Working machine and working device

Abstract

To provide a work machine which easily makes the shape of the grass collection row (swath) uniform.SOLUTION: A grass collection machine 1C (work machine) comprises: a travel vehicle 2C; a grass collection device 3C (work device) which is connected to the travel vehicle 2C and creates a grass collection row by collecting grass in a farm field; a sensing device 17 which acquires the state of the grass or grass collection row in the farm field; and a control device 15 which changes setting information of the grass collection device 3C on the basis of the state acquired by the sense device 17 when the grass collection device 3C performs the grass collection work.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a working machine and a working device such as a hay gathering machine that performs a hay gathering operation.

Background Art

[0002] Patent Document 1 discloses a hay gathering machine that includes a tractor and a hay gathering device connected to the rear part of the tractor, and creates a hay gathering row (so-called swath) by operating the hay gathering device towed by the tractor to gather the mowed grass in the field. Further, Patent Document 1 discloses that by introducing the gathered hay gathering row (swath) into a roll baler or the like, the swath is formed into a predetermined shape by the roll baler and discharged onto the field.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When, as in Patent Document 1, the mowed grass in the field is gathered, the fact is that the shape of the hay gathering row (swath) changes depending on, for example, the amount of forage before gathering. When the shape of the swath is not constant (changing), operations such as introducing the swath into the roll baler may be difficult, or the intervals of the roll balers discharged from the roll baler may not be stable. The present invention has been made to solve such problems of the prior art, and an object thereof is to easily make the shape of the hay gathering row (swath) constant.

Means for Solving the Problems

[0005] The technical means of the present invention for solving the above technical problems is characterized by the following points. An agricultural machine according to one aspect of the present invention includes a traveling vehicle, a working device connected to the traveling vehicle and configured to collect forage in a field to create a forage row, a sensing device configured to acquire the state of the forage in the field or the forage row, and a control device configured to change setting information of the working device based on the state acquired by the sensing device when the working device performs a forage collection operation. , the sensing device includes an imaging device that images the state of forage grass in the field or the windrow. The control device changes the setting information of the working device based on the imaging data captured by the imaging device. The imaging device is a first imaging device that images the state of the windrow created by the working device. The control device changes the setting information of the working device based on the imaging data of the working result indicating the state of the created windrow captured by the first imaging device. The control device: (i) changes the setting information to first setting information when it determines that the width of the windrow indicated by the imaging data is less than or equal to a first lower limit width; (ii) changes the setting information to second setting information when it determines that the width of the windrow indicated by the imaging data is greater than or equal to a first upper limit width, or when it determines that the windrow indicated by the imaging data has a double peak shape; (iii) keeps the setting information as the current setting information when it determines that the windrow indicated by the imaging data does not have a double peak shape, the width of the windrow is not greater than the first upper limit width, and is not less than or equal to the first lower limit width .

[0007] Further, the imaging device may be a second imaging device configured to image the state of the forage in the field, and the control device may change the setting information of the working device based on the pre-operation imaging data indicating the state of the forage in the field imaged by the second imaging device. Further, the imaging device may include a first imaging device configured to image the state of the forage row created by the working device and a second imaging device configured to image the state of the forage in the field, and the control device may change the setting information of the working device based on the imaging data of the working result indicating the state of the created forage row imaged by the first imaging device and the pre-operation imaging data indicating the state of the forage in the field imaged by the second imaging device.

[0008] Further, the working device may include a forage collection unit having a main body, a rotating shaft rotatably supported by the main body, a plurality of tine arms connected to the rotating shaft and extending radially from the rotating shaft, a forage collector connected to each of the plurality of tine arms and extending downward, and a plate-like member for forming a forage row, and the control device may change the setting information indicating the separation distance of the plate-like member from the main body among the setting information of the working device based on the imaging data of the working result.

[0009] Further, the working device includes a collecting part having a main body, a rotating shaft rotatably supported by the main body, a plurality of tine arms connected to the rotating shaft and extending radially from the rotating shaft, a collecting tool connected to each of the plurality of tine arms and extending downward, and a plate-like member for forming a collecting row. The control device may change the setting information indicating the separation distance of the plate-like member from the main body among the setting information of the working device based on the imaging data before the operation.

[0010] Further, the working device includes a collecting part having a main body, a rotating shaft rotatably supported by the main body, a plurality of tine arms connected to the rotating shaft and extending radially from the rotating shaft, a collecting tool connected to each of the plurality of tine arms and extending downward. The control device may change the setting information indicating the distance from the lower end of the collecting part to the field among the setting information of the working device based on the imaging data before the operation.

[0011] Further, the working device includes a collecting part having a main body, a rotating shaft rotatably supported by the main body, a plurality of tine arms connected to the rotating shaft and extending radially from the rotating shaft, a collecting tool connected to each of the plurality of tine arms and extending downward. The control device may change the setting information indicating the traveling speed of the traveling vehicle among the setting information of the working device based on the imaging data before the operation.

[0012] Further, the traveling vehicle includes a prime mover and a PTO shaft driven by the power of the prime mover. The working device includes a collecting part having a main body, a rotating shaft rotatably supported by the main body and to which the power of the PTO shaft is transmitted, a plurality of tine arms connected to the rotating shaft and extending radially from the rotating shaft, and a collecting tool connected to each of the plurality of tine arms and extending downward. The control device may change the setting information indicating the rotational speed of the PTO shaft among the setting information of the working device based on the imaging data before the operation.

[0013] Further, the traveling vehicle includes a prime mover and a PTO shaft driven by the power of the prime mover, the working device includes a main body, a rotating shaft rotatably supported by the main body and to which the power of the PTO shaft is transmitted, a plurality of tine arms connected to the rotating shaft and extending radially from the rotating shaft, and a hay gathering tool connected to each of the plurality of tine arms and extending downward, and the control device may change setting information indicating the rotational speed of the PTO shaft among the setting information of the working device based on the imaging data of the working result.

[0014] Further, in the working machine according to one aspect of the present invention, a positioning device for acquiring positioning information is provided, and the control device acquires imaging data that is imaged in the spreading process before the hay gathering process and to which position information indicating the imaging position is associated, and changes the setting information of the working device based on the imaging data corresponding to the position information that matches the positioning information measured by the positioning device among the acquired imaging data.

[0015] Further, in the working machine according to one aspect of the present invention, a positioning device for acquiring positioning information, a storage device, and a communication device are provided, and the control device generates performance data of the working result in which the positioning information measured by the positioning device and the imaging data of the working result are associated, stores the performance data in the storage device, and transmits the performance data stored in the storage device to an external information processing device by the communication device.

Advantages of the Invention

[0018] According to the present invention, the shape of the hay gathering row (swath), etc. can be easily made constant.

Brief Description of the Drawings

[0019]

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Figure 21B

Best Mode for Carrying Out the Invention

[0020] Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows an overall view of a forage management system. The forage management system is a system for managing matters related to forage planted in a field. The forage grown in the field is processed by at least one type of working machine. Four types of working machines are shown in FIG. 1. The four types of working machines are a mower 1A, a spreader 1B, a hay rake 1C, and a forming machine 1D. The mower 1A cuts the forage in the field and discharges the cut grass to the outside. The spreader 1B spreads the forage (cut grass) in the field. The hay rake 1C rakes the forage spread in the field to create a windrow. The forming machine 1D collects the forage formed into a windrow and forms the collected forage into a predetermined shape. For example, the forage is formed into a cylindrical shape or a rectangular parallelepiped shape.

[0021] The mower 1A has a traveling vehicle 2A and a cutting device 3A connected to the traveling vehicle 2A. The spreader 1B has a traveling vehicle 2B and a spreading device 3B connected to the traveling vehicle 2B. The hay rake 1C has a traveling vehicle 2C and a hay raking device 3C connected to the traveling vehicle 2C. The forming machine 1D has a traveling vehicle 2D and a forming device 3D connected to the traveling vehicle 2D.

[0022] The traveling vehicles 2A, 2B, 2C, and 2D are all tractors capable of traveling. First, the traveling vehicles 2A, 2B, 2C, and 2D will be described. As shown in FIG. 20, the traveling vehicles (tractors) 2A, 2B, 2C, and 2D each include a vehicle body 10, a prime mover 11, and a transmission 12. A traveling device 13 is provided on the vehicle body 10. The traveling device 13 is a device having front wheels and rear wheels. The traveling device 13 may be a crawler-type device. The prime mover 11 is a diesel engine, an electric motor, etc., and is configured by a diesel engine in this embodiment. The transmission 12 can switch the driving force of the traveling device 13 and can switch the forward and reverse of the traveling device 13. Further, a connecting portion 8 configured by a three-point link mechanism or the like is provided at the rear portion of the vehicle body 10. An operating device (mowing device 3A, spreading device 3B, grass collecting device 3C, shaping device 3D) can be attached to and detached from the connecting portion 8. By connecting the operating device to the connecting portion 8, the vehicle body 10 can tow the operating device. Further, the traveling vehicles 2A, 2B, 2C, and 2D have a PTO shaft driven by power such as the prime mover 11, and the power of the PTO shaft can be transmitted to the operating device. Further, the traveling vehicles 2A, 2B, 2C, and 2D are provided with a cabin 14 having a driver's seat inside.

[0023] As shown in FIG. 1, the traveling vehicles 2A, 2B, 2C, and 2D each include a control device 15. The control device 15 controls each traveling system and working system of the traveling vehicles 2A, 2B, 2C, and 2D based on an operation signal when operating an operating tool (operation lever, operation switch, operation volume, etc.) installed around the driver's seat, a detection signal of various sensors mounted on the vehicle body 10, and the like. For example, the control device 15 controls the raising and lowering of the operating device based on the operation (operation signal) of the operating tool, and controls the rotational speed of the diesel engine based on the accelerator pedal sensor. Note that the control device 15 only needs to control the working system and traveling system of the traveling vehicles 2A, 2B, 2C, and 2D, and the control method is not limited.

[0024] As shown in FIG. 2, the hay gathering device 3C has a connecting frame 42 connected to the connecting portion 8 of the traveling vehicle 2C, and a hay gathering portion 43 connected to the connecting frame 42. In FIG. 2, an example in which two hay gathering portions 43 are connected to the connecting frame 42 is shown. The hay gathering portion 43 has a main body 44 connected to the connecting frame 42, a rotating shaft (rotor) 45 rotatably supported by the main body 44, a plurality of arms (tine arms) 46 connected to the rotating shaft 45, and a hay gathering tool (tine) 47 connected to each of the plurality of arms 46. The interval between the hay gathering tools 47 in the hay gathering device 3C is shorter than that of the spreading tools 37 of the spreading device 3B. The hay gathering tool 47 is, for example, a member with a bifurcated tip. The power of the PTO shaft AX is transmitted to the rotating shaft 45 via a drive shaft 28C supported by the connecting frame 42, and the rotating shaft 45 rotates. As the rotating shaft 45 rotates, the arms 46 rotate, and the hay gathering tool 47 gathers the forage. That is, the rotation of the rotating shaft 45 causes the hay gathering tool 47 to rotate, and the hay gathering tool 47 gathers the forage. The hay gathering device 3C is not limited to the above-described configuration, and any device that can gather forage may be used. For example, the number of hay gathering portions 43 may be one or three or more. Further, the hay gathering portion 43 may be a rotary type in which a rotor with a hay gathering tool 47 rotates around a vertical axis, a belt / chain type in which a plurality of hay gathering tools 47 are attached to a rotating belt or chain, or any other type.

