JP2020096545A - Harvest access system and harvest access method - Google Patents

Abstract

To provide a system or a method capable of accessing surely a harvest discharged discretely in a field such as a roll bale without using a precise and expensive harvest specification device such as GPS.SOLUTION: In a system including a first implement for discharging a harvest discretely, and a second implement for recovering or treating a harvest discharged by the first implement, the second implement has a device for detecting, by a mark detector, either mark between (1) a mark put, by a marking device carried by the first implement, on a ground surface of a field showing its progression track, and (2) a mark put, by a marking device carried by another implement having worked before the first implement and having an approximately same progression track as the first implement, on the ground surface of the field showing its progression track, and performing travel control, to thereby manage a system or a method for accessing a harvest discharged by the first implement. Thus, the second implement can access the harvest surely only by following the mark.SELECTED DRAWING: Figure 10

Description

INDUSTRIAL APPLICABILITY The present invention performs work after the first working machine that discretely discharges a harvested product (roll bale) such as a roll baler by using a mark 20 that indicates a traveling locus attached to a field by a grass collector, a roll baler, or the like. , A system for facilitating operation of the second work machine (lapping machine).

2. Description of the Related Art Conventionally, there is known a working machine in which a roll baler or a harvested product is put into a container or a harvested product storage bag and is discretely discharged.

Taking forage harvest as an example, a roll baler runs along a row of grass made by a grass cutter, and the completed roll bales are discretely dropped onto a field. It is described in Patent Document 1 [0103] that the position of the roll bale is specified by GPS in order to drive the roll bale unmanned, but the position specifying device by GPS is expensive. In addition, the roll bale released from the roll bale rolls, resulting in a deviation from GPS coordinates. And the Geospatial Information Authority of Japan was forced to interrupt the work as reported by the disturbance of the GPS positioning data due to the disturbance of the ionosphere due to the solar flare. Moreover, it was necessary to install GPS on both the roll baler and the wrapping machine, which significantly increased the cost.

An image recognition device may be attached to the roll baler to specify the position of the roll bale, but the position of the roll bale can be specified only within the range of the visual field of the image recognition device, resulting in omission. Further, if there is a difference in height in the field, a blind spot is created, and it is difficult to perform unmanned operation or automation with only the image recognition device, and it is necessary to input the position information of the roll bale of the entire field in some form.

In addition, Patent Document 2 describes a vehicle that travels unmanned by detecting a guide line provided on the road or on the floor surface indoors and outdoors, and it is known that steering control is performed by detecting the guide line. It was technology. However, the guide line is not installed in advance in the field where the harvesting machine operates. The field is covered with pasture, and it is difficult to detect the guide line, and even if grass is collected by tine, the guide line is not always exposed well, and it is cut or disappears by driving the tine or plowing. , It is necessary to install a guide line each time.

Furthermore, the traveling path of the harvesting work machine changes, for example, if the model of the harvesting work machine changes and does not always advance to the same position every year. It was unrealistic to provide. Each time, it is necessary to take a lot of time and work to draw the guide line on the ground surface of the field by using a dedicated working machine before drawing the guide line. Even if it was a well-known technique to detect the guide line and control the steering, no one thought that the well-known technique would be applied until such a trouble was put on the harvesting work machine.

JP, 2017-12134, A JP, 2010-228393, A

An object of the present invention is to provide a system and a method for surely accessing a crop released discretely to a field such as a roll bale without using a precise and expensive crop identification device such as GPS. is there.

A system including a first working machine for discretely discharging a harvested product and a second working machine for collecting or processing the harvested product released by the first working machine,
The second working machine is
(1) A mark on the ground surface of the field, which is a track of travel, made by the marking device of the first working machine,
(2) Any one of the marks on the ground surface of the field is detected by the marking device of another working machine that has worked before the first working machine having the substantially same traveling path as the first working machine. The problem was solved by using a system that has a device for detecting traveling with a vessel and controlling traveling, and accessing the harvested product released by the first working machine.

Also, a method for accessing the harvested product released by the first working machine by the first working machine that discretely releases the harvested product and the second working machine,
The second working machine is
(1) A mark attached to the ground surface of a field showing a traveling locus by the marking device 5 of the first working machine,
(2) Any one of the marks on the ground surface of the field is detected by the marking device of another working machine that has worked before the first working machine having the substantially same traveling path as the first working machine. By detecting with a vessel and controlling traveling,
The problem was solved by using the method of accessing the harvest released by the first working machine.

