Agricultural working machine, information processing apparatus, and program

Abstract

To automatically set control conditions corresponding to the combination of the model of a traveling machine body and the model of a farm working machine.SOLUTION: A farm working machine acquires first unique information which is unique information of a traveling machine body from the traveling machine body on which the farm working machine is mounted, and transmits control information for controlling an operation of the traveling machine body associated with the first unique information acquired from the traveling machine body to the traveling machine body. A matching table in which the first unique information and the control information are associated with each other may be stored, and the control information associated with the first unique information acquired from the traveling machine body in the matching table may be transmitted to the traveling machine body.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an agricultural work machine, an information processing device, and a program. In particular, the present invention relates to an agricultural work machine, an information processing device, and a program that control the agricultural work machine or the traveling body according to the combination of the agricultural work machine and the traveling body.

Background Art

[0002] Conventionally, there has been known an agricultural work machine that is provided with lighting devices at both ends of the main body and controls the lighting of the lighting devices to attract the attention of the surroundings (for example, Patent Document 1).

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] With the recent regulatory relaxation, if certain requirements are met, it has become possible to drive on public roads with a working machine (agricultural working machine) for agricultural work attached to a traveling body such as a tractor. However, the combinations of the types (models) of the traveling body and the agricultural working machine are diverse, and the requirements that must be satisfied differ depending on the combination of the traveling body and the agricultural working machine. For example, when an agricultural working machine is attached to a traveling body, if the visibility of the lighting devices of the traveling body can be sufficiently ensured when viewed from the rear, it is only necessary to control the lighting devices of the traveling body in the same way as when the traveling body travels alone. However, when the agricultural working machine overlaps the lighting devices of the traveling body and a predetermined visibility cannot be ensured, it is necessary to control the traveling body and the agricultural working machine so that the lighting devices of the agricultural working machine are lit in addition to the lighting devices of the traveling body. Also, the upper limit value of the vehicle speed that can be driven on public roads is defined based on the static roll angle when an agricultural working machine is attached to the traveling body. The conditions differ depending on the combination of the traveling body and the agricultural working machine, such as 35 km / h when the static roll angle is 30° or more and 15 km / h when the static roll angle is less than 30°.

[0005] Conventional agricultural working machines perform control regardless of the traveling body and do not change the control of lighting devices and the like in accordance with the traveling body to be combined. Therefore, in order to attach a conventional agricultural working machine to a traveling body and drive on public roads, the operator must individually set the control conditions for the traveling body and the agricultural working machine, including lighting devices and the like, according to the combination of the type of the traveling body and the type of the agricultural working machine so as to comply with the regulations for driving on public roads, and the work is complicated. In particular, when the operator owns a plurality of traveling bodies and agricultural working machines, there is a problem that the burden on the operator increases because it is necessary to grasp the control conditions corresponding to each combination and perform the control corresponding to the combination.

[0006] The present invention has been made in view of the above problems, and an object thereof is to provide an agricultural working machine, an information processing device, and a program that can automatically read out control conditions corresponding to the combination of the type of the traveling body and the type of the agricultural working machine.

Means for Solving the Problems

[0007] In one embodiment of the present invention, an agricultural working machine includes a table storage means for storing a matching table associated with first unique information which is unique information of a traveling body to which the own machine is attached and control information including information for controlling the operation of the own machine, and a control means for performing control based on the control information associated with the first unique information in the matching table.

[0008] It may further include an acquisition means for acquiring update information of the matching table, and an update means for updating the information of the matching table stored in the table storage means based on the update information.

[0009] The matching table associates second unique information which is unique information of the own machine with the first unique information and the control information, and the control means may perform control based on the control information associated with the first unique information and the second unique information.

[0010] It further includes a lighting device, the control information includes lighting device control information for controlling the lighting device, and the control means may control the lighting device based on the lighting device control information.

[0011] It further includes a notification means, the control information includes speed control information related to the speed of the traveling body, and the control means may cause the notification means to notify the speed control information based on the speed control information.

[0012] The control information includes machine control information for controlling the operation of the traveling body, and the control means may transmit the machine control information to the traveling body.

[0013] The machine control information may include information for controlling the operation of a lift arm provided on the traveling body for adjusting the height of the own machine.

[0014] An information processing apparatus according to an embodiment of the present invention includes: a first acquisition means for acquiring first unique information which is unique information of a traveling body to which an agricultural work machine is attached; a second acquisition means for acquiring second unique information which is unique information of the agricultural work machine; a storage means for storing a matching table in which control information including the first unique information, the second unique information, and information for controlling the operation of the agricultural work machine is associated; and a control means for transmitting the control information to the agricultural work machine based on the acquired first unique information, second unique information, and the matching table.

[0015] The control information includes machine control information for controlling the operation of the traveling body, and the control means may transmit the machine control information to the traveling body.

[0016] A program for causing a computer to execute according to an embodiment of the present invention acquires first unique information which is unique information of a traveling body to which an agricultural work machine is attached, acquires second unique information which is unique information of the agricultural work machine, stores a matching table in which control information including the first unique information, the second unique information, and information for controlling the operation of the agricultural work machine is associated, and transmits the control information to the agricultural work machine based on the acquired first unique information, second unique information, and the matching table.

[0017] The control information includes machine control information for controlling the operation of the traveling body, and the machine control information may be transmitted to the traveling body.

Advantages of the Invention

[0018] According to the present invention, control conditions corresponding to the combination of the model of the traveling body and the model of the agricultural work machine can be automatically set.

Brief Description of the Drawings

[0019]

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Embodiments for Carrying Out the Invention

[0020] Hereinafter, the agricultural working machine, information processing apparatus, and program of the present invention will be described with reference to the drawings. However, the agricultural working machine, information processing apparatus, and program of the present invention can be implemented in many different modes and are not construed as being limited to the description content of the examples shown below. In the drawings referred to in the present embodiment, the same part or the part having the same function is denoted by the same reference numeral or the same reference numeral followed by an alphabet, and the repeated description may be omitted.

[0021] In the specification and claims of the present application, "up" indicates a direction vertically away from the field, and "down" indicates a direction vertically approaching the field. Also, "front" indicates the direction in which the traveling body is located with respect to the agricultural working machine, and "rear" indicates the direction opposite to the front by 180°. Further, "left" indicates the left when facing the direction in which the traveling body is located with respect to the agricultural working machine, and "right" indicates the direction opposite to the left by 180°.

[0022] Also, in the specification and claims of the present application, when based on the center line (a line parallel to the traveling direction) of the working machine in a plan view, relatively, the side closer to the center line is referred to as "inside", and the side farther from the center is referred to as "outside".