[0025] Now, as shown in FIGS. 1 and 20, the forage management system includes at least one position detection device 60 capable of detecting the position of the working machine. The position detection device 60 includes a position detection device 60A that detects the position of the mower 1A. The position detection device 60 includes a position detection device 60B that detects the position of the spreader 1B. The position detection device 60 includes a position detection device 60C that detects the position of the hay gatherer 1C. The position detection device 60 includes a position detection device 60D that detects the position of the forming machine 1D.

[0026] The position detection devices 60A, 60B, 60C, and 60D will be described. The position detection device 60A is mounted on the top plate of the cabin 14 of the traveling vehicle 2A. The position detection device 60B is mounted on the top plate of the cabin 14 of the traveling vehicle 2B. The position detection device 60C is mounted on the top plate of the cabin 14 of the traveling vehicle 2C. The position detection device 60D is mounted on the top plate of the cabin 14 of the traveling vehicle 2D. That is, the position detection devices 60A, 60B, 60C, and 60D are respectively mounted on the traveling vehicles. Note that although the position detection devices 60A, 60B, 60C, and 60D are mounted on the top plate of the cabin 14, the mounting location on the tractor (traveling vehicle) is not limited and may be another location.

[0027] The position detection devices 60A, 60B, 60C, and 60D detect their own positions (positioning information including latitude and longitude) by means of a satellite positioning system. That is, the position detection devices 60A, 60B, 60C, and 60D can receive signals (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellites and detect positions (for example, latitude and longitude) based on the received signals. The position detection devices 60A, 60B, 60C, and 60D may detect not only positions such as latitude and longitude but also information in the vertical direction (height direction), that is, height information.

[0028] In this way, by providing the position detection devices 60A, 60B, 60C, and 60D for each of the lawn mower 1A, the spreader 1B, the grass collector 1C, and the forming machine 1D, the positions during mowing operation, spreading operation, grass collecting operation, and forming operation can be individually detected. The position during mowing operation is stored in the storage device (first storage device) 16A provided in the traveling vehicle 2A. The position during spreading operation is stored in the storage device 16B provided in the traveling vehicle 2B. The position during grass collecting operation is stored in the storage device 16C provided in the traveling vehicle 2C. The position during forming operation is stored in the storage device (second storage device) 16D provided in the traveling vehicle 2D.

[0029] As shown in FIG. 1, the forage management system includes a first physical quantity detection device 81. The first physical quantity detection device 81 is a device that detects physical quantities related to forage, such as components (water content, protein, etc.) contained in the forage. The first physical quantity detection device 81 is provided on the mower 1A. The first physical quantity detection device 81 acquires at least the water content value (referred to as the first water content value) of the forage during the mowing operation by the mower 1A.

[0030] The first physical quantity detection device 81 is provided on the mowing device 3A and acquires the first water content value of the forage when the forage is mowed. For example, the first physical quantity detection device 81 is a spectroscopic analysis device that irradiates the forage with a light source having a predetermined frequency and receives the reflected light from the forage to analyze the water content of the forage. The first physical quantity detection device 81 is connected to the control device 15 or the storage device 16A provided on the traveling vehicle 2A. The control device 15 associates the first water content value acquired by the first physical quantity detection device 81 with the mowing position (latitude, longitude) detected by the position detection device 60A and stores it in the storage device 16A as map data of the first water content value.

[0031] As shown in FIG. 1, the traveling vehicle 2A includes a communication device 82A. The communication device 82A is connected to at least the storage device 16A and outputs the map data of the first water content value (mowing position and first water content value) stored in the storage device 16A to an external device 83. The external device 83 is, for example, a mobile terminal such as a smartphone, tablet, or PDA. The communication device 82A is a short-range communication device or a communication device that performs wireless communication via a mobile phone communication network, data communication network, mobile phone communication network, etc., and has a communication function of connecting the external device 83 so as to transmit the above-mentioned map data of the first water content value to a support device 84 described later by direct communication or indirect communication, and outputs the mowing position and the first water content value to the external device 83.

[0032] As shown in FIG. 1, the forage management system includes a support device 84. The support device 84 is, for example, a personal computer, server, etc. owned by the administrator. The support device 84 includes an arithmetic unit 84a composed of a CPU or the like, a display unit (display device) 84b, and a storage unit 84c composed of a non-volatile memory or the like. The support device 84 also has a connection part to which an external device 83 can be connected. The display unit 84b is a device that performs various displays and is composed of a liquid crystal panel or the like.

[0033] Now, the forage management system includes a creation support unit 85. The creation support unit 85 is composed of electrical and electronic components provided in the support device 84, programs incorporated in the arithmetic unit 84a (support device 84), etc. The creation support unit 85 supports the creation of work plans for work machines. For example, the creation support unit 85 supports the creation of at least one of the work plans for the mowing operation in the mower 1A, the spreading operation in the tedder 1B, the hay raking operation in the rake 1C, and the forming operation in the baler 1D.

[0034] As shown in FIG. 3, when an administrator or the like operates the support device 84, the creation support unit 85 displays a creation screen M1 for creating a work plan on the display unit 84b. The creation screen M1 is a screen for setting a work plan in a predetermined field, that is, a predetermined section. FIG. 3 shows the creation screen M1 for setting the work plan for field A. Note that fields owned by an administrator or the like are registered in the support device 84 in advance, and when a plurality of fields are registered, a work plan can be set for each field. For the sake of convenience of explanation, the explanation will proceed on the assumption of making a work plan for one field (field A).

[0035] The creation support unit 85 displays a work item section 103 on the creation screen M1 that displays work items related to forage work [mowing operation (mower), spreading operation (tedder), hay raking operation (rake), forming operation (baler)]. Also, the work items shown in the work item section 103 are selectable. Since the work item in FIG. 3 is the mowing operation, it can be seen that the creation screen M1 is a screen for setting a work plan starting from the mowing operation.

[0036] The creation support unit 85 displays a date schedule unit 105 that displays the dates for performing each operation such as a mowing operation (mower), a spreading operation (tedder), a raking operation (rake), and a forming operation (baler) input by, for example, an administrator. In the above-described embodiment, an administrator or the like operates the support device 84 to arbitrarily set the relationship between the operations and dates in the date schedule unit 105. However, the creation support unit 85 may automatically create the relationship between the operations and dates in the date schedule unit 105. When the button (registration button) 106 displayed on the creation screen M1 is selected, the work plan set on the creation screen M1 is stored in the storage unit 84c of the support device 84.

[0037] As described above, the creation support unit 85 supports the work plan. Therefore, it is possible to set dates, work periods, etc. for a series of operations from the mowing operation, the spreading operation, the raking operation, to the forming operation. Now, when performing the mowing operation, as described above, the mowing position and the first moisture value can be acquired by the mower 1A. When an external device 83 is connected to the communication device 85A of the mower 1A, the mowing position and the first moisture value detected during the mowing operation can be stored in the external device 83. Then, when the external device 83 is connected to the support device 84, the storage unit 84c of the support device 84 can acquire and store the mowing position and the first moisture value stored in the external device 83.

[0038] In this way, using the mowing position and the first moisture value detected during the mowing operation, the creation support unit 85 can support the creation of a work plan for a work machine (any one of the spreader 1B, the rake 1C, and the baler 1D) to be performed after mowing. FIG. 4 shows a creation screen M2 when the work item section 103 is changed to a spreading operation after setting the mowing operation shown in FIG. 3. Note that the work item section 103 and the date schedule section 105 are displayed on the creation screen M2 of FIG. 4, which is the same as in FIG. 3.

[0039] When creating the work plan, the creation support unit 85 displays the moisture map 110A on the creation screen M2, for example. As shown in FIG. 4, the moisture map 110A is a map created by the moisture map creation unit 87. The moisture map creation unit 87 is composed of programs incorporated in electrical and electronic components, the arithmetic unit 84a (support device 84), etc. provided in the support device 84. The moisture map creation unit 87 creates the moisture map 110A in the field based on the first moisture value and the cutting position.

[0040] Therefore, the moisture map 110A during the cutting operation is displayed on the creation screen M2 for setting at least the work plan after cutting. Thus, for example, when the administrator or the like can arbitrarily change the relationship between the work and the date in the date schedule section 105 of the creation screen M2 manually, the administrator can arbitrarily change the date of the spreading operation while referring to the moisture map 110A. In the above-described embodiment, while the administrator or the like views the moisture map 110A displayed on the creation screen M2, the date shown in the date schedule section 105 of the creation screen M2 is arbitrarily changed. However, the creation support unit 85 may set the date of the work in the work plan based on the first moisture value.

[0041] As shown in FIG. 1, the forage management system includes a second physical quantity detection device 150. Similar to the first physical quantity detection device 81, the second physical quantity detection device 150 is a device that detects physical quantities related to forage, such as components (moisture content, protein, etc.) contained in the forage. The second physical quantity detection device 150 is provided in the spreader 1B. The second physical quantity detection device 150 acquires at least the moisture value (referred to as the second moisture value) of the forage during the spreading operation by the spreader 1B.

[0042] The second physical quantity detection device 150 is provided in the spreading device 3B and acquires the second moisture value of the forage grass during the spreading of the forage grass. For example, the second physical quantity detection device 150 is a spectroscopic analysis device that irradiates the forage grass with a light source having a predetermined frequency and receives the reflected light from the forage grass to analyze the moisture of the forage grass. The second physical quantity detection device 150 is connected to the control device 15 or the storage device 16B provided in the traveling vehicle 2B. The control device 15 associates the second moisture value acquired by the second physical quantity detection device 150 with the spreading position (latitude, longitude) detected by the position detection device 60B and stores it in the storage device 16B as map data of the second moisture value.

[0043] As shown in FIG. 1, the traveling vehicle 2B is provided with a communication device 82B. The communication device 82B outputs the map data (spreading position and second moisture value) of the second moisture value stored in the storage device 16B to the external device 83. The external device 83 transmits the map data of the second moisture value to the support device 84 by direct communication or indirect communication. As shown in FIG. 1, the forage grass management system is provided with a terrain information acquisition device. The terrain information acquisition device is a device that acquires the terrain information of the farmland. The terrain information acquisition device acquires the height information of the farmland detected during the mowing operation by the mower 1A as the terrain information. Specifically, the terrain information acquisition device is the position detection device 60A provided in the mower 1A. As described above, the position detection device 60A detects not only the position (latitude, longitude) but also the height (height information) in the vertical direction (height direction) based on the signal transmitted from the positioning satellite during the mowing operation. The latitude and longitude detected by the position detection device 60A are two-dimensional (X-axis direction, Y-axis direction) information, and the height information is information in the vertical direction (Z-axis direction) of the farmland. The three-dimensional information detected by the position detection device 60A, that is, the terrain information of the farmland. The terrain information (latitude, longitude, height) detected during the mowing operation by the terrain information acquisition device (position detection device 60A) is stored in the storage device 16A and can be transferred to the external device 83 via the communication device 82A.

[0044] Further, the terrain information acquisition device may be a device that acquires the height information of the field detected during the spreading operation by the spreader 1B as terrain information. For example, the terrain information acquisition device is the position detection device 60B provided on the spreader 1B. The terrain information detected during the mowing operation by the terrain information acquisition device (position detection device 60B) is stored in the storage device 16B and can be transferred to the external device 83 via the communication device 82B.