Here, the mark row (see FIG. 10) refers to a mark that is a row formed by dividing the mark attached to the ground surface of the field showing the traveling locus into the forward and backward paths. Then, the mark string generating means generates mark string information in which each mark string is associated with the identifier. This makes it possible to distinguish a large number of mark rows in the field. The mark row generation means may be provided anywhere as long as the second work machine or the mark row specifying device can receive the mark row information. For example, the first work machine, the second work machine, another work machine, It may be either a network or the like. The mark string information received by the second working machine or the mark string identifying device is used to correspond to the mark string detected by the image or the like from the field when the second working machine starts work. The mark row identifying device has a function of identifying which mark row, among the many mark rows actually existing in the field, is used by the second work implement from the image from the field, and the mark row to be worked. , And the information is used for traveling control when the second work implement is unmanned.

The first working machine has a novel construction in which the marking 20 representing the traveling locus of itself is attached to the ground surface of the field by the marking device, and a dedicated working machine for drawing the guide line in the field is used. I no longer need it.

Since there is no working machine provided with a marking device for attaching the mark to the ground surface of the field before the present application, a solution is to recognize the mark with the mark detector and control the traveling of the second working machine as in the present invention. Nobody came up with the means.

Conventionally, if the position determining means such as GPS is provided on a work machine such as a roll baler that discretely releases the harvest, it is necessary to also provide the position determining means such as GPS on the corresponding work machines such as a wrapping machine. There was a cost.
ADVANTAGE OF THE INVENTION According to this invention, a 2nd working machine can access a harvested product only with the mark attached to the ground surface of the field showing the advancing locus|trajectory of the 1st working machine which discharges a harvested product discretely. It is possible to eliminate the need for precise and expensive electronic equipment such as

Further, the mark detector for detecting the mark may be a simple and inexpensive device, and since the harvested product exists on or near the traveling track of the first working machine, it follows the mark attached to the field to the second position. If the work machine progresses, it is possible to discover the harvest without fail, and it is possible to perform harvest processing without delay with just the marks.

It is a side view which shows the grass collecting machine (other working machines) which is creating the grass collecting row 11. It is a top view which shows the grass collecting machine (other working machines) in the process of creating the grass collecting row 11. It is a top view which shows the marker showing the advancing locus of the grass collection row 11 and the grass collection machine (other working machines) which made the grass collection row 11. It is a side view which shows the operation|work of the roll baler 50 (1st working machine) which produces the roll bale 51 from the grass collection row 11. FIG. It is a top view which shows the operation|work of the roll baler 50 (1st working machine) which produces the roll bale 51 from the grass collection row 11. FIG. It is a flowchart figure which counts the number of the marks 20. It is a side view of a state in which a lifting platform 61 on which a container is mounted is lifted in a root vegetable harvester (first working machine). FIG. 3 is a perspective view of a rooter harvester (first working machine) in which a container loading/unloading platform 61 is lowered to a position where the container is left in the field. It is a side view of a wrapping machine 80 provided with a mark row recognition device and a crop position recognition device 71. It is a front view of a wrapping machine 80 provided with a mark row recognition device and a crop position recognition device 71. It is a plan view of a wrapping machine 80 provided with a mark row recognition device and a harvested product position recognition device 71. It is a figure in which a field map and a mark column 93 are superimposed and a mark column identifier (number) 94 is attached.

The first working machine of the present invention is a working machine for harvesting harvested products such as harvesters for grains, fruit vegetables, leaf vegetables, root vegetables, etc. in which the harvested products are placed in a container or the like and left in the field, and a harvested bag for harvesting the harvested grains. Including harvesting machines (combines) that are left in the field after being placed in a field, etc., and machines that process harvested products that are harvested by other working machines such as roll balers and left in the field, but that discharge the harvested products discretely If so, it is not limited to this. Of course, transplanters without harvest such as rice transplanters are not included.

Further, the second working machine includes a wrapping machine 80 and a working machine for collecting a container packed with harvested products and a harvesting storage bag, but if it is a working machine for accessing discretely released harvested products, Not limited to

(First embodiment)
1 to 3 show a grass collecting machine corresponding to "another working machine that has worked before the first working machine having a substantially same trajectory as the first working machine" of the present invention. The grass-tractor towed by the tractor 1 drives the rotor 4 with the power from the PTO shaft and collects the grass in the center by the rotation of the tines 3 to form a compact grass-collecting row 11.