[0023] In the following embodiments, a weeding machine is typically exemplified as the agricultural working machine, but it is not limited to this example. For example, the present invention can be applied to agricultural working machines such as tillers, soil crushers, lawn mowers, ridging machines, and trench diggers in addition to weeding machines. Also, as long as there is no particular technical contradiction, the technologies between different embodiments can be combined. Further, as long as there is no particular technical contradiction, the technical ideas cited as modification examples of a certain embodiment can also be applied to other embodiments.

[0024] <First Embodiment> The traveling body 100 and the agricultural working machine 200 according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 5.

[0025] [Overall Configuration] As shown in FIG. 1, a unique information matching system 10 is configured that automatically reads control conditions according to the combination of the type of the traveling body 100 such as a tractor and the type of the agricultural work machine 200 by the traveling body 100 and the agricultural work machine 200. The agricultural work machine 200 is mechanically connected to the rear of the traveling body 100 by a three-point link mechanism 120 described later. Although details will be described later, the agricultural work machine 200 is electrically connected to the traveling body 100 by a connection terminal 110, and mutual communication between the traveling body 100 and the agricultural work machine 200 is performed via this connection terminal 110. Further, the traveling body 100 and the agricultural work machine 200 each have lighting devices 130 and 230. The lighting devices 130 and 230 include vehicle width lights (or tail lights), brake lights, direction indicators, and reverse lights. The lighting device 130 is provided at the rear of the traveling body 100. The lighting device 230 is provided at a position that does not overlap with other members of the agricultural work machine 200 when viewed from the rear.

[0026] The traveling body 100 includes a three-point link mechanism 120 for attaching the agricultural work machine 200 and a lift arm for raising and lowering the agricultural work machine 200. Since the structures of the three-point link mechanism 120 and the lift arm are well-known, detailed descriptions are omitted. The three-point link mechanism 120 has a top link and a lower link, and the lift arm is connected to the lower link via a lift rod. And by controlling the angle of the lift arm, the raising and lowering operation of the agricultural work machine 200 can be controlled. Although details will be described later, power is applied to the three-point link mechanism 120 by the lift arm according to the combination of the types of the traveling body 100 and the agricultural work machine 200 and the traveling state of the traveling body 100, and the height of the agricultural work machine 200 is adjusted. Note that a mechanism other than the lift arm may be used as a mechanism for controlling the raising and lowering operation of the agricultural work machine 200.

[0027] Note that a position detector may be provided on the traveling body 100. As the position detector, for example, the Global Navigation Satellite System (GNSS) can be used. As the GNSS, satellite positioning systems such as GPS, GLONASS, Galileo, and Quasi-Zenith Satellite System (QZSS) can be used. However, the position detector is not limited to GNSS, and other devices that detect the position information of the traveling body 100 can be used.

[0028] The agricultural work machine 200 includes a mounting part 280 and a tilling work part 290. Although not shown in the figure, the mounting part 280 functions as a connection mechanism for mounting the agricultural work machine 200 on the traveling body 100, and has a top mast connected to the top link and a lower link connecting part connected to the lower link. Note that the connection between the agricultural work machine 200 and the traveling body 100 may be performed via an auto hitch frame mounted on the three-point link mechanism 120 of the traveling body 100.

[0029] The tilling work part 290 includes a frame 205, a rotor 207, a shield cover 209, an apron 211, and a leveler 213. The rotor 207 is rotatably connected to the frame 205. The rotor 207 has a plurality of working claws, and tills or stirs the field by acting on the field while rotating the working claws. The apron 211 is rotatably connected to the frame 205 and the shield cover 209 behind the rotor 207. The leveler 213 is rotatably connected to the apron 211. The apron 211 and the leveler 213 level the field roughened by the work of the rotor 207 by contacting the field.

[0030] Also, the agricultural work machine 200 has a notification means 240. The notification means 240 has at least a display It is composed of either a means or an audio means. The notification means 240 of this embodiment has a display panel that displays the vehicle width (total width in the left-right direction) and the public road travelable speed to the following vehicle when the agricultural work machine 200 is mounted on the traveling aircraft 100. Further, the agricultural work machine 200 of this embodiment is provided with an operation terminal (remote control) (not shown), and the display function (liquid crystal panel) and the audio function (speaker) of the operation terminal also constitute the notification means 240 of this embodiment. Here, the display panel is a panel whose display content can be changed based on an electrical signal, such as an electric bulletin board or a liquid crystal panel. When the display panel is used as the display means, the display content can be appropriately adjusted according to the conditions of the traveling aircraft 100 and the agricultural work machine 200. Note that the display function is not limited to the above, and it may be a signboard that displays the total width in the left-right direction of the agricultural work machine 200 and the traveling speed of the traveling aircraft 100.

[0031] Also, as shown in FIG. 1, each of the traveling aircraft 100 and the agricultural work machine 200 is provided with an electronic control unit (ECU) 101, 201. A connection terminal 110 for connecting the ECUs 101 and 201 is attached to the traveling aircraft 100. The ECU 101 of the traveling aircraft 100 is connected to the connection terminal 110 via a connection wiring 103. The ECU 201 of the agricultural work machine 200 is connected to the connection terminal 110 via a connection wiring 203. The connection wirings 103 and 203 are electrically connected to each other by the internal wiring of the connection terminal 110. In the following description, the means for connecting the ECU 101 and the ECU 201 (in the above example, the connection terminal 110 and the connection wirings 103 and 203) may be referred to as a communication means 500 (see FIG. 2, for example). Also, in the following description, connecting the ECU 101 and the ECU 201 in a communicable manner may sometimes be expressed simply as connecting the traveling aircraft 100 and the agricultural work machine 200 in a communicable manner.

[0032] As described above, the ECU 101 and the ECU 201 are communicably connected via the connection terminal 110, enabling mutual communication between the two ECUs. As the mutual communication means, "AG-PORT", which is a common standard for communication control defined by the Japan Agricultural Machinery Industry Association, can be used. However, the above communication means is not limited to AG-PORT, and other communication means can be used. In this embodiment, a configuration in which the ECU 101 and the ECU 201 are connected by wire is illustrated, but they may be connected wirelessly.

[0033] Each of the ECUs 101 and 201 includes an arithmetic circuit such as a central processing unit (CPU), and storage devices such as registers and memories connected to the CPU. These ECUs execute programs temporarily stored in the storage devices by the CPU and perform arithmetic processing in response to various request signals, thereby executing the functional means of the traveling body 100 and the agricultural work machine 200 described later. In addition, the storage device of the ECU 101 stores first unique information for identifying the model (type) of the traveling body 100, and the storage device of the ECU 201 stores second unique information for identifying the model (type) of the agricultural work machine 200.

