JP7062264B2 - Working machine and judgment method - Google Patents

Description

The present invention relates to a working machine and a determination method. In particular, the present invention relates to a working machine mounted on the rear part of the tractor and a method for determining a field state using the working machine.

Currently, in order to reduce the working hours of agricultural work, automatic work machines are being promoted, and various work machines are being developed. In particular, a work machine (cultivator or puddling machine) that is attached to the rear of a tractor or other traveling machine and can be replaced according to the type of work, such as cultivating or puddling, is like an attachment to a tractor or other traveling machine. It is possible to handle various farm work just by exchanging it, which greatly contributes to the cost reduction of farm work.

In addition, conventional farming work relied on the experience and intuition of each farmer. Therefore, the efficiency of farm work varied from farm to farm, and the yield and quality of crops also varied. Furthermore, when each farmer changes generations, it is difficult for the farmer who will lead the new generation to inherit all of his experience and intuition, and the accumulated experience of farming work cannot be utilized.

When cultivating or puddling a field with a cultivator or puddling machine, it is necessary to grasp the leveling state and the size of the soil mass after cultivating or puddling. However, since it is not possible to confirm the leveling state of all the fields and the size of the soil mass, it is possible to obtain information only on a limited area of the field. Therefore, the worker estimated the leveling state and the size of the soil mass by the vibration transmitted to the working machine during the work and the visual inspection of the field state after the work. As a method for evaluating the field condition after cultivating or puddling, a method is used in which an angle sensor 22 is arranged at the rotation base of the rear cover 21 and the cultivation depth is detected by the rotation of the rear cover 21 (for example, Patent Document). 1).

Japanese Unexamined Patent Publication No. 9-28109

However, with the structure disclosed in Patent Document 1, it is not possible to evaluate the detailed leveling state of the field and the size of the soil mass. The present invention has been made in view of such a problem, and an object of the present invention is to evaluate a field condition obtained as a result of the work while working on the field.

In the determination method according to the embodiment of the present invention, the change in the vertical movement of the ground contact member in contact with the field provided in the working machine mounted behind the traveling machine traveling in the field with respect to the field is detected, and the vertical movement is performed. Based on the change in the above, the field condition obtained by the work of the working machine is determined.

The determination of the field state may be performed for each work section of the field.

Further, the determination result of the field state for each work section may be saved in association with the information regarding the change in the vertical movement for each work section.

Further, the field state associated with the stored information regarding the change in vertical movement may be re-determined according to the operator's determination criterion change instruction.

The working machine according to the embodiment of the present invention is mounted behind a traveling machine traveling in a field, and detects a change in the vertical movement of the grounding member in contact with the field and the grounding member due to the unevenness of the field. It is provided with a device and a control unit that transmits information on the change in vertical movement detected by the detector to a determination device for determining a field state.

The working machine according to the embodiment of the present invention is mounted behind a traveling machine traveling in a field, and detects a change in the vertical movement of the grounding member in contact with the field and the grounding member due to the unevenness of the field. It is provided with a vessel and a control unit for determining a field state obtained by work based on the change in vertical movement.

The control unit may determine the field state based on the change in the vertical movement for each work section of the field.

It may further have a storage unit that stores the field state for each work section in association with information regarding the change in the vertical movement for each work section.

The control unit receives a judgment standard change instruction from the operator, and uses the information regarding the change in the vertical movement for each work section stored in the storage unit based on the judgment standard change instruction for each work section. The field condition may be redetermined.

A working machine according to an embodiment of the present invention relates to a frame, a rotor attached to the frame and having a working claw, a cover member rotatably connected to the frame, and the cover member. A grounding member that is rotatably connected and is in contact with the field, and a detection member that is connected to the grounding member and detects a change in the rotation angle of the grounding member with respect to the frame or the cover member. Be prepared.

The detection member has an angle detector and a telescopic rod, and the angle detector is installed on the frame or the cover member, and the telescopic rod may connect the angle detector and the grounding member. good.

The expansion / contraction rod may be expanded / contracted when the angle detector tries to rotate beyond the movable range of the angle detector due to the rotation of the grounding member.

The telescopic rod includes a first arm portion, a second arm portion, and an elastic portion, and the first arm portion and the second arm portion are slidably connected to each other, and the elastic portion is the telescopic rod. Elastic force may be applied to each of the first arm portion and the second arm portion in both the extending direction and the contracting direction.

According to the working machine according to the present invention, it is possible to evaluate the field condition obtained as a result of the work while working on the field.

It is a schematic diagram which shows the whole structure of the traveling machine body and the working machine which concerns on one Embodiment of this invention. It is a block diagram which shows the functional structure of the traveling machine body and the working machine which concerns on one Embodiment of this invention. It is a top view which shows the whole structure of the working machine which concerns on one Embodiment of this invention. It is a side view which shows the whole structure of the leveler angle detection mechanism of the working machine which concerns on one Embodiment of this invention. It is a figure which shows the operation flow of the method of determining the field state using the working machine which concerns on one Embodiment of this invention. It is a figure which shows an example of the interface displayed on the screen in the method of determining the field state which concerns on one Embodiment of this invention. It is a figure which shows the determination method of the field state which concerns on embodiment of this invention. It is a figure which shows the determination method of the field state which concerns on embodiment of this invention. It is a figure which shows the determination method of the field state which concerns on embodiment of this invention. It is a figure which shows the interface related to the look-up table (LUT) used for the determination of the field state which concerns on embodiment of this invention. It is a figure which shows an example of the data obtained by the determination method of the field state which concerns on embodiment of this invention. It is a figure which shows an example which displays the determination result of the field state which concerns on embodiment of this invention on a monitor. It is a figure which shows an example of the method of changing the standard of the determination result of the field state which concerns on embodiment of this invention. It is a side view which shows the detail of the leveler angle detection mechanism of the working machine which concerns on one Embodiment of this invention. It is a top view which shows the detail of the leveler angle detection mechanism of the working machine which concerns on one Embodiment of this invention. It is a side view which shows the state which the telescopic rod is extended most in the working machine which concerns on one Embodiment of this invention. It is a side view which shows the state which the telescopic rod is the most contracted in the working machine which concerns on one Embodiment of this invention. It is a figure which shows an example of the management method of the data obtained by the determination method of the field state which concerns on embodiment of this invention. It is a figure which shows an example of the determination method of the field state and the mapping data of the yield which concerns on embodiment of this invention. It is a figure which divided the mapping data of the yield which concerns on embodiment of this invention by the boundary of the block of the determination method of a field state.

