JP2025123766A - Control system for agricultural machinery and agricultural work method - Google Patents

Abstract

To provide a control system and an agricultural work method that enable agricultural work by accurately controlling the height of an agricultural machine to be mounted on a tractor.SOLUTION: A first work machine control part 21 is configured to, in first agricultural work: create map data that associates information on height that allows a lower part of a first work machine 2 to pass, with positional information, the information on height and the positional information being obtained respectively by using a first position information acquisition part 31 and a first height information acquisition part 32; and store the map data in a storage part 40c. A second work machine control part 21' is configured to, in second agricultural work, calculate a current absolute height of the second work machine 2' by using a second position information acquisition part 31', a sensor 25 and the map data stored in the storage part 40c.SELECTED DRAWING: Figure 3

Description

The present invention relates to an agricultural machine control system and an agricultural work method, and in particular to an agricultural machine control system and an agricultural work method for a work machine attached to a tractor to perform agricultural work.

Agricultural implements attached to tractors can be adjusted to perform appropriate agricultural work by controlling their working height. For example, an automatic device may be used to control the position of the tilling part relative to the soil leveler that comes into contact with the ground surface. Laser leveling devices may also be used to maintain a constant working height for the implement, based on the height of a laser beam emitted horizontally from a laser transmitter placed outside the field.

Patent Document 1 also describes a technology that acquires the position information of a work vehicle, determines tillage pan depth information based on the attitude of a work implement installed behind the work vehicle, and generates map information corresponding to the position information and the tillage pan depth information.

Patent No. 7274015 specification

However, when using the automatic device mentioned above, the leveling device moves up and down along the unevenness of the ground surface, causing the height of the tilled area to change accordingly, making it difficult to maintain a constant tilled depth. Furthermore, when using a laser leveler device, a laser transmitter must be installed in each field where agricultural work is carried out, which requires time and effort for installation and movement. Furthermore, there is also the problem of interference with the laser light used in adjacent fields, making it difficult to maintain an accurate height.

In addition, in Patent Document 1, the "plow pan" refers to the position where the tractor's tires touch the ground. In this case, for example, when rotary work is performed as the first operation, the tractor's tires pass over the uncultivated ground first, and the rotary implement behind the tractor performs the tilling work after the tractor has passed. As a result, the height of the bottom end of the tilling path differs from the point where the tractor's tires touch the ground, and accurate information cannot be obtained. Furthermore, when plowing work is performed as the second operation, the height at which the tractor's tires pass will differ from the height of the tractor's tires that passed over the ground previously.

In consideration of the above-mentioned problems, the present invention aims to provide an agricultural implement control system and agricultural work method that enables agricultural work by accurately controlling the height of an implement attached to a tractor.

To achieve the above-mentioned objectives, one representative agricultural implement control system of the present invention comprises, for a first agricultural work, a first implement attached to a first tractor to perform the first agricultural work, a first position information acquisition unit, a first height information acquisition unit, and a first implement control unit; and, for a second agricultural work, a second implement attached to a second tractor to perform the second agricultural work, a second position information acquisition unit, a sensor for acquiring information about the second implement, and a second implement control unit; , and a memory unit, wherein the first work machine control unit, during the first agricultural work, creates map data that associates information about the height through which the lower end of the first work machine passes, obtained using the first position information acquisition unit and the first height information acquisition unit, with position information, and stores the map data in the memory unit, and the second work machine control unit, during the second agricultural work, calculates the current absolute height of the second work machine using the second position information acquisition unit, the sensor, and the map data stored in the memory unit.

Furthermore, one agricultural work method of the present invention is characterized by comprising the steps of: when a first agricultural work is performed with a first implement attached to a first tractor, using information obtained from a first position information acquisition unit and a first height information acquisition unit in a first implement control unit provided on the first implement to create map data correlating position information with information on the height through which the lower end of the first implement passes; and when a second agricultural work is performed with a second implement attached to a second tractor after the first agricultural work, using information obtained from the second position information acquisition unit, information obtained from a sensor provided on the second implement, and the map data in a second implement control unit provided on the second implement to calculate the current absolute height of the second implement.

According to the present invention, in the agricultural work machine control system and agricultural work method, the height of the work machine attached to the tractor can be accurately controlled to perform agricultural work.
Problems, configurations, and effects other than those described above will become apparent from the following embodiments.

FIG. 1 shows a first block diagram of a first embodiment of the present invention. 1 is a side view showing an example of a first working machine according to a first embodiment of the present invention. FIG. 1 shows a first flowchart of a first embodiment of the present invention. FIG. 2 shows a second block diagram of the first embodiment of the present invention. FIG. 2 is a side view showing an example of a second working machine according to the first embodiment of the present invention. 3 shows a second flowchart of the first embodiment of the present invention. FIG. 2 shows a first block diagram of a second embodiment of the present invention. FIG. 10 is a side view showing an example of a first working machine according to a second embodiment of the present invention. 1 shows a first flowchart of a second embodiment of the present invention.

This section describes how to implement the present invention.

First Embodiment
A first embodiment will be described.

(First block diagram of the first embodiment)
FIG. 1 shows a first block diagram of a first embodiment of the present invention.

In this configuration, the first tractor (tractor 1) is equipped with a first work implement 2. The tractor 1 is equipped with a tractor control unit 11 and a communications terminal 40. The first work implement 2 is equipped with a work implement control unit 21, a position information acquisition unit 31, and a height information acquisition unit 32. The server 45 is located in a separate location from the tractor 1 and the first work implement 2. The first work implement 2 is a work implement that performs a first agricultural task.

The tractor control unit 11 performs processing for controlling the tractor 1, and may be pre-installed in the tractor 1. The tractor control unit 11 is composed of electronic devices necessary for control, processing, etc.

The position information acquisition unit 31 is a means for acquiring information on the horizontal position of the first work machine 2. For example, it receives signals from GNSS satellites and acquires longitude and latitude information representing the current position on Earth. Examples of the position information acquisition unit 31 include a configuration that acquires position information using the RTK-GNSS method, a configuration that acquires position information by receiving CLAS positioning signals, and a configuration that acquires position information by receiving signals from GPS.

The height information acquisition unit 32 is a means for acquiring height information for the first work machine 2. For example, it receives signals from GNSS satellites to acquire information on the current height, or altitude. Alternatively, the height information acquisition unit 32 and the position information acquisition unit 31 may be integrated to acquire position information and height information simultaneously. Examples of the height information acquisition unit 32 include a configuration that acquires height information using the RTK-GNSS method, and a configuration that receives CLAS positioning signals to acquire height information.

Here, we will explain the RTK-GNSS method. RTK stands for Real Time Kinematic and is a measurement method known as relative positioning. GNSS stands for Global Navigation Satellite System and refers to a satellite positioning system that receives radio waves from positioning satellites and determines a location on Earth. The RTK-GNSS method enables accurate measurements by simultaneously observing two points, a reference point and an observation point, and processing common errors. The RTK-GNSS method can acquire position information from the position information acquisition unit 31 and altitude information from the altitude information acquisition unit 32. The RTK-GNSS method can acquire three-dimensional position information, for example, X, Y, and Z.

CLAS stands for Centimeter Level Augmentation Service, a centimeter-level positioning augmentation service. By receiving CLAS positioning signals, location and altitude information can be obtained. GPS stands for Global Positioning System, a type of GNSS.