[0045] Further, the terrain information acquisition device may be a device that acquires the height information of the field detected during the grass collection operation by the grass collector 1C as terrain information. For example, the terrain information acquisition device is the position detection device 60C provided on the grass collector 1C. The terrain information detected during the mowing operation by the terrain information acquisition device (position detection device 60C) is stored in the storage device 16C. The storage device 16C is connected to the communication device 82C, and the communication device 82C outputs the terrain information stored in the storage device 16C to the external device 83.

[0046] Note that the terrain information acquisition device may be any device that acquires the terrain information of the field, and is not limited to the position detection device 60A, the position detection device 60B, and the position detection device 60C. The terrain information acquisition device may be the position detection device 60D provided on the forming machine 1D, or other working machines. An imaging device (terrain information acquisition unit) such as a camera may be provided on the multicopter, and the image obtained by the imaging device may be used as terrain information. Further, a terrain information acquisition device configured by a position detection device 60 capable of detecting height may be provided on a fertilizer applicator that fertilizes the field, a spreader that sprays chemicals, etc.

[0047] As shown in FIG. 1, the forage management system includes an emission information acquisition unit 200 and a route creation unit 210. The emission information acquisition unit 200 and the route creation unit 210 are provided in the support device 84. That is, the emission information acquisition unit 200 and the route creation unit 210 are composed of electrical and electronic components provided in the support device 84, programs incorporated in the arithmetic unit 84a (support device 84), etc.

[0048] The discharge information acquisition unit 200 acquires a planned discharge position H1 at which the formed material formed by the forming machine 1D is discharged to the field. The route creation unit 210 creates a travel route R2 of the hay collector 1C that collects the hay before the operation in the forming machine 1D based on the terrain information and the planned discharge position H1. FIG. 5 shows a setting screen M11 for setting the travel route R2 displayed on the display unit 84b.

[0049] When an administrator or the like operates the support device 84, the route creation unit 210 causes the setting screen M11 to be displayed on the display unit 84b of the support device 84. The setting screen M11 includes a setting unit 215 for setting a field, a terrain display unit 216 for displaying the terrain (terrain map) 220 of the field, and a route display unit 217 for displaying a travel route. When a field is set in the setting unit 215, the route creation unit 210 refers to the storage unit 84c and extracts the terrain information corresponding to the field set in the setting unit 215. When there are a plurality of terrain information in the same field, the route creation unit 210 extracts the latest terrain information with a newer date. When there are a plurality of terrain information in the same field, the route creation unit 210 may display a list of the time or date when the terrain information was acquired on the setting screen M11 and extract the terrain information selected from the list.

[0050] Based on the extracted terrain information, the route creation unit 210 displays a three-dimensional terrain map 220 on the terrain display unit 216. In the above-described embodiment, the terrain map 220 is created based on one piece of terrain information in the same field, but the terrain map 220 may be created using a plurality of terrain information in the same field. When creating the terrain map 220, the route creation unit 210 displays it on the terrain display unit 216.

[0051] On the field of the terrain display unit 216, that is, on the field showing the terrain map 220, it is possible to set the planned discharge position H1 of the molding material in the molding machine 1D. For example, when the route creation unit (discharge position setting unit) 210 selects on the field of the terrain map 220 using the input interface (mouse, keyboard, etc.) of the support device 84 by the administrator, the position of the selected field is set as the planned discharge position H1 of the molding material. That is, the discharge information acquisition unit 200 recognizes the position (latitude, longitude) at the time of selection on the field of the terrain map 220 as the planned discharge position H1, and acquires the planned discharge position H1 at the time of selection. Therefore, the discharge information acquisition unit 200 acquires a plurality of planned discharge positions H1 each time it selects on the field of the terrain map 220.

[0052] In the above-described embodiment, the discharge information acquisition unit 200 acquired a plurality of planned discharge positions H1 each time it selected on the field of the terrain map 220. However, when a predetermined range on the field of the terrain map 220 is selected by an input interface or the like, the positions included in the predetermined range may be acquired as the planned discharge position H1. In addition, in setting the planned discharge position H1, it may be determined whether the molding material can be discharged properly. That is, as shown in FIG. 1, the pasture management system may include a discharge position determination unit 230. The discharge position determination unit 230 is composed of an electric / electronic component provided in the support device 84, a program incorporated in the arithmetic unit 84a (support device 84), and the like.

[0053] The discharge position determination unit 230 determines from the terrain information whether the planned discharge position H1 can be set. For example, the discharge position determination unit 230 determines from the terrain information whether the planned discharge position H1 selected on the field of the terrain map 220 or the periphery of the planned discharge position H1 is not inclined. When the periphery of the planned discharge position H1 is a downward slope or an upward slope, the discharge position determination unit 230 determines that the planned discharge position H1 cannot be set, and displays a warning on the setting screen M11 indicating that the planned discharge position H1 is unqualified. For example, when the sloping ground 220b is selected as the planned discharge position, the discharge position determination unit 230 determines that it is unqualified and displays a warning on the setting screen M11.

[0054] On the other hand, when the periphery of the planned discharge position H1 is flat, the discharge position determination unit 230 determines that the planned discharge position H1 can be set, and displays a figure or the like indicating the planned discharge position H1 on the setting screen M11 and holds the planned discharge position H1. For example, when the planned discharge position H1 is set on the flat ground 220a of the terrain map 220, the discharge position determination unit 230 determines that the planned discharge position H1 can be set and holds the planned discharge position H1. Note that even when the periphery of the planned discharge position H1 is a downward slope or an upward slope, if the slope is very slight and the molded material after discharge does not roll from the planned discharge position H1, the discharge position determination unit 230 determines that the planned discharge position H1 can be set.

[0055] After the setting of the planned discharge position H1 is completed, the route creation unit 210 creates the travel route R2 of the hay collector 1C. As shown in FIG. 5, for example, the description will proceed assuming that the planned discharge position H1 is set on the flat ground 220a of the terrain map 220. The route creation unit 210 sets the traveling route R2 of the hay collector 1C along the inclination direction of the sloping land 220b. In other words, in the terrain map 220, when the front side is the flat land 220a and the back side is the sloping land 220b, and the altitude of the terrain map 220 increases from the front to the back, the route creation unit 210 sets the traveling route R2 of the hay collector 1C from the front to the back. The route creation unit 210 sets the traveling route R2 of the hay collector 1C so that the discharge position where the formed material is discharged in the forming machine 1D substantially coincides with the planned discharge position H1, assuming that the traveling route of the forming machine 1D coincides with the traveling route R2 of the hay collector 1C. For example, as shown in FIG. 5, when the route creation unit 210 focuses on the two planned discharge positions H1a and H1b in the flat land 220a, the traveling route R2 of the hay collector 1C is set to a trajectory that moves away from one planned discharge position H1a, goes toward the sloping land 220b, then turns back on the sloping land 220b, and returns to the other planned discharge position H1b. In the traveling route R2 of the hay collector 1C, the interval L2 between adjacent traveling routes R2 is set according to the preset width (working width) W1 for collecting hay by the hay collector 1C or the like.

[0056] When the route creation unit 210 creates the traveling route R2, for example, it displays the traveling route R2 represented in two dimensions (X-axis, Y-axis) on the route display unit 217. After creating the traveling route R2, the route creation unit 210 may display the traveling route R2 represented in three dimensions (X-axis, Y-axis, Z-axis) on the route display unit 217. Note that the route creation unit 210 may create the traveling route R2 based on information regarding the hay collector 1C, that is, the mechanical information of the hay collector 1C. As shown in FIG. 6, the hay collector 1C (hay collecting device 3C) includes a first type 1CA that collects hay at the center in the width direction of the hay collector 1C by two hay collecting units 43, a second type 1CB that collects hay on one side in the width direction of the hay collector 1C by one hay collecting unit 43, a third type 1CC that collects hay at the center in the width direction of the hay collector 1C by two hay collecting units 43 and also collects hay on one side in the width direction, and the like. The first type 1CA, the second type 1CB, and the third type 1CC have different widths (working widths) W1A, W1B, and W1C for collecting hay, respectively.

[0057] In the first type 1CA, two grass gathering parts 43 are arranged side by side in the width direction of the grass gatherer 1C with a predetermined interval therebetween (for example, the width of the grass gathering row GL), and a grass gathering row GL is formed along the traveling direction of the grass gatherer 1C between the two grass gathering parts 43 having different rotational directions. The forage grass (mowed grass) captured by the two grass gathering parts 43 is discharged toward the position (central position) between the two grass gathering parts 43, and the grass gathering row GL is formed along the traveling direction of the grass gatherer 1C. Further, in the second type 1CB, the grass gathering part 43 includes a plate-like member (so-called swath curtain) 48 for forming the grass gathering row GL, and the plate-like member 48 is arranged at an interval in the width direction of the grass gatherer 1C with respect to the main body 44 of the grass gathering part 43. The forage grass (mowed grass) captured by the rotating grass gathering part 43 is discharged toward the plate-like member 48, and the mowed grass is stopped by the plate-like member 48, and the grass gathering row GL is formed along the traveling direction of the grass gatherer 1C. In the third type 1CC, two grass gathering parts 43A and 43B are arranged at different positions in the front-rear direction of the grass gatherer 1C and on the right and left sides of the grass gatherer 1C, and a first plate-like member 48A for forming a temporary grass gathering row GL is arranged at an interval on the left side of the main body 44 of the front grass gathering part 43, and a second plate-like member 48B for forming the grass gathering row GL is arranged at an interval on the left side of the main body 44 of the rear grass gathering part 43B. The forage grass (mowed grass) captured by the rotating grass gathering part 43A is discharged toward the first plate-like member 48A, and the mowed grass is stopped by the first plate-like member 48A, and a temporary grass gathering row GL is formed along the traveling direction of the grass gatherer 1C. The mowed grass of the temporary grass gathering row GL is captured by the rotating grass gathering part 43B and discharged toward the second plate-like member 48B, and the mowed grass is stopped by the second plate-like member 48B, and the grass gathering row GL is formed.

[0058] As shown in FIG. 1, the grass gathering device 3C includes a driving device 49 for setting the state of the grass gathering part 43 to the state indicated by the setting information. This setting information is the setting information of the grass gathering device 3C and is stored in advance in the control device 15 or the storage device 16C. The setting information of the grass gathering device 3C includes, for example, setting information indicating the height position of the grass gathering part 43, setting information indicating the interval between the two grass gathering parts 43 or the interval between the grass gathering part 43 and the plate-like member 48.

[0059] The drive device 49 includes a first drive device 49A for changing the height position of the grass collecting part 43, and a second drive device 49B for changing the distance between the two grass collecting parts 43 or the distance between the grass collecting part 43 and the plate-shaped member 48. The first type 1CA, the second type 1CB, and the third type 1CC include at least one of the first drive device 49A and the second drive device 49B. The first drive device 49A is a drive mechanism such as an actuator or a cylinder, and by being driven and controlled by the control device 15, the main body 44 and the rotating shaft (rotor) 45 can be moved up and down in the vertical direction, thereby changing the height of the grass collecting part 43 from the field surface (ground) to the height indicated by the setting information. The first drive device 49A may be a device that changes the height of the grass collecting part 43 from the field surface (ground) by moving the gauge wheel 44a that supports the grass collecting part 43 up and down in the vertical direction. The first drive device 49A can be changed from a reference position (first height) to a change position (second height) higher than the reference position within a predetermined range.