[0034] [Functional Configuration of Traveling Body 100 and Agricultural Work Machine 200] FIG. 2 is a block diagram showing the functional configuration of a traveling body and an agricultural work machine according to an embodiment of the present invention. As shown in FIG. 2, the traveling body 100 and the agricultural work machine 200 are communicably connected by a communication means 500. The traveling body 100 includes unique information transmitting means 150, a lighting device control means 151, a speed control means 153, and a lift arm control means 155. The agricultural work machine 200 includes first receiving means 251, table storage means 253, and control means 255. The control means 255 includes lighting device control means 2551, notification control means 2553, and traveling body control means 2555. The above functional means are executed by the ECUs 101 and 201 provided in each of the traveling body 100 and the agricultural work machine 200.

[0035] The unique information transmission means 150 provided in the traveling body 100 reads the first unique information from the storage device and sends the first unique information to the agricultural work machine 200 in response to a request from the agricultural work machine 200. The lighting device control means 151, the speed control means 153, and the lift arm control means 155 control the operation of the traveling body 100 based on the body control information transmitted by the traveling body control means 2555. The lighting device control means 151 controls the lighting and extinguishing of the lighting device 130 provided in the traveling body 100 based on the lighting device control information included in the body control information. The speed control means 153 restricts the traveling speed of the traveling body 100 based on the speed control information transmitted as the body control information. For example, when the upper limit value of the traveling speed is included in the body control information, the speed control means 153 regulates so that the traveling speed of the traveling body 100 does not exceed the upper limit value. The lift arm control means 155 adjusts the height of the agricultural work machine 200 by controlling the angle of the lift arm based on the lift arm control information transmitted as the body control information.

[0036] In the present embodiment, the lighting device control means 151, the speed control means 153, and the lift arm control means 155 directly control the operation of the traveling body 100. Instead of direct control, the control information included in the body control information may be notified to the operator who operates the traveling body 100, and the traveling body 100 may be indirectly controlled via the operator. For example, the movable range of the lift arm or the upper limit value of the traveling speed set in the body control information is notified to the operator using a display function or an audio function. Further, in the present embodiment, the control of the lift arm and the control of the traveling speed are exemplified as the content for controlling the traveling body 100, but the content to be controlled is not limited to the above functions, and other functions of the traveling body 100 may be controlled.

[0037] Next, the functional configuration of the agricultural work machine 200 will be described. The first receiving means 251 receives, via the communication means 500, first specific information 310 (see FIG. 5), which is model-specific information of the traveling body 100 to which the own machine (agricultural work machine 200) is attached, from the traveling body 100. The first specific information 310 is information associated with each model (type) of the traveling body 100, and if the first specific information 310 can be specified, the model of the traveling body 100 can also be specified. Note that the first specific information 310 may include specifications of the traveling body (presence or absence of a cabin, speed, etc.) and mounting methods (hitch information). In addition to the above information, the first specific information 310 may include information such as the manufacturer and manufacturing year of the traveling body 100, or instead, information indicating the characteristics of the traveling body 100. For example, the first specific information 310 may include information regarding the positions of lighting devices provided on the traveling body 100.

[0038] The table storage means 253 stores a matching table 300 in which the first specific information 310 for each model of the traveling body 100 is associated with control information 330 including information for controlling the operation of the own machine (agricultural work machine 200) and machine control information for controlling the operation of the traveling body 100. In the matching table 300, as the first specific information 310, model information of a plurality of traveling bodies 100 and control information 330 for controlling the traveling body 100 and the agricultural work machine 200 corresponding to the model information are associated with each other.

[0039] [An example of the matching table 300] Here, the matching table 300 will be described with reference to FIG. 5. As shown in the figure, the matching table 300 has first specific information 310, regulation information 320, and control information 330. Note that since the matching table 300 shown here is a dedicated matching table for the agricultural work machine 200, second specific information for specifying the model of the agricultural work machine 200 is not deliberately stored.

[0040] The first specific information 310 is information for specifying the model of the traveling body 100 to be attached to the agricultural work machine 200, and the matching table 300 has a plurality of first specific information 310 corresponding to each model of the traveling body 100.

[0041] The regulation information 320 indicates whether it is necessary to regulate certain conditions in the traveling body 100 and the agricultural work machine 200 according to the model of the traveling body 100 equipped with the agricultural work machine 200. The regulation information 320 can be used as information for the operator to confirm the regulation content, and according to the operator's operation, the content can be confirmed by the notification means 240 (operation terminal). In the example of FIG. 5, the regulation information 320 has items of the lighting device 321, the lift arm 323, and the vehicle speed 325.

[0042] The item of the lighting device 321 is an item indicating whether it is necessary to regulate the lighting devices of the traveling body 100 (either "necessary" or "unnecessary") according to whether all or part of the lighting devices of the traveling body 100 are hidden by the agricultural work machine 200 when viewed from the rear, for example. Here, "unnecessary" means that the control of the lighting devices of the traveling body 100 is normal (that is, the same as when the agricultural work machine 200 is not attached), and "necessary" means that due to the attachment of the agricultural work machine 200, different control from the normal of the lighting devices of the traveling body 100 is required. For example, if the lighting devices of the traveling body 100 are completely visible when viewed from the rear, it is "unnecessary", and if all or part of the lighting devices of the traveling body 100 are hidden by the agricultural work machine 200, it is "necessary". Note that a plurality of lighting devices are provided on the traveling body 100, and the necessity of regulation may be set individually for each lighting device.

[0043] The item of the lift arm 323 is an item indicating whether it is necessary to regulate the movable range of the lift arm when the agricultural work machine 200 interferes with the traveling body 100 or other members within the movable range of the lift arm of the traveling body 100, or when there is a possibility of contact due to vibration, impact, etc. in a very close proximity. In addition to the above cases, when it is determined that it is necessary to regulate the movable range of the lift arm in consideration of the balance of the agricultural work machine 200 (for example, the static roll angle), etc., the item of the lift arm 323 becomes "necessary".

[0044] The item of vehicle speed 325 indicates the upper limit of the speed at which the traveling body 100 can travel when the agricultural work machine 200 is attached to the traveling body 100. When traveling on a public road, the vehicle speed of the traveling body 100 is restricted based on the stationary turning angle when the agricultural work machine 200 is mounted. For example, when the stationary turning angle when the agricultural work machine 200 is mounted on the traveling body 100 is 30° or more, the speed limit is 35 km / h, and when the stationary turning angle is less than 30°, the speed limit is 15 km / h when traveling on a public road. Therefore, in the item of vehicle speed 325, based on the stationary turning angle when the own machine is mounted, the upper limit of the speed at which the traveling body 100 can travel is set for each model of the traveling body 100.

