in the field is harvested with use of the harvesting device while traveling with use of the traveling device, and the harvester further including the crop tank that stores the crop harvested by
25 the harvesting device;
a maximum weight calculation step of calculating a maximum weight, which is a value that indicates a weight of the crop at a maximum storage amount of the crop tank;
a unit harvest weight calculation step of calculating a unit harvest
30 weight, which is a weight of the crop harvested per unit of harvest-travel distance; and
a maximum travel distance calculation step of calculating a maximum travel distance, which is a maximum distance that the harvester can travel during the traveling harvesting before the amount of the crop stored in the
35 crop tank reaches the maximum storage amount, based on the storage weight detected in the weight detection step, the maximum weight calculated in the
65

maximum weight calculation step, and the unit harvest weight calculated in the unit harvest weight calculation step.
7. An agricultural work vehicle comprising:
5 an information acquisition unit configured to acquire field surface
information that indicates a characteristic of a field surface; and
a turning speed control unit configured to control a turning speed based on the field surface information acquired by the information acquisition unit. 10
8. The agricultural work vehicle according to claim 7,
wherein the field surface information includes information that indicates a wet location tendency at positions in a field, and
the turning speed control unit sets the turning speed lower in a case of 15 making a traveling turn at a position where the wet location tendency is relatively high than in a case of making a traveling turn at a position where the wet location tendency is relatively low.
9. The agricultural work vehicle according to claim 7 or 8,
20 wherein the field surface information includes information that
indicates whether or not the field is a ridged field, and
the turning speed control unit sets the turning speed lower in a case of
traveling in a ridged field than in a case of traveling in a field that is not a
ridged field. 25
10. The agricultural work vehicle according to any one of claims 7 to 9,
wherein the information acquisition unit is configured to be capable of
communicating with a management server that manages the agricultural
work vehicle, and
30 the information acquisition unit acquires the field surface information
from the management server.
11. A turning control program for causing a computer to execute:
an information acquisition function of acquiring field surface 35 information that indicates a characteristic of a field surface; and
a turning speed control function of controlling a turning speed of an
66

agricultural work vehicle based on the field surface information acquired by the information acquisition function.
12. A recording medium having recorded thereon a turning control
5 program for causing a computer to execute:
an information acquisition function of acquiring field surface information that indicates a characteristic of a field surface; and
a turning speed control function of controlling a turning speed of an agricultural work vehicle based on the field surface information acquired by 10 the information acquisition function.
13. A turning control method comprising:
an information acquisition step of acquiring field surface information
that indicates a characteristic of a field surface; and
15 a turning speed control step of controlling a turning speed of an
agricultural work vehicle based on the field surface information acquired in the information acquisition step.
14. A combine control system for controlling a combine having a grain
20 tank that stores a grain, the combine control system comprising:
a detection unit configured to detect that a storage weight of the grain in the grain tank has reached a maximum value;
an acquisition unit configured to acquire turning precision
information that indicates a turning precision of the combine;
25 a determination unit configured to determine whether or not the
turning precision of the combine has decreased, based on the turning precision information acquired by the acquisition unit; and
a maximum value reducing unit configured to reduce the maximum value if the determination unit determines that the turning precision of the 30 combine has decreased.
15. The combine control system according to claim 14,
wherein the acquisition unit is configured to acquire a first retry count that indicates the number of retries performed by the combine on one turning 35 path, and
the determination unit determines that the turning precision of the
67

combine has decreased if the storage weight of the grain in the grain tank is greater than or equal to a predetermined weight, and furthermore the first retry count has reached a predetermined first value.
5 16. The combine control system according to claim 14 or 15,
wherein the acquisition unit is configured to acquire a second retry count that indicates a cumulative number of retries in turning operations performed by the combine, and
the determination unit determines that the turning precision of the 10 combine has decreased if the storage weight of the grain in the grain tank is greater than or equal to a predetermined weight, and furthermore the second retry count has reached a predetermined second value.
17. The combine control system according to any one of claims 14 to 16,
15 wherein the acquisition unit is configured to acquire a retry turn
count that indicates the number of turning operations in which a retry was performed among turning operations performed by the combine, and
the determination unit determines that the turning precision of the combine has decreased if the storage weight of the grain in the grain tank is 20 greater than or equal to a predetermined weight, and furthermore the retry turn count has reached a predetermined third value.
18. The combine control system according to any one of claims 14 to 17,
wherein the acquisition unit is configured to acquire a target turning
25 radius of the combine and an actual turning radius of the combine, and
the determination unit determines that the turning precision of the combine has decreased if the storage weight of the grain in the grain tank is greater than or equal to a predetermined weight, and furthermore a difference between the target turning radius and the actual turning radius is greater
30 than or equal to a predetermined value.
19. The combine control system according to any one of claims 14 to 18,
wherein if the determination unit determines that the turning
precision of the combine has decreased, the maximum value reducing unit
35 changes the maximum value to the storage weight of the grain in the grain
tank that was detected when the determination unit determined that the
68

turning precision of the combine has decreased.
20. The combine control system according to any one of claims 14 to 19,
further comprising:
5 a discharge control unit configured to cause a grain discharge
operation to start if the determination unit determines that the turning precision of the combine has decreased.
21. A combine control program for controlling a combine having a grain
10 tank that stores a grain, the combine control program causing a computer to
execute:
a detection function of detecting that a storage weight of the grain in the grain tank has reached a maximum value;
an acquisition function of acquiring turning precision information that 15 indicates a turning precision of the combine;
a determination function of determining whether or not the turning precision of the combine has decreased, based on the turning precision information acquired by the acquisition function; and
a maximum value reducing function of reducing the maximum value if 20 the determination function determines that the turning precision of the combine has decreased.
22. A recording medium having recorded thereon a combine control
program for controlling a combine having a grain tank that stores a grain, the
25 combine control program causing a computer to execute:
a detection function of detecting that a storage weight of the grain in the grain tank has reached a maximum value;
an acquisition function of acquiring turning precision information that
indicates a turning precision of the combine;
30 a determination function of determining whether or not the turning
precision of the combine has decreased, based on the turning precision information acquired by the acquisition function; and
a maximum value reducing function of reducing the maximum value if the determination function determines that the turning precision of the 35 combine has decreased.
69

23. A combine control method for controlling a combine having a grain tank that stores a grain, the combine control method comprising:
a detection step of detecting that a storage weight of the grain in the
grain tank has reached a maximum value;
5 an acquisition step of acquiring turning precision information that
indicates a turning precision of the combine;
a determination step of determining whether or not the turning
precision of the combine has decreased, based on the turning precision
information acquired in the acquisition step; and
10 a maximum value reducing step of reducing the maximum value if it
is determined in the determination step that the turning precision of the combine has decreased.
70