Further, a marking device 5 for mounting a mark 20 showing the traveling locus of the grass collector on the ground surface of the field after grass collection is mounted at the end.

As shown in FIG. 2, a grass collecting row 11 is formed while the grass collecting machine advances the cut grass 10 before collecting grass, and the marking provided on the grass collecting machine corresponding to another working machine according to claim 1 of the present invention. The device 5 marks the surface of the field with a mark 20 indicating the path of travel of the grass collector. At this time, the mark 20 is attached to the field as shown in FIG.

The roll baler 50, which is the first working machine, discharges the roll bales 51 while advancing along the grass collection rows 11 existing along the travel path of the grass collector, so the roll bales 51 are always the travel paths of the grass collector. It will be on or near. It can be said that the grass collecting machine is another working machine that has worked in front of the first working machine having a substantially same trajectory as the roll baler 50 (first working machine).
A marking device 5 is provided on a grass collecting machine (another working machine), a mark 20 indicating a traveling path is attached to the ground surface of a field, and the mark 20 attached to the grass collecting machine is a lapping machine which is a second working machine. If 80 is followed by using the mark detector, the roll bales 51 that are discretely discharged by the roll baler that is the first working machine can be reliably found.

The mark 20 can be configured not to be attached when the grass collector (other work equipment) is turned at the end of the field, and can also be configured to be attached when the turner is turned. ..

As shown in FIG. 9, the mark 20 may be any one as long as it can be detected by the mark detector 40 (not shown) provided in the wrapping machine 80 corresponding to the second working machine. It may be an electromagnetic wave transmitter or the like. Since the mark 20 is attached to the field, it is preferably harmless. For example, a coloring substance having a color distinguishable from soil may be used. Lime (white) itself, which is a soil conditioner, can be used, but lime with a coloring substance added may be used. In addition, a rod (peg) made of biodegradable resin or the like may be used, and any material or structure may be used as long as the mark detector 40 of the second working machine can detect the traveling track of the harvesting working machine.

Further, it is preferable that the mark 20 is continuously applied to the field, that is, if the mark 20 is linearly applied, the detection can be easily performed, but it is not always necessary that the mark 20 is continuously applied to the field. The marks 20 may be added discretely to save the usage amount.

The roll baler 50, which is the first working machine, may proceed while detecting the mark 20, and unmanned operation is also possible. Even without unmanned operation, it is possible to assist passengers in steering work and reduce work load.

The mark 20 shown when the grass collector (other working machine) reciprocates is counted as one on the forward path and one on the return path, and the number of consecutive counts from the start of the work is stored. Or send. Although there are some specific examples, FIG. 6 is one example. When the grass collecting work is started in s1, the worker turns on the marking device 5 and starts the marking device 5 in s2. Then, the field 20 is marked with the mark 20, and the number of marks is counted in s3. Since the initial value n is set to 0, the number of marks is counted as 1 in s3. When the turning of the working machine is detected in s4, it is determined in s5 whether or not the work is completed. If the work is not completed (No), the process returns to s3 and the counting of the number of marks is continued. When the end of the work is determined in s5, the total number n of marks is transmitted.
Further, after the work of the grass collecting machine (other working machine) having the marking device or the roll baler 50 (first working machine) having the marking device is finished, the work of the wrapping machine 80 (second working machine) is performed after a certain period of time. In the case such as the start of the process, the total number of marks in s6 may be temporarily stored in another working machine or the first working machine, and may be transmitted to the second working machine having the mark row specifying device later. It is possible to call and display the total number of marks stored in another work machine or the first work machine, and the passenger of the second work machine can display the total number of marks from the operation panel of the second work machine. You can also enter

When the roll baler 50 (first working machine) has a marking device, the roll baler 50 (first working machine) performs the counting as described above and transmits the total number n of marks to the second working machine in s6. Become.
When the wrapping machine 80 (second work machine) starts work without waiting for the end of the work of the roll baler 50 (first work machine), the number of marks n is set between the s4 and s5 by the wrapping machine 80 (second work machine). Machine).