[0045] The control information 330 stipulates the specific control contents for the traveling body 100 and the agricultural work machine 200. In the first row (the first unique information 310: AAA001) of the matching table 300, since the item of the lighting device 321 is "not required", nothing is stipulated in the item of the lighting device 331. That is, the control of the lighting devices of the traveling body 100 is carried out as usual (that is, the same as when the agricultural work machine 200 is not attached), and the lighting devices of the agricultural work machine 200 do not operate. On the other hand, in the second row (the first unique information 310: AAA002) and the third row (the first unique information 310: BBB001) of the matching table 300, since the item of the lighting device 321 is "required", (run: OFF, work: ON) is stipulated as the specific control content (lighting device control information) in the item of the lighting device 331. (run: OFF, work: ON) indicates that the lighting devices of the traveling body 100 are turned off (run: OFF), and the lighting devices of the agricultural work machine 200 are turned on (work: ON). It should be noted that it is also possible to stipulate in the matching table 300 to turn on the lighting devices of both the traveling body 100 and the agricultural work machine 200 (run: ON, work: ON). Also, regarding the lighting devices of the traveling body 100, it may be stipulated in the matching table 300 that the control is as usual regardless of whether the agricultural work machine 200 is attached or not, and only the lighting devices of the agricultural work machine 200 are controlled. Regarding how to control the lighting devices of the traveling body 100 and the agricultural work machine 200, it may be set appropriately according to the actual situation such as the regulatory content.

[0046] In the item of the lift arm 333, as the aircraft control information (lift arm control information), the specific movable range of the lift arm of the traveling aircraft 100 is defined. In the first and third rows (AAA001 and BBB001) of the matching table 300, since the item of the lift arm 323 is "not required", nothing is defined in the item of the lift arm 333. That is, the movable range of the lift arm of the traveling aircraft 100 is a range specific to the traveling aircraft 100, and no additional restrictions are particularly imposed. On the other hand, in the second row (AAA002) of the matching table 300, since the item of the lift arm 323 is "required", lift arm control information is defined in the item of the lift arm 333. In this example, since the lift arm control information is defined as "30 to 70 degrees", the traveling aircraft 100 that receives this lift arm control information is controlled by the lift arm control means 155 so that the lift arm angle becomes 30 to 70 degrees. Note that the movable range defined in the item of the lift arm 333 is narrower than the range specific to the traveling aircraft 100.

[0047] In addition, the visibility of the lighting devices and the confirmation of the static turning angle are both carried out with the minimum ground clearance of the agricultural working machine 200 being 20 cm, and the minimum ground clearance of the agricultural working machine 200 is maintained at 20 cm even during road travel. Therefore, in the item of the lift arm 333, the angle of the lift arm when the minimum ground clearance of each agricultural working machine 200 is 20 cm is also stored as lift arm control information. For example, the angle of the lift arm when the minimum ground clearance of the agricultural working machine 200 is 20 cm is 30 degrees for AAA001 and 35 degrees for AAA002. Then, the traveling body 100 controls the angle of the lift arm based on the lift arm angle information included in the lift arm control information triggered by the operator's operation, and controls so that the agricultural working machine 200 (with the minimum ground clearance) reaches a height of 20 cm. In this way, since the angle of the lift arm at which the agricultural working machine 200 reaches a predetermined height (minimum ground clearance) is set in the matching table 300, the operator can set the agricultural working machine 200 to the predetermined height without complicated operations. Note that the angle information of the lift arm at which the agricultural working machine 200 reaches a predetermined height may be preset for each first unique information as a default value, but it is also possible to adopt a configuration in which it is added and updated by the operator's operation.

[0048] In the item of the vehicle speed 335, vehicle speed control information to be transmitted to the mounted traveling body 100 is set as machine body control information. This includes the upper limit traveling speed of the traveling body 100, and information for controlling so that the traveling body 100 does not exceed the specified upper limit traveling speed is defined.

[0049] In the item of the notification 337, notification control information for causing the notification means 240 to notify the content of the regulation information 320 and the upper limit value of the vehicle speed of the mounted traveling body 100 is defined. In the present embodiment, information regarding the upper limit speed of the traveling speed of the traveling body 100 and the overall width of the traveling body 100 in a state where the working machine is mounted, which is to be displayed on the display panel for the vehicle behind, is defined. Also, in the item of the notification 337, information for causing the regulation information 320 to be displayed on the operation terminal (remote control) or to be notified by voice is also defined.

[0050] Note that, among the control information 330, regarding the vehicle speed 335, it is also possible to determine whether to transmit the information to the traveling body 100 according to the operator's setting. For example, when the operator sets it to "ON", the setting of the vehicle speed 335 is set to "ON" and the control information of the vehicle speed 335 is transmitted to the traveling body 100. When the operator sets it to "OFF", the setting of the vehicle speed 335 is set to "OFF" and the control information of the vehicle speed 335 is not transmitted to the traveling body 100. When the upper limit traveling speed of the traveling body 100 is limited to a predetermined speed or less (in this embodiment, 15 km / h), the setting of the vehicle speed 335 is set to "ON" as the default value. Similarly, whether to perform notification by the notification means 240 may also be determined based on the "ON" / "OFF" switching by the operator.

[0051] The control means 255 is a means for controlling the traveling body 100 and the agricultural work machine 200. The control means 255 extracts the control information 330 corresponding to the first unique information 310 received by the first receiving means 251 from the above-mentioned matching table 300, controls each means of the agricultural work machine 200, and transmits the machine control information included in the control information 330 to the traveling body 100, so that the traveling body 100 can perform control based on the machine control information. As shown in FIG. 2, the control means 255 includes a lighting device control means 2551, a notification control means 2553, and a traveling body control means 2555.

[0052] The lighting device control means 2551 controls the lighting and extinguishing of the lighting devices (for example, the lighting device 230) of the agricultural work machine 200 based on the lighting device control information defined in the matching table 300. For example, when no lighting device control information is defined, the lighting device control means 2551 controls so that the lighting devices of the agricultural work machine 200 are in the extinguished state. When the lighting device control information is "travel: OFF, work: ON" or "travel: ON, work: ON", the lighting device control means 2551 controls so that the lighting devices of the agricultural work machine 200 are lit.

[0053] The notification control means 2553 controls the notification means 240 based on the notification control information included in the control information 330, and causes the notification means 240 to notify the vehicle width and the upper limit traveling speed of the traveling body 100 with the agricultural work machine 200 mounted thereon. Taking FIG. 5 as an example, when the first unique information is AAA001, "35 km / h" is set as the upper limit traveling speed of the traveling body 100, and "2.6 m" is set as the full width information. Therefore, based on this control information, the notification control means 2553 controls the display panel for the vehicle behind to display the content "Full width 2.6 m" and the content "Traveling speed 35 km / h or less". Note that in the item of the notification 337, information regarding the size and color of the characters to be displayed is also defined as control information.

[0054] Further, the notification control means 2553 controls the operation terminal (remote control) based on the information set in the item of the notification 337, and causes the operation terminal to display the restriction information 320 or to notify by voice. In the present embodiment, the restriction information 320 is notified based on the operation of the operator. The notification control means 2553 performs control on the operation terminal triggered by the operation of the operator, and causes the operation terminal to display or voice-notify the restriction information 320 based on the control information set in the item of the notification 337.

