JP7641864B2 - Farming System - Google Patents

Description

The present invention relates to an agricultural work system that uses a harvesting machine capable of harvesting crops.

General-purpose combine harvesters, which are harvesting machines capable of harvesting crops, generally use a threshing section to thresh the stalks harvested in the harvesting section, and then sort the stalks into grains and waste stalks in the sorting section. The grains sorted in the sorting section are transported to a grain tank and discharged outside the machine via a discharge auger. In such general-purpose combine harvesters, the harvesting section is connected to the front of the traveling body so that it can be raised and lowered, and the harvesting section is provided with a ground sensor that detects its height above the ground. For example, the combine harvester described in Patent Document 1 is equipped with a sled-shaped ground sensor that swings up and down, and is configured to detect the vertical swing position of the ground sensor according to the height of the harvesting section above the ground using a potentiometer.

The height control of the reaping unit described above (called automatic reaping height control) is effective when reaping soybeans and other crops planted in ridges in a field. In other words, if the reaping unit plunges into the ridges when reaping soybeans and other crops, it will take in soil along with the reaped stalks, causing soiled grains, so automatic reaping height control is used to avoid this.

To ensure a larger planting area in a farm field, it is better to have a headland as narrow as possible, but it is necessary to ensure that the headland is large enough to prevent a general-purpose combine harvester from hitting the ridge when turning. Therefore, headlands are generally made large enough to allow a general-purpose combine harvester to turn.

JP 2018-11565 A

During the cultivation of soybeans, for example, as an example of a pre-harvest process, a spraying vehicle that sprays herbicide to kill weeds may travel back and forth across the field. The spraying vehicle has a spraying boom (so-called boom sprayer) that spreads widely from side to side in order to spray herbicide on many ridges at the same time. As mentioned above, the headland is wide enough for a general-purpose combine harvester to turn, but it is not wide enough for a spraying vehicle with a spraying boom to turn. Therefore, the spraying vehicle turns closer to the headland than the general-purpose combine harvester so that the spraying boom does not hit the ridges. However, at that time, the wheels of the spraying vehicle cross the ridges, and ruts are formed at the places where the wheels cross, and the soil rises up to a small height to some extent. In the places where the soil has risen up in this way, the reaping unit can collect the soil before the ground sensor passes.

The present invention has been made in consideration of the above points, and aims to provide an agricultural work system using a harvesting machine that can prevent the harvesting section from taking in soil during harvesting work, even if a pile of soil occurs in part of a ridge during pre-harvesting work.

The agricultural work system according to the present invention comprises:
A front-end process work vehicle (500) for performing front-end process work;
a harvesting machine (1) capable of harvesting crops planted on the ridges of the field after the pre-processing work;
a generating unit (222) that generates information on an intersection area where the travel path intersects with the ridge positions based on a travel path of the front-end work vehicle and a map including ridge positions of the ridges in the field,
The harvesting machine (1) includes:
A running body (1A),
A reaping unit (2) connected to the traveling body so as to be able to rise and fall;
A lifting unit (207) for lifting and lowering the reaping unit;
A GPS device (209) for detecting the traveling position of the traveling machine body;
An acquisition unit (211) capable of acquiring information regarding the intersection area;
A control unit (100) that raises the reaping unit by the lifting unit when the traveling machine body reaches the intersection area.
It is characterized by:

When the traveling machine body leaves the intersection area, the control unit (100) causes the lifting unit to lower the reaping unit to the height before it was raised.

The agricultural work system according to the present invention comprises:
A front-end process work vehicle (500) for performing front-end process work;
a harvesting machine (1) capable of harvesting crops planted on the ridges of the field after the pre-processing work;
a generating unit (222) that generates information on an intersection area where the travel path intersects with the ridge positions based on a travel path of the front-end work vehicle and a map including ridge positions of the ridges in the field,
The harvesting machine (1) includes:
A running body (1A),
A reaping unit (2) connected to the traveling body so as to be able to rise and fall;
A lifting unit (207) for lifting and lowering the reaping unit;
A GPS device (209) for detecting the traveling position of the traveling machine body;
An acquisition unit (211) capable of acquiring information regarding the intersection area;
A notification unit (208);
A control unit (100) that notifies the user that the traveling vehicle has reached the intersection area by the notification unit when the traveling vehicle has reached the intersection area.
It is characterized by:

The agricultural work system according to the present invention comprises:
A front-end process work vehicle (500) for performing front-end process work;
a harvesting machine (1) capable of harvesting crops planted on the ridges of the field after the pre-processing work;
a generating unit (222) that generates information on an intersection area where the travel path intersects with the ridge positions based on a travel path of the front-end work vehicle and a map including ridge positions of the ridges in the field,
The harvesting machine (1) includes:
A running body (1A),
A reaping unit (2) connected to the traveling body so as to be able to rise and fall;
A lifting unit (207) for lifting and lowering the reaping unit;
A GPS device (209) for detecting the traveling position of the traveling machine body;
An acquisition unit (211) capable of acquiring information regarding the intersection area;
A display unit (30);
A control unit (100) that displays the traveling position of the traveling machine body detected by the GPS device and the intersection area in the field based on the map by the display unit,
It is characterized by:

The reference symbols in parentheses are for comparison with the drawings, but do not affect the configuration described in the claims in any way.

According to the present invention as set forth in claim 1, even if the harvesting machine reaches a part of the ridge where soil has piled up during the previous process during harvesting work, the harvesting unit can raise the harvesting part to avoid the part, preventing the harvesting unit from taking in soil along with the harvested stalks.

According to the present invention as set forth in claim 2, when the harvesting machine is in the process of harvesting, the harvesting section is raised to avoid a part of the ridge where the soil has piled up, and after the avoidance, the harvesting section is lowered to the height before the elevation, so that the harvesting operation can be continued without user operation, which is convenient.

According to the present invention as set forth in claim 3, when the harvesting machine reaches a part of the ridge where the soil has piled up during the previous process during harvesting work, it notifies the user that the machine has reached that part, so that the user can operate the machine in response to the notification to avoid that part so that the harvesting unit does not take in soil along with the harvested stalks.

According to the present invention as set forth in claim 4, the harvesting machine displays the traveling position of the traveling body during harvesting work and the part of the ridge where the soil has piled up and become slightly elevated during the previous process work, so that the user can operate to avoid the part in question in accordance with the display so that the harvesting unit does not take in soil along with the harvested stalks.

FIG. 2 is a side view showing a general-purpose combine harvester used in the agricultural work system of this embodiment. FIG. (A) Plan view of the main parts of the reaping unit, (B) side view of the main parts of the reaping unit. FIG. FIG. 1 is a block diagram showing an overview of an agricultural work system according to an embodiment of the present invention. FIG. 13 is a diagram for explaining muddy area map data. FIG. 13 is a diagram for explaining the cutting of mounded soil by the cutting unit. 4 is a flowchart showing mud contamination prevention control according to the present embodiment. FIG. 4 is a diagram for explaining mud contamination prevention control.

The agricultural work system of this embodiment will be described below with reference to the drawings. First, a general-purpose combine harvester, which is an example of a harvesting machine used in the agricultural work system of this embodiment, will be described with reference to Figs. 1 to 4. As shown in Figs. 1 and 2, the general-purpose combine harvester 1 as a harvesting machine is configured to include a traveling body 1A, a harvesting section 2 that harvests culms, a threshing section 3 that threshes and selects grains from the culms that are input in their entirety, a grain tank 4 that stores the selected grains, a discharge auger 5 that discharges the grains in the grain tank 4 outside the machine, a post-processing section 6 that post-processes the threshed culms, a driving operation section 7 on which the driver rides, and a crawler-type traveling section 8.

The harvesting section 2 is comprised of a header 9 connected to the front end of the traveling body 1A so that it can be raised and lowered, a divider 10 (also called a grass dividing body) that divides the uncut culms at the front end of the header 9, a cutting blade 11 that cuts the uncut culms, a reel 12 that shoves in the uncut culms and the cut culms, an auger 13 that collects the shoveled culms at a specified location in the width direction, and a feeder 14 that transports the culms collected by the auger 13 toward the threshing section 3 and feeds the whole culms into the threshing section 3.