[0060] The second drive device 49B of the first type 1CA changes the horizontal distance between the two grass collecting parts 43. The second drive device 49B of the second type 1CB changes the horizontal distance between the main body 44 of the grass collecting part 43 and the plate-shaped member 48. The second drive device 49B of the third type 1CC changes at least the horizontal distance between the main body 44 of the grass collecting part 43B and the second plate-shaped member 48B, and the distance between the main body 44 of the grass collecting part 43A and the first plate-shaped member 48A may be changeable or fixed.

[0061] As shown in FIGS. 21A and 21B, the second drive device 49B is a drive mechanism such as a cylinder or an actuator. FIG. 21A is a diagram showing an example of the second drive device, and shows an example of changing the position of the plate-shaped member 48 by the cylinder 490. FIG. 21B is a diagram showing an example of the second drive device, and shows an example of changing the position of the plate-shaped member 48 by an actuator (for example, a feed screw mechanism 494).

[0062] As shown in Fig. 21A, the cylinder 490 can be expanded and contracted by a medium such as air or hydraulic pressure. The rod 490a is attached to the third support arm 203 via the bracket 492b, and the tube 490b is attached to the first support arm 491 attached to the connecting frame 42 via the bracket 492a. According to this, by the expansion and contraction of the cylinder 490, the horizontal interval between the plate-like member 48 and the grass collecting part 43 can be arbitrarily changed. Further, when the plate-like member 48 shown in Fig. 21A is replaced with the main body 44 of the grass collecting part 43, the horizontal interval between the grass collecting part 43 and the connecting frame 42 can be arbitrarily changed.

[0063] As shown in Fig. 21B, the feed screw mechanism 494 includes a feed screw 494a, a moving body 494b, and a motor 494c. The feed screw 494a is arranged along the first support arm 491 and the third support arm 203, and both ends are rotatably attached to the first support arm 491 and the third support arm 203 by bearings 495. The moving body 494b is screwed onto the feed screw 494a and fixed to the third support arm 203. The motor 494c is fixed to the first support arm 491 and rotates the feed screw 494a. According to this, by rotating the motor 494c forward to advance the feed screw 494a or rotating the motor 494c backward to retract the feed screw 494a, the horizontal interval between the plate-like member 48 and the grass collecting part 43 can be arbitrarily changed. Further, when the plate-like member 48 shown in Fig. 21B is replaced with the main body 44 of the grass collecting part 43, the horizontal interval between the grass collecting part 43 and the connecting frame 42 can be arbitrarily changed. The second drive device 49B is driven and controlled by the control device 15 to change the horizontal interval between the two grass collecting parts 43 or the horizontal interval between the grass collecting part 43 and the plate-like member 48 to the interval indicated by the setting information. For example, the second drive device 49B can be changed to an expansion width wider than or a contraction width narrower than the reference interval width within a predetermined interval width range.

[0064] As shown in FIG. 5, when the machine information section 211 displayed on the setting screen M11 is selected, the route creation section 210 acquires the machine information of the hay rake 1C by the machine information acquisition section 89, and the machine information of the hay rake 1C (type information such as the first type 1CA, the second type 1CB, the third type 1CC, and detailed information) is displayed on the display section 212. When the machine information corresponding to the first type 1CA of the hay rake 1C displayed on the display section 212 is selected, the route creation section 210 sets the working width W1A of the first type 1CA as the width at the time of creating the travel route R2. When the machine information corresponding to the second type 1CB is selected, the route creation section 210 sets the working width W1B of the second type 1CB as the width at the time of creating the travel route R2. When the machine information corresponding to the third type 1CC is selected, the route creation section 210 sets the working width W1C of the third type 1CC as the width at the time of creating the travel route R2.

[0065] Here, the hay rake 1C will be described. The hay rake 1C is provided with at least one sensing device 17 for acquiring the state of the forage grass in the field or the hay collection row GL. The sensing device 17 is, for example, an optical sensor, and is an imaging device such as a camera, a lidar (LiDAR: Light Detection And Ranging), a ToF (Time of Flight) type camera, etc. The imaging device is a CCD camera equipped with a CCD (Charge Coupled Devices) image sensor or a CMOS camera equipped with a CMOS (Complementary Metal Oxide Semiconductor) image sensor. The lidar (laser sensor) irradiates pulsed infrared rays or the like millions of times per second and measures the time of reflection to detect the distance to the object that reflected the infrared rays. The ToF type camera takes a picture of the distance to the subject using the flight distance (Time Of Flight) of light. In this embodiment, the sensing device 17 may be either an imaging device or a lidar (laser sensor), and each of the imaging device, the lidar (laser sensor), and the ToF type camera may be appropriately combined and mounted on the traveling vehicle 2C, and is not limited.

[0066] In this embodiment, the hay collector 1C is provided with two sensing devices 17. Specifically, the sensing device 17 is an imaging device, and is provided at the front position and the rear position of the hay collector 1C respectively. At the front position of the hay collector 1C, a front camera (second imaging device) 17A is arranged, and the state of the forage grass in the field in front of the hay collector 1C is imaged. At the rear position of the hay collector 1C, a rear camera (first imaging device) 17B is arranged, and the state of the field behind the hay collector 1C (particularly, the state of the created hay collection row GL) is imaged. The front camera 17A is arranged at the front end of the traveling vehicle 2C, but it may also be arranged at a location where the front can be photographed, such as the cabin 14. Also, the rear camera 17B is arranged at the rear end of the hay collecting device 3C, but it may also be arranged at a location where the created hay collection row GL can be photographed, such as the cabin 14 or the rear part of the traveling vehicle 2C.

[0067] When the hay collecting device 3C (working device) of the hay collector 1C performs a hay collecting operation, the control device 15 of the hay collector 1C changes the setting information of the hay collecting device 3C based on the state acquired by the sensing device 17. For example, the control device 15 changes the setting information of the hay collecting device 3C based on at least one of the imaging data captured by the front camera 17A and the imaging data captured by the rear camera 17B. Specifically, the control device 15 changes the setting information of the hay collecting device 3C based on the imaging data of the working result showing the state of the created hay collection row GL captured by the rear camera 17B. Also, the control device 15 changes the setting information of the hay collecting device 3C based on the pre-operation imaging data showing the state of the forage grass in the field captured by the front camera 17A.

[0068] Specifically, the control device 15 changes the setting information indicating the separation distance of the hay collecting portion 43 of the plate-like member 48 based on the imaging data of the working result captured by the rear camera 17B. Also, the control device 15 changes the setting information indicating the separation distance of the hay collecting portion 43 of the plate-like member 48 based on the pre-operation imaging data captured by the front camera 17A. As shown in FIGS. 7 to 10, the memory device 16C includes first to fourth data tables TB1 to TB4. The first data table TB1 shown in FIG. 7 stores the correspondence between the imaging data captured by the front camera 17A and the imaging data captured by the rear camera 17B, and the setting information indicating the position of the plate-like member (swath curtain) 48. Specifically, in the first data table TB1, when the amount of forage indicated by the imaging data of the front camera 17A is equal to or greater than the first upper limit value (large amount), or when the lateral width (swath width) of the grass collection row GL indicated by the imaging data of the rear camera 17B is equal to or less than the first lower limit width (small amount), the first setting information for pulling out the plate-like member (swath curtain) 48 to increase the width is stored. Also, in the first data table TB1, when the amount of forage indicated by the imaging data of the front camera 17A is equal to or less than the first lower limit value (small amount), when the lateral width (swath width) of the grass collection row GL indicated by the imaging data of the rear camera 17B is equal to or greater than the first upper limit width (large amount), or when the grass collection row GL indicated by the imaging data of the rear camera 17B is in a two-hill shape (two hill shapes), the second setting information for shrinking the plate-like member (swath curtain) 48 to decrease the width is stored.

[0069] The second data table TB2 shown in FIG. 8 stores the correspondence between the imaging data captured by the front camera 17A and the setting information indicating the height of the grass collection unit 43, that is, the height of the grass collection tool (tine) 47. Specifically, in the second data table TB2, when the captured image indicated by the imaging data of the front camera 17A is the first characteristic image (when the state of the forage is normal and the field is flat), the setting information with the height of the grass collection tool (tine) 47 as the reference position (first height) is stored. In the second data table TB2, when the captured image indicated by the imaging data of the front camera 17A is the second characteristic image (when the state of the forage is weak or soft), or when it is the third characteristic image (when the field is not flat or uneven), the setting information with the height of the grass collection tool (tine) 47 as the changed position (second height) higher than the reference position (first height) is stored.

[0070] The third data table TB3 shown in FIG. 9 stores the correspondence between the imaging data captured by the front camera 17A and the setting information indicating the traveling speed of the traveling vehicle 2C. Specifically, in the third data table TB3, when the amount of forage indicated by the imaging data of the front camera 17A is equal to or greater than the first upper limit value (when it is large), or when it is the third feature image (when the field is not flat or uneven), the setting information for setting the traveling speed of the traveling vehicle 2C to a first speed slower than a preset specified speed is stored. In the third data table TB3, when the amount of forage indicated by the imaging data of the front camera 17A is equal to or less than the first lower limit value (when it is small), the setting information for setting the traveling speed of the traveling vehicle 2C to a second speed faster than the preset specified speed is stored.

[0071] The fourth data table TB4 shown in FIG. 10 stores the correspondence between the imaging data captured by the rear camera 17B and the setting information indicating the rotational speed of the PTO shaft AX. Specifically, in the fourth data table TB4, when the captured image indicated by the imaging data of the rear camera 17B is the fourth feature image (when the shape of the hay gathering row is triangular and hard), the setting information for setting the rotational speed of the PTO shaft AX to a first rotational speed slower than a preset specified speed is stored. In the fourth data table TB4, when the captured image indicated by the imaging data of the rear camera 17B is the third feature image (when the field is uneven), the setting information for setting the rotational speed of the PTO shaft AX to a second rotational speed faster than the preset specified speed is stored.

[0072] Note that the storage device 16C may be provided with at least one or more of the first to fourth data tables TB1 to TB4. As shown in FIG. 1, the traveling vehicle 2C of the hay gathering machine 1C is provided with a PTO speed change device 41 that changes the speed of the PTO shaft AX under the control of the control device 15. That is, the PTO speed change device 41 changes the rotational speed of the PTO shaft AX driven by the power from the prime mover 11 to an arbitrary rotational speed.

[0073] The control device 15 of the hay rake 1C can set a plurality of adjustment modes for the hay raking operation, for example, according to an operation instruction from the driver to the display device 4C. The plurality of adjustment modes include the first to fourth adjustment modes. In the first adjustment mode, by using the first data table TB1 to adjust the interval position of the plate-like members (swath curtains) 48, a more appropriate hay rake row GL is formed. In the second adjustment mode, by using the second data table TB2 to automatically adjust the height of the hay raking part (tines) 43, a more appropriate hay rake row GL is formed. In the third adjustment mode, by using the third data table TB3 to automatically adjust the traveling speed of the traveling vehicle 2C, a more appropriate hay rake row GL is formed. In the fourth adjustment mode, by using the fourth data table TB4 to automatically adjust the rotational speed of the PTO shaft AX, a more appropriate hay rake row GL is formed. The display device 4C displays each icon corresponding to the first to fourth adjustment modes, lights up the icon of the adjustment mode selected from the first to fourth adjustment modes, and turns off the icons that are not selected. Therefore, the driver can visually confirm which adjustment mode is selected by looking at each icon of the display device 4C.