Hereinafter, the working machine according to the present invention will be described with reference to the drawings. However, the working machine of the present invention can be implemented in many different modes, and is not construed as being limited to the description of the embodiments shown below. In the drawings referred to in this embodiment, the same parts or parts having the same function are designated by the same numbers, and the repeated description thereof will be omitted. Further, for convenience of explanation, the terms upper (upper) or lower (lower) will be used, but the upper (upper) or lower (lower) is the upper and lower when the working machine is working on the field. The direction is shown (see FIG. 1). Similarly, when explaining using the terms front (front side) or rear (rear side), the front (front side) indicates the direction of the traveling machine that pulls the work machine with respect to the work machine, and the rear (rear side) indicates the direction of the traveling machine. The direction of the working machine with respect to the traveling machine is shown (see FIG. 1).

<Embodiment>
In the present embodiment, a configuration in which a puddling machine is used as a working machine for determining the field condition is exemplified, but the configuration is not limited to this configuration. For example, as a working machine for determining the field condition, a working machine provided with a grounding member that can come into contact with the field during work can be used in addition to the puddling machine. For example, as such a working machine, a cultivator, a soil crusher, a plow, or the like may be used. In this embodiment, since a puddling machine is used as the working machine, the grounding member corresponds to a leveling member (leveler).

[overall structure]
FIG. 1 is a schematic view showing an overall configuration of a traveling machine and a working machine according to an embodiment of the present invention. As shown in FIG. 1, the working machine 20 is mounted behind the traveling machine 10 traveling in the field.

The traveling machine body 10 includes a vehicle body 100, a monitor 110, and a three-point link mechanism 120. The monitor 110 is provided in front of the vehicle body 100. The three-point link mechanism 120 is provided behind the vehicle body 100. As will be described later, the monitor 110 displays information such as setting screens for various conditions, the rotation angle of the leveling member in contact with the field, and the determination result of the field state. The monitor 110 is preferably a display with a touch sensor. In the present embodiment, the monitor 110 is provided in the traveling machine 10, but the monitor 110 is replaced with a communication terminal (for example, a smartphone, a mobile phone, a tablet PC, a PDA, a notebook PC, and a PHS) owned by an operator. Can be done. The working machine 20 is connected to the three-point link mechanism 120. Since the structure of the three-point link mechanism 120 is known, detailed description thereof will be omitted.

In the present embodiment, the working machine 20 is a puddling machine. The working machine 20 includes a frame 200, a rotor 207, a shield cover 210, a cover member (apron 220), and a leveling member (leveler 230). The rotor 207 is rotatably attached to the frame 200. The rotor 207 has a plurality of working claws, and the field is cultivated or agitated by acting on the field while rotating the working claws. The apron 220 is provided behind the rotor 207 so as to be rotatable with respect to the frame 200 and the shield cover 210. Since the positional relationship between the shield cover 210 and the frame 200 is fixed, the shield cover 210 can be regarded as a part of the frame 200, and the apron 220 can rotate the above configuration with respect to the frame 200. It can also be said that it is connected to. The leveler 230 is rotatably provided with respect to the apron 220. The apron 220 and the leveler 230 come into contact with the field to level the field roughened by the work of the rotor 207.

FIG. 2 is a block diagram showing a functional configuration of a traveling machine and a working machine according to an embodiment of the present invention. As shown in FIG. 2, the traveling machine body 10 has a control unit 191 and a display unit 193, and a position detection unit 195. The working machine 20 has a control unit 291 and a detection unit 293. The control unit 191 and the control unit 291 are connected by a communication unit 121. The control unit 291 transmits and receives various information to and from the control unit 191 via the communication unit 121. The communication unit 121 may be wired or wireless. As a communication method of the communication unit 121, for example, CAN (Control Area Network), Wi-Fi (registered trademark), or Bluetooth (registered trademark) can be used. When the monitor 110 is replaced with a communication terminal owned by the operator, at least the control unit 191 and the display unit 193 are realized by the central processing unit (CPU) of the communication terminal. Of course, the position detection unit 195 may be provided in the communication terminal.

The display unit 193 is controlled by the control unit 191 and displays an image on the monitor 110 so that the operator can see it. However, as described above, the display unit 193 may display the image on the communication terminal owned by the operator instead of displaying the image on the monitor 110 provided in the traveling machine body 10. The position detection unit 195 detects the current position of the traveling machine body 10. The position information detected by the position detection unit 195 is transmitted to the control unit 191. As the position detection unit 195, for example, a global positioning satellite system (GNSS) can be used. As GNSS, satellite positioning systems such as GPS, GLONASS, Galileo, and Quasi-Zenith Satellite (QZSS) can be used. However, the position detection unit 195 is not limited to GNSS, and other devices that detect the position information of the traveling machine body 10 can be used. The control unit 191 and the display unit 193, and the position detection unit 195 are connected by CAN, Wi-Fi, or Bluetooth by wire or wireless as described above.