The work machine control unit 21 acquires information (position information and height information) from the position information acquisition unit 31 and height information acquisition unit 32. The work machine control unit 21 then creates map data based on the acquired information. The work machine control unit 21 may also acquire information (e.g., control information) from the tractor control unit 11. The work machine control unit 21 is composed of electronic devices necessary for control, processing, etc. The work machine control unit 21 may also be equipped with a memory unit that stores information as needed. The work machine control unit 21 may also be stored in a work machine control box provided in the first work machine 2. The work machine control box may have dustproof and waterproof functions, in which case it protects the work machine control unit 21.

The communication terminal 40 includes a communication unit 40a, a control unit 40b, a memory unit 40c, an operation unit 40d, and a display unit 40e. The communication terminal 40 may be, for example, a general-purpose portable terminal such as a smartphone or tablet computer.

The communication unit 40a has the function of communicating with the work machine control unit 21 and the server 45. Communication with the work machine control unit 21 and the server 45 may be performed using wireless communication or wired communication.

The control unit 40b performs communication processing for the communication unit 40a, storage processing for the memory unit 40c, input processing of signals from the operation unit 40d, display processing on the display unit 40e, necessary calculation processing, etc. The control unit 40b is composed of electronic devices etc. necessary for control, processing, etc.

The memory unit 40c acquires information such as map data from the work machine control unit 21 and stores and retains that information. The memory unit 40c may also output the stored information to the work machine control unit 21. The memory unit 40c may be configured with an appropriate storage device, such as semiconductor memory (ROM, RAM, flash memory), magnetic memory, HDD (Hard Disk Drive), or SSD (Solid State Drive). The memory unit 40c may also use removable recording media (e.g., SD memory card, USB flash memory, etc.). The information stored in the memory unit 40c may also be configured to be able to be sent and received from a server 45 located in a separate location.

The operation unit 40d is equipped with operation switches and other controls, allowing the operator to perform the necessary operations. The operation unit 40d may be configured as an integrated unit with the display unit 40e. For example, the display unit 40e and operation unit 40d may be integrated to make operation easier, and the display screen may be configured using a touch panel system.

The display unit 40e can be equipped with a means for displaying necessary information using a display screen such as an LCD, organic EL, or LED. The display unit 40e can acquire information from the work machine control unit 21 and display that information. For example, this information may include position and altitude information acquired from the position information acquisition unit 31 and altitude information acquisition unit 32, and map data information created by the work machine control unit 21 (e.g., information based on maps or diagrams).

The server 45 is located in a separate location from the tractor 1 and first work implement 2, and is provided as needed. The server 45 can exchange information with the communication terminal 40 via an internet line or the like. The server 45 can be equipped with a memory unit having the same or similar functions as the memory unit 40c of the communication terminal 40, and can store information saved in the memory unit 40c of the communication terminal 40. The server 45 can also perform some of the processing of the work implement control unit 21 as a computer, although this requires communication time.

(First working machine of first embodiment)
FIG. 2 is a side view showing an example of a first working implement according to a first embodiment of the present invention. FIG. 2 shows an embodiment in which a rotary working implement 50 is attached to the rear of the tractor 1 as the first working implement 2 attached to the tractor 1. In this case, the first agricultural work is tillage. In the following description, the traveling direction of the rotary working implement 50 is assumed to be the forward direction. The left direction in FIG. 2 is the forward direction of the rotary working implement 50, and the up-down direction in FIG. 2 is the up-down direction of the rotary working implement 50. FIG. 2 also shows a simplified illustration of the tractor 1.

The PTO (Power Take Off) power output from the tractor 1 is input to the input shaft 55 via a joint (not shown) and transmitted to the tilling unit 60 located below the tilling unit cover. The tilling unit 60 performs tilling work by rotating a tilling shaft having multiple tilling tines 62 (only one is shown in Figure 2). A soil leveling unit 57 is provided behind the tilling unit 60. The soil leveling unit 57 is attached to the rear of the tilling unit cover so that it can rotate around a pivot point with its central axis extending horizontally. This allows the tip 57a of the soil leveling unit 57 to move up and down.

As shown in Figure 2, the rotary implement 50 is mounted on the rear of the tractor 1. The mounting section 51 has a mast 51a and a lower arm 51b, which are attached to the top link 15 and lower link 16 on the tractor 1 side. The top link 15 is located higher than the lower link 16. When the tractor control unit 11 controls the up and down movement of the lower link 16, the lower link 16 rotates around a fulcrum on the tractor 1 side, and the top link 15 also rotates around another fulcrum on the tractor 1 side. This allows the rotary implement 50 to be moved up and down. The link mechanism of the top link 15 and the lower link 16 forms a lifting device for the tractor 1. The link mechanism of the top link 15 and the lower link 16 causes the rotary implement 50 to tilt forward as it is raised. This is similar to other types of implements. One top link 15 is located near the center of the tractor 1 from side to side, and two lower links 16 are located on the left and right sides of the tractor 1.

The implement control unit 21 is installed in an appropriate location on the rotary implement 50. For example, it may be fixed to the frame 52, mast 51a, or cover above the tilling unit 60. Figure 2 shows an example in which it is fixed to the frame 52.

The position information acquisition unit 31 and height information acquisition unit 32 are installed at or near the highest position of the rotary work implement 50 via an arm 72 extending in the vertical direction. In this case, the position information acquisition unit 31 and height information acquisition unit 32 may be placed at the same height as the roof of the tractor 1 or higher to increase reception sensitivity. The lower end of the arm 72 is fixed to the frame 52 via a fixing member 71. The position information acquisition unit 31 and height information acquisition unit 32 are fixed to the upper end of the arm 72. In this case, the position information acquisition unit 31 and height information acquisition unit 32 may be configured as an integrated unit.

The communication terminal 40 is placed on the tractor 1 side, allowing the operator to operate the tractor 1 and check the display while sitting in the driver's seat.

Next, we will explain agricultural work using the rotary implement 50. Because the rotary implement 50 is attached to the rear of the tractor 1, the tractor 1 passes over the uncultivated ground 81 before the rotary implement 50. The rotary implement 50 then tills the field soil with its tilling section 60, forming a plowed soil layer 85. The upper side of the plowed soil layer 85 becomes the ground surface 82 after tilling. Meanwhile, the lower end 60a of the tilling section 60 of the rotary implement 50 forms the lower side of the plowed soil layer 85, the underside of which coincides with the trajectory 83 of the tilled bottom edge. When the tractor passes over the plowed soil layer 85 for tilling work, etc., because the plowed soil layer 85 is soft, the lower edge of the tilled bottom edge becomes the position where the underside of the tractor's tires pass (the tractor's contact point). In other words, the current plowed bottom edge serves as the reference height for future tractor measurements. Here, the lower end 60a of the tilling section 60 of the rotary work machine 50 is the lower end of the rotary work machine 50.

(First flowchart of the first embodiment)
3 shows a first flowchart of the first embodiment of the present invention. The processing here can be performed by the work implement control unit 21. This processing can also be performed by the first work implement 2 during the first agricultural work.

First, in step S101, location information is acquired. The location information is acquired from the location information acquisition unit 31. The location information is information about a horizontal position on the Earth, such as longitude and latitude information. Furthermore, since the location information acquisition unit 31 is installed in the first work machine 2, the acquired location information is the location information of the first work machine 2.