As shown in Figures 3(A) and 3(B), a cutting height sensor 15 is provided at the bottom of the cutting unit 2 to detect the cutting height of the stalks by the cutting unit 2. The cutting height sensor 15 is located upstream of the cutting blade 11 in the direction of movement of the traveling body 1A during crop harvesting work in the cutting unit 2, and detects the height of the cutting unit 2 above the ground. The cutting height sensor 15 is configured with a pair of left and right ground sensors 16 (left ground sensor, right ground sensor) that swing up and down depending on the cutting height, and a potentiometer 17 (left ground sensor potentiometer, right ground sensor potentiometer) that detects the vertical swing position (more specifically, the rotation angle) of each ground sensor 16, and the detection value is used in automatic cutting height control that automatically controls the cutting height of the cutting unit 2.

Automatic cutting height control in a general-purpose combine harvester 1 is usually effective when harvesting crops such as soybeans, but is not performed when harvesting rice or wheat. In other words, when harvesting soybeans or other crops, if the harvesting part 2 digs into the ground, it will harvest mud along with the crop, causing soiled grains, so automatic cutting height control is performed to avoid this. And because ridges are formed in the field, a wide ground sensor 16 is used.

4, the driving operation unit 7 has a main driving speed change lever 22 that can adjust the forward or reverse vehicle speed steplessly by operating it forward or backward from the neutral position, and a sub-speed change lever 23 that can be switched between a low-speed working range and a high-speed driving range, etc., on the left side of the driver's seat 21 provided in the center of the driving operation unit 7. Furthermore, in front of the driver's seat 21, there is an engine rotation dial 25 that adjusts the engine speed, a power clutch switch 26 that can turn on and off the threshing clutch and the reaping clutch (not shown) by button operation to turn on and off the power from the engine to the threshing unit 3 or the reaping unit 2, a multi-steering lever 29 that can lift and lower the reaping unit 2 and turn the machine body, a touch panel type liquid crystal monitor 30 as a display unit, and a display changeover switch 31 that changes the screen of the liquid crystal monitor 30. The screen of the liquid crystal monitor 30 may be changed by touching the liquid crystal monitor 30 instead of operating the display changeover switch 31.

The power output by the engine is changed in speed by a transmission (not shown) and transmitted to the wheels, and is also transmitted to the threshing unit 3 or the reaping unit 2 via the threshing clutch and the reaping clutch. The power clutch switch 26 is a momentary seesaw switch that switches the drive state of the reaping unit 2 and the threshing unit 3. There are three drive states of the reaping unit 2 and the threshing unit 3: a stopped state in which both the reaping unit 2 and the threshing unit 3 are stopped, a threshing state in which the reaping unit 2 is stopped and the threshing unit 3 is driven, and a reaping state in which both the reaping unit 2 and the threshing unit 3 are driven. The stopped state is transitioned to by disconnecting both the threshing clutch and the reaping clutch, the threshing state is transitioned to by connecting the threshing clutch and disconnecting the reaping clutch, and the reaping state is transitioned to by connecting both the threshing clutch and the reaping clutch.

<Control Unit>
The traveling body 1A is provided with a control unit 100 that controls each part of the general-purpose combine harvester 1. Fig. 5 is a block diagram showing an outline of the agricultural work system of this embodiment. In the control system for the reaping unit 2 of the general-purpose combine harvester 1, each part of the general-purpose combine harvester 1 other than those shown in Fig. 5 may be connected to the control unit 100, but since this is not the main point of the invention, illustration and description of them will be omitted here.

As shown in FIG. 5, the control unit 100 is connected to a main shift lever potentiometer 201, a reaping drive detection sensor 202, a threshing drive detection sensor 203, a ground reaping height control execution switch 204, a mud intrusion prevention control execution switch 205, a right ground sensor potentiometer 17a, a left ground sensor potentiometer 17b, a reaping unit potentiometer 206, an actuator for raising and lowering the reaping unit 207, a buzzer 208, an LCD monitor 30, a GNSS unit 209, and an acquisition unit 211.