The detection unit 293 detects the rotation angle of the leveler 230 with respect to the apron 220. In other words, the detection unit 293 detects the change in the vertical movement of the leveler 230 with respect to the field. The change in the vertical movement of the leveler 230 detected by the detection unit 293 is transmitted to the control unit 291. As the detection unit 293, for example, a potentiometer can be used, although the details will be described later. However, the detection unit 293 is not limited to the potentiometer, and other devices that detect changes in the vertical movement of the leveler 230 can be used. The control unit 291 and the detection unit 293 are connected by CAN, Wi-Fi, or Bluetooth by wire or wireless as described above.

The information regarding the change in the vertical movement of the leveler 230 transmitted to the control unit 291 is transmitted to the control unit 191 via the communication unit 121. Then, the information regarding the change in the vertical movement of the leveler 230 is analyzed by the control unit 191 to determine the field state. The details of the method for determining the field condition will be described later. However, the control unit 291 may analyze the information regarding the change in the vertical movement of the leveler 230 and determine the field state. The control unit 191 and the control unit 291 may communicate with the server via the network. That is, information regarding the change in the vertical movement of the leveler 230 detected by the detection unit 293 may be transmitted from the control unit 191 or the control unit 291 to the server, and the server may analyze the information to determine the field state.

Although the details will be described later, the position information detected by the position detection unit 195 is not only used for displaying the current position of the traveling machine body 10, but also based on the change in the vertical movement of the leveler 230 detected by the detection unit 293. It is displayed on the monitor 110 together with the determination result of the field condition obtained.

[Structure of working machine 20]
FIG. 3 is a top view showing the overall configuration of the working machine according to the embodiment of the present invention. As shown in FIG. 3, the working machine 20 includes a frame 200, a central working unit 300, an extension working unit 400, a leveler expansion unit 490, a leveler angle detection mechanism 500, and a leveler control unit 600. The working machine 20 is mounted behind the traveling machine body 10. Details will be described with reference to FIG. 4, but a rotor 207 having a plurality of work claws is provided below each of the central work unit 300 and the extension work unit 400.

The frame 200 has a main frame 201, a transmission frame (a frame on the side where the chain case 203 is provided), and a side frame 205. The main frame 201 extends in the longitudinal direction of the working machine 20 (direction orthogonal to or simply intersecting the traveling direction of the traveling machine body). A chain case 203 and a side frame 205 are arranged at both left and right ends of the main frame 201. A rotor 207 is rotatably supported with respect to the frame 200 between the chain case 203 and the side frame 205. Specifically, the rotor 207 is attached below each of the central shield cover 310 and the extension shield cover 410, which will be described later. That is, the plurality of working claws provided on the rotor 207 are arranged in the longitudinal direction of the working machine 20.

The central working unit 300 has a central shield cover 310, a central leveling member (central apron 320), and a central leveler 330. The central shield cover 310 and the central apron 320 are connected with a first connection portion (not shown) as a rotation movement shaft (rotation shaft). Further, the central apron 320 and the central leveler 330 are connected with the second connecting portion 332 as a rotation axis. The first connection portion and the second connection portion 332 have a hinge-shaped hinge. That is, each of the first connecting portion and the second connecting portion 332 has a cylindrical portion and a columnar portion. Here, the cylindrical portion of the connecting portion is fixed to one of the two members connected by the connecting portion, the columnar portion penetrates the inside of the cylindrical portion, and both ends of the columnar portion are the other of these members. Is fixed to.

The central shield cover 310 and the central apron 320 prevent the scattered material scattered by the work of the rotor 207 from being released to the outside. That is, the central shield cover 310 and the central apron 320 can be said to be cover members. The central leveler 330 leveles the soil cultivated or agitated by the work of the rotor 207. That is, the central leveler 330 can be called a flattening member or a grounding member.

The extension work unit 400 is provided at both left and right ends of the central work unit 300, and switches between a stored state (not shown) folded above the central work unit 300 and an expanded work state as shown in FIG. It is possible to connect to the central working unit 300.

The extension work unit 400 has an extension shield cover 410, an extension apron 420, and an extension leveler 430, similarly to the central work unit 300. The extension shield cover 410 and the extension apron 420 are connected with the connection portion 422 as a rotation shaft. Further, the extension apron 420 and the extension leveler 430 are connected with the connection portion 432 as a rotation axis. The connection portions 422 and 432 have the same structure as the first connection portion and the second connection portion 332 described above.

Similar to the central shield cover 310 and the central apron 320, the extension shield cover 410 and the extension apron 420 suppress the scattering of scattered matter scattered by the work of the rotor 207 arranged in the extension work portion 400 to the outside. That is, the extension shield cover 410 and the extension apron 420 can be said to be cover members. Further, the extension leveler 430 flattens the soil cultivated or agitated by the work of the rotor 207 arranged in the extension work unit 400, similarly to the central apron 320. That is, the extension leveler 430 can be called a flattening member or a grounding member. Although not shown, an apron pressurizing mechanism is provided between the extension shield cover 410 and the extension apron 420. The apron pressurizing mechanism pressurizes the extension apron 420 so that the extension apron 420 rotates downward with respect to the extension shield cover 410.

When the central shield cover 310 and the extension shield cover 410 are not particularly distinguished, they are simply referred to as a shield cover 210. When the central apron 320 and the extended apron 420 are not particularly distinguished, they are simply referred to as an apron 220. When the central leveler 330 and the extended leveler 430 are not particularly distinguished, they are simply referred to as leveler 230.