Next, in step S102, height information is acquired. The height information is acquired from the height information acquisition unit 32. The height information is information in the height direction, such as altitude information. Furthermore, since the height information acquisition unit 32 is installed on the first work machine 2, the acquired height information is the height information of the first work machine 2.

Next, in step S103, the height of the tilling section of the first working implement 2 is calculated. Specifically, the absolute height of the bottom end of the first working implement 2 (more specifically, the bottom end of the tilling section) is calculated. In the case of the rotary working implement 50 of Figure 2, this is the absolute height of the bottom end 60a of the tilling section 60. This calculation uses the height information acquired in step S102. At this time, the height difference between the height information acquisition unit 32 and the height of the bottom end 60a of the tilling section 60 of the first working implement 2 is pre-stored in the working implement control unit 21, allowing the height of the bottom end 60a of the tilling section 60 of the first working implement 2 to be calculated. This height difference information may also be stored in the memory unit 40c of the communication terminal 40 and acquired from there.

Next, in step S104, map data is created. Map data is a collection of data that collects height information for each position in the field. Specifically, the height information of the lower end of the first working implement 2 calculated in step S103 (specifically, absolute height information such as the altitude of the lower end 60a of the tilling section 60) is added to the position information (specifically, latitude and longitude information) acquired in step S101. This makes it possible to create map data.

Next, in step S105, it is determined whether or not to end the creation of map data. Here, it is determined that the creation of map data has ended, for example, when an operation signal for ending the creation of map data is input by operating the operation unit 40d of the communication terminal 40, or when the work implement control unit 21 determines that the first work implement 2 has finished its agricultural work. The end of the agricultural work of the first work implement 2 can be determined when it is determined that the regular movements for agricultural work have ended, or when the first work implement 2 has been raised to a height above a predetermined level for a predetermined period of time or more. Regular movements for agricultural work can be detected by calculating the movement of the work using information such as direction and speed from the tractor control unit 11. Whether or not the first work implement 2 has been raised to a height above a predetermined level can be detected using information related to the relative height from the tractor control unit 11. If the creation of map data is not to be ended, the process returns to step S101, and the creation of map data continues. If the creation of map data is to be ended, the process proceeds to step S106.

A function to temporarily suspend map data creation may also be provided. For example, when the tractor 1 is turning at the edge of a field during tilling, the first implement 2 is raised, and the height of the lower end 60a of the tilling section 60 of the first implement 2 during tilling cannot be added to the position information. Therefore, a function to temporarily suspend map data creation during turning may be provided, allowing the map data creation process to be resumed once the turning is completed and tilling is resumed. Specifically, map data creation may be temporarily suspended when the first implement 2 is raised to a predetermined height or higher, and resumed when the first implement 2 is lowered below the predetermined height within the aforementioned predetermined time. Furthermore, the turning operation of the tractor 1 may be detected, and a determination may be made to temporarily suspend the process during turning. Turning operation may be determined by obtaining information about the turning, such as steering, from the tractor control unit 11. To temporarily suspend map data creation, the above determination based on the height of the first work implement 2 and the above determination based on the turning of the tractor 1 may be used alone or in combination.

In step S106, the map data is output. The map data is output to the communication terminal 40. The communication terminal 40 stores the newly created map data in the memory unit 40c. The newly created map data is displayed on the display unit 40e of the communication terminal 40. Examples of display methods include color coding according to height on the map, or creating a bird's-eye view with exaggerated height. The map data may also be output in real time, rather than after the map data creation has been completed. For example, the map data may be output each time after step S104. The communication terminal 40 may also transmit the map data to the server 45 as necessary.

(Second block diagram of the first embodiment)
FIG. 4 shows a second block diagram of the first embodiment of the present invention.

In a configuration including a second work implement 2' attached to a second tractor, the tractor 1', a tractor control unit 11' and a location information acquisition unit 31' are installed on the tractor 1' side. Furthermore, a communication terminal 40 is also installed on the tractor 1' side. The second work implement 2' is also equipped with a work implement control unit 21' and a sensor 25. Furthermore, a server 45 is installed in a location separate from the tractor 1' and the second work implement 2'.

The second working implement 2' is a working implement that performs a second agricultural task. Here, the tractor 1' may be the same as the tractor 1 shown in FIG. 1, or may be a different tractor. Furthermore, in this embodiment, the second working implement 2' is a different type of working implement from the first working implement 2, and the second agricultural task is a different type of agricultural task from the first agricultural task. The second agricultural task is performed after the first agricultural task.

The tractor control unit 11' performs processing for controlling the tractor 1', and a unit already installed in the tractor 1' can be used. The tractor control unit 11' controls the position information acquisition unit 31' and transmits information from the position information acquisition unit 31' to the work implement control unit 21'. The tractor control unit 11' also inputs a signal from the work implement control unit 21' and controls the lifting device of the tractor 1' based on that signal. This makes it possible to change the height of the second work implement 2' relative to the tractor 1'. For this reason, the tractor control unit 11' has the function of inputting a signal to change the height of the lifting device from an external source and controlling the change of the height of the lifting device based on that signal. The tractor control unit 11' is composed of electronic devices necessary for control, processing, etc.

The position information acquisition unit 31' is a means for acquiring information about the horizontal position of the tractor 1', and can have a configuration similar to that of the position information acquisition unit 31 in Figure 1.

The implement control unit 21' acquires location information from the location information acquisition unit 31' and acquires map data from the memory unit 40c of the communication terminal 40. This map data is acquired during the first agricultural work. Based on the location information from the location information acquisition unit 31', map data for the area near the current location can be acquired. Furthermore, the implement control unit 21' calculates the current target height of the second implement 2' based on the acquired current location information and map data, compares it with the current height of the second implement 2', and outputs a signal to the tractor control unit 11' to change the height of the second implement 2' relative to the tractor 1' as necessary. The method for detecting the current height of the second implement 2' will be described later. The implement control unit 21' may also acquire information (e.g., control information, etc.) from the tractor control unit 11'. The implement control unit 21' is composed of electronic devices necessary for control, processing, etc. The implement control unit 21' may also include a memory unit for storing information as necessary. Information on the relationship between the height and angle of the tractor and the implement may be stored in this memory unit. The work machine control unit 21' may be stored in a work machine control box provided in the second work machine 2'. The work machine control box may have dustproof and waterproof functions, in which case it protects the work machine control unit 21'.

In addition, information from the position information acquisition unit 31' may be acquired by the work implement control unit 21' via the tractor control unit 11' as shown in Figure 4, or the work implement control unit 21' may acquire the information directly from the position information acquisition unit 31'. In this case, the work implement control unit 21' and the position information acquisition unit 31' may be connected via a wired connection to exchange information, or may be exchanged via wireless communication.