The main speed change lever potentiometer 201 detects the position of the above-mentioned steplessly adjustable main speed change lever 22 for traveling. The reaping drive detection sensor 202 detects the reaping clutch that turns the drive of the reaping unit 2 on and off and the drive state of the reaping unit 2. The threshing drive detection sensor 203 detects the threshing clutch that turns the drive of the threshing unit 3 on and off and the drive state of the threshing unit 3. The right ground sensor potentiometer 17a detects the up and down swing position (specifically, the rotation angle) of the right ground sensor 16 of the cutting height sensors 15 provided at the bottom of the reaping unit 2. The left ground sensor potentiometer 17b detects the up and down swing position of the left ground sensor 16 of the cutting height sensors 15 provided at the bottom of the reaping unit 2. The reaping unit potentiometer 206 detects the height of the reaping unit 2 relative to the traveling machine body 1A. The actuator 207 for lifting and lowering the cutting unit, which acts as a lifting unit, drives the cutting unit 2 up and down to raise and lower it relative to the traveling body 1A. In this embodiment, the height of the cutting unit 2 above the ground relative to the ridges can be switched between a working position where crops can be harvested and an avoidance position that is above the working position.

The ground mowing height control execution switch 204 is a switch that the operator can operate to input whether to execute (ON) or not execute (OFF) ground mowing height control that drives the mowing unit 2 up and down according to the detection data of the mowing height sensor 15 described above. The mud intrusion prevention control execution switch 205 is a switch that the operator can operate to input whether to execute (ON) or not execute (OFF) the mud intrusion prevention control process described below. The buzzer 208 is an example of an alarm unit that notifies the operator of warnings, abnormalities, etc., and emits a buzzer sound. The LCD monitor 30 is a touch panel type LCD monitor as described above.

The control unit 100 is configured with a computer such as a microcomputer. The control unit 100 includes a CPU (not shown) which is an example of a processor, a storage unit 102 configured with, for example, a ROM or RAM, and an I/O (not shown).

The memory unit 102 stores a program that causes the control unit 100 to perform the calculation process described below and various parameters used in the calculation process. The memory unit 102 can also store detection data acquired by the reaping drive detection sensor 202, the threshing drive detection sensor 203, the right ground sensor potentiometer 17a, the left ground sensor potentiometer 17b, the reaping unit potentiometer 206, etc., traveling position information of the traveling machine body 1A acquired by the GNSS unit 209, and various data acquired from the external device 220 via the acquisition unit 211. In this embodiment, the acquisition unit 211 can acquire muddy area map data described below from the external device 220. The GNSS unit 209 is a GPS device that acquires traveling position information of the traveling machine body 1A from a positioning satellite via the receiving antenna 210.

The control unit 100 can transmit and receive various data to and from the external device 220 via the acquisition unit 211. The acquisition unit 211 is configured to be able to transmit and receive data to and from the communication unit 221 of the external device 220, for example, by wireless communication (such as Bluetooth (registered trademark)) or wired communication. The external device 220 may be any device equipped with a communication function, and is, for example, an information terminal such as a tablet terminal or a PC.

The external device 220 has a communication unit 221 and a muddy soil area map generation unit 222. The external device 220 can receive management work information such as ridge making/seeding work information, tillage/weeding work information, tillage/soiling work information, and herbicide spraying work information via the communication unit 221. This management work information is information acquired by a GPS device or the like while various front-end work vehicles are traveling to perform front-end work before harvesting crops, such as ridge making/seeding work, tillage/weeding work, tillage/soiling work, and herbicide spraying work.

The muddy area map generator 222 creates muddy area map data (map information) to be described later. In this embodiment, the external device 220 acquires a map including the ridge positions of the ridges in the field according to the ridge-making and seeding work performed in the field by a ridge-making machine (an example of a front-end work vehicle) and travel route information of a spraying vehicle in the herbicide spraying work performed in the field by a spraying vehicle (an example of a front-end work vehicle), and creates muddy area map data using these. As will be described in detail later, the muddy area map data is map information including information on the intersection area where the spraying vehicle crossed the ridges while traveling in the field. The control unit 100 receives the muddy area map data from the external device 220 and stores it in the memory unit 102.

The muddy soil area map data will be explained using Figures 6 and 7. As shown in Figure 6, a large number of ridges W are formed in field A. Position information of these ridges W in field A is obtained as ridge formation/sowing work information, for example, when a front-end work vehicle performing such ridge formation/sowing work travels through field A when forming the ridges or planting seedlings in the ridges W. Alternatively, as teaching control, it is possible to obtain position information of the ridges W (including width and length) related to the ridge positions by actually driving a front-end work vehicle through field A after forming the ridges or planting seedlings, or by flying a drone.