At the end of the extension leveler 430, a leveler extension portion 490 that can further widen the width that can be leveled is provided. The leveler extension 490 is rotatably connected to the extension leveler 430. Further, the leveler expansion portion 490 has a guide surface 491 inclined toward the traveling machine body with respect to the longitudinal direction of the working machine 20.

The leveler angle detection mechanism 500 is connected to the control box 501. The control box 501 is provided above the central shield cover 310. The control box 501 has the function of the control unit 291 of FIG. 2, and transmits the rotation angle of the central leveler 330 with respect to the central apron 320 detected by the leveler angle detection mechanism 500 to the control unit 191 provided on the traveling machine body 10. do.

The leveler control unit 600 controls the angle of the central leveler 330 with respect to the central apron 320. The extended leveler 430 is controlled to the same angle as the central leveler 330 in conjunction with the central leveler 330. For example, in the working state, when the leveler control unit 600 pushes the central leveler 330 downward, the central leveler 330 and the extended leveler 430 are rotated downward with respect to the central apron 320 and the extended apron 420 (soil gathering state). It can be realized.

The detailed configuration of the leveler angle detection mechanism 500 will be described with reference to FIG. FIG. 4 is a side view showing the overall configuration of the leveler angle detection mechanism of the working machine according to the embodiment of the present invention. As shown in FIG. 4, the detection member (leveler angle detection mechanism 500) includes an angle detector (potentiometer 510), a first arm portion 520, a second arm portion 530, a first elastic portion 540, and a second elastic portion 550. Has. The first arm portion 520, the second arm portion 530, the first elastic portion 540, and the second elastic portion 550 may be collectively referred to as a telescopic rod 590. The potentiometer 510 is fixed to a pedestal 314 provided on the central shield cover 310. The potentiometer 510 and the first arm portion 520 are rotatably connected to each other. The second arm portion 530 is fixed to a pedestal 334 provided on the central leveler 330. The second arm portion 530 and the pedestal 334 are rotatably connected to each other. In other words, the telescopic rod 590 connects the potentiometer 510 and the central leveler 330.

The first arm portion 520 and the second arm portion 530 are connected to each other so as to be slidable. The first elastic portion 540 applies an elastic force to the first arm portion 520 and the second arm portion 530 in the direction in which the telescopic rod 590 contracts. On the other hand, the second elastic portion 550 applies an elastic force to the first arm portion 520 and the second arm portion 530 in the direction in which the telescopic rod 590 extends. A more detailed structure of the leveler angle detection mechanism 500 will be described later.

The elastic modulus of each of the first elastic portion 540 and the second elastic portion 550 is larger than the elastic modulus of the elastic portion for returning to the origin of the potentiometer 510. Therefore, when the central leveler 330 is rotated with respect to the central apron 320 under the influence of the unevenness of the field, the potentiometer 510 is passed through the first arm portion 520 and the second arm portion 530 with the rotation of the central leveler 330. Works. As described above, the rotation angle of the central leveler 330 with respect to the central apron 320 can be detected by the potentiometer 510.

Since the extended leveler 430 is connected to the central leveler 330 and rotates together with the central leveler 330, the rotation angles of the central leveler 330 and the extended leveler 430 (leveler 230) can be detected by the potentiometer 510. In other words, the leveler angle detection mechanism 500 can be used to detect changes in the vertical movement of the leveler 230.

In FIG. 4, since the central leveler 330 rotates with respect to the central apron 320 and the central apron 320 rotates with respect to the central shield cover 310, the potentiometer 510 rotates both the central apron 320 and the central leveler 330. It will be detected. However, only the rotation of the central leveler 330 can be detected by performing arithmetic processing on the data obtained by the potentiometer 510 to eliminate the influence of the rotation of the central apron 320.

In the present embodiment, the configuration in which the leveler angle detection mechanism 500 detects the rotation angle of the leveler 230 (central leveler 330) with respect to the apron 220 (central apron 320) is exemplified, but the configuration is not limited to this. For example, in a configuration in which the grounding member in contact with the field is rotatably connected to the frame 200 or the shield cover 210 (for example, the central shield cover 310), the rotation angle of the grounding member may be detected. The grounding member does not have to rotate with respect to the frame 200 or the shield cover 210. However, in that case, instead of the potentiometer 510, a detector capable of detecting the change in the vertical movement of the grounding member is provided.

[Method of determining field condition]
A method of determining a field state using the working machine 20 of the present embodiment will be described with reference to FIGS. 5 to 10. FIG. 5 is a diagram showing an operation flow of a method for determining a field state using a working machine according to an embodiment of the present invention. When the operator operates the monitor 110 and activates the field condition determination program, the program operation is started.

When the program operation is started, the menu screen is displayed on the monitor 110 (S601). Select "Farm registration" from the menu screen and register the position and size of the field (S603). By registering the field information in advance, the determination result at each position of the field can be displayed. When "field registration" is selected, the screen shown in FIG. 6 is displayed on the monitor 110. FIG. 6 is a diagram showing an example of an interface displayed on a screen in the method for determining a field state according to an embodiment of the present invention. As shown in FIG. 6, the monitor 110 displays the input area 611 and the position selection area 613.

The input area 611 is provided with an input frame 615 capable of inputting the field name, the long side size, and the short side size. The field name, long side size, and short side size are saved in association with each other. For example, by selecting the field name in the pull-down format, the long side size and short side size registered in advance are automatically set. It may be entered.