[0074] Next, the control process of the control device 15 executed during the hay raking operation of the hay rake 1C will be described with reference to FIGS. 13 and 14. FIG. 13 is a flowchart showing the control process for controlling the interval position of the plate-like members (swath curtains) 48 based on the imaging data of the front camera 17A. FIG. 14 is a flowchart showing the control process for controlling the interval position of the plate-like members (swath curtains) 48 based on the imaging data of the rear camera 17B. Here, the hay rake 1C is the second type 1CB shown in FIG. 6, and it is assumed that the first adjustment mode is selected according to an operation instruction from the driver to the display device 4C.

[0075] First, the flowchart shown in FIG. 13 will be described. When the control device 15 is operated by an operating device provided around the driver's seat of the traveling vehicle 2C, or when the start of the hay gathering operation is operated by a display device 4C, a switch, etc. provided around the driver's seat, using the first data table TB1 shown in FIG. 7, it is determined whether the amount of forage indicated by the imaging data of the front camera 17A is equal to or greater than the first upper limit value (S11). For example, when the control device 15 performs image analysis processing on the imaging data (imaging image) of the front camera 17A and determines that the amount of forage in the imaging image is equal to or greater than the first upper limit value, or when performing pattern matching processing between the imaging image and a plurality of types of determination images previously stored in the storage device 16C, and determines that the imaging image matches or approximates the determination image with the amount being equal to or greater than the first upper limit value, it is determined that the amount of forage is equal to or greater than the first upper limit value (YES in S11). For example, as shown in FIG. 11, the image GA1 is an example of an image when the amount of forage is normal (appropriate amount), the image GA2 is an example of an image when the amount of forage is large, and the image GA3 is an example of an image when the amount of forage is small.

[0076] When the control device 15 determines that the amount of forage is equal to or greater than the first upper limit value (YES in S11), by changing the setting information indicating the separation distance of the hay gathering portion 43 of the plate member 48 to the first setting information of the first data table TB1 shown in FIG. 7, the plate member (swath curtain) 48 is pulled out by the second drive device 49B to the expansion width indicated by the first setting information (S12). Specifically, in the case of the second drive device 49B shown in FIG. 21A, the control device 15 extends the cylinder 490, or in the case of the second drive device 49B shown in FIG. 21B, the feed screw 494a is advanced by rotating the motor 494c of the feed screw mechanism 494 forward to pull out the plate member (swath curtain) 48. Note that when the control device 15 determines that the amount of forage is equal to or greater than the first upper limit value (YES in S11), according to the magnitude of the value exceeding the first upper limit value, the magnitude of the separation distance of the hay gathering portion 43 of the plate member 48 may be increased. That is, the expansion width may be set to a larger value according to the magnitude of the value exceeding the first upper limit value.

[0077] On the other hand, when the control device 15 determines that the amount of forage grass is not greater than or equal to the first upper limit value (NO in S11), it determines whether the amount of forage grass indicated by the imaging data of the front camera 17A is less than or equal to the first lower limit value (S13). For example, when the control device 15 performs image analysis processing on the imaging data (imaging image) of the front camera 17A and determines that the amount of forage grass in the imaging image is less than or equal to the first lower limit value, or when it executes pattern matching processing between the imaging image and a plurality of types of determination images previously stored in the storage device 16C and determines that the imaging image matches or approximates the determination image with a value less than or equal to the first lower limit value, it determines that the amount of forage grass is less than or equal to the first lower limit value (YES in S13). When the control device 15 determines that the amount of forage grass is less than or equal to the first lower limit value (YES in S13), it changes the setting information indicating the separation distance of the plate member 48 from the grass collection part 43 to the second setting information in the first data table TB1 shown in FIG. 7, so that the second drive device 49B shrinks the plate member (swath curtain) 48 to the shrinkage width indicated by the second setting information (S14). Specifically, in the case of the second drive device 49B shown in FIG. 21A, the control device 15 contracts the cylinder 490, or in the case of the second drive device 49B shown in FIG. 21B, it reverses the motor 494c of the feed screw mechanism 494 to retract the feed screw 494a, thereby shrinking the plate member (swath curtain) 48. Note that when the control device 15 determines that the amount of forage grass is less than or equal to the first lower limit value (YES in S13), it may reduce the magnitude of the separation distance of the plate member 48 from the grass collection part 43 according to the magnitude of the value exceeding (falling below) the first lower limit value. That is, the shrinkage width may be set to a value that decreases according to the magnitude of the value exceeding (falling below) the first lower limit value.

[0078] On the other hand, when the control device 15 determines that the amount of forage grass is not less than or equal to the first lower limit value (NO in S13), it keeps the setting information indicating the separation distance of the plate member 48 from the grass collection part 43 as the current setting information and maintains the separation distance of the plate member (swath curtain) 48 from the grass collection part 43 as it is (S15). After S12, after S14, or after S15, the control device 15 determines whether the work is completed (S16). For example, when the control device 15 receives an end instruction for the hay gathering work from the operator (YES in S16), this process ends. When there is no end instruction for the hay gathering work from the operator (NO in S16), the control device 15 returns to the process of S11.

[0079] That is, for example, as shown in FIG. 11, if the captured image is the image GA2, since there is a large amount of forage, the control device 15 expands the separation distance of the plate-shaped member (swath curtain) 48. If the captured image is the image GA3, since there is a small amount of forage, the control device 15 reduces the separation distance of the plate-shaped member 48. If the captured image is the image GA1, since there is an appropriate amount of forage, the control device 15 controls the separation distance of the plate-shaped member 48 to be the normal interval.

[0080] Note that the control device 15 starts the determination of S11 shown in FIG. 13 based on the start of power transmission from the PTO shaft AX to the hay gathering device 3C or the start of driving of the hay gathering unit 43, and determines that the work is completed (YES in S16) based on the end of power transmission from the PTO shaft AX to the hay gathering device 3C or the end of driving of the hay gathering unit 43. Next, the flowchart shown in FIG. 14 will be described. The control device 15 determines whether the width of the hay gathering row GL (swath width) indicated by the imaging data of the rear camera 17B is less than or equal to the first lower limit width using the first data table TB1 shown in FIG. 7 (S21). For example, when the control device 15 performs image analysis processing on the imaging data (captured image) of the rear camera 17B and determines that the width of the hay gathering row GL (swath width) in the captured image is less than or equal to the first lower limit width, or when the control device 15 executes pattern matching processing between the captured image and a plurality of types of determination images stored in the storage device 16C in advance and determines that the captured image matches or approximates the determination image with a width less than or equal to the first lower limit width, the control device 15 determines that the width of the hay gathering row GL is less than or equal to the first lower limit width (YES in S21).

[0081] For example, as shown in FIG. 12, image GB1 is an example of an image when the grass gathering row GL has the correct shape, image GB2 is an example of an image when the grass gathering row GL is triangular and hard, image GB3 is an example of an image when the lateral width of the grass gathering row GL is small, image GB4 is an example of an image when the lateral width of the grass gathering row GL is large, and image GB5 is an example of an image when the grass gathering row G has two mountain shapes. Here, the grass gathering machine 1C is the second type 1CB shown in FIG. 6, and since it has the positional relationship between the rear camera 17B and the plate member (swath curtain) 48, as shown in FIG. 12, the captured image of the rear camera 17B is an image in a state where the grass gathering rows GL are connected obliquely.

[0082] When the control device 15 determines that the lateral width of the grass gathering row GL is less than or equal to the first lower limit width (YES in S21), by changing the setting information indicating the separation distance of the plate member 48 from the grass gathering part 43 to the first setting information in the first data table TB1 shown in FIG. 7, the plate member (swath curtain) 48 is pulled out by the second drive device 49B to the expansion width indicated by the first setting information (S22). Specifically, in the case of the second drive device 49B shown in FIG. 21A, the control device 15 extends the cylinder 490, or in the case of the second drive device 49B shown in FIG. 21B, the control device 15 rotates the motor 494c of the feed screw mechanism 494 forward to advance the feed screw 494a, thereby pulling out the plate member (swath curtain) 48. When the control device 15 determines that the lateral width of the grass gathering row GL is less than or equal to the first lower limit width (YES in S21), the control device 15 may increase the separation distance of the plate member 48 from the grass gathering part 43 according to the magnitude of the value exceeding (falling below) the first lower limit width.

[0083] On the other hand, when the control device 15 determines that the lateral width of the windrow GL is not less than the first lower limit width (NO in S21), it determines whether the windrow GL indicated by the imaging data of the rear camera 17B has a two-peak shape (S23). For example, when the control device 15 performs image analysis processing on the imaging data (imaging image) of the rear camera 17B and determines that the windrow GL in the imaging image has a two-peak shape, or when it executes pattern matching processing between the imaging image and a plurality of types of determination images stored in the storage device 16C in advance and determines that the imaging image matches or approximates a determination image in which the windrow GL has a two-peak shape, it determines that the windrow GL has a two-peak shape (YES in S23).

[0084] On the other hand, when the control device 15 determines that the width of the hay gathering row GL is not in two mountain shapes (NO in S23), it determines whether the width of the hay gathering row GL is greater than or equal to the first upper limit width (S24). For example, when the control device 15 performs image analysis processing on the imaging data (imaging image) of the rear camera 17B and determines that the width of the hay gathering row GL in the imaging image is greater than or equal to the first upper limit width, or when performing pattern matching processing between the imaging image and a plurality of types of determination images previously stored in the storage device 16C, and determines that the imaging image matches or approximates the determination image in which the width of the hay gathering row GL is greater than or equal to the first upper limit width, the control device 15 determines that the width of the hay gathering row GL is greater than or equal to the first upper limit width (YES in S24). When the control device 15 determines that the width of the hay gathering row GL is greater than or equal to the first upper limit width (YES in S24), or when it determines that the hay gathering row GL is in two mountain shapes (YES in S23), it changes the setting information indicating the separation distance of the plate member 48 from the hay gathering portion 43 to the second setting information in the first data table TB1 shown in FIG. 7, and the second driving device 49B shrinks the plate member (swath curtain) 48 to the shrinkage width indicated by the second setting information (S25). Specifically, in the case of the second driving device 49B shown in FIG. 21A, the control device 15 contracts the cylinder 490, or in the case of the second driving device 49B shown in FIG. 21B, the control device 15 reverses the motor 494c of the feed screw mechanism 494 to retract the feed screw 494a, thereby shrinking the plate member (swath curtain) 48. Note that when the control device 15 determines that the width of the hay gathering row GL is greater than or equal to the first upper limit width (YES in S24), it may reduce the magnitude of the separation distance between the plate member 48 and the hay gathering portion 43 according to the magnitude of the value exceeding the first upper limit width.

[0085] On the other hand, when the control device 15 determines that the width of the hay gathering row GL is not less than the first lower limit width (NO in S24), it keeps the setting information indicating the separation distance of the plate member 48 from the hay gathering portion 43 as the current setting information and maintains the separation distance between the plate member (swath curtain) 48 and the hay gathering portion 43 as it is (S26). After S22, after S25, or after S26, the control device 15 determines whether the work is completed (S27). For example, when the control device 15 receives an end instruction for the hay gathering work from the operator (YES in S27), this process ends. When there is no end instruction for the hay gathering work from the operator (NO in S27), the control device 15 returns to the process of S21.