[0055] The traveling body control means 2555 transmits the lighting device control information, the vehicle speed control information, and the lift arm control information included in the control information 330 as the body control information to the traveling body 100. For example, when performing control based on the control information extracted with the first unique information being "AAA002", since the item of the lighting device 331 is "Travel: OFF, Work: ON", the traveling body control means 2555 turns off the lighting devices of the traveling body 100 or transmits control information for turning them off to the traveling body 100. Also, in the item of the lift arm 333, since the lift arm control information is set to 30 to 70 degrees, the traveling body control means 2555 transmits the information to the traveling body 100. Further, the traveling body control means 2555 transmits speed control information indicating that the upper limit traveling speed is 15 km / h, which is set in the item of the vehicle speed 335, to the traveling body 100.

[0056] [Operation Flow of Mutual Communication between Traveling Body 100 and Agricultural Working Machine 200] FIG. 3 is a diagram showing an operation flow of a control method for an agricultural working machine according to an embodiment of the present invention. The following operations are executed when the agricultural working machine 200 recognizes that it is attached to the traveling body 100, for example, triggered by the connection of the AG-PОRT. In the following description, the communication between the traveling body 100 and the agricultural working machine 200 is performed by the ECUs 101 and 102 respectively executing programs stored in their respective storage devices (see FIG. 1).

[0057] First, when the agricultural working machine 200 recognizes that it is attached to the traveling body 100, the agricultural working machine 200 transmits a first connection start request signal to the traveling body 100 (S201). The traveling body 100 permits the first connection start request signal (S101) and transmits a second connection request signal to the agricultural working machine 200 (S102). Then, when the agricultural working machine 200 permits the second connection start request signal (S202), the mutual communication between the two is established (S301). Note that the first connection start request signal may be transmitted from the traveling body 100 to the agricultural working machine 200, and the second connection start request signal may be transmitted from the agricultural working machine 200 to the traveling body 100.

[0058] When communication is established between the traveling body 100 and the agricultural work machine 200, the agricultural work machine 200 requests the first unique information 310, which is the unique information of the traveling body 100, from the traveling body 100 (S203). In response to this request, the traveling body 100 transmits the first unique information 310 to the agricultural work machine 200 (S103). When the agricultural work machine 200 receives the first unique information 310 transmitted from the traveling body 100 (S204), based on the matching table 300 stored in the table storage means 253 (S205), it derives control information 330 for controlling the operation of the agricultural work machine 200, which is associated with the first unique information 310 (S206). For example, when the first unique information 310 received in S204 is "AAA002", through unique information matching, the control information 330 corresponding to the first unique information 310 "AAA002" in the matching table 300 ("Lamp item Run: OFF, Work: ON", "Lift arm item 30 - 70 degrees, Lift arm angle for work machine height of 20 cm: 35 degrees", "Vehicle speed 15 km / h", "Notification Full width: Operating speed 15 km / h or less, 2.6 m") is extracted. Thus, searching for control information 330 associated with unique information based on the matching table 300 is called unique information matching. Then, the agricultural work machine 200 controls the operation of the agricultural work machine 200 based on the derived control information 330 (S207).

[0059] In FIG. 3, a configuration in which the operation of the agricultural work machine 200 is controlled by the control information 330 derived based on the matching table 300 is illustrated, but the configuration is not limited to this. For example, when, through unique information matching (S205), in addition to the control information for controlling the agricultural work machine 200, machine control information is also derived (S206), as shown in FIG. 4, the derived machine control information is transmitted to the traveling body 100 (S208). According to this configuration, the traveling body 100 can control the traveling body based on the machine control information received from the agricultural work machine 200 (S104), so there is no need for the operator to individually perform the control settings of the traveling body. Note that it is also possible to perform the transmission (S208) of the machine control information to the traveling body 100 prior to the machine control (S207) for controlling the operation of the agricultural work machine 200.

[0060] In the operation flows of FIGS. 3 and 4, although an example is illustrated in which when mutual communication between the traveling body 100 and the agricultural work machine 200 is established, unique information matching is automatically executed (that is, the operation starting from the first unique information request is started), the present invention is not limited to this configuration. For example, after the above mutual communication is established, an interface for inputting an instruction for executing unique information matching in the traveling body 100 is displayed (for example, on the remote controller of the agricultural work machine 200), and the first unique information request may be made using the instruction input by the operator via the interface as a trigger. Alternatively, before S103, in the traveling body 100, the steps after S103 may be performed using as a trigger that an instruction indicating a response to the first unique information request in S203 has been input. That is, between the establishment of the mutual communication in S301 and the unique information matching in S205, a step of requesting permission from the operator may be provided. Alternatively, the first unique information may be transmitted from the traveling body 100 to the agricultural work machine 200 at the timing when the above mutual communication is established. Further, in FIG. 4, the machine body control of the agricultural work machine 200 in S207 may be omitted, and the machine body control information may be transmitted to the traveling body 100.

[0061] Also, in the operation flow of FIG. 4, after the transmission of the machine body control information in S208, in the traveling body 10 0, a step of requesting permission from the operator for the machine body control information may be provided. That is, the transmission of the machine body control information in S208 is not for forcibly controlling the operation of the traveling body 100, and may be for notifying that it is necessary to perform operation control on the traveling body 100.

[0062] As described above, according to the unique information matching system 10 according to the present embodiment, based on the matching table 300, the control information 330 associated with the first unique information 310 of the traveling body 100 to which the agricultural work machine 200 is attached can be derived, and the control conditions corresponding to the combination of the model of the traveling body 100 and the model of the agricultural work machine 200 can be automatically read out.

[0063] In addition, in the present embodiment, although the configuration in which the agricultural work machine 200 receives the first unique information from the traveling body 100 is illustrated, the present invention is not limited to this configuration. For example, an operator may input the first unique information using at least one of an operation terminal provided in the traveling body 100 and an operation terminal capable of communicating with the traveling body 100 and the agricultural work machine 200, and the agricultural work machine 200 may receive the first unique information from the operation terminal. Alternatively, the operator may input the first unique information using an operation terminal provided in the agricultural work machine 200. That is, the first unique information may be directly input to the agricultural work machine 200.

[0064] <Second Embodiment> With reference to FIGS. 6 to 9, the traveling body 100A, the agricultural work machine 200A, and the information processing apparatus 600A according to the second embodiment of the present invention will be described.