In the position selection area 613, a schematic view of a rectangular field and an icon of a traveling machine are displayed. The operator selects an image corresponding to the positional relationship between the traveling machine 10 and the field while the traveling machine 10 is moved to the corner of the field. When the image is selected, the GNSS provided with the traveling machine 10 detects the position information of the traveling machine 10, and the position information of the outer edge of the field is based on the position information and the size of the field input to the input frame 615. Is registered. The location information of the field may be stored in the memory of the traveling machine 10, or may be registered in the external storage of the server related to this program via the Internet. In this way, the position information of the field is registered.

As shown in FIG. 5, when the running of the field registered in S603 is started while the work is performed by the working machine 20 (S605), the leveler 230 moves up and down (rotates with respect to the apron 220) due to the unevenness of the field. do. The change in the vertical movement (change in the rotation angle of the leveler 230 with respect to the apron 220) is detected using the potentiometer 510 (S607), and the change in the vertical movement is analyzed to determine the field state after the work. Can be done (S609).

Here, a method of determining the field state based on the change in the vertical movement of the leveler 230 in S609 will be described in detail with reference to FIGS. 7 to 10. 7 to 9 are diagrams showing a method for determining a field state according to an embodiment of the present invention. FIG. 10 is a diagram showing an interface related to a look-up table (LUT) used for determining a field state according to an embodiment of the present invention. First, as shown in FIG. 7, based on the position information detected by the GNSS provided in the traveling machine body 10 and the change in the vertical movement of the leveler 230 detected by the leveler angle detecting mechanism 500 provided in the working machine 20. Then, the change in the vertical movement of the leveler 230 with respect to the position of the traveling machine 10 is plotted. The plot data shown in FIG. 7 is analyzed for each working section L1, L2 and L3 of the field. In the example shown in FIG. 7, an example of analyzing plot data for each fixed work section is shown. However, the interval between the work sections to be analyzed does not have to be constant. In FIG. 7, the field is divided into working sections L1, L2 and L3. In the method for determining the field state of the present embodiment, the plot data is analyzed in each of the working sections L1, L2 and L3, and the determination result is derived for each section.

A method of analyzing the plot data in which the vertical movement of the leveler 230 is detected will be described with reference to FIG. The determination of the field condition is made based on the magnitude of the change in unevenness. Specifically, the determination of the field condition is made based on the difference between the adjacent peaks and valleys detected in the plot data. The difference between the adjacent peaks and valleys is called the adjacent PV (Peak to Valley) value. Each adjacent PV value in one working section is calculated, and the field condition is determined based on the statistical value for these adjacent PV values. Specifically, the difference between the first mountain p1 and the first valley v1 (the magnitude of the change in the vertical movement of the leveler 230) is the difference between PV1, the first valley v1 and the second mountain p2. Let PV2 be the difference between the second peak p2 and the second valley v2. Then, for example, the determination is made based on the average value of PV1 to PV3. Details of the determination method based on this adjacent PV value will be described later.

When detecting peaks and valleys in the above analysis, filter processing is performed so as to ignore, for example, micro-vibration regions r1 and r2. As this filter processing, for example, a low-pass filter processing may be used. Further, as another filter processing, when the adjacent PV value is smaller than a predetermined value, the processing may be performed ignoring the peaks and valleys related to the adjacent PV value.

A method of detecting a work stop will be described with reference to FIG. While the working machine 20 is working in the field, the leveler 230 moves up and down within a certain range, but when the work is stopped and the working machine 20 is lifted upward, the leveler 230 reaches the limit of its movable range. It rotates downward and hardly moves up and down. For example, as shown in FIG. 9, when the working machine 20 is lifted upward, the plot data drops to near the lower limit and hardly moves up and down (reference numeral z1 in FIG. 9). When the plot data shows a peculiar behavior in this way, it may be determined that the work has been stopped. If it is determined that the work is stopped, the acquisition of plot data may be interrupted. Further, only the information before the position where the state determined to be stopped (reference numeral z2 in FIG. 9) is started may be analyzed.

A method of determining the field condition will be described with reference to FIG. 10 based on the statistical value of the adjacent PV value shown in FIG. 8 (hereinafter referred to as the adjacent PV statistical value). As shown in FIG. 10, the interface related to the look-up table (interface based on LUT630) has the items of the determination result 631, the selection 633, and the adjacent PV statistical value determination range 635.

The determination result 631 is provided with the items of "good 1" and "good 2" in addition to the three items of "insufficient", "optimal", and "excessive". “Insufficient” refers to a state in which the soil mass on the surface is still large and the soil crushability on the field surface is poor or the leveling condition is poor. Specifically, a state in which the average value and the standard deviation of the adjacent PV statistical values are relatively large is determined as "insufficient". “Excess” refers to a state in which the soil mass on the surface is small and the soil crushability or leveling condition on the field surface is good, but the soil mass is smaller than necessary. Reaching this "excess" condition requires long working hours on the field and is inefficient. Therefore, the item of "excess" is provided in the sense that it is not necessary to perform the work until the state of "excess" is reached. Specifically, a state in which the average value and standard deviation of adjacent PV statistics are relatively small is judged to be "excessive". "Optimal" is the area between "insufficient" and "excessive".

Here, "good 1" may refer to a state between "optimal" and "excessive", or may indicate a state close to "optimal" within the range of "excessive". Similarly, "good 2" may refer to a state between "optimal" and "insufficient", or may indicate a state close to "optimal" within the range of "insufficient". The items "Ryo 1" and "Ryo 2" refer to a state in which the field condition can be "optimized" by slightly changing the working conditions, for example, slowing or increasing the speed of the traveling machine 10. ..