As already mentioned, as shown in FIG. 6, during the cultivation of soybeans or the like, a spraying vehicle 500 for spraying herbicide, for example, may travel back and forth across field A. The spraying vehicle 500 has a spraying boom 501 (also called a boom sprayer) that spreads widely from side to side and can spray herbicide on many ridges at the same time (six at a time in this case). The headland B of field A is wide enough to allow a general-purpose combine to turn, but is insufficient to allow the spraying vehicle 500 with the spraying boom 501 to turn. In other words, the headland B is not secured with the turning range of the spraying boom 501 in mind, so there is a risk that the spraying boom 501 will hit the ridge C when the spraying vehicle 500 turns on the headland B.

Therefore, the spraying vehicle 500 turns in front of the headland B compared to the general-purpose combine harvester so that the spraying boom 501 does not hit the ridge C while traveling in the field. Therefore, the wheels of the spraying vehicle 500 cross the ridge W. Then, as shown in FIG. 7, a rut is formed at the point Z where the wheels crossed, and the soil rises to a small height to some extent. In this way, at the point Y where the soil is raised, the cutting unit 2 of the general-purpose combine harvester is likely to take in the soil together with the harvested stalks during the crop harvesting operation. That is, in the cutting unit 2, the cutting blade 11 reaches the point Y where the soil is raised before passing the ground sensor 16, so the cutting blade 11 may take in the soil together with the harvested stalks. The soil thus taken in is carried to the threshing unit 3 and the grain tank 4, causing soiling of the threshing unit 3 and the grain tank 4 and causing damage to the grains.

Therefore, in the case of this embodiment, the operator creates muddy area map data that defines the crossing area Q where the spraying vehicle 500 crosses the ridge W in the field A using the external device 220, and stores this in the memory unit 102 of the general-purpose combine harvester 1. The crossing area Q where the wheels of the spraying vehicle 500 cross the ridge W is determined from the travel path information of the spraying vehicle 500 and the position information of the ridge W. In the example shown in FIG. 6, the part of the rectangular frame drawn with a thick line is stored in the muddy area map data (map information) as the crossing area Q where the wheels of the spraying vehicle 500 crossed the ridge W. Then, when the general-purpose combine harvester 1 performs the harvesting work of harvesting the crops planted in the ridge W, the muddy area map data is used to prevent the harvesting unit 2 from taking in soil along with the harvested stalks (see the muddy contamination prevention control process described later).

<Mud contamination prevention control treatment>
Next, a mud intrusion prevention control process executed by the control unit 100 when the multi-purpose combine harvester 1 travels back and forth in the field while repeatedly turning on the headland of the field to perform a harvesting operation in which the harvester 2 harvests crops planted in the ridges will be described using Figs. 8 and 9 with reference to Figs. 5, 6, etc. Fig. 8 is a flowchart showing the mud intrusion prevention control process of this embodiment. In this embodiment, when an ignition key (not shown) for starting the engine is operated by the operator, for example, the control unit 100 repeatedly executes the mud intrusion prevention control process shown in Fig. 8.

As shown in FIG. 8, the control unit 100 determines whether the general-purpose combine harvester 1 is traveling for a mowing operation (S1). The control unit 100 determines whether the general-purpose combine harvester 1 is traveling for a mowing operation based on the detection result of the mowing drive detection sensor 202. If the general-purpose combine harvester 1 is traveling for a mowing operation (YES in S1), the control unit 100 determines whether ground mowing height control is being executed (S2). Depending on whether the ground mowing height control execution switch 204 is on or off, the control unit 100 determines whether ground mowing height control is being executed to drive the mowing unit 2 up and down according to the detection data of the mowing height sensor 15. If ground mowing height control is being executed (YES in S2), the control unit 100 determines whether the mowing height sensor 15 is in a grounded state where it is in contact with the ground (specifically, the ridge) (S3).

If the cutting height sensor 15 is in a grounded state (YES in S3), the control unit 100 determines whether or not the mud intrusion prevention control process is being executed (S4). The control unit 100 determines that the mud intrusion prevention control process is being executed if the mud intrusion prevention control execution switch 205 is turned on by the operator.

If the mud intrusion prevention control process is being executed (YES in S4), the control unit 100 acquires field information and traveling position information of the traveling body 1A (S5). The field information here includes the mud intrusion area map data described above, and is stored in advance in the memory unit 102. In the case of this embodiment, before performing the mowing work, the operator acquires mud intrusion area map data related to the field where the mowing work will be performed from the external device 220 and stores it in the memory unit 102. The control unit 100 acquires the traveling position information of the traveling body 1A from the GNSS unit 209.