[0086] That is, for example, as shown in FIG. 12, when the captured image is the image GB3, since the width of the hay gathering row GL is small, the control device 15 expands the separation distance of the plate-shaped member (swath curtain) 48. When the captured image is the image GB4, since the width of the hay gathering row GL is large, the control device 15 reduces the separation distance of the plate-shaped member 48. When the captured image is the image GB5, since the hay gathering row GL has a double mountain shape, the control device 15 reduces the separation distance of the plate-shaped member 48. When the captured image is the image GB1, since the amount of forage is appropriate, the control device 15 performs control to set the separation distance of the plate-shaped member 48 to the normal interval.

[0087] In addition, in FIGS. 13 and 14, the hay gatherer 1C is described by taking the second type 1CB as an example, but it may be the first type 1CA, the third type 1CC, or the like. Next, the control process of the control device 15 executed during the hay gathering work of the hay gatherer 1C will be described with reference to FIG. 15. FIG. 15 is a flowchart showing a control process for controlling the height of the tines based on the imaging data of the front camera 17A. Here, the hay gatherer 1C is the first type 1CA shown in FIG. 6, and it is assumed that the second adjustment mode is selected in accordance with an operation instruction from the driver to the display device 4C.

[0088] When the control device 15 starts the hay gathering operation based on an instruction from an operator to start the hay gathering operation (i.e., creating a hay gathering row), it determines whether the state of the hay shown in the imaging data of the front camera 17A is normal using the second data table TB2 shown in FIG. 8 (S31). For example, when the control device 15 performs image analysis processing on the imaging data (imaging image) of the front camera 17A and determines that the imaging image is the first feature image indicating that the state of the hay is normal, or when it executes pattern matching processing between the imaging image and a plurality of types of determination images previously stored in the storage device 16C and determines that the imaging image matches or approximates the determination image that is the first feature image, it determines that the state of the hay is normal (YES in S31). For example, as shown in FIG. 12, the image GA1 is an example of an image when the amount of hay is normal, the image GA2 is an example of an image when the amount of hay is large, and the image GA3 is an example of an image when the amount of hay is small. Here, the hay gatherer 1C is of the first type 1CA shown in FIG. 6, and the position relationship is such that the rear camera 17B coincides with the center of the separation distance between the two hay gathering parts 43. Therefore, as shown in FIG. 12, the imaging image of the rear camera 17B is an image in a state where the hay gathering row GL is located at the center.

[0089] When the control device 15 determines that the state of the forage is normal (YES in S31), it determines whether the field is flat (S32). When the control device 15 performs image analysis processing on the imaging data (imaging image) of the front camera 17A and determines that the imaging image is a first feature image indicating that the field is flat, or when it executes pattern matching processing between the imaging image and a plurality of types of determination images stored in the storage device 16C in advance and determines that the imaging image matches or approximates the determination image that is the first feature image, it determines that the state of the forage is normal (YES in S32). When the control device 15 determines that the state of the forage is normal (YES in S31) and the field is flat (YES in S32), by setting the setting information indicating the height of the hay gathering part 43 from the field surface (ground) as the third setting information in the second data table TB2, the height of the hay gathering part 43 becomes the first height by the first drive device 49A (S33). For example, the first height may be a predetermined standard height closest to the field surface, or any height other than the standard height.

[0090] On the other hand, when the control device 15 determines that the state of the forage is abnormal (NO in S31), or when it determines that the field is not flat (NO in S32), it changes the setting information indicating the height of the grass collection unit 43 from the field surface (ground) to the fourth setting information in the second data table TB2, so that the height of the grass collection unit 43 by the first drive device 49A is changed to a second height higher than the first height (S34). Note that the control device 15 performs image analysis processing on the imaging data (imaging image) of the front camera 17A, and when it determines that the imaging image is a third feature image indicating that the field is not flat, or when it executes pattern matching processing between the imaging image and a plurality of types of determination images stored in the storage device 16C in advance, and determines that the imaging image matches or approximates the determination image that is the third feature image, it is also possible to determine that the field is not flat (NO in S32). Further, the control device 15 receives the position information (topographic information) of each location of the field detected by the position detection device 60B by the diffuser 1B in the diffusion operation (diffusion process) of mowing the field from the support device 84, and based on this topographic information, or using it as supplementary information, it may determine whether the field is flat or not.

[0091] After S33 or after S34, the control device 15 determines whether the work is completed (S35). For example, when the control device 15 receives an end instruction for the grass collection work from the operator (YES in S35), it ends this process. When there is no end instruction for the grass collection work from the operator (NO in S35), the control device 15 returns to the process of S31. Next, the flowchart shown in FIG. 16 will be described. FIG. 16 is a flowchart showing a control process for controlling the traveling speed based on the imaging data of the front camera 17A. Here, the grass collection machine 1C is of the second type 1CB shown in FIG. 6, and it is assumed that the third adjustment mode is selected according to the operation instruction from the driver to the display device 4C.

[0092] When the control device 15 starts the hay gathering operation based on an instruction from an operator to start the hay gathering operation, it determines whether the amount of forage indicated by the imaging data of the front camera 17A is greater than or equal to a first upper limit value using the third data table TB3 shown in FIG. 9 (S41). For example, when the control device 15 performs image analysis processing on the imaging data (imaging image) of the front camera 17A and determines that the amount of forage in the imaging image is greater than or equal to the first upper limit value, or when it executes pattern matching processing between the imaging image and a plurality of types of determination images previously stored in the storage device 16C and determines that the imaging image matches or approximates a determination image with a value greater than or equal to the first upper limit value, it determines that the amount of forage is greater than or equal to the first upper limit value (YES in S41).

[0093] When the control device 15 determines that the amount of forage is greater than or equal to the first upper limit value (YES in S41), it changes the setting information indicating the traveling speed of the traveling vehicle 2C to the setting information indicating the first speed in the third data table TB3 shown in FIG. 9, thereby setting the traveling speed of the traveling vehicle 2C to the first speed (S42). The control device 15 controls the prime mover 11 and the transmission 12 to set the traveling speed of the traveling vehicle 2C to the first speed. Note that when the control device 15 determines that the amount of forage is greater than or equal to the first upper limit value (YES in S41), it may decrease the magnitude of the first speed of the traveling vehicle 2C according to the magnitude of the value exceeding the first upper limit value. That is, the greater the amount of forage, the slower the first speed of the traveling vehicle 2C.

[0094] On the other hand, when the control device 15 determines that the amount of forage is not equal to or greater than the first upper limit value (NO in S41), it determines whether the condition of the field indicated by the imaging data of the front camera 17A is flat (S43). For example, the control device 15 performs image analysis processing on the imaging data (imaging image) of the front camera 17A. When it determines that the condition of the field in the imaging image is flat, or when it executes pattern matching processing between the imaging image and a plurality of types of determination images previously stored in the storage device 16C and determines that the imaging image matches or approximates the determination image indicating a flat field, it determines that the condition of the field is flat (YES in S43). When the control device 15 determines that the condition of the field is flat (YES in S43), it changes the setting information indicating the traveling speed of the traveling vehicle 2C to the setting information indicating the second speed in the third data table TB3 shown in FIG. 9, thereby setting the traveling speed of the traveling vehicle 2C to the second speed (S44). The control device 15 controls the prime mover 11 and the transmission 12 to set the traveling speed of the traveling vehicle 2C to the second speed.

[0095] On the other hand, in S43, when the control device 15 determines that the condition of the field is not flat (NO in S43), it determines whether the amount of forage indicated by the imaging data of the front camera 17A is less than or equal to the first lower limit value (S44). For example, the control device 15 performs image analysis processing on the imaging data (imaging image) of the front camera 17A. When it determines that the amount of forage in the imaging image is less than or equal to the first lower limit value, or when it executes pattern matching processing between the imaging image and a plurality of types of determination images previously stored in the storage device 16C and determines that the imaging image matches or approximates the determination image with a value less than or equal to the first lower limit value, it determines that the amount of forage is less than or equal to the first lower limit value (YES in S44). When the control device 15 determines that the amount of forage is less than or equal to the first lower limit value (YES in S44), it changes the setting information indicating the traveling speed of the traveling vehicle 2C to the setting information indicating the second speed in the third data table TB3 shown in FIG. 9, thereby setting the traveling speed of the traveling vehicle 2C to the second speed (S45).

[0096] Further, when the control device 15 determines that the amount of forage grass is not less than the first lower limit value (NO in S44), the control device 15 maintains the setting information indicating the traveling speed of the traveling vehicle 2C as the current installation information (S46). Subsequently, after S42 or after S45, the control device 15 determines whether the work is finished (S47). For example, when the control device 15 receives an end instruction for the hay gathering work from the operator (YES in S47), the control device 15 ends this process. When the control device 15 does not receive an end instruction for the hay gathering work from the operator (NO in S47), the control device 15 returns to the process of S41.

[0097] That is, when the captured image is the image GA2 (that is, when there is a large amount of forage grass) or when the field is not flat (is uneven), the control device 15 changes (decreases) the traveling speed of the traveling vehicle 2C to the first speed. When the captured image is the image GA3 (that is, when there is a small amount of forage grass), the control device 15 changes (increases) the traveling speed of the traveling vehicle 2C to the second speed. When the captured image is the image GA1 (that is, when the amount of forage grass is normal), the control device 15 maintains the traveling speed of the traveling vehicle 2C at the current speed.

[0098] Next, the flowchart shown in FIG. 17 will be described. FIG. 17 is a flowchart showing a control process for controlling the rotational speed of the PTO shaft AX based on the imaging data of the front camera 17A and the imaging data of the rear camera 17B. Here, it is assumed that the hay collector 1C is the first type 1CA shown in FIG. 6, and the fourth adjustment mode is selected according to an operation instruction from the driver to the display device 4C.

[0099] When the control device 15 starts the hay gathering operation based on an instruction from an operator to start the hay gathering operation, it determines whether the captured image indicated by the captured data of the rear camera 17B is the fourth characteristic image (when the hay gathering row GL is triangular and in a rigid state) using the fourth data table TB4 shown in FIG. 10 (S51). For example, when the control device 15 performs image analysis processing on the captured data (captured image) of the rear camera 17B and determines that the hay gathering row GL in the captured image is triangular and in a rigid state, or when it executes pattern matching processing between the captured image and a plurality of types of determination images stored in advance in the storage device 16C and determines that the captured image matches or approximates the determination image in which the hay gathering row GL is triangular and in a rigid state, it determines that the captured image is the fourth characteristic image (YES in S51).

[0100] When the control device 15 determines that the captured data (captured image) of the rear camera 17B is the fourth characteristic image (YES in S51), it changes the rotation speed of the PTO shaft AX to the first rotation speed by changing the setting information indicating the rotation speed of the PTO shaft AX to the setting information indicating the first rotation speed in the fourth data table TB4 shown in FIG. 10 (S52). The control device 15 controls the PTO transmission 41, and the PTO transmission 41 changes the rotation speed of the PTO shaft AX to the first rotation speed.