[0065] [Overall Configuration] FIG. 6 is a schematic diagram showing an overall configuration including a traveling body, an agricultural work machine, and an information processing apparatus according to an embodiment of the present invention. As shown in FIG. 6, in the unique information matching system 10A according to the present invention, the agricultural work machine 200A is connected to the information processing apparatus 600A via the network 550A. The information processing apparatus 600A may be a network server, or may be a communication terminal capable of communication such as a personal computer, a notebook PC, a tablet PC, a smartphone, a mobile phone, a PDA, and a PHS. The information processing apparatus 600A is connected to a database (DB) 601A. The information processing apparatus 600A updates the matching table 300A. The database 601A stores update information of the matching table 300A. The matching table 300A may be a matching table unique to the agricultural work machine 200A, or may be a matching table having versatility for a plurality of agricultural work machines 200A.

[0066] The network 550A is an Internet such as a general World Wide Web (WWW), a WAN (Wide Area Network), or a LAN (Local Area Network) such as an in-house LAN. The agricultural work machine 200A communicates with the information processing device 600A via the network 550A.

[0067] In FIG. 6, a configuration in which the database 601A is directly connected to the information processing device 600A is illustrated, but the configuration is not limited thereto. For example, the database 601A may be directly connected to the network 550A, and data transmission and reception between the information processing device 600A and the database 601A may be performed via the network 550A.

[0068] [Functional configurations of the traveling body 100A and the agricultural work machine 200A] FIG. 7 is a block diagram showing the functional configurations of the traveling body and the agricultural work machine according to an embodiment of the present invention. The block diagram of FIG. 7 is similar to the block diagram of FIG. 2, but the agricultural work machine 200A in FIG. 7 is different from the agricultural work machine 200 in FIG. 2 in that it has an acquisition means 257A and an update means 259A. Regarding the agricultural work machine 200A in FIG. 7, the functions common to the agricultural work machine 200 in FIG. 2 will be omitted from the description, and mainly the differences will be described. The above functional means are executed by an ECU provided in the agricultural work machine 200A.

[0069] The acquisition means 257A acquires update information for updating the matching table 300A through communication with the information processing apparatus 600A. The acquisition means 257A may acquire all the information of the latest matching table 300A as the update information, or may compare the version information of the matching table stored in the agricultural working machine 200A with the version information of the matching table stored in the information processing apparatus 600A, and acquire only the information of the difference between the two versions. When the update information is acquired after the agricultural working machine 200A is attached to the traveling body 100A, only the update information related to the first unique information 310A of the traveling body 100A may be acquired, or only the update information related to the first unique information 310A of a traveling body having a certain relationship with the traveling body 100A (such as a traveling body of the same manufacturer and the same series as the traveling body 100A) may be acquired. The acquisition means 257A has a function of detecting whether it is in a state capable of communicating with the network 550A, and acquires the update information when it is detected that it is in a state capable of communicating with the network 550A. For example, when the power of the agricultural working machine 200A is turned on, it may be detected whether communication with the network 550A is possible.

[0070] The update means 259A updates the information of the matching table 300A based on the update information acquired by the acquisition means 257A. In the present embodiment, the update means 259A compares the version of the above update information with the version information of the matching table stored in the agricultural working machine 200A, and updates the matching table 300A when the information to be updated is included in the update information acquired by the acquisition means 257A. In this case, it is possible to update all the information of the matching table 300A, or it is also possible to update only the information different from the already stored matching table 300A. When the above information update is performed after the agricultural working machine 200A is attached to the traveling body 100A, only the information related to the first unique information 310A of the attached traveling body 100A may be updated, or the information related to the first unique information 310A of a traveling body having a certain relationship with the attached traveling body 100A may be updated.

[0071] [Operation Flow of Mutual Communication between Traveling Machine Body 100A and Agricultural Working Machine 200A] FIG. 8 is a diagram showing an operation flow of a control method for an agricultural working machine according to an embodiment of the present invention. The operation flow of FIG. 8 is similar to the operation flow of FIG. 3. However, in FIG. 8, the agricultural working machine 200A communicates with the information processing device 600A to obtain update information of the matching table 300A, and updates the matching table 300A stored in the agricultural working machine 200A, which is different from the agricultural working machine 200 in FIG. 3. Regarding the operation flow of FIG. 8, the description of the functions common to the operation flow of FIG. 3 is omitted, and mainly the differences will be described.

[0072] As shown in FIG. 8, when the agricultural working machine 200A receives the first unique information 310A from the traveling machine body 100A at S204A, the agricultural working machine 200A communicates with the information processing device 600A to check the update information of the matching table 300A (S210A). If there is information to be updated in the information processing device 600A, the information processing device 600A transmits the update information to the agricultural working machine 200A in response to the request from the agricultural working machine 200A (S601A). The agricultural working machine 200A updates the matching table 300A stored in the agricultural working machine 200A using the update information received from the information processing device 600A. Then, unique information matching is performed using the updated matching table 300A (S205A).

[0073] Note that in the operation flow of FIG. 8, since the update information is checked after the agricultural working machine 200A receives the first unique information 310A, only the information regarding the traveling machine body 100A to which the agricultural working machine 200A is attached may be updated. In this case, the matching stored in the information processing device 600A Since it is not necessary to update all the information in the mapping table, the matching table 300A can be updated more efficiently with less communication volume. However, the update of the matching table 300A only needs to be performed before the unique information matching in S205A, and it may also be performed before the agricultural working machine 200A receives the first unique information 310A from the traveling body 100A in S204A. For example, the update of the matching table 300A may be triggered by an operator's operation of the traveling body 100 or the agricultural working machine 200. For example, as the trigger, an operation of connecting the agricultural working machine 200 to the traveling body 100 or other operations may be used.

[0074] FIG. 9 is a diagram showing an example of an operation sequence of information update of a matching table according to an embodiment of the present invention. As shown in FIG. 9, when the operation related to the information update of the matching table 300A is started, first, it is confirmed whether the agricultural working machine 200A can communicate with the information processing device 600A (S611A). The start of the information update operation may be the timing when the power of the agricultural working machine 200A is turned on, the timing when the agricultural working machine 200A is connected to the traveling body 100A, or the timing when the agricultural working machine 200A receives the first unique information 310A from the traveling body 100A. When it is determined as non-communication (No) in S611A, the information update operation ends.

[0075] When it is determined in S611A that the agricultural working machine 200A can communicate with the information processing device 600A (Yes), it is confirmed whether there is information to update the matching table 300A (S612A). In S612A, the version information of the matching table 300A stored in each of the agricultural working machine 200A and the information processing device 600A is compared. When the two versions are different, it is determined that there is information to update the matching table 300A (Yes), and the acquisition of update information (S613A) and the update of the matching table 300A (S614A) are performed. On the other hand, in S612A, when the above two versions are the same, it is determined that there is no information to update the matching table 300A (No), and the information update operation ends.

