Farming System

Abstract

To prevent a reaping part from taking in mud during reaping work even when a mud risen up portion is generated at a part of a ridge in a previous work before reaping.SOLUTION: While executing a mud mixing prevention control process (YES at S4), a controller acquires field information and traveling positional information of a traveling machine body (S5). The field information includes mud mixing area map data, and is stored in a storage part in advance. The mud mixing area map data is map information regarding a cross area where a spraying vehicle travels crossing a ridge during travel of a farm field. The controller compares the traveling positional information of the traveling machine body with the mud mixing area map data, and when the traveling machine body reaches the cross area (within an area of S6), buzzer sound of a buzzer is generated (S7) and a reaping part is lifted from a work position to an avoidance position (S9). Thereby, the reaping part is prevented from taking in mud during reaping work even when a mud risen up portion is generated at a part of the ridge in a previous work.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention relates to an agricultural work system using a harvesting machine capable of harvesting crops. [Background technology]

[0002] In general, a general-purpose combine harvester as a harvesting machine capable of harvesting crops threshes the stalks harvested in the harvesting section in a threshing section, and then separates them into grains and waste stalks in a 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 a general-purpose combine harvester, 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 provided 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 above the ground of the harvesting section with a potentiometer.

[0003] The height control of the reaping unit described above (called automatic reaping height control) is effective when reaping soybeans planted in ridges in a farm field. In other words, if the reaping unit plunges into the ridges when reaping soybeans, it will take in soil along with the reaped stalks, causing soiled grains, so automatic reaping height control is used to avoid this.

[0004] In order to secure a larger planting area in a farm field, it is better to make the headland of the farm field 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, the headland is generally made large enough to allow the general-purpose combine harvester to turn. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2018-11565 A Summary of the Invention [Problem to be solved by the invention]

[0006] During the cultivation of soybeans, for example, as an example of a pre-harvest process before harvesting, a spraying vehicle that sprays herbicide to kill weeds may travel back and forth in the field. The spraying vehicle has a spraying boom (so-called boom sprayer) that spreads widely to the left and right in order to spray herbicide on many ridges at the same time. As described 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 ridge. However, at that time, the wheels of the spraying vehicle cross the ridge, and a rut is formed at the place where the wheels crossed, and the soil rises up to a small height to some extent. In the place where the soil has risen up in this way, the soil can be collected by the reaping unit before the ground sensor passes.

[0007] The present invention has been made in consideration of the above-mentioned points, and aims to provide an agricultural work system using a harvesting machine that can prevent the harvesting part from taking in soil during harvesting work, even if a mound of soil occurs in part of a ridge during pre-harvesting work. [Means for solving the problem]

[0008] 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 the 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; and 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:

[0009] 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.

[0010] 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 the 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:

[0011] 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 the 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 on the display unit, It is characterized by:

[0012] It should be noted that the reference numerals in parentheses are used for comparison with the drawings, and do not in any way affect the configuration described in the claims. Effect of the Invention

[0013] According to the present invention as defined in claim 1, even if the harvesting machine reaches a raised area in part of a ridge during harvesting operations where soil has piled up during the previous process, the harvesting machine raises the harvesting part to avoid that area, thereby preventing the harvesting part from taking in soil along with the harvested stalks.

[0014] 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 being raised, so that the harvesting operation can be continued without any user operation, which is convenient.

[0015] According to the present invention as set forth in claim 3, when the harvesting machine reaches a raised spot on a part of a ridge during harvesting operations where the soil has risen during the previous process, the harvesting machine notifies the user that the machine has reached that spot, so that the user can take action to avoid the spot in response to the notification so that the harvesting unit does not take in soil along with the harvested stalks.

[0016] 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 areas of the ridges where the soil has piled up and become elevated during the previous process work, so that the user can operate in accordance with the display to avoid those areas so that the harvesting unit does not take in soil along with the harvested stalks. [Brief description of the drawings]

[0017] [Figure 1] FIG. 2 is a side view showing a general-purpose combine harvester used in the agricultural work system of this embodiment. [Diagram 2] FIG. [Diagram 3] (A) Plan view of the main parts of the reaping unit, (B) side view of the main parts of the reaping unit. [Figure 4] FIG. [Diagram 5] FIG. 1 is a block diagram showing an overview of an agricultural work system according to an embodiment of the present invention. [Figure 6] FIG. 4 is a diagram for explaining muddy area map data. [Figure 7] FIG. 13 is a diagram for explaining the cutting of mounded soil by the cutting unit. [Figure 8] 4 is a flowchart showing mud contamination prevention control according to the present embodiment. [Figure 9] FIG. 4 is a diagram for explaining mud contamination prevention control. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] 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 a driver rides, and a crawler-type traveling section 8.