The control unit 100 compares the acquired travel position information of the traveling body 1A with the muddy area map data to determine whether the traveling body 1A has reached the muddy area (i.e., the intersection area Q) (S6). If the traveling body 1A has reached the muddy area (within the range of S6), the control unit 100 notifies the operator that the traveling body 1A has reached the muddy area by making the buzzer 95 generate a buzzer sound (S7).

Then, when the control unit 100 reaches the muddy area, the height of the cutting unit 2 (original working position) detected by the cutting unit potentiometer 206 is stored in the memory unit 102 (S8). The control unit 100 then raises the cutting unit 2 from the working position to the avoidance position (S9). For example, the cutting unit 2 is raised to the highest position that it can rise and fall to relative to the traveling body 1A as the avoidance position. However, if the height of the area where the soil will rise up due to the wheels crossing can be predicted based on, for example, the wheel diameter of the spreading work vehicle that created the muddy area map data, the cutting unit 2 can be raised to a position higher than the height of the raised area as the avoidance position, without raising it to the highest position.

The control unit 100 compares the acquired travel position information of the traveling body 1A with the muddy area map data to determine whether the traveling body 1A is traveling within the muddy area (S10). If the traveling body 1A is traveling within the muddy area (within the range of S10), the control unit 100 waits without proceeding with the process until the traveling body 1A leaves the muddy area. If the traveling body 1A leaves the muddy area (outside the range of S10), the control unit 100 lowers the reaping unit 2 so as to return it to the height of the reaping unit 2 stored in the memory unit 102 in step S8 above, that is, the original working position before it was raised (S11). In addition, the buzzer sound from the buzzer 95 is muted.

Using Figure 9, a specific example of the notification by the notification buzzer 61 will be described. As shown in Figure 9, the general-purpose combine harvester 1 enters the field and travels along the ridges W. At that time, the general-purpose combine harvester 1 lowers the cutting unit 2 to the working position, and the cutting unit 2 cuts the crops planted on the ridges W while traveling. At this time, the general-purpose combine harvester 1 cuts the crops planted on the ridges W while adjusting the height of the cutting unit 2 above the ground according to the height of the ridges W based on detection by the cutting height sensor 15.

When the general-purpose combine 1 reaches the intersection area Q during such harvesting work, a buzzer 95 emits a buzzer sound. This notifies the operator that the general-purpose combine 1 is approaching a point Y (see FIG. 7) where soil has piled up due to a preceding process work vehicle (e.g., a spraying work vehicle) crossing the ridge W. The general-purpose combine 1 then raises the harvesting section 2 from the working position to the avoidance position.

When the general-purpose combine harvester 1 leaves the intersection area Q, the buzzer 95 is muted and the cutting unit 2 is lowered from the avoidance position to the original working position that was stored. In this embodiment, when the cutting unit 2 is in the working position, the general-purpose combine harvester 1 cuts the crop while adjusting the height of the cutting unit 2 above the ground based on detection by the cutting height sensor 15. Then, each time the general-purpose combine harvester 1 reaches the intersection area Q while cutting crops on another ridge W, it issues an alert using the buzzer 95 and moves the cutting unit 2 from the working position to the avoidance position.

As described above, in this embodiment, when the mud contamination prevention control process is being executed, the traveling position information of the traveling machine body is compared with the mud contamination area map data, and when the traveling machine body reaches an intersection area, a buzzer sounds. In addition, the cutting unit 2 is raised from the working position to the avoidance position. As a result, even if the general-purpose combine 1 reaches a part of the ridge where soil has piled up during the previous process during the harvesting operation, the cutting unit 2 is raised to avoid the part, so that the cutting unit 2 does not take in soil along with the harvested stalks.

In the above embodiment, an example has been shown in which both the buzzer 95 issues a warning and the cutting unit 2 moves from the working position to the avoidance position, but this is not limiting, and either the buzzer 95 issues a warning or the cutting unit 2 moves may be used. However, if only the buzzer 95 issues a warning, the operator must operate the cutting unit 2 to move from the working position to the avoidance position in response to the buzzer 95 warning.