[0076] As described above, according to the unique information matching system 10A according to the present embodiment, in addition to the same effects as those of the first embodiment, since the information in the matching table 300A can be appropriately updated, even when new products of the traveling body 100A and the agricultural work machine 200A are released or regulations are changed, a matching table 300A that conforms to the new products can be provided.

[0077] In this embodiment, although the configuration in which the agricultural work machine 200A acquires update information from the information processing device 600A via the network 550A is illustrated, the present invention is not limited to this configuration. For example, the agricultural work machine 200A may acquire the update information via a portable memory medium. Further, instead of the agricultural work machine 200A, the traveling body 100A may communicate with the information processing device 600A via the network 550A to acquire update information of the matching table 300A. Further, the steps from S210A to S211A in FIG. 8 may be performed between S204A and S205A in FIG. 4.

[0078] <Third Embodiment> The traveling body 100B, the agricultural work machine 200B, the information processing device 600B, and the operation terminal 700B according to the third embodiment of the present invention will be described with reference to FIGS. 10 to 13. In this embodiment, unique information matching using a matching table 300B that is versatile for a plurality of agricultural work machines 200B will be described.

[0079] [Overall Configuration] FIG. 10 is a schematic diagram showing an overall configuration including a traveling body, an agricultural work machine, an information processing device, and an operation terminal according to an embodiment of the present invention. The unique information matching system 10B in FIG. 10 is similar to the unique information matching system 10A in FIG. 6, but is different from the unique information matching system 10A in FIG. 6 in that the operation terminal 700B is connected to the agricultural work machine 200B and the information processing device 600B via the network 550B. Regarding the unique information matching system 10B in FIG. 10, the description of the configuration common to the unique information matching system 10A in FIG. 6 will be omitted, and mainly the differences will be described.

[0080] In this embodiment, the function of storing the matching table 300B and performing unique information matching is provided in the operation terminal 700B. The operation terminal 700B may be a dedicated terminal for the traveling body 100B or the agricultural work machine 200B, or may be configured by a communicable communication terminal such as a personal computer, a notebook PC, a tablet PC, a smartphone, a mobile phone, a PDA, and a PHS, for example.

[0081] [Functional configurations of the traveling body 100B and the agricultural work machine 200B] FIG. 11 is a block diagram showing the functional configurations of the traveling body, the agricultural work machine, and the operation terminal according to an embodiment of the present invention. The block diagram of FIG. 11 is similar to the block diagram of FIG. 2, but is different from the agricultural work machine 200 in FIG. 2 in that the agricultural work machine 200B does not have table storage means, and the operation terminal 700B having the first acquisition means 710B, the second acquisition means 720B, the storage means 730B, and the control means 740B is connected to the agricultural work machine 200B via the network 550B. The above functional means are realized by an ECU provided in each of the traveling body 100B and the agricultural work machine 200B, and a central processing unit (CPU) provided in the operation terminal 700B executing programs stored in a storage device provided in each device.

[0082] The first acquisition means 710B acquires first unique information 310B (see FIG. 13), which is unique information of the traveling machine body 100B. The second acquisition means 720B acquires second unique information 340B (see FIG. 13), which is unique information of the agricultural work machine 200B. In this embodiment, since the traveling machine body 100B is not connected to the network 550B, the first unique information 310B is transmitted from the traveling machine body 100B to the agricultural work machine 200B, and the first unique information 310B and the second unique information 340B are transmitted from the agricultural work machine 200B to the operation terminal 700B. The storage means 730B stores a matching table 300B in which the first unique information 310B, the second unique information 340B, and control information 330B (see FIG. 13) are associated. The control means 740B derives the control information 330B based on the first unique information 310B and the second unique information 340B acquired by the above means and the matching table 300B, and transmits the derived control information 330B to the agricultural work machine 200B.

[0083] [Operation flow of mutual communication between traveling machine body 100B and agricultural work machine 200B] FIG. 12 is a diagram showing an operation flow of a control method for an agricultural work machine according to an embodiment of the present invention. The operation flow in FIG. 12 is similar to the operation flow in FIG. 8, but is different from FIG. 8 in that unique information matching is performed by the operation terminal 700B (steps after S210B).

[0084] In FIG. 12, the information processing device 600B transmits update information to the operation terminal 700B (S601B). The operation terminal 700B updates the matching table 300B stored in the operation terminal 700B using the update information received from the information processing device 600B (S701B).

[0085] In parallel with the above operation, the agricultural work machine 200B transmits the first unique information 310B and the second unique information 340B to the operation terminal 700B (S220B). The operation terminal 700B receives the first unique information 310B and the second unique information 340B from the agricultural work machine 200B (S702B), the matching table 300B updated in S701B, and the first Perform unique information matching using the unique information 310B and the second unique information 340B (S703B). Control information 330B is derived by the unique information matching in S703B (S704B). Then, the operation terminal 700B transmits the control information 330B derived in S704B to the agricultural work machine 200B (S705B). The agricultural work machine 200B regulates the operation of the agricultural work machine 200B based on the received control information 330B (S207B).

[0086] Note that the present invention is not limited to the above-described operation flow, and various modifications are conceivable. For example, in S103B, it is also possible for the traveling body 100B to directly transmit the first unique information to the operation terminal 700B. Also, the machine control information for the traveling body 100B may be directly transmitted from the operation terminal 700B to the traveling body 100B without going through the agricultural work machine 200B.

[0087] [An example of the matching table 300B] FIG. 13 is a diagram showing an example of a matching table according to an embodiment of the present invention. The matching table 300B in FIG. 13 is similar to the matching table 300 in FIG. 5, but differs from the matching table 300 in FIG. 5 in that the second unique information 340B is stored in association with the first unique information 310B, the regulation information 320B, and the control information 330B. The matching table 300B shown in FIG. 13 is stored in the operation terminal 700B. Similar to FIG. 5, the angle of the lift arm when the minimum ground height of each agricultural work machine 200 is 20 cm may be stored in the item of the lift arm 333B, and the upper limit speed and the total width of the traveling body 100 may be stored in the item of the notification 337B.

[0088] According to the unique information matching system 10B according to the present embodiment as described above, in addition to the same effects as those of the first and second embodiments, by storing the matching table 300B in association with the first unique information 310B and the second unique information 340B, any combination of the traveling body 100B and the agricultural work machine 200B can perform unique information matching as long as it is managed by the matching table 300B.

[0089] Note that, in this embodiment, a configuration is exemplified in which the matching table 300B is stored in the operation terminal 700B and unique information matching is performed by the operation terminal 700B, but the configuration is not limited thereto. For example, the matching table 300B may be stored in the traveling aircraft 100B, the agricultural work machine 200B, or the information processing device 600B, and unique information matching may be performed by these devices.