The sensor 25 detects the relative height of the second implement 2' with respect to the tractor 1'. Examples include tilt sensors, acceleration sensors, distance sensors (millimeter-wave radar, ultrasonic sensors, electromagnetic wave sensors), laser sensors, cameras, potentiometers, and position sensors. An inclination sensor or acceleration sensor can detect the longitudinal tilt angle of the second implement 2' and determine the relative height of the second implement 2' with respect to the tractor 1' based on the relationship between the detected value and the height and angle of the tractor and the implement. A distance sensor such as millimeter-wave radar can detect the relative height of the second implement 2' with respect to the tractor 1' based on the relative distance between the tractor 1' and the second implement 2' in the vertical direction. A laser sensor can detect the relative height of the second implement 2' with respect to the tractor 1' by installing a laser emitter and receiver between the tractor 1' and the second implement 2'. If a camera is used, the relative distance between the tractor and the implement (relative deviation in the height direction) can be calculated using image processing, making it possible to detect the relative height of the second implement 2' with respect to the tractor 1'. If a potentiometer is used, the relative height of the second implement 2' with respect to the tractor 1' can be detected by detecting the angle of the connection between the tractor 1' and the second implement 2'. This can also be done using a position sensor provided on the tractor 1'. Alternatively, height information acquisition units can be provided on both the second implement 2' and the tractor 1', and the relative height of the second implement 2' with respect to the tractor 1' can be detected from these. The above-mentioned sensors can also be used in combination.

The communication terminal 40 has the same configuration as the communication terminal 40 described in Figure 1. The communication terminal 40 in Figure 4 may be the same as the communication terminal 40 used in Figure 1, or a different one may be used.

The communication unit 40a communicates with the work machine control unit 21' and the server 45. This communication may be performed using wireless or wired communication.

In addition to the above, the control unit 40b also controls the output of information such as map data stored in the memory unit 40c to the work machine control unit 21'.

The memory unit 40c stores information such as map data acquired during the first agricultural work. The memory unit 40c may also store information such as map data acquired from the server 45. The memory unit 40c may also store information regarding the relationship between the height and angle of the tractor and work implement, and may also acquire and store this information from the server 45 as necessary.

The display unit 40e can acquire information from the work machine control unit 21' and display that information. For example, this information may include position information acquired from the position information acquisition unit 31', the current height of the second work machine 2', and the control status of the work machine control unit 21'.

Server 45 has the same configuration and functions as server 45 described in Figure 1. Server 45 in Figure 4 may be the same as server 45 used in Figure 1.

(Second working machine of the first embodiment)
FIG. 5 is a side view showing an example of the second implement of the first embodiment of the present invention. FIG. 5 shows an embodiment in which a plow implement 100 is attached to the rear of a tractor 1' as a second implement 2' to be attached to the tractor 1'. In this case, the second agricultural work is plowing. In the following description, the traveling direction of the plow implement 100 is the forward direction. The left direction in FIG. 5 is the forward direction of the plow implement 100, and the up-down direction in FIG. 5 is the up-down direction of the plow implement 100. Also, FIG. 5 shows a simplified illustration of the tractor 1'.

The PTO power output from the tractor 1' is input to the input shaft 105 via a joint (not shown) or the like and transmitted to the tillage unit 110 located below the tillage unit cover. The tillage unit 110 breaks up the soil by rotating a tillage shaft having multiple tillage tines 112. A first soil leveling body and a second soil leveling body 107 located behind the tillage unit 110 are provided behind the tillage unit 110, which flatten the soil surface. The first soil leveling body is attached to the rear of the tillage unit cover so that it can rotate around a pivot point whose central axis is in the horizontal and lateral directions. The second soil leveling body 107 is attached to the lower end of the first soil leveling body so that it can rotate around a pivot point whose central axis is in the horizontal and lateral directions.

As shown in Figure 5, the tillage implement 100 is mounted on the rear of the tractor 1'. The mounting unit 101 has a mast 101a and a hitch 101b, which are attached to the top link 15' and lower link 16' on the tractor 1' side. The top link 15' is positioned higher than the lower link 16'. When the tractor control unit 11' controls the up and down movement of the lower link 16', the lower link 16' rotates around a fulcrum on the tractor 1' side, and the top link 15' also rotates around another fulcrum on the tractor 1' side. This allows the tillage implement 100 to be moved up and down. The link mechanisms of the top link 15' and lower link 16' form a lifting device for the tractor 1'. The link mechanisms of the top link 15' and lower link 16' are configured so that the tillage implement 100 tilts forward as it is raised upward. This is also true for other types of work machines. Note that one top link 15' is provided near the left-right center of the tractor 1', and two lower links 16' are provided on the left and right sides of the tractor 1'.

The sensor 25 is installed in an appropriate location on the tillage implement 100. For example, if the sensor 25 detects the forward tilt angle of the tillage implement 100, the implement control unit 21' can calculate the height of the tillage implement 100 relative to the tractor 1'. By recording information on the height relative to the tilt angle in the implement control unit 21' or storage device 41', an accurate height can be calculated. The sensor that detects the tilt angle may be fixed, for example, to the frame or mast 101a above the tillage unit 110.

The implement control unit 21' is installed in an appropriate location on the tillage implement 100. For example, it may be fixed to a frame, mast 101a, or cover above the tillage unit 110. The implement control unit 21' and sensor 25 may also be provided in the same implement control box.

In Figure 5, the location information acquisition unit 31' is installed on the roof 17 above the driver's seat of the tractor 1'. This allows the location information acquisition unit 31' to be placed in a high position, improving reception sensitivity.

The communication terminal 40 is placed on the tractor 1' side, allowing the operator to operate the tractor 1' and check the display while sitting in the driver's seat.

Next, we will explain agricultural work performed by the tilling implement 100. After tilling, the first agricultural work, the second agricultural work, puddling, is performed. Puddling is performed by adding water to a field containing a tilled plowed soil layer 85 (see Figure 2) and using the tilling implement 100. In this case, the lower ends 18a of the tires 18 (rear wheels) of the tractor 1' pass through the field while touching the locus 131 of the tilled bottom end. The locus 131 of the tilled bottom end corresponds to the locus 83 of the tilled bottom end in Figure 2. The ground surface 132 before tilling is a surface consisting of a mixture of water and soil from the plowed soil layer 85 shown in Figure 2. As the tilling unit 110 of the tilling implement 100 rotates, it breaks down the moist soil, forming a post-plodding ground surface 135 behind the second soil leveling body 107. The plow implement 100 has not yet reached the locus 131 of the lower end of the tillage. It is desirable that the ground surface 135 after tillage be level, but if the height of the plow implement 100 (particularly the height of the tillage section 110) is kept constant, the height of the second soil leveling body 107 will also be constant, making it possible to level the ground surface 135 after tillage. The same applies to a crawler-type tractor instead of tires 18.

(Second flowchart of the first embodiment)
6 shows a second flowchart of the first embodiment of the present invention. The processing here can be performed by the work implement control unit 21'. This processing can be performed by the second work implement 2' during the second agricultural work, but step S201 below may also be performed before the second agricultural work begins.

First, in step S201, map data is acquired. The map data here is map data acquired during the first agricultural work, and is map data stored in the memory unit 40c of the communication terminal 40 or the server 45. This corresponds to the map data output in S106 in Figure 3.

Next, in step S202, location information is acquired. The location information is acquired from the location information acquisition unit 31'. The location information is information about horizontal positions on the Earth, such as longitude and latitude information. Furthermore, since the location information acquisition unit 31' is installed on the tractor 1', the acquired location information is the location information of the tractor 1'.