The grass collecting machine (other working machine) having the marking device or the roll baler 50 (first working machine) having the marking device is based on the total mark number n sent in s6, An identifier 94 (mark string information) such as a number can be attached to each mark string 93. (See Figure 10)

If a mark row specifying device such as an image processing apparatus that can specify which mark row 93 of a large number of mark rows is provided and is configured to recognize the number of the mark row 93, the second working machine can determine which mark number You can recognize whether you are working along the line 93. At the start of work, as long as the operator teaches the number of the mark row 93 recognized by the mark row specifying device of the second working machine, the mark row 93 is automatically marked based on the mark row. The mark column identifying device automatically determines whether the column is column 93. The second work machine recognizes the number in the mark row 93 and is automatically piloted so as to travel along the mark from the start point or the end point of each mark row 93.

When a plurality of wrapping machines 80 (second working machines) are used at the same time, the mark rows 93 provided by the grass collector (other working machines) are referred to as odd-numbered mark rows 93 and even-numbered mark rows 93. By allocating in advance in this way, even if the lapping machine 80 is unmanned, a plurality of lapping machines 80 can share the work without requiring a complicated control device.
Since the grass collecting machine (other working machine) usually performs the harvesting work at substantially equal intervals, the marks 20 representing the traveling loci are also attached to the field at equal intervals. If the total number of the marks 20 is known, it is possible to superimpose and display the separately acquired field map of the field and the mark row 93.

FIG. 10 shows an actual field map and mark row 93 superimposed on each other.

Since the center of the grass collection row 11 is usually raised, when the roll baler 50 (first working machine) is moved straight along the mark 20, the grass is gathered in the center of the roll bale 51 and the spindle-shaped roll bale 51 in which the center is raised. Become. Therefore, when the roll baler 50 is advanced so as to meander slightly to the left and right while detecting the mark 20, a clean roll bale 51 is formed.

(Second embodiment)
As shown in FIGS. 4 and 5, the first working machine having the marking device is the roll baler 50, and the second working machine is the wrapping machine 80. The roll bale 51 is always present on the traveling locus of the roll baler 50, and the lapping machine 80 shown in FIGS. 9A to 9C recognizes the mark on the ground surface by the mark detector 40 (not shown). The roll bale 50 is steered and controlled, and the roll bale 51 can be found by relying on the mark 20 attached to the field by the roll baler 50.
When the wrapping machine 80 is to be unmanned, if the wrapping machine 80 is provided with a crop position recognizing device such as an image recognizing device capable of recognizing the roll bale 51 in addition to the mark row identifying device, it can be easily unmanned. Since the roll bale 51 is large and there is no other confusing object in the field, the position of the harvested product can be easily recognized by the harvested product position recognition device.
Further, in the second embodiment, the mark row identifying device/harvested object position recognizing device 71 is provided on the support column, and which number of mark rows is used by one device 71 (see FIG. 10). ) While recognizing the wrapping machine 80 (second working machine), the crop position is also recognized.
Further, in order to reduce the cost, it is possible to combine the mark row specifying device, the mark detector and the harvested position recognizing device into one image recognizing device or the like.

In the roll baler 50 (first working machine), the first mark row 93 in FIG. 10 has two roll bails 51, the second mark row 93 has zero roll bails 51, and so on. The number of roll bails 51 for each can be stored in association with the mark row 93. This information may be transmitted to the wrapping machine 80 (second working machine). Whether the lapping machine 80 traveling along the mark row 93 by the mark detector 40 has processed all the roll bales 51 on the mark row 93 is determined by the number of the roll bails 51 transmitted from the roll baler 50. , The work can be moved to the adjacent mark row 93 without traveling to the end of the mark row 93.

When a plurality of lapping machines 80 (second working machines) are used, they can be pre-allocated like the even-numbered or odd-numbered mark rows 93 as in the first embodiment. The number of roll veils 51 for each mark row 93 may be taken into consideration for allocation.

(Third embodiment)
7 and 8 are examples of a root vegetable harvester 60 (first working machine). As shown in FIG. 7, the harvested root vegetables are put into a harvest container (not shown) mounted on the lifting platform 61 via the conveyor 62. When it is full, the loading/unloading platform 61 is lowered as shown in FIG. 8, the machine base of the root vegetable harvester 60 is moved back and forth, and a harvest container (not shown) is left in the field. Although not shown in the drawing, the marking device 5 is provided at an appropriate position, and a mark 20 indicating the traveling path of the marking device 5 is attached to the surface of the field to collect a full harvest container. Steering control is performed while the (second work machine) detects the mark 20, and the recovery work is performed. In addition, instead of the container, the harvested product may be put in a harvested product storage bag and left in the field.
The harvester is not limited to the root vegetable harvester 60, and may be a grain, fruit vegetable, or leaf vegetable harvester.