[0090] Also, in this embodiment, a configuration is exemplified in which the agricultural work machine 200B and the operation terminal 700B are connected via the network 550B, but the configuration is not limited thereto. For example, the agricultural work machine 200B and the operation terminal 700B may be directly connected by communication means such as short-range wireless communication. As the short-range wireless communication, for example, Wi-Fi (registered trademark) or BLE (Bluetooth (registered trademark) Low Energy) can be used.

[0091] Also, in this embodiment, a configuration is exemplified in which the traveling aircraft 100B is not connected to the network 550B, but the configuration is not limited thereto. For example, instead of the agricultural work machine 200B, the traveling aircraft 100B may be connected to the network 550B, or both the traveling aircraft 100B and the agricultural work machine 200B may be connected to the network 550B. In the case of a configuration in which the traveling aircraft 100B is connected to the network 550B and the agricultural work machine 200B is not connected to the network 550B, in the above embodiment, the steps in which the agricultural work machine 200B needs to communicate with the information processing device 600B and the operation terminal 700B may be performed by the traveling aircraft 100B.

[0092] <Fourth Embodiment> The unique information matching system 10C according to the fourth embodiment of the present invention will be described with reference to FIG. 14. FIG. 14 shows the movement of information update of the matching table according to an embodiment of the present invention. This is a diagram showing an example of an operation sequence. As shown in FIG. 14, first, with a specific agricultural work machine 200C attached to a traveling body 100C, certain conditions are set by the manual operation of an operator (S621C). When the operator selects an instruction to register the conditions in this state (S622C), the set conditions are added or updated as control information in a matching table 300C (S623C). For example, when the traveling body 100C travels on a public road with the agricultural work machine 200C attached, by pressing a setting button with the lift arm of the traveling body 100C set to the height that the operator wants to set as the upper limit, the height of the lift arm set by the operator is set as the upper limit value of the lift arm item (lift arm 333B in FIG. 13) of the control information (control information 330B in FIG. 13).

[0093] For example, when an option member is attached to the agricultural work machine 200C, the conditions for controlling the traveling body 100C and the agricultural work machine 200C may change. Even in such a case, appropriate control conditions can be set by adding or updating the control conditions as described above.

[0094] As described above, according to the unique information matching system 10C according to the present embodiment, in addition to the same effects as those of the first to third embodiments, by adding the conditions of the traveling body 100C and the agricultural work machine 200C set by the operation of the operator to the matching table, the control information in the matching table can be adjusted. That is, the conditions set in the matching table can be flexibly adjusted.

[0095] In the above-described first to fourth embodiments, for example, by using "AG-PORT", it may be detected that the traveling machine body or the working machine is in a preparation stage for traveling on a public road, and based on such a detection signal, the control of the operations of the traveling machine body and the agricultural working machine may be enabled. Examples of signals for detecting that the traveling machine body is in a preparation stage for traveling on a public road include a signal for detecting that the shift lever has been set to "High", a signal for detecting that the traveling machine body has entered (or is about to enter) a public road by means of a global navigation satellite system (GNSS: Global Navigation Satellite System), and the like. Examples of signals for detecting that the working machine is in a preparation stage for traveling on a public road include a signal for detecting the operating status of the PTO shaft, a signal for detecting that the left and right brake pedals are connected, and the like.

[0096] As described above, the present invention has been described with reference to the drawings. However, the present invention is not limited to the above-described embodiments, and can be appropriately modified without departing from the gist of the present invention. For example, based on the working machine of the present embodiment, those in which a person skilled in the art has appropriately added, deleted, or changed the design of components are also included in the scope of the present invention as long as they have the gist of the present invention. Furthermore, the above-described embodiments can be appropriately combined as long as there is no contradiction between them, and technical matters common to the respective embodiments are included in each embodiment even if not explicitly described.

[0097] Even if there are other operational effects different from those brought about by the aspects of the above-described embodiments, those that are obvious from the description in this specification or can be easily predicted by a person skilled in the art are naturally understood to be brought about by the present invention.

Description of Reference Numerals

[0098] 10: Inherent information matching system, 100: Aircraft, 103: Connection wiring, 110: Connection terminal, 120: Three-point link mechanism, 130: Lighting device, 150: Inherent information transmission means, 151: Lighting device control means, 153: Speed control means, 155: Lift arm control means, 200: Agricultural work machine, 201: Electronic control unit, 203: Connection wiring, 205: Frame, 207: Rotor, 209: Shield cover, 211: Apron, 213: Lever, 230: Lighting device, 240: Notification means, 251: First receiving means, 253: Table storage means, 255: Control means, 257A: Acquisition means, 259A : Update means, 300: Matching table, 310: First inherent information, 321: Lighting device, 323: Lift arm, 325: Vehicle speed, 330: Control information, 331: Lighting device, 333: Lift arm, 335: Vehicle speed, 337: Notification, 340B: Second inherent information, 500: Communication means, 550A: Network, 600A: Information processing device, 601A: Database, 700B: Operation terminal, 710B: First acquisition means, 720B: Second acquisition means, 730B: Storage means, 740B: Control means, 2551: Lighting device control means, 2553: Notification control means, 2555: Aircraft control means

Claims

1. Acquire first unique information, which is unique information of the traveling machine body, from the traveling machine body to which the vehicle is attached; An agricultural work machine that transmits control information for controlling the operation of the traveling body, which is associated with the first unique information acquired from the traveling body, to the traveling body.

2. storing a matching table in which the first unique information and the control information are associated with each other; The agricultural machine according to claim 1 , wherein the control information associated with the first unique information acquired from the traveling machine body in the matching table is transmitted to the traveling machine body.

3. The agricultural machine according to claim 1 or 2, wherein the first unique information is acquired from the traveling machine body by wired communication or wireless communication.

4. The agricultural machine according to claim 1 , wherein the control information includes information for controlling a speed of the traveling machine body.

5. The agricultural work machine according to claim 1 , wherein the control information includes information for controlling an operation of a lift arm provided on the traveling body for adjusting a height of the agricultural work machine.

6. An information processing device capable of communicating with an agricultural work machine or a traveling machine body to which the agricultural work machine is attached, Acquire first unique information, which is unique information of the traveling machine body, from the traveling machine body or the agricultural machine that stores the first unique information; Acquire second unique information, which is unique information of the agricultural work machine, from the agricultural work machine; An information processing device that transmits control information for controlling the operation of the traveling machine body, which is associated with the first unique information and the second unique information, to the agricultural machine or the traveling machine body.

7. A program to be executed by a computer capable of communicating with an agricultural work machine or a traveling machine body to which the agricultural work machine is attached, Acquire first unique information, which is unique information of the traveling machine body, from the traveling machine body or the agricultural machine that stores the first unique information; Acquire second unique information, which is unique information of the agricultural work machine, from the agricultural work machine; A program for causing a computer to execute the process of transmitting control information for controlling the operation of the traveling machine body, which is associated with the first unique information and the second unique information, to the agricultural machine or the traveling machine body.

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