Next, in step S203, the relative height of the second implement 2' is detected. This is the relative height of the second implement 2' (plowing implement 100) to the tractor 1'. As described above, this can be calculated using information from the sensor 25 and the relationship between the height and angle of the tractor and implement. Alternatively, height information about the second implement 2' (e.g., information about the height control of the tractor 1' lifting device) may be obtained from the tractor control unit 11' for calculation. The relationship between the information from the sensor 25 and the relative height can be stored in advance in the implement control unit 21'. For example, this may be the relationship between the relative height of the lower end 18a of the tractor 1's tires 18 and the cultivating section 110 of the tilling implement 100 in relation to the inclination of the tilling implement 100. This information may be stored in the memory unit 40c of the communication terminal 40 or the server 45.

Next, in step S204, the current height of the second implement 2' is calculated. This calculation uses the map data acquired in step S201, the position information acquired in step S202, and the relative height information calculated in step S203. That is, for the position information acquired in step S202, height information for that position is searched and acquired from the map data acquired in step S201. The height information here is the height information of the tractor 1'. Then, the relative height information with respect to the tractor 1' calculated in step S203 is used to calculate the current absolute height (e.g., altitude) of the second implement 2' (plowing implement 100).

Next, in step S205, the target height of the second work implement 2' is compared with the current height. The target height of the second work implement 2' can be stored in the work implement control unit 21' or the memory unit 40c of the communication terminal 40 before work begins. It may also be possible to set it using the operation unit 40d of the communication terminal 40, or to change it mid-work using the operation unit 40d. The target height here is assumed to be a constant absolute height, but it is also possible to change the target height depending on the position. The target height may also be set automatically based on map data. For example, the average height of the bottom end of the tillage section of the field may be calculated from the map data information, and the target height may be automatically set using this. The current height of the second work implement 2' is the absolute height calculated in step S204. These heights are compared and the difference is calculated.

Next, in step S206, a signal to change the height of the second implement 2' is output. Here, a signal to change the height of the second implement 2' (plowing implement 100) relative to the tractor 1' is output to the tractor control unit 11' so that the difference between the target height and the current height of the second implement 2' is approximately zero. Based on this, the tractor control unit 11' controls the height of the tractor 1' lifting device (height of the lower link 16'). This makes it possible to control the height of the second implement 2' (plowing implement 100) to the target height. In Figure 5, the height of the ground surface 135 after plowing can be set to a constant target height.

Next, in step S207, it is determined whether or not to terminate height control. Height control is determined to be terminated, for example, when an operation signal to terminate height control is input by operating the operation unit 40d of the communication terminal 40, or when the implement control unit 21' determines that the second implement 2' has completed its agricultural work. The second implement 2' can be determined to have completed its agricultural work when it is determined that its regular movements for agricultural work have ended, or when a specified amount of time has passed since the second implement 2' was raised to a height above a specified level. Regular movements for agricultural work can be detected by calculating movement based on information such as direction and speed from the sensor 25 and the tractor control unit 11'. Whether or not the second implement 2' has been raised to a height above a specified level can be detected based on information related to relative height from the sensor 25 and the tractor control unit 11'. If height control is not to be terminated, the process returns to step S202, where height control continues. If height control is to be terminated, the process ends.

(Additional features)
The work implement control unit 21' can perform control that takes into account the delay time in the vertical movement of the second work implement 2' relative to the tractor 1'. For example, map data may be used to determine the height of the direction of travel and a signal to change the height of the second work implement 2' may be output to the tractor control unit 11' at an early timing. In this case, the degree to which the timing should be advanced can be determined in advance based on the actual delay time of control. It is also possible to take the vehicle speed of the tractor 1' into consideration. In this case, the work implement control unit 21' obtains vehicle speed information from the tractor control unit 11' and determines the timing according to the vehicle speed. The degree to which the timing should be advanced relative to a vehicle speed can be determined in advance.

The work implement control unit 21' may also create new map data showing the relationship between height and position during the second agricultural work performed by the second work implement 2'. In this case, the tractor 1' may be equipped with a height information acquisition unit with functions similar to the height information acquisition unit 32 in Figure 1. Map data can be created using height information from this height information acquisition unit. The created map data may also be compared with map data created during the first agricultural work performed by the first work implement 2 to calculate deviations. This information may be output to the communication terminal 40 and displayed on the display unit 40e, or stored in the memory unit 40c.

In addition, in the map data created during the first agricultural work or the second agricultural work, locally high or locally low locations may be stored as peculiar locations within the field, such as large stones or holes. In this case, it is possible to determine whether a location is peculiar by detecting a difference in elevation of a predetermined level or more. For example, if a location is higher than others (e.g., the average height) by a predetermined level or more, it is determined that a stone is present, and if a location is lower than others by a predetermined level or more, it is determined that a hole is present. Furthermore, if such detection is made at the same location a predetermined number of times (e.g., two or three times) or more, it may be determined that the location is peculiar. These determinations can be made by the work machine control unit 21 or the work machine control unit 21'.

The tractor 1' may also be equipped with a sensor (e.g., an inclination sensor or acceleration sensor) that detects the inclination of the tractor. The value of this inclination sensor may be used to correct the height value of the second implement 2' relative to the tractor 1'.

Second Embodiment
A second embodiment will be described below. In the second embodiment, differences from the first embodiment will be mainly described, and the same parts will be denoted by the same reference numerals, and explanations of parts that are not particularly described will be omitted.

(First block diagram of the second embodiment)
FIG. 7 shows a first block diagram of the second embodiment of the present invention.

In this configuration, a first work implement 2'' is attached to a first tractor, tractor 1'', and the tractor 1'' is equipped with a tractor control unit 11'', a position information acquisition unit 31'', a height information acquisition unit 32'', and a communication terminal 40. The first work implement 2'' is equipped with a work implement control unit 21'' and a sensor 25''. The first work implement 2'' is a work implement that performs a first agricultural task.

The tractor control unit 11'' performs processing for controlling the tractor 1'', and can be one that is already installed in the tractor 1''. The tractor control unit 11'' controls the position information acquisition unit 31'' and height information acquisition unit 32'', and transmits information from the position information acquisition unit 31'' and height information acquisition unit 32'' to the implement control unit 21''. The tractor control unit 11'' is composed of electronic devices necessary for control, processing, etc.

The position information acquisition unit 31'' is a means for acquiring information about the horizontal position of the tractor 1'', and can have a configuration similar to that of the position information acquisition unit 31 in Figure 1.

The height information acquisition unit 32'' is a means for acquiring information about the height of the tractor 1'', and can have a configuration similar to that of the height information acquisition unit 32 in Figure 1.

The work implement control unit 21'' acquires information (position information and height information) from the position information acquisition unit 31'' and the height information acquisition unit 32''. The work implement control unit 21'' then creates map data based on the acquired information, information from the sensor 25'', and the relationship between the height and angle of the tractor and the work implement. The method for detecting the current height of the first work implement 2'' will be described later. The work implement control unit 21'' may also acquire information (e.g., control information, etc.) from the tractor control unit 11''. The work implement control unit 21'' is composed of electronic devices necessary for control, processing, etc. The work implement control unit 21'' may also be equipped with a memory unit that stores information as needed. This memory unit may store information on the relationship between the height and angle of the tractor and the work implement. The work implement control unit 21'' may be stored in a work implement control box provided in the first work implement 2''. The work implement control box may have dustproof and waterproof functions, in which case the work implement control unit 21'' is protected.