(Mark function)
If the second implement is manned, the passenger will find the discretely released crops. Even in such a case, since the mark 20 attached to the field may be detected by the mark detector 40 and the automatic steering control may be performed, the burden on the passenger can be reduced. When adopting such a work form, it is not necessary for the second working machine to know along which mark row 93 the work is performed.

However, when the second working machine is unmanned, it is necessary for the second working machine running on which mark row 93 to recognize it. When the first working machine having the marking device or another working machine having the marking device reciprocates in the field, the mark 20 representing the traveling locus is divided into the forward path and the backward path, and the number is counted from the start of the work. By providing a device for storing and/or a device for transmitting, it is possible to determine the positional relationship among the large number of mark rows 93. If a mark row specifying device such as an image recognition device capable of recognizing the mark row 93 is attached to the second working machine, the unmanned second working machine judges which position the mark row 93 is working and controls the traveling. You can

It is not always necessary to superimpose the map and the mark row 93, but as shown in FIG. 10, when the map showing the working area of the field and the mark row 93 are superposed on the harvested area 90 excluding the unharvested area 91. It is also possible to draw straight mark rows 93 at equal intervals by the number of the mark rows 93 assuming that the mark rows 93 are straight and at equal intervals.

By attaching a mark identifier 94 such as a number to a large number of mark columns 93 attached to the surface of the field in the map, it becomes easy to grasp the rough position.

The mark detector 40 need only be a simple and inexpensive device, and since the harvested product always exists on or near the course of travel of the harvesting machine, the harvesting processing machine must always trace the mark 20 to produce the harvested product. You will be able to access it.

In addition, since the harvested product exists on or near the traveling locus of the second work machine as described above, there is no problem even if a curved line is drawn due to height differences in the field. Can be used.

Further, even if the second working machine carries the container or the roll bale even if the work is once interrupted and moved, if the second working machine stores the number of the mark row 93 at the time of the work interruption, the work can be surely performed when the work is interrupted. The mark row 93 can be restored, and the work can be reliably restarted.

(Detector and other devices provided on the first working machine)
When the first working machine (roll baler or the like) does not have the marking device 5 and another working machine (grass collecting machine or the like) has the marking device 5, the first working machine (roll baler or the like) is provided with the mark detector 40. be able to. If the mark detector 40 as shown in FIG. 5 is used to detect the mark 20 representing the traveling locus of another working machine and control the steering, the first working machine can be automatically controlled.
Further, if the mark row specifying device is provided in the first working machine, it is possible to know at which position the mark row is being worked, and unmanned operation is possible.
When the marking device is provided on another working machine such as a grass catcher, both the first working machine and the second working machine can be steered by a mark 20 attached to the ground surface of the field showing the traveling locus of the grass catcher. Therefore, it is convenient.

(Detector and other devices provided on the second working machine)
The detector provided on the second working machine is the mark detector 40 that recognizes the mark 20 attached to the ground surface for controlling the steering of the second working machine along the mark 20, but as described above. The following device can also be added to.
(1) The roll bale 51, the container, the harvest storage bag, etc. are recognized and processed, and the harvest position recognizing device used by the second working machine to access them (2) The mark row 93 is detected by the image or the like Then, a mark string identifying device used for identifying which number or the like of the detected mark string 93 corresponds to the identifier 94 (mark string information).

Since the mark detector detects the mark 20 on the ground surface for steering control, it is preferable that the mark detector is provided relatively close to the ground surface for accurate detection. However, since the detection range is inevitably narrowed, the mark 20 can be prevented from being lost by providing the mark 20 away from the ground surface.

The mark detector, the mark row specifying device, and the harvested position recognizing device can be provided as separate devices, but can also be used as one device. An example in which the mark row specifying device and the crop position recognizing device are combined into one device is the mark string specifying device/harvest position recognizing device 71 shown in FIGS. 9A to 9C.

The mark row identifying device is preferably provided at a high position of the second working machine in order to recognize a large number of mark rows 93. Further, the crop position recognizing device and the mark row identifying device may be provided in the drone so that the second working machine can receive the information.

The harvest position recognizing device is provided toward the front of the second working machine, and the position to be provided is appropriately determined depending on the size of the harvest such as the roll bale 51, the container, and the harvest storage bag.