When the judgment result is "Good 1" or "Good 2", the work operation guidance such as "Please increase the vehicle speed" or "Please decrease the vehicle speed" is displayed to the operator via the monitor 110. May be good. Alternatively, when the determination result is "good 1" or "good 2", the operator is asked to "decrease the rotation speed of the rotor" or "increase the rotation speed of the rotor" via the monitor 110. The operation guidance may be displayed. By slowing the vehicle speed of the traveling machine 10 or increasing the rotation speed of the rotor 207, the action of the rotor 207 on the field can be increased, and the soil crushability of the field surface can be improved. As a result, the field condition can be brought closer to "optimal" from "good 2". On the other hand, by increasing the vehicle speed of the traveling machine 10 or decreasing the rotation speed of the rotor 207, the work on the field by the rotor 207 can be reduced, and the soil crushability of the field surface can be reduced. As a result, the field condition can be brought closer to "optimal" from "good 1". When the determination result is "good 1", the speed can be increased, so that the work efficiency is improved.

As a work operation guidance different from the above, when the judgment result is "good 1" or "good 2", "pressurize the apron" or "increase the pressure of the apron" to the operator via the monitor 110. You may display work operation guidance such as "Please release the apron pressurization" or "Please reduce the apron pressurization". Pressurization of the apron is performed by an apron pressurizing mechanism provided between the extension shield cover 410 and the extension apron 420. When the apron 220 is pressurized, the apron 220 rotates downward with respect to the shield cover 210, so that the soil in the field or the like stays in the apron 220. As a result, the action of the rotor 207 on the field is increased, and the soil crushability of the field surface can be improved. On the other hand, when the pressurization of the apron 220 is released, the soil and the like are less likely to stay, so that the work on the field by the rotor 207 is reduced, and the soil crushability of the field surface can be lowered.

Selection 633 enables or invalidates the determination result of each item of the determination result 631. For example, in the interface based on LUT630 shown in FIG. 10, since the items of "excess", "insufficient", and "optimal" are checked, only these three determination results are valid, and the determination result is "good 1". "And" good 2 "will not be achieved.

The adjacent PV statistic value determination range 635 defines the range of the adjacent PV statistic value for each determination result. That is, the adjacent PV statistical value determination range 635 is a determination criterion. Both the upper limit and the lower limit are set in the adjacent PV statistical value determination range 635 for the items of "optimal", "good 1", and "good 2". At least an upper limit is set in the adjacent PV statistic determination range 635 for the "excess" item. At least the lower limit is set in the adjacent PV statistical value determination range 635 for the item of "insufficient". The adjacent PV statistical value determination range 635 may be changed by inputting a numerical value, and the value may be changed by the + button and the-button. When the + button or the-button is selected, both the upper limit and the lower limit of the adjacent PV statistical value determination range 635 change. That is, when the + button or the-button is selected, both the upper limit and the lower limit change so that the difference between the upper limit and the lower limit (that is, the width of the range) does not change. However, when the + button or the-button is selected, the upper limit and the lower limit may change while the width of the range is changed, or only the upper limit or the lower limit may change.

For example, when the adjacent PV statistical value is calculated from the plot data as shown in FIG. 8, the determination result is derived based on the adjacent PV statistical value and the criterion displayed on the interface based on the LUT 630 of FIG. In this way, the determination result is derived for each of the working sections L1, L2, and L3 shown in FIG. Then, as shown in FIG. 5, the derived determination result is displayed on the monitor 110 provided in the traveling machine body 10 (S611). The details of the method of displaying the determination result on the monitor 110 will be described later.

[Judgment result and data related to the judgment result]
The determination result derived for each work section as described above is associated with the plot data (measurement data) in FIG. 8 and the adjacent PV statistical value calculated from the plot data, and stored in the storage device as a data table 640. It is memorized (see FIG. 11). FIG. 11 is a diagram showing an example of data obtained by the method for determining a field state according to an embodiment of the present invention. In addition, the above plot data and adjacent PV statistical values can be collectively referred to as "information on changes in vertical movement" for the field of Leveler 230. That is, in other words, the determination result of the field state for each work section is stored in association with the information regarding the change in the vertical movement of the leveler for each work section.

As shown in FIG. 11, the data table 640 has items of section 641, plot data 643, adjacent PV statistical value 645, and determination result 647. Section 641 corresponds to the working sections L1, L2 and L3 shown in FIG. The information in the section 641 includes information for specifying the field. That is, it is possible to recognize which position of which field is indicated based on the section 641. The plot data 643 is measurement data indicating the vertical movement of the leveler 230 with respect to the mileage of the traveling machine body 10. The adjacent PV statistic value 645 is a statistic value calculated based on the plot data 643. In FIG. 11, the average value and the standard deviation are displayed as statistical values, but statistical values other than these may be used. The determination result 647 is derived based on the LUT 630 of FIG.

In FIG. 11, a configuration in which the information of the above four items is stored in the data table 640 is illustrated, but the configuration is not limited to this configuration. For example, information other than these items may be additionally stored. Alternatively, only a part of the information of these items may be stored. The above storage device may be a storage device connected to the control unit 191 of the traveling machine body 10, or may be a storage device connected to the control unit 291 of the working machine 20, and travels via the network. It may be a storage device of a server connected to the communication unit of the machine 10 or the work machine 20, or a storage device connected to the server via a network (for example, an external storage provided outside the server).

[How to display the judgment result]
A method of displaying the determination result of the field state derived as described above will be described with reference to FIGS. 12 and 13. FIG. 12 is a diagram showing an example of displaying a determination result of a field state according to an embodiment of the present invention on a monitor. FIG. 13 is a diagram showing an example of a method of changing the standard of the determination result of the field state according to the embodiment of the present invention.