In the above embodiment, the buzzer 95 is used as an example of the notification unit, but the present invention is not limited to this. For example, the notification may be made by the liquid crystal monitor 30, a speaker (not shown), or a warning lamp (not shown). For example, a sound may be output from a speaker (not shown) to notify the arrival of the intersection area Q or the departure of the intersection area Q, or a warning lamp (not shown) may be turned on. The liquid crystal monitor 30 may display the arrival of the intersection area Q or the departure of the intersection area Q. Furthermore, for example, as shown in FIG. 9, the display of the ridge W based on the position information of the ridge W, the display of the running position of the running machine body 1A based on the running position information of the running machine body 1A detected by the GPS device regarding the general-purpose combine 1 during running, and the intersection area Q based on the muddy area map data may be displayed on the liquid crystal monitor 30. Based on such notifications, the operator can recognize that the general-purpose combine 1 has reached the intersection area Q, and can perform the operation of moving the reaping unit 2 from the working position to the avoidance position at an appropriate timing accordingly.

In the above-described embodiment, the general-purpose combine harvester 1 acquires muddy area map data generated by the external device 220 (more specifically, the muddy area map generating unit 222, see FIG. 5), but this is not limited to the above. For example, the general-purpose combine harvester 1 may have a muddy area map generating unit 222 and receive management work information such as ridge making/sowing work information, tillage weeding work information, tillage soiling work information, and herbicide spraying work information via the acquiring unit 211 to create muddy area map data.

1... General-purpose combine (harvesting machine)
1A... Traveling body 2... Harvesting unit 30... Liquid crystal monitor (display unit)
100... Control unit 207... Actuator for lifting and lowering the reaping unit (lifting unit)
208...Buzzer (alarm unit)
209...GNSS unit (GPS device)
211: Acquisition unit 222: Generation unit 500: Spraying vehicle (pre-process work vehicle)

Claims (4)

A front-end work vehicle for performing front-end work;
a harvesting machine capable of harvesting the crops planted on the ridges of the field after the pre-processing work;
a generating unit that generates information regarding an intersection area where the travel path intersects with the ridge positions based on a travel path of the front-end work vehicle and a map including ridge positions of the ridges in the field,
The harvesting machine is
A running body,
A reaping unit connected to the traveling body so as to be liftable and lowerable;
A lifting unit that lifts and lowers the reaping unit;
A GPS device for detecting the traveling position of the traveling machine body;
An acquisition unit capable of acquiring information regarding the intersection area;
A control unit that raises the reaping unit by the lifting unit when the traveling machine body reaches the intersection area.
A farming system comprising: When the traveling machine body leaves the intersection area, the control unit causes the lifting unit to lower the reaping unit to a height before the lifting unit is raised.
2. The agricultural work system according to claim 1 . A front-end work vehicle for performing front-end work;
a harvesting machine capable of harvesting the crops planted on the ridges of the field after the pre-processing work;
a generating unit that generates information regarding an intersection area where the travel path intersects with the ridge positions based on a travel path of the front-end work vehicle and a map including ridge positions of the ridges in the field,
The harvesting machine is
A running body,
A reaping unit connected to the traveling body so as to be liftable and lowerable;
A lifting unit that lifts and lowers the reaping unit;
A GPS device for detecting the traveling position of the traveling machine body;
An acquisition unit capable of acquiring information regarding the intersection area;
A notification department;
A control unit that notifies the user that the traveling vehicle has reached the intersection area by the notification unit when the traveling vehicle has reached the intersection area.
A farming system comprising: A front-end work vehicle for performing front-end work;
a harvesting machine capable of harvesting the crops planted on the ridges of the field after the pre-processing work;
a generating unit that generates information regarding an intersection area where the travel path intersects with the ridge positions based on a travel path of the front-end work vehicle and a map including ridge positions of the ridges in the field,
The harvesting machine is
A running body,
A reaping unit connected to the traveling body so as to be liftable and lowerable;
A lifting unit that lifts and lowers the reaping unit;
A GPS device for detecting the traveling position of the traveling machine body;
An acquisition unit capable of acquiring information regarding the intersection area;
A display unit;
A control unit that displays the traveling position of the traveling machine body detected by the GPS device and the intersection area in the field based on the map by the display unit,
A farming system comprising:

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