In addition, information from the position information acquisition unit 31'' and the height information acquisition unit 32'' may be acquired by the work implement control unit 21'' via the tractor control unit 11'' as shown in Figure 7, or the work implement control unit 21'' may acquire the information directly from the position information acquisition unit 31'' and the height information acquisition unit 32''. In this case, the work implement control unit 21'' and the position information acquisition unit 31'' and the height information acquisition unit 32'' may be connected via a wired connection to exchange information, or may be exchanged via wireless communication.

Sensor 25'' is a sensor that detects the relative height of the first implement 2'' with respect to the tractor 1'', and can have a configuration similar to that of sensor 25 in Figure 4.

The communication terminal 40 and server 45 can have the same configuration as the communication terminal 40 and server 45 described in FIG. 1. In this case, the work machine control unit 21 can be replaced with the work machine control unit 21''.

(First working machine of second embodiment)
Fig. 8 is a side view showing an example of a first working implement according to a second embodiment of the present invention. Fig. 8 shows an embodiment in which a rotary working implement 50'' is attached to the rear of a tractor 1'' as a first working implement 2'' to be attached to the tractor 1''. The differences from the tractor 1 and rotary working implement 50 in Fig. 2 will now be described.

The rotary work machine 50'' has the same configuration as the rotary work machine 50 in Figure 2 for tilling work.

The sensor 25'' is installed in an appropriate location on the rotary implement 50''. For example, if the sensor 25'' detects the forward tilt angle of the rotary implement 50'', the implement control unit 21'' can calculate the height of the rotary implement 50'' relative to the tractor 1''. At this time, by recording information on the height relative to the tilt angle (particularly the height of the lower end 60a of the tilling unit 60) in the implement control unit 21'' or the memory unit 40c of the communication terminal 40, an accurate height can be calculated. The sensor that detects the tilt angle may be fixed, for example, to the frame 52 above the tilling unit 60.

The implement control unit 21'' is installed in an appropriate location on the rotary implement 50''. For example, it may be fixed to the frame 52, mast 51a, or cover above the tilling unit 60. Figure 8 shows an example in which it is fixed to the frame 52.

In Figure 7, the position information acquisition unit 31'' and the height information acquisition unit 32'' are installed on the roof 17' above the driver's seat of the tractor 1''. This allows the position information acquisition unit 31'' and the height information acquisition unit 32'' to be placed in a high position, thereby improving reception sensitivity.

(First flowchart of the second embodiment)
FIG. 9 shows a first flowchart of the second embodiment of the present invention. The processing here can be performed by the work implement control unit 21''. Furthermore, this processing can be performed by the first work implement 2'' during the first agricultural work.

First, in step S301, location information is acquired. The location information is acquired from the location information acquisition unit 31''. The location information is information about a horizontal position on the Earth, such as longitude and latitude information. Furthermore, since the location information acquisition unit 31'' is installed on tractor 1'', the acquired location information is the location information of tractor 1''.

Next, in step S302, height information is acquired. The height information is acquired from the height information acquisition unit 32''. The height information is information in the height direction, such as altitude information. Furthermore, since the height information acquisition unit 32'' is installed on tractor 1'', the acquired height information is the height information of tractor 1''.

Next, in step S303, the relative height of the first implement 2'' is detected. This is the relative height of the first implement 2'' (rotary implement 50'') to the tractor 1''. As described above, this can be calculated using information from the sensor 25'' and the relationship between the height and angle of the tractor and implement. Alternatively, height information about the first implement 2'' (e.g., height control information for the lifting device of the tractor 1'') may be obtained from the tractor control unit 11'' for calculation. The relationship between the information from the sensor 25'' and the relative height can be stored in advance in the implement control unit 21''. For example, this may be the relationship between the installation position of the position information acquisition unit 31'' in relation to the inclination of the rotary implement 50'' and the relative height of the lower end 60a of the tilling section 60 of the rotary implement 50''. Such information may be stored in the memory unit 40c of the communication terminal 40 or the server 45.

Next, in step S304, the height of the tilling section of the first implement 2" is calculated. Specifically, the absolute height of the bottom end of the first implement 2" (more specifically, the bottom end 60a of the tilling section 60) is calculated. In the case of the rotary implement 50" in Figure 8, this is the height of the bottom end 60a of the tilling section 60. This calculation uses the height information acquired in step S302 and the relative height information calculated in step S303. As a result, if the absolute height of the first implement 2" can be calculated, it is also possible to calculate the height of the bottom end 60a of the tilling section 60 of the first implement 2", which is linked to it. In other words, the absolute height (e.g., altitude) of the bottom end of the first implement 2" can be calculated by using the height of the tractor 1" and the relative height of the first implement 2" with respect to the tractor 1".

Next, in step S305, map data is created. Map data is a collection of data that collects height information for each position in the field. Specifically, the height information of the lower end of the first working implement 2'' calculated in step S304 (specifically, absolute height information such as the altitude of the lower end 60a of the tilling section 60) is added to the position information (specifically, latitude and longitude information) acquired in step S301. This makes it possible to create map data.

However, because the position information acquired in step S301 is the position information of tractor 1", a correction is made to reflect the position of the tilling section of first implement 2". This correction can be made using information on the distance between tractor 1" and first implement 2", or by using the time it takes for first implement 2" to pass the position of tractor 1" based on the direction and speed of tractor 1". In these cases, the direction and speed of tractor 1" may be determined using information from sensor 25", or information from tractor control unit 11". The distance between tractor 1" and first implement 2" can be stored in advance in the implement control unit 21" or the memory unit 40c of the communication terminal 40.

Next, in step S306, it is determined whether or not to end the creation of map data. Here, it is determined that the creation of map data has ended, for example, when an operation signal for ending the creation of map data is input by operating the operation unit 40d of the communication terminal 40, or when the work implement control unit 21'' determines that the first work implement 2'' has finished its agricultural work. The end of the work of the first work implement 2'' can be determined when it is determined that the regular movements for the agricultural work have ended, or when the first work implement 2'' has been raised to a height above a predetermined level for a predetermined period of time or more. Regular movements for agricultural work can be detected by calculating the movement of the work using information such as direction and speed from the sensor 25'' and the tractor control unit 11''. Whether or not the first work implement 2'' has been raised to a height above a predetermined level can be detected using information related to the relative height from the sensor 25'' and the tractor control unit 11''. If the creation of map data is not to be ended, the process returns to step S301, and the creation of map data continues. If the creation of map data is to be ended, the process proceeds to step S307.

In addition, a function to temporarily suspend map data creation may be provided. For example, when the tractor 1'' is turned at the edge of a field during tilling work, the first implement 2'' is raised, and at this time the height of the lower end 60a of the tilling section 60 of the first implement 2'' during tilling work cannot be added to the position information. For this reason, a function to temporarily suspend map data creation during turning may be provided, allowing the map data creation process to be resumed when the turning ends and tilling work is resumed. Specifically, map data creation may be temporarily suspended when the first implement 2'' is raised to a predetermined height or above, and resumed when the first implement 2'' is lowered below the predetermined height within the above-mentioned predetermined time. Furthermore, the turning operation of the tractor 1'' may be detected, and a determination may be made to temporarily suspend creation while the tractor 1'' is turning. The turning operation may be determined by obtaining information about turning, such as steering, from the tractor control unit 11'', or by obtaining information about turning acceleration, etc. from the sensor 25''. The above determination based on the height of the first work implement 2'' for temporarily suspending map data creation and the above determination of turning of the tractor 1'' may be used alone or in combination.