As shown in FIG. 12, the monitor 110 displays a field map 650, a real-time determination result 660, and various information 670. The field map 650 is divided into work section units based on information such as the position information of the field registered by the “field registration” shown in FIG. 6 and the width of the work machine set separately. In the field map 650, a pattern or a color is visually identifiable for each work section in which the work and the determination of the field condition are completed. The pattern or color assigned to each work section reflects the determination result shown in FIG. For example, block 651 is a working section in which the determination result is "excessive". Block 653 is a work section where the determination result is "insufficient". Block 655 is a working section where the determination result is "optimal". The traveling machine icon 657 is displayed on the field map 650, and the current position of the traveling machine 10 in the field where the work is being performed can be recognized. The determination result displayed on the field map 650 of FIG. 11 is the determination result 631 checked by the selection 633 of FIG. That is, in the selection 633 of FIG. 10, since the three items of "excess", "insufficient", and "optimal" are checked, these three determination results are displayed in FIG.

The real-time determination result 660 is displayed on the upper left of the field map 650. The determination result is displayed in gradation on the real-time determination result 660. That is, while the field map 650 displays only three types of determination results of "optimal", "excess", and "insufficient", the real-time determination result 660 displays the determination results of more stages. .. For example, in addition to the above three types of determination results, the determination results of "good 1" and "good 2" shown in FIG. 10 may be displayed. When "good 1" and "good 2" are checked in the selection 633 of FIG. 10, instead of displaying the determination results of "good 1" and "good 2", the operator goes through the monitor 110. "Increase the vehicle speed" or "Decrease the vehicle speed", "Decrease the rotation speed of the rotor" or "Increase the rotation speed of the rotor", or "Pressurize the apron". Alternatively, a work operation guidance such as "Please release the apron pressurization" may be displayed.

Various information 670 is displayed on the upper right of the field map 650. Various information 670 displays the estimated work completion time, the work area, and the remaining work area. However, the various information 670 shown in FIG. 12 is only an example, and information other than the above information may be displayed.

In this way, the worker can evaluate the field condition obtained as a result of the work while working on the field. Further, by displaying the determination result on the field map 650, the operator can recognize at a glance the area where the work is insufficient and the area where no further work is necessary.

FIG. 13 is a diagram showing an example of a method of changing the standard of the determination result of the field state according to the embodiment of the present invention. FIG. 13A is a display screen before the determination standard is changed, and FIG. 13B is a display screen after the determination standard is changed. The display screen shown in FIG. 13 (A) is similar to the display screen of FIG. 12, but differs from the display screen of FIG. 12 in that the reference change 680A is displayed at the lower left of the field map 650A. Other points are the same as the display screen of FIG. 12, so the description thereof will be omitted.

The criteria for determining the field condition are defined by LUT630 shown in FIG. 10, and the determination result as shown in (A) of FIG. 13 is displayed. However, depending on the worker, a determination result different from the determination result defined by the LUT 630 may be desired. For example, a worker may prefer the field condition even if the field condition is determined to be "excessive" by a predetermined determination criterion. In such a case, the determination criteria can be automatically changed by the method shown below.

When the operator selects the standard change 680A, the range of the adjacent PV statistical value determination range 635 of the LUT 630 is changed so that the field condition currently being worked on is included in the “optimal” determination result. In this change, the difference between the upper limit and the lower limit of the adjacent PV statistical value judgment range 635 associated with the "optimal" judgment result, that is, the range of the adjacent PV statistical value judgment range 635 judged to be "optimal" is maintained. Both the upper limit value and the lower limit value are changed while being kept. Along with this change, the adjacent PV statistical value 645 of the data table 640 shown in FIG. 11 is re-determined, and the re-determination result is reflected in the determination result 647. Based on the re-judgment result of the determination result 647, the field map 650B shown in FIG. 13 (B) is updated. The reflection of the re-judgment result on the field map 650B is limited to the field currently being worked on. However, the reflection of the determination result may be applied to a field other than the field in which the work is currently being performed. The above-mentioned determination criteria are changed by the control unit 191 or the control unit 291 shown in FIG. As described above, when the reference change 680A is selected, the adjacent PV statistic value 645 may be redetermined and the result may be overwritten, and the reference change may be combined with the information before the reference change 680A is selected. Information after 680A is selected may be saved.

A part of the working section determined to be "excessive" in the field map 650A has been changed to the "optimal" determination in the field map 650B. Further, a part of the work section determined to be "optimal" in the field map 650A has been changed to the determination of "insufficient" in the field map 650B. Then, after the reference change 680A is selected, the determination result based on the determination criterion changed as described above is displayed. In this way, even during work, the criterion can be changed by simply selecting the criterion change 680A without manually changing the set value of the LUT 630.

In the present embodiment, when the reference change 680A is selected, the determination result of the area determined so far is updated based on the determination criteria changed by the selection of the reference change 680A. It is not necessary to update the determination result determined before the selection of. Further, in the present embodiment, when the standard change 680A is selected, the LUT630 is changed so that the field state currently being worked on is included in the "optimal" determination result. The LUT 630 may be changed by selecting the working section of the field condition to be included in the "optimal" determination result.

[Structure of Leveler Angle Detection Mechanism 500]
A detailed configuration of the leveler angle detection mechanism 500 will be described with reference to FIGS. 14 and 15. FIG. 14 is a side view showing the details of the leveler angle detection mechanism of the working machine according to the embodiment of the present invention. FIG. 15 is a top view showing the details of the leveler angle detection mechanism of the working machine according to the embodiment of the present invention. In the following description, for convenience of explanation, the potentiometer 510 and the connecting rotating member 560 are drawn with thicker lines than the other members.