When the mark detector loses sight of the mark 20, it is preferable to control the mark row identifying device to assist the mark detector to recover the mark.

(map)
The map may be performed by another work machine having the marking device or the first work machine having the marking device, but in s6 of FIG. 6, the second work of receiving the mark total number data in which the total mark number is transmitted. It may be performed by a machine, or the data may be connected to a network, a map may be created on the network or by a separate device connected to the network, and the map may be sent to the second work machine or the like.

1 Tractor 3 Tine 4 Rotor 5 Marking device 10 Cutting grass before grass collection 11 Grass collection line 20 Mark 40 representing a moving path 40 Mark detector 50 Roll baler 51 Roll bale 60 Root vegetables harvester 61 Lifting platform 62 Conveyor 71 Mark row specifying device Harvest position recognition device 80 Lapping machine 90 Harvested area 91 Unharvested area 93 Mark row 94 Mark row identifier (number)

Claims (14)

A system comprising a first working machine for discretely discharging a harvested product and a second working machine for collecting or processing the harvested product released by the first working machine,
The second working machine is
(1) A mark attached to the ground surface of a field showing the traveling locus by the marking device of the first working machine,
(2) Any of the marks attached to the ground surface of the field showing the traveling locus by the marking device of another working machine that has worked before the first working machine having the substantially same traveling path as the first working machine. A system for accessing the harvested product released by the first working machine, the device having a mark detector for controlling travel of the vehicle. The system according to claim 1, wherein the other working machine is a grass collector, the first working machine is a roll baler, and the second working machine is a wrapping machine. The first working machine is a mark string generating means that generates mark string information in which the marks are divided into forward and backward passes and all the marks in a line (hereinafter, referred to as “mark string”) are associated with identifiers. , The second work machine, other work machines, provided in any place including the network,
The mark string identifying device is provided with a unit for acquiring the mark string information,
The mark row specifying device that detects the mark row in the field and specifies the mark row by comparing it with the mark row information is provided outside the second working machine.
The system according to claim 1 or 2, further comprising: a travel control device that controls travel of the second work machine based on the mark string information specified by the mark string specifying device. 4. The system according to claim 3, wherein there are a plurality of second work machines, and the system further comprises a mechanism for pre-allocating along which mark row the plurality of second work machines work. The first working machine for discretely discharging the harvested product has means for storing, for each of the mark columns, the number of harvested products released on or along the mark column, in association with the mark column. The system according to claim 4, further comprising a mechanism for allocating along which mark row each of the plurality of second work machines works in consideration of the number of harvested products released for each. The system according to claim 1, wherein the second work machine is an unmanned work machine. 7. A crop position recognizing device for recognizing the position of the crop is provided, and a control device for controlling traveling of the second work machine to access the crop by the crop position recognizing device is provided. The system according to item 1. A first working machine for discretely discharging a harvested product, and a method for accessing the harvested product released by the first working machine by a second working machine,
The second working machine is
(1) A mark attached to the ground surface of a field showing a traveling locus by the marking device of the first working machine,
(2) Any one of the marks on the ground surface of the field is detected by the marking device of another working machine that has worked before the first working machine having the substantially same traveling path as the first working machine. By detecting with a vessel and controlling traveling,
A method of accessing the harvest released by a first implement. The method according to claim 8, wherein the other working machine is a grass collector, the first working machine is a roll baler, and the second working machine is a wrapping machine. A step of generating mark string information in which the mark is divided into an outward path and a return path, and an identifier is associated with all marks in a row (hereinafter, referred to as "mark row") by the mark row generating means,
Next, a step of acquiring the mark string information by a mark string identifying device,
Next, a step of controlling the traveling of the second working machine along the mark row by detecting the mark row in the field by the mark row specifying device and comparing the mark row information with the mark row information to specify the mark row. 9. A method according to claim 7 or 8 including. The second working machine is multiple The method of claim 10, further comprising the step of allocating or work along the advance which mark row. When the first working machine discretely discharges the harvest, for each of the mark rows, has a step of storing the number of harvests released on or along the mark row in association with each other, The method according to claim 11, further comprising the step of allocating along which mark row the plurality of second work machines takes into consideration, in consideration of the number of crops released for each mark row. The method according to claim 8, wherein the second work machine is an unmanned work machine. 14. The method according to claim 8, further comprising a step of recognizing a crop position by a crop position recognizing device for recognizing the crop position and allowing a second work machine to access the crop. Method.

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