In step S307, the map data is output. The map data is output to the communication terminal 40. The communication terminal 40 stores the newly created map data in the memory unit 40c. The newly created map data is displayed on the display unit 40e of the communication terminal 40. Examples of display methods include color coding according to height on the map, or creating a bird's-eye view with exaggerated height. The map data may also be output in real time, rather than after the map data creation has been completed. For example, the map data may be output each time after step S305. The communication terminal 40 may also transmit the map data to the server 45 as necessary.

Furthermore, the configuration relating to the second agricultural work shown in Figures 4 to 6 can be applied as is to the second embodiment.

<Effects>
According to the embodiment described above, map data for the height of the lower end of the first implement 2, 2'' in the field (specifically, the lower end 60a of the tilling unit 60) can be created while performing a first agricultural task using the first implement 2, 2''. This allows a reference map to be created that indicates the tractor height for the next agricultural task, contributing to agricultural tasks with accurate height control. Then, by performing a second agricultural task using the second implement 2' after the first agricultural task, the map data created for the first agricultural task can be used to perform the agricultural task accurately. In particular, accurate height control, which is important for the second agricultural task, can be performed.

Furthermore, the first embodiment can be applied to the first agricultural work even when the tractor does not have a sensor for obtaining absolute height, thereby increasing the versatility of applicable tractors. Furthermore, in the second embodiment, the height is obtained on the tractor side in the first agricultural work, so there is no need to provide a sensor for obtaining absolute height on the implement side, and accessories such as arms are also unnecessary. The configuration used in the second agricultural work can be applied even when the tractor does not have a sensor for obtaining absolute height, thereby increasing the versatility of applicable tractors.

Furthermore, when the first implement 2, 2" is a rotary implement 50, 50" and the second implement 2' is a tillage implement 100, the height reference for tillage work is the lower end 60a of the tillage section 60 for tillage work, which is also effective in terms of accurate height control. Furthermore, by using the same communication terminal 40 for both the first and second agricultural work, costs can be reduced and the configuration can be made easy to use.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments and includes various modifications other than those described above. For example, the present invention is not limited to those that include all of the configurations provided in the above embodiments. Furthermore, it is also possible to delete some of the configurations of a certain embodiment or replace them with other configurations.

For example, in the first work implement 2 in Figures 1 and 2, the tilling height of the first work implement 2 may be controlled using height information from the height information acquisition unit 32. In this case, position information from the position information acquisition unit 31 can be used for control. This makes it possible, for example, to control the tilling height of the first work implement 2 to be constant. In this case, the work implement control unit 21 issues a signal related to lifting to the tractor control unit 11 so that the target height is reached. The tractor control unit 11 also inputs a signal from the work implement control unit 21 and controls the lifting device of the tractor 1 based on that signal. This makes it possible to change the height of the first work implement 2 relative to the tractor 1. In this case, the tractor control unit 11 can be equipped with a function to input a signal to change the height of the lifting device from an external source and control the height of the lifting device based on that signal.

In addition, the first implement 2'' in Figures 7 and 8 may use height information from the height information acquisition unit 32'' to control the tilling height of the first implement 2''. This control can use position information from the position information acquisition unit 31'' and information on the relative height of the first implement 2 relative to the tractor 1 from the sensor 25''. This, for example, allows control to maintain a constant tilling height of the first implement 2''. In this case, the implement control unit 21'' issues a lifting/lowering signal to the tractor control unit 11'' so that the target height is reached. The tractor control unit 11'' also receives a signal from the implement control unit 21'' and controls the lifting device of the tractor 1'' based on that signal. This makes it possible to change the height of the first implement 2'' relative to the tractor 1''. In this case, the tractor control unit 11'' can receive a signal from the implement control unit 21'' to change the height of the lifting device from an external source and perform control to change the height of the lifting device based on that signal.

Furthermore, although the processing in Figure 3 has been described as being performed by the work implement control unit 21, some or all of the processing performed by the work implement control unit 21 may be performed by the tractor control unit 11.

Furthermore, although the processing in Figure 6 has been described as being performed by the work implement control unit 21', some or all of the processing performed by the work implement control unit 21' may be performed by the tractor control unit 11'.

Furthermore, although the processing in Figure 9 has been described as being performed by the work implement control unit 21'', some or all of the processing performed by the work implement control unit 21'' may be performed using the tractor control unit 11''.

In addition, while Figures 4 and 5 explain that the location information acquisition unit 31' is provided on the tractor 1', enabling reception at a high position, it is also possible to provide the location information acquisition unit 31' on the second work implement 2'.

Furthermore, in Figures 4 and 5, in addition to the position information acquisition unit 31', a height information acquisition unit having the same function as the height information acquisition unit 32 in Figure 1 may be provided. In this case, information from the height information acquisition unit is input to the work implement control unit 21' and can be used for various processes. For example, processing for map data created during the second agricultural work and processing for controlling the height of the second work implement 2'.

In addition, in Figures 2, 5, and 8, tractors 1, 1', and 1'' are shown as tractors with roofs 17 and 17' and cabins, but the present invention can also be applied to tractors of other types without cabins, i.e., tractors without roofs.

In addition to controlling the absolute height of the second implement 2' for the second agricultural work described in Figure 6, a means for controlling the relative height of the second soil leveling body 107 can also be used. In this case, the ground surface after plowing can be controlled to any height while maintaining control of the absolute height of the second implement 2'. This makes it possible, for example, to lower the ground surface only at the water outlet, making water management easier.

This specification also includes the disclosure of the following aspects.
(Aspect 1)
The agricultural machine includes a first working implement for a first agricultural task that is attached to a first tractor to perform the first agricultural task, a first position information acquisition unit, a first height information acquisition unit, and a first working implement control unit,
a second working implement for a second agricultural work that is attached to a second tractor to perform the second agricultural work, a second position information acquisition unit, a sensor for acquiring information about the second working implement, and a second working implement control unit;
A memory unit is provided for the first and second agricultural works,
the first work implement control unit creates map data in the first agricultural work that associates information about the height through which a lower end of the first work implement passes, which is obtained using the first position information acquisition unit and the first height information acquisition unit, with position information, and stores the map data in the storage unit;
The agricultural work machine control system is characterized in that, during the second agricultural work, the second work machine control unit calculates the current absolute height of the second work machine using the second position information acquisition unit, the sensor, and the map data stored in the memory unit.

(Aspect 2)
In the agricultural machine control system according to aspect 1,
The agricultural work machine control system is characterized in that the first position information acquisition unit and the first height information acquisition unit are provided in the first work machine.

(Aspect 3)
In the agricultural machine control system according to aspect 1,
The agricultural machine control system is characterized in that the first position information acquisition unit and the first height information acquisition unit are provided in the first tractor.

(Aspect 4)
In the agricultural machine control system according to any one of aspects 1 to 3,
The agricultural machine control system is characterized in that the second position information acquisition unit is provided in the second tractor.