[0101] On the other hand, when the control device 15 determines that the imaging data (imaging image) of the rear camera 17B is not the fourth feature image (NO in S51), it determines whether the state of the field indicated by the imaging data of the front camera 17A is flat (S53). For example, the control device 15 performs image analysis processing on the imaging data (imaging image) of the front camera 17A. When it determines that the state of the field in the imaging image is flat, or when it executes pattern matching processing between the imaging image and a plurality of types of determination images previously stored in the storage device 16C and determines that the imaging image matches or approximates the determination image indicating a flat field, it determines that the state of the field is flat (YES in S53). When the control device 15 determines that the state of the field is flat (YES in S53), it maintains the setting information indicating the rotational speed of the PTO shaft AX and keeps the rotational speed of the PTO shaft AX at the current rotational speed (S55).

[0102] On the other hand, when the control device 15 determines in S53 that the state of the field is not flat (NO in S53), it changes the setting information indicating the rotational speed of the PTO shaft AX to the setting information indicating the second rotational speed in the fourth data table TB4 shown in FIG. 10, thereby changing the rotational speed of the PTO shaft AX to a second rotational speed higher than the first rotational speed (S54). The control device 15 controls the PTO speed change device 41, and the PTO speed change device 41 changes the rotational speed of the PTO shaft AX to the second rotational speed.

[0103] After S52, after S54, or after S55, the control device 15 determines whether the work is completed (S56). For example, when the control device 15 receives an end instruction for the hay gathering work from the operator (YES in S56), it ends this process. When the control device 15 does not receive an end instruction for the hay gathering work from the operator (NO in S56), it returns to the process of S51. That is, when the captured image of the rear camera 17B is the image GB2 (that is, when the haystack row GL is triangular and hard), the control device 15 changes (decreases) the rotation speed of the PTO shaft AX to the first rotation speed. When the captured image of the front camera 17A is the third characteristic image (when the field is uneven), the control device 15 changes (increases) the rotation speed of the PTO shaft AX to the second rotation speed. In other cases (when the haystack row GL is not triangular and hard and the field is flat), the rotation speed of the PTO shaft AX is maintained at the current speed.

[0104] The working machine (rake 1C) according to one aspect of the present invention includes a traveling vehicle 2C, a raking device 3C (working device) that is connected to the traveling vehicle 2C and collects the forage in the field to create a haystack row, a sensing device 17 that acquires the state of the forage or the haystack row in the field, and a control device 15 that changes the setting information of the raking device 3C based on the state acquired by the sensing device 17 when the raking device 3C performs a raking operation. According to this configuration, when the raking device 3C performs a raking operation, the control device 15 changes the setting information of the raking device 3C based on the state acquired by the sensing device 17. Therefore, the raking operation state by the raking device 3C, that is, the shape of the swath can be made as constant as possible easily. For this reason, it is possible to omit the operation of changing the state of the raking operation by the raking device 3C while the operator visually checks the state of the forage or the haystack row in the field.

[0105] Further, the sensing device 17 includes an imaging device (front camera 17A, rear camera 17B) that images the state of the forage or the haystack row in the field, and the control device 15 changes the setting information of the raking device 3C based on the imaging data captured by the imaging device. According to this configuration, since the control device 15 changes the setting information of the raking device 3C based on the imaging data captured by the imaging device, the raking operation state by the raking device 3C can be changed in real time according to the state of the forage or the haystack row in the field. For this reason, an appropriate haystack row can be created according to the state of the forage or the haystack row in the field.

[0106] Further, the control device 15 changes the setting information of the hay gathering device 3C based on the imaging data of the work result indicating the state of the created hay gathering row, which is captured by the first imaging device (rear camera 17B). According to this configuration, since the control device 15 changes the setting information of the hay gathering device 3C based on the imaging data of the work result indicating the state of the created hay gathering row captured by the rear camera 17B, the hay gathering operation state by the hay gathering device 3C can be changed in real time according to the state of the hay gathering row after creation. Therefore, an appropriate hay gathering row can be created.

[0107] Further, the control device 15 changes the setting information of the hay gathering device 3C based on the pre-work imaging data indicating the state of the pasture in the field, which is captured by the second imaging device (front camera 17A). According to this configuration, since the control device 15 changes the setting information of the hay gathering device 3C based on the pre-work imaging data indicating the state of the pasture in the field captured by the front camera 17A, the hay gathering operation state by the hay gathering device 3C can be changed in real time according to the state of the pasture in the field before the hay gathering operation. Therefore, an appropriate hay gathering row can be created.

[0108] Further, the control device 15 changes the setting information of the hay gathering device 3C based on the imaging data of the work result indicating the state of the created hay gathering row, which is captured by the first imaging device (rear camera 17B), and the pre-work imaging data indicating the state of the pasture in the field, which is captured by the second imaging device (front camera 17A). According to this configuration, since the control device 15 changes the setting information of the hay gathering device 3C based on the imaging data of the work result indicating the state of the created hay gathering row captured by the rear camera 17B and the pre-work imaging data indicating the state of the pasture in the field captured by the front camera 17A, the hay gathering operation state by the hay gathering device 3C can be changed in real time according to the state of the pasture in the field before the hay gathering operation and the state of the hay gathering row after creation. Therefore, an appropriate hay gathering row can be created.

[0109] Further, the hay gathering device 3C includes a gathering unit 43 having a main body 44, a rotating shaft 45 rotatably supported by the main body 44, a plurality of tine arms (i.e., arms 46) connected to the rotating shaft 45 and extending radially from the rotating shaft 45, hay gathering tools 47 connected to the respective plurality of arms 46 and extending downward, and a plate-like member (swath curtain) 48 for forming a hay gathering row. The control device 15 changes setting information indicating the separation distance of the plate-like member 48 from the gathering unit 43 among the setting information of the hay gathering device 3C based on the imaging data of the work result. According to this configuration, the control device 15 changes the setting information indicating the separation distance of the plate-like member 48 from the main body 44 (gathering unit 43) based on the imaging data of the work result indicating the state of the created hay gathering row, so that the separation distance of the plate-like member 48 from the main body 44 (gathering unit 43) by the hay gathering device 3C can be changed in real time. Therefore, an appropriate hay gathering row can be created.

[0110] Further, the control device 15 changes setting information indicating the separation distance of the plate-like member 48 from the gathering unit 43 among the setting information of the hay gathering device 3C based on the imaging data before the work. According to this configuration, the control device 15 changes the setting information indicating the separation distance of the plate-like member 48 from the gathering unit 43 based on the imaging data before the work indicating the state of the pasture grass in the field, so that the separation distance of the plate-like member 48 from the gathering unit 43 by the hay gathering device 3C can be changed in real time. Therefore, an appropriate hay gathering row can be created.

[0111] Further, the hay gathering device 3C includes a gathering unit 43, and the control device 15 changes setting information indicating the distance from the lower end of the gathering unit 43 to the field among the setting information of the hay gathering device 3C based on the imaging data before the work. According to this configuration, the control device 15 changes the setting information indicating the distance from the lower end of the gathering unit 43 to the field based on the imaging data before the work indicating the state of the pasture grass in the field, so that the distance from the lower end of the gathering unit 43 by the hay gathering device 3C to the field can be changed in real time. Therefore, an appropriate hay gathering row can be created.

[0112] In addition, the hay gathering device 3C includes a hay gathering section 43, and the control device 15 changes the setting information indicating the traveling speed of the traveling vehicle 2C among the setting information of the hay gathering device 3C based on the imaging data before work. According to this configuration, since the control device 15 changes the setting information indicating the traveling speed of the traveling vehicle 2C based on the imaging data before work indicating the state of the forage grass in the field, the traveling speed of the traveling vehicle 2C can be changed in real time. Therefore, an appropriate hay gathering row can be created.

[0113] In addition, the traveling vehicle 2C includes a prime mover 11 and a PTO shaft AX driven by the power of the prime mover 11, the hay gathering device 3C includes a hay gathering section 43, and the control device 15 changes the setting information indicating the rotational speed of the PTO shaft AX among the setting information of the hay gathering device 3C based on the imaging data before work. According to this configuration, since the control device 15 changes the setting information indicating the rotational speed of the PTO shaft AX based on the imaging data before work indicating the state of the forage grass in the field, the rotational speed of the PTO shaft AX can be changed in real time. Therefore, an appropriate hay gathering row can be created.

[0114] In addition, the control device 15 changes the setting information indicating the rotational speed of the PTO shaft AX among the setting information of the hay gathering device 3C based on the imaging data of the work result. According to this configuration, since the control device 15 changes the setting information indicating the rotational speed of the PTO shaft AX based on the imaging data of the work result indicating the state of the created hay gathering row, the rotational speed of the PTO shaft AX can be changed in real time. Therefore, an appropriate hay gathering row can be created.

[0115] In the above embodiment, the first driving device 49A changes the height position of the hay gathering section 43, but as long as it is configured to change the height of the hay gathering tool (tine) 47, it may be configured to change the height of any of the connecting frame 42, the hay gathering tool (tine) 47, and the arm 46. Further, instead of the first driving device 49A, the connecting portion 8 may be used, and the height position of the hay gathering section 43 may be changed using the lifting function of the connecting portion 8.

[0116] Further, as shown in FIG. 18, the control device 15 may perform analysis processing on the imaging data of the work result showing the state of the created grass collection row captured by the first imaging device (rear camera 17B) and the pre-work imaging data showing the state of the pasture grass in the field captured by the second imaging device (front camera 17A) using artificial intelligence (AI: Artificial Intelligence). The control device 15 performs analysis and learning (i.e., machine learning) using the imaging data and the learning data or teacher (correct) data to determine whether the amount of mowed grass (pasture grass) in the field is equal to or greater than the first upper limit value or equal to or less than the first lower limit value, whether the lateral width (swath width) of the grass collection row GL is equal to or greater than the first upper limit width or equal to or less than the first lower limit width, and whether it matches the first to fourth feature images.

[0117] In addition, the control device 15 of the grass collection machine 1C may set priorities for the first to fourth adjustment modes according to, for example, the priority instruction by the driver and execute the most prioritized adjustment mode. The first to fourth adjustment modes respectively adjust the interval position of the plate-shaped member (swath curtain) 48, the height of the grass collection part (tine) 43, the traveling speed of the traveling vehicle 2C, and the rotational speed of the PTO shaft AX. When the priorities are in the order of the second adjustment mode > the third adjustment mode > the fourth adjustment mode > the first adjustment mode, the second adjustment mode is executed with the highest priority. Further, the control device 15 of the grass collection machine 1C may invalidate the adjustment modes that do not apply among the first to fourth adjustment modes according to the type of the grass collection device 3C being the first type 1CA, the second type 1CB, or the third type 1CC. For example, if it is the first type 1CA, since it does not have the plate-shaped member (swath curtain) 48, the first adjustment mode is invalidated. Also, when the height of the grass collection part (tine) 43 of the grass collection device 3C cannot be changed, the second adjustment mode is invalidated.

[0118] Further, when an error occurs in the image analysis process or the pattern matching process in any of S11 and S13 shown in FIG. 13, S21, S23, and S24 shown in FIG. 14, S31 and S32 shown in FIG. 15, and S41, S43, and S44 shown in FIG. 16 (for example, when the determination is impossible, when the value is equal to or greater than the first upper limit value, when the value is equal to or less than the first lower limit value, when the value is equal to or greater than the first upper limit width, or when the value is equal to or less than the first lower limit width and is out of the range), the setting information of the grass collection device 3C may be kept as it is, the change of the setting information of the grass collection device 3C may be temporarily suspended, and the occurrence of the error may be stored in the storage device 16C. In this case, even when an unexpected error occurs, it is possible to prevent the grass collection device 3C from operating unexpectedly.