First, the connection structure between the first arm portion 520 and the second arm portion 530 will be described in detail. As shown in FIG. 15, a first arm connecting portion 521 extending from the first arm portion 520 to the second arm portion 530 is connected to the first arm portion 520. A second arm connecting portion 523 is connected to the tip of the first arm connecting portion 521. The second arm connecting portion 523 has a cylindrical shape, and the second arm portion 530 is inserted into the hollow portion of the cylinder. With such a configuration, the first arm portion 520 and the second arm portion 530 are connected so as to be slidable.

The second arm portion 530 is provided with a first stopper 531 and a second stopper 533. The first elastic portion 540 is provided between the first stopper 531 and the second arm connecting portion 523. The second elastic portion 550 is provided between the second stopper 533 and the second arm connecting portion 523. Since the first elastic portion 540 and the second elastic portion 550 are both arranged at these positions in a contracted state, the first elastic portion 540 has the first arm portion 520 and the second arm portion in the direction in which the telescopic rod 590 contracts. An elastic force is applied to the 530, and the second elastic portion 550 applies an elastic force to the first arm portion 520 and the second arm portion 530 in the direction in which the telescopic rod 590 extends. When the first elastic portion 540 and the second elastic portion 550 are collectively referred to as an elastic portion, the elastic portion includes the first arm portion 520 and the second arm portion in both the extending direction and the contracting direction of the telescopic rod 590. It can be said that elastic force is applied to each of the 530s.

Although omitted in the description of FIG. 4, as shown in FIGS. 14 and 15, the leveler angle detecting mechanism 500 further includes a connecting rotating member 560, a bracket 570, and a rotating shaft 580. The connecting rotating member 560 is rotatably connected to the first arm portion 520 via a rotating shaft 580. Further, the connecting rotating member 560 is rotatably connected to the bracket 570. The potentiometer 510 is attached to the bracket 570. The bracket 570 is attached to the pedestal 314 by a fixing portion 575. The potentiometer 510, the connecting rotating member 560, the bracket 570, and the rotating shaft 580 may be collectively referred to as an angle detector.

The connecting rotating member 560 has a third arm portion 561 and a rotating shaft 563. The third arm portion 561 is provided with an opening 565. When the rotation shaft 580 penetrates the opening 565, the third arm portion 561 is rotatably connected to the first arm portion 520. The bracket 570 has a first stopper 571 and a second stopper 573. Further, the bracket 570 is provided with an opening 577. When the rotating shaft 563 penetrates the opening 577, the connecting rotating member 560 is rotatably connected to the bracket 570. The first stopper 571 regulates the rotation of the connecting rotating member 560 by coming into contact with the rotating shaft 580 when the connecting rotating member 560 rotates in the R1 direction. The state in which the rotation of the connecting rotation member 560 is restricted by locking the rotation shaft 580 to the first stopper 571 in this way is called the first rotation limit. The second stopper 573 regulates the rotation of the connecting rotating member 560 by coming into contact with the third arm portion 561 when the connecting rotating member 560 rotates in the R2 direction. The state in which the rotation of the connecting rotating member 560 is restricted by locking the third arm portion 561 to the second stopper 573 in this way is called the second rotation limit.

As described above, since the elastic moduli of the first elastic portion 540 and the second elastic portion 550 are larger than the elastic modulus of the elastic portion for returning to the origin of the potentiometer 510, the first rotation limit and the second rotation. In the rotation range of the connection rotation member 560 with respect to the movement limit, the connection rotation member 560 rotates following the vertical movement of the central leveler 330. On the other hand, when the central leveler 330 moves up and down so that the connecting rotating member 560 rotates beyond the first rotation limit or the second rotation limit, the first elastic portion 540 or the second elastic portion 540 or the second is as shown below. As the elastic portion 550 expands and contracts, the expansion and contraction rod 590 expands and contracts, and damage to the leveler angle detection mechanism 500 is suppressed.

FIG. 16 is a side view showing a state in which the telescopic rod is most extended in the working machine according to the embodiment of the present invention. The state shown in FIG. 16 corresponds to the soil gathering state of the leveler. When the central leveler 330 rotates downward so that the connecting rotating member 560 rotates beyond the first rotation limit, the first elastic portion 540 contracts and the second elastic portion 550 expands, so that the telescopic rod 590 expands. extend.

FIG. 17 is a side view showing a state in which the telescopic rod is most contracted in the working machine according to the embodiment of the present invention. The state shown in FIG. 17 corresponds to a state in which the leveler rides on a ridge or the like. When the central leveler 330 rotates upward so that the connecting rotating member 560 rotates beyond the second rotation limit, the first elastic portion 540 expands and the second elastic portion 550 contracts, so that the telescopic rod 590 expands. Shrink.

As described above, even when the leveler moves up and down so that the connecting rotating member 560 rotates beyond the first rotation limit or the second rotation limit, the rotation of the leveler is restricted. It is possible to prevent the leveler angle detection mechanism 500 from being damaged.

In the present embodiment, the determination result of the field state may be recorded together with the registered position information of the field. That is, the determination result of the field state may be recorded as mapping data. The mapping data of the determination result in this case is recorded in association with other mapping data.

By associating the mapping data of the determination result of the field condition obtained as described above with other mapping data, it is possible to manage how the field condition affects the crops produced in the field. Can be done. FIG. 18 is a diagram showing an example of a data management method obtained by the field state determination method according to the embodiment of the present invention. As shown in FIG. 18, in addition to the various data shown in FIG. 11, the cultivation depth 691C, the yield 693C, and the fertilizer application amount 695C are associated with each other and stored