(Aspect 5)
In the agricultural machine control system according to any one of aspects 1 to 4,
1. A control system for an agricultural machine, comprising: a communication terminal having a communication function; and the storage unit being provided in the communication terminal.

(Aspect 6)
In the agricultural machine control system according to aspect 5,
The agricultural machine control system is characterized in that the communication terminal is a smartphone.

(Aspect 7)
In the agricultural machine control system according to any one of aspects 1 to 6,
The agricultural work machine control system is characterized in that, when calculating the current absolute height of the second work machine, the second work machine control unit uses information on the relative height of the second work machine with respect to the second tractor for the value of the sensor.

(Aspect 8)
In the agricultural machine control system according to any one of aspects 1 to 7,
a tractor control unit disposed on the second tractor;
the second work implement control unit outputs a signal to the tractor control unit to control the height of the second work implement based on the calculated current absolute height of the second work implement;
The agricultural work machine control system is characterized in that the tractor control unit controls the height of the second work machine relative to the second tractor based on a height control signal input from the second work machine control unit.

(Aspect 9)
In the agricultural machine control system according to any one of aspects 1 to 8,
A control system for an agricultural machine, characterized in that the first agricultural machine and the second agricultural machine are different types of agricultural machines, the first agricultural work and the second agricultural work are different types of agricultural work, and the second agricultural work is agricultural work that is performed after the first agricultural work.

(Aspect 10)
In the agricultural machine control system according to any one of aspects 1 to 9,
A control system for agricultural machinery, characterized in that the first agricultural machine is a rotary machine that performs tilling work, the second agricultural machine is a plow machine that performs tilling work, the first agricultural work is tilling work, and the second agricultural work is tilling work that is performed after the tilling work.

(Aspect 11)
a step of, when a first agricultural work is performed by a first work implement attached to a first tractor, using information obtained from a first position information acquisition unit and a first height information acquisition unit, in a first work implement control unit provided in the first work implement, creating map data that associates information on the height through which a lower end of the first work implement passes with position information;
An agricultural work method characterized by comprising, when a second agricultural work is performed after the first agricultural work using a second implement attached to a second tractor, a step in which a second implement control unit provided on the second implement calculates the current absolute height of the second implement using information obtained from a second position information acquisition unit, information obtained from a sensor provided on the second implement, and the map data.

(Aspect 12)
In the agricultural work method according to aspect 11,
when performing the second agricultural work, the second implement control unit transmits a signal to a tractor control unit of the second tractor to control the height of the second implement based on the calculated current absolute height of the second implement;
and a step of controlling the height of the second implement relative to the second tractor by a tractor control unit of the second tractor based on a height control signal received from the second implement control unit.

(Aspect 13)
In the agricultural work method according to aspect 11 or aspect 12,
An agricultural work method characterized in that the first agricultural work is a rotary work machine that performs tilling work, the second agricultural work is a plow work machine that performs plow work, the first agricultural work is tilling work, and the second agricultural work is plow work.

1, 1', 1'' Tractor 2, 2'' First implement 2' Second implement 11, 11', 11'' Tractor control unit 21, 21', 21'' Implement control unit 25, 25'' Sensor 31, 31', 31'' Position information acquisition unit 32, 32'' Height information acquisition unit 40 Communication terminal 40c Memory unit 40d Operation unit 40e Display unit 50, 50'' Rotary implement 60 Cultivation unit 60a Lower end portion 100 Puddling implement 107 Second soil leveling body 110 Cultivation unit

Claims (13)

The agricultural machine includes a first working implement for a first agricultural task that is attached to a first tractor to perform the first agricultural task, a first position information acquisition unit, a first height information acquisition unit, and a first working implement control unit,
a second working implement for a second agricultural work that is attached to a second tractor to perform the second agricultural work, a second position information acquisition unit, a sensor for acquiring information about the second working implement, and a second working implement control unit;
A memory unit is provided for the first and second agricultural works,
the first work implement control unit creates map data in the first agricultural work that associates information about the height through which a lower end of the first work implement passes, which is obtained using the first position information acquisition unit and the first height information acquisition unit, with position information, and stores the map data in the storage unit;
The agricultural work machine control system is characterized in that, during the second agricultural work, the second work machine control unit calculates the current absolute height of the second work machine using the second position information acquisition unit, the sensor, and the map data stored in the memory unit. 2. The agricultural machine control system according to claim 1,
The agricultural work machine control system is characterized in that the first position information acquisition unit and the first height information acquisition unit are provided in the first work machine. 2. The agricultural machine control system according to claim 1,
The agricultural machine control system is characterized in that the first position information acquisition unit and the first height information acquisition unit are provided in the first tractor. 2. The agricultural machine control system according to claim 1,
The agricultural machine control system is characterized in that the second position information acquisition unit is provided in the second tractor. 2. The agricultural machine control system according to claim 1,
1. A control system for an agricultural machine, comprising: a communication terminal having a communication function; and the storage unit being provided in the communication terminal. 6. The agricultural machine control system according to claim 5,
The agricultural machine control system is characterized in that the communication terminal is a smartphone. 2. The agricultural machine control system according to claim 1,
The agricultural work machine control system is characterized in that, when calculating the current absolute height of the second work machine, the second work machine control unit uses information on the relative height of the second work machine with respect to the second tractor for the value of the sensor. 2. The agricultural machine control system according to claim 1,
a tractor control unit disposed on the second tractor;
the second work implement control unit outputs a signal to the tractor control unit to control the height of the second work implement based on the calculated current absolute height of the second work implement;
The agricultural work machine control system is characterized in that the tractor control unit controls the height of the second work machine relative to the second tractor based on a height control signal input from the second work machine control unit. The agricultural machine control system according to any one of claims 1 to 8,
A control system for an agricultural machine, characterized in that the first agricultural machine and the second agricultural machine are different types of agricultural machines, the first agricultural work and the second agricultural work are different types of agricultural work, and the second agricultural work is agricultural work that is performed after the first agricultural work. The agricultural machine control system according to any one of claims 1 to 8,
A control system for agricultural machinery, characterized in that the first agricultural machine is a rotary machine that performs tilling work, the second agricultural machine is a plow machine that performs tilling work, the first agricultural work is tilling work, and the second agricultural work is tilling work that is performed after the tilling work. a step of, when a first agricultural work is performed by a first work implement attached to a first tractor, using information obtained from a first position information acquisition unit and a first height information acquisition unit, in a first work implement control unit provided in the first work implement, creating map data that associates information on the height through which a lower end of the first work implement passes with position information;
An agricultural work method characterized by comprising, when a second agricultural work is performed after the first agricultural work using a second implement attached to a second tractor, a step in which a second implement control unit provided on the second implement calculates the current absolute height of the second implement using information obtained from a second position information acquisition unit, information obtained from a sensor provided on the second implement, and the map data. The agricultural work method according to claim 11,
when performing the second agricultural work, the second implement control unit transmits a signal to a tractor control unit of the second tractor to control the height of the second implement based on the calculated current absolute height of the second implement;
and a step of controlling the height of the second implement relative to the second tractor by a tractor control unit of the second tractor based on a height control signal received from the second implement control unit. The agricultural work method according to claim 11 or 12,
An agricultural work method characterized in that the first agricultural work is a rotary work machine that performs tilling work, the second agricultural work is a plow work machine that performs plow work, the first agricultural work is tilling work, and the second agricultural work is plow work.