[0019] The harvesting section 2 is composed of a header 9 that is connected to the front end of the running body 1A so that it can be raised and lowered, a divider 10 (also called a divider 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 rakes in the uncut culms and the cut culms, an auger 13 that collects the rake-in culms at a predetermined 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.

[0020] 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 disposed 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 to include 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.

[0021] The automatic cutting height control in the general-purpose combine harvester 1 is usually effective when harvesting crops such as soybeans, and is not performed when harvesting rice or wheat. In other words, when harvesting soybeans or the like, if the harvesting part 2 plunges into the ground, mud will be harvested along with the soil, causing soiled grains, so the automatic cutting height control is performed to avoid this. And, because ridges are formed in the field, a wide ground sensor 16 is used.

[0022] As shown in Fig. 4, the driving operation unit 7 has a main travel speed change lever 22 that can adjust the forward or reverse vehicle speed steplessly by operating it forward or backward from a neutral position, and an auxiliary speed change lever 23 that can be switched between a low-speed work 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 are 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, respectively, 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.

[0023] 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.

[0024] <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.

[0025] As shown in FIG. 5, the control unit 100 is connected to a main shift lever potentiometer 201, a cutting drive detection sensor 202, a threshing drive detection sensor 203, a ground cutting height control execution switch 204, a mud mixing prevention control execution switch 205, a right ground sensor potentiometer 17a, a left ground sensor potentiometer 17b, a cutting unit potentiometer 206, an actuator for raising and lowering the cutting unit 207, a buzzer 208, an LCD monitor 30, a GNSS unit 209, and an acquisition unit 211.

[0026] The main speed change lever potentiometer 201 detects the position of the above-mentioned steplessly adjustable traveling main speed change lever 22. 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 serves as a lifting section, can drive the cutting unit 2 up and down to raise and lower it relative to the running body 1A. In this embodiment, the height of the cutting unit 2 above the ground in relation 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.

[0027] 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 in accordance with the detection data of the above-mentioned mowing height sensor 15. 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) mud intrusion prevention control processing, which will be described later. The buzzer 208 is an example of an alarm unit that alerts the operator to warnings, abnormalities, etc., and emits a buzzer sound. The liquid crystal monitor 30 is a touch panel type liquid crystal monitor as described above.

[0028] 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 (not shown) which is configured with a ROM, a RAM, etc., and an I / O (not shown).

[0029] The storage unit 102 stores a program that causes the control unit 100 to perform a calculation process described later and various parameters used in the calculation process. The storage 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 later 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.

[0030] 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 a communication unit 221 of the external device 220 by, for example, wireless communication (Bluetooth (registered trademark) or the like) 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.

[0031] The external device 220 has a communication unit 221 and a muddy soil area map generating unit 222. The external device 220 can receive management work information such as ridge making / seeding work information, inter-cultivation weeding work information, inter-cultivation soil-raising 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 process work vehicles are traveling to perform front-end processes before harvesting crops, such as ridge making / seeding work, inter-cultivation weeding work, inter-cultivation soil-raising work, and herbicide spraying work.

[0032] The muddy area map generating unit 222 creates muddy area map data (map information) 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 crosses 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.

[0033] The muddy soil area map data will be described with reference to Figs. 6 and 7. As shown in Fig. 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 running a front-end work vehicle through field A after forming the ridges or planting seedlings, or by flying a drone.

[0034] Meanwhile, 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 in 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 to many ridges at the same time (here, six at a time). The headland B of field A is wide enough to turn a general-purpose combine harvester, but is insufficient to turn the spraying vehicle 500 having the spraying boom 501. In other words, the headland B is not secured with the turning range of the spraying boom 501 taken into consideration, 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.

[0035] 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. At the point Y where the soil is raised in this way, the reaping unit 2 of the general-purpose combine harvester is likely to take in the soil together with the reaped stalks during the crop harvesting operation. That is, in the reaping unit 2, the cutting blade 11 reaches the point Y where the soil is raised before passing the ground sensor 16, so the soil may be taken in together with the reaped stalks by the cutting blade 11. The soil thus taken in is carried to the threshing unit 3 and the grain tank 4, causing the threshing unit 3 and the grain tank 4 to become dirty and the grains to become damaged.

[0036] Therefore, in the case of this embodiment, the operator creates muddy area map data that specifies the crossing area Q where the spraying vehicle 500 crosses the ridges 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 ridges W is obtained from the travel path information of the spraying vehicle 500 and the position information of the ridges W. In the case of 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 ridges W. Then, when the general-purpose combine harvester 1 performs a reaping operation to harvest the crops planted in the ridges W, the muddy area map data is used to prevent the reaping unit 2 from taking in soil together with the harvested stalks (see muddy contamination prevention control processing described later).

[0037] <Mud contamination prevention control treatment> Next, a mud intrusion prevention control process executed by the control unit 100 when the multi-purpose combine 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 an operator, for example, the control unit 100 repeatedly executes the mud intrusion prevention control process shown in Fig. 8.