[0119] <First Modification Example> In the first modification example, the grass collection machine 1C includes a position detection device 60C (positioning device). The spreader 1B includes a rear camera 17B that images the forage grass (mowed grass) spread in the field, and during the spreading operation, the captured image of the forage grass (mowed grass) spread in the field and the position information at the time of shooting are associated and stored or transmitted to an external device (such as a server) for storage. Then, the control device 15 of the grass collection machine 1C acquires the captured data imaged in the spreading process before the grass collection process and associated with the position information indicating the imaging position, and based on the captured data corresponding to the position information that matches the positioning information measured by the position detection device 60C of the grass collection machine 1C among the acquired captured data, the setting information of the grass collection device 3C (working device) may be changed.

[0120] According to the configuration of this first modification example, since the control device 15 changes the setting information of the grass collection device 3C (working device) based on the captured data imaged in the spreading process before the grass collection process, the grass collection working state by the grass collection device 3C (working device) can be changed according to the state of the forage grass in the field or the grass collection row. Therefore, an appropriate grass collection row can be created according to the state of the forage grass in the field or the grass collection row.

[0121] <Second Modification Example> In the second modification, the hay baler 1C includes a position detection device 60C (positioning device), a storage device 16C, and a communication device 82C. During the hay gathering operation of the hay gathering device 3C in the field by the control device 15, that is, during the creation of the hay gathering row GL, the control device 15 generates performance data of the work result in which the positioning information measured by the position detection device 60C, the imaging data of the work result (for example, the captured image captured by the rear camera 17B), and the time information (time stamp) are associated with each other, and stores the performance data in the storage device 16C. Then, the control device 15 causes the communication device 82C to transmit the performance data stored in the storage device 16C to an external information processing device (for example, the external device 83 or the support device 84), and stores the performance data in the external device 83 or the support device 84. In the external device 83 or the support device 84, the result after the hay gathering operation can be confirmed based on the performance data of the hay baler 1C.

[0122] According to the configuration of this second modification, the control device 15 generates performance data of the work result in which the positioning information measured by the position detection device 60C (positioning device) and the imaging data of the work result are associated with each other, stores the performance data in the storage device 16C, and causes the communication device 82C to transmit the performance data stored in the storage device 16C to an external information processing device. Therefore, in the forming process after the hay gathering process (that is, when forming the forage into a roll shape), the forming machine 1D can effectively utilize the performance data of the work result.

[0123] Also, as shown in FIG. 1, the forage management system may include a third physical quantity detection device 50. Similar to the first physical quantity detection device 81 and the second physical quantity detection device 150, the third physical quantity detection device 50 is a device that detects a physical quantity related to forage, for example, components (moisture content, protein, etc.) contained in the forage. The third physical quantity detection device 50 is provided on the hay baler 1C. The third physical quantity detection device 50 acquires at least the moisture value (referred to as the third moisture value) of the forage during the hay gathering operation by the hay baler 1C.

[0124] The third physical quantity detection device 50 is provided in the grass collecting unit 43 and acquires the third moisture value of the cut grass (forage grass) during the grass collecting operation. For example, the third physical quantity detection device 50 is a spectroscopic analysis device that irradiates forage grass with a light source having a predetermined frequency and receives the reflected light from the forage grass to analyze the moisture of the forage grass. The third physical quantity detection device 50 is connected to the control device 15 or the storage device 16C provided on the traveling vehicle 2C. The control device 15 associates the third moisture value acquired by the third physical quantity detection device 50 with the grass collecting position (latitude, longitude) detected by the position detection device 60C and stores it in the storage device 16C as map data of the third moisture value. As shown in FIG. 19, the map data of the third moisture value associating the detected grass collecting position and the third moisture value is stored in the storage device 16A.

[0125] For example, when the control device 15 or the third physical quantity detection device 50 detects the start of the travel of the traveling vehicle 2C, the start of the power transmission from the PTO shaft AX to the grass collecting device 3C, and the start of the drive of the grass collecting unit 43, the third physical quantity detection device 50 starts acquiring the third moisture value. Also, when the control device 15 or the third physical quantity detection device 50 detects the end of the travel of the traveling vehicle 2C, the end of the power transmission from the PTO shaft AX to the grass collecting device 3C, and the end of the drive of the grass collecting unit 43, the third physical quantity detection device 50 ends acquiring the third moisture value. Note that the start and end of the acquisition of the third moisture value by the third physical quantity detection device 50 are not limited to the above examples. For example, when an operating device provided around the driver's seat of the traveling vehicle 2C is operated, or when the start or end of the cutting operation is instructed by a display device, a switch, etc. provided around the driver's seat, etc., it may be performed. Alternatively, a switch or the like for giving a command to start or end the acquisition of the third moisture value may be provided around the driver's seat for the third physical quantity detection device 50.

[0126] The control device 15 may add the third moisture value to the performance data of the above work results and cause the communication device 82C to transmit it to an external information processing device. In this case, in the forming process after the grass collecting process (that is, when forming the forage grass into a roll shape), the forming machine 1D can make more effective use of the performance data of the work results. In addition, in the above-described embodiments and each modification, the traveling vehicle 2C includes the control device 15, but the hay gathering device 3C (working device) may include the control device 15. Even with this configuration, the same effects as those of the above-described embodiments and each modification can be obtained.

[0127] As described above, the present invention has been described. However, it should be considered that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the claims rather than the above description, and it is intended that all modifications within the meaning and scope equivalent to the claims are included.

Explanation of Reference Numerals

[0128] 1C Hay gatherer 2C Traveling vehicle 3C Hay gathering device 11 Prime mover 15 Control device 17 Sensing device 17A Front camera (second imaging device) 17B Rear camera (first imaging device) 43 Hay gathering part 44 Main body 45 Rotating shaft 46 Arm ( tine arm) 47 Hay gathering tool 48 Plate-like member (swath curtain) AX PTO shaft GL Hay gathering row

Claims

1. A traveling vehicle, a working device that is connected to the traveling vehicle and collects pasture grass in a field to create a grass collection row, a sensing device that acquires the state of the pasture grass or the grass collection row in the field, a control device that changes the setting information of the working device based on the state acquired by the sensing device when the working device performs a grass collection operation, comprising: the sensing device includes an imaging device that images the state of the pasture grass or the grass collection row in the field, the control device changes the setting information of the working device based on the imaging data imaged by the imaging device, the imaging device is a first imaging device that images the state of the grass collection row created by the working device, the control device changes the setting information of the working device based on the imaging data of the working result showing the state of the created grass collection row imaged by the first imaging device, the control device: (i) when it is determined that the lateral width of the grass collection row indicated by the imaging data is less than or equal to a first lower limit width, changes the setting information to first setting information; (ii) when it is determined that the lateral width of the grass collection row indicated by the imaging data is greater than or equal to a first upper limit width, or when it is determined that the grass collection row indicated by the imaging data has a two-peak shape, changes the setting information to second setting information; (iii) when it is determined that the grass collection row indicated by the imaging data does not have a two-peak shape and the lateral width of the grass collection row is not greater than the first upper limit width and is not less than or equal to the first lower limit width, the working machine keeps the current setting information unchanged.

2. the imaging device is a second imaging device that images the state of the pasture grass in the field, the control device changes the setting information of the working device based on the pre-operation imaging data showing the state of the pasture grass in the field imaged by the second imaging device, according to the working machine described in Claim 1.

3. the imaging device includes a first imaging device that images the state of the grass collection row created by the working device and a second imaging device that images the state of the pasture grass in the field, the control device changes the setting information of the working device based on the imaging data of the working result showing the state of the created grass collection row imaged by the first imaging device and the pre-operation imaging data showing the state of the pasture grass in the field imaged by the second imaging device, according to the working machine described in Claim 1.

4. The working device includes a collecting grass part having a main body, a rotating shaft rotatably supported by the main body, a plurality of tine arms connected to the rotating shaft and extending radially from the rotating shaft, a collecting tool connected to each of the plurality of tine arms and extending downward, and a plate-like member for forming a collecting grass row. The control device changes the setting information indicating the separation distance of the plate-like member from the main body among the setting information of the working device based on the imaging data of the working result according to claim 1 or 3.

5. The working device includes a collecting grass part having a main body, a rotating shaft rotatably supported by the main body, a plurality of tine arms connected to the rotating shaft and extending radially from the rotating shaft, a collecting tool connected to each of the plurality of tine arms and extending downward, and a plate-like member for forming a collecting grass row. The control device changes the setting information indicating the separation distance of the plate-like member from the main body among the setting information of the working device based on the imaging data before the operation according to claim 2 or 3.

6. The working device includes a collecting grass part having a main body, a rotating shaft rotatably supported by the main body, a plurality of tine arms connected to the rotating shaft and extending radially from the rotating shaft, and a collecting tool connected to each of the plurality of tine arms and extending downward. The control device changes the setting information indicating the distance from the lower end of the collecting grass part to the field among the setting information of the working device based on the imaging data before the operation according to claim 2 or 3.

7. The working device includes a collecting grass part having a main body, a rotating shaft rotatably supported by the main body, a plurality of tine arms connected to the rotating shaft and extending radially from the rotating shaft, and a collecting tool connected to each of the plurality of tine arms and extending downward. The control device changes the setting information indicating the traveling speed of the traveling vehicle among the setting information of the working device based on the imaging data before the operation according to claim 2 or 3.

8. The traveling vehicle includes a prime mover and a PTO shaft driven by the power of the prime mover. The working device includes a main body, a rotating shaft rotatably supported by the main body and to which the power of the PTO shaft is transmitted, a plurality of tine arms connected to the rotating shaft and extending radially from the rotating shaft, and a hay gathering tool connected to each of the plurality of tine arms and extending downward, and includes a hay gathering unit having the same. The control device changes the setting information indicating the rotational speed of the PTO shaft among the setting information of the working device based on the imaging data before the operation, according to the working machine of claim 2 or 3.

9. The traveling vehicle includes a prime mover and a PTO shaft driven by the power of the prime mover. The working device includes a main body, a rotating shaft rotatably supported by the main body and to which the power of the PTO shaft is transmitted, a plurality of tine arms connected to the rotating shaft and extending radially from the rotating shaft, and a hay gathering tool connected to each of the plurality of tine arms and extending downward, and includes a hay gathering unit having the same. The control device changes the setting information indicating the rotational speed of the PTO shaft among the setting information of the working device based on the imaging data of the working result, according to the working machine of claim 1 or 3.

10. It includes a positioning device that acquires positioning information. The control device acquires imaging data that is imaged in the spreading process before the hay gathering process and to which position information indicating the imaging position is associated, and among the acquired imaging data, based on the imaging data corresponding to the position information that matches the positioning information measured by the positioning device, the setting information of the working device is changed, according to the working machine of any one of claims 1 to 3.

11. A positioning device that acquires positioning information, a storage device, and a communication device, and the control device generates performance data of the working result in which the positioning information measured by the positioning device is associated with the imaging data of the working result, stores the performance data in the storage device, and causes the communication device to transmit the performance data stored in the storage device to an external information processing device, according to the working machine of claim 1 or 3.

Images