[0038] As shown in FIG. 8, the control unit 100 judges whether the general-purpose combine harvester 1 is traveling for a reaping operation (S1). The control unit 100 judges whether the general-purpose combine harvester 1 is traveling for a reaping operation based on the detection result of the reaping drive detection sensor 202. If the general-purpose combine harvester 1 is traveling for a reaping operation (YES in S1), the control unit 100 judges 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 judges 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 judges whether the mowing height sensor 15 is in a ground contact state where it is in contact with the ground (specifically, the ridge) (S3).

[0039] 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.

[0040] If the mud intrusion prevention control process is being executed (YES in S4), the control unit 100 acquires the field information and the 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 the mud intrusion area map data related to the field where the mowing work is to 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.

[0041] 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). When 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).

[0042] Then, when the control unit 100 reaches the muddy area, the height of the reaping unit 2 (original working position) detected by the reaping unit potentiometer 206 is stored in the memory unit 102 (S8). After that, the control unit 100 raises the reaping unit 2 from the working position to the avoidance position (S9). For example, the reaping unit 2 is raised to the highest position that it can ascend and descend relative to the traveling body 1A as the avoidance position. However, if the height of the area where the soil rises up due to the wheels crossing can be predicted based on the wheel diameter of the spreading work vehicle that created the muddy area map data, for example, the reaping unit 2 may be raised to a position higher than the height of the raised area as the avoidance position without raising it to the highest position.

[0043] 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, that is, the original working position before it was raised (S11). In addition, the buzzer sound from the buzzer 95 is muted.

[0044] A specific example of the notification by the notification buzzer 61 will be described with reference to Fig. 9. As shown in Fig. 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 reaping unit 2 to a working position, and the reaping unit 2 reaps the crops planted on the ridges W while traveling. At this time, the general-purpose combine harvester 1 reaps the crops planted on the ridges W while adjusting the height of the reaping unit 2 from the ground according to the height of the ridges W based on detection by the cutting height sensor 15.

[0045] During such reaping work, when the general-purpose combine harvester 1 reaches the intersection area Q, a buzzer 95 emits a buzzer sound. This notifies the operator that the general-purpose combine harvester 1 is approaching a location 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 harvester 1 then raises the reaping unit 2 from the working position to the avoidance position.

[0046] When the general-purpose combine harvester 1 leaves the intersection area Q, the buzzer 95 mutes the buzzer sound and the reaping unit 2 is lowered from the avoidance position to the original working position that was stored. In this embodiment, when the reaping unit 2 is in the working position, the general-purpose combine harvester 1 harvests the crop while adjusting the height of the reaping unit 2 from 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 harvesting crops on another ridge W, it issues the above-mentioned notification by the buzzer 95 and moves the reaping unit 2 from the working position to the avoidance position.

[0047] 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 the intersection area, a buzzer sounds. Also, the reaping 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 the soil has piled up during the previous process during the reaping operation, the reaping unit 2 is raised to avoid the part, so that the reaping unit 2 does not take in soil together with the reaped stalks.

[0048] 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 the present invention is not limited to this, and either the buzzer 95 issues a warning or the cutting unit 2 moves may be performed. However, if only the buzzer 95 issues a warning, the operator needs to operate the cutting unit 2 to move from the working position to the avoidance position in response to the buzzer 95 warning.

[0049] In the above embodiment, the buzzer 95 is used as an example of the notification unit, but the present invention is not limited thereto. 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 traveling position of the traveling machine body 1A based on the traveling position information of the traveling machine body 1A detected by the GPS device regarding the traveling general-purpose combine 1, and the intersection area Q based on the muddy area map data may be displayed on the liquid crystal monitor 30. Based on such notification, the operator can recognize that the general-purpose combine 1 has reached the intersection area Q, and can perform an operation of moving the reaping unit 2 from the working position to the avoidance position at an appropriate timing accordingly.

[0050] In the above-described embodiment, the multi-purpose combine harvester 1 acquires the 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 thereto. For example, the multi-purpose combine harvester 1 may have the muddy area map generating unit 222 and may 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 the muddy area map data. [Explanation of symbols]

[0051] 1...General-purpose combine (harvesting machine) 1A…Running body 2…Reaping section 30...LCD monitor (display) 100...Control unit 207...Actuator for lifting the reaping unit (lifting unit) 208…Buzzer (alarm unit) 209...GNSS unit (GPS device) 211…Acquisition Department 222...Generation section 500…Spraying vehicle (front-end work vehicle)

Claims

1. A front-end work vehicle for performing front-end work; a harvesting machine capable of harvesting 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:

2. 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 .

3. A front-end work vehicle for performing front-end work; a harvesting machine capable of harvesting 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 includes: 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:

4. A front-end work vehicle for performing front-end work; a harvesting machine capable of harvesting 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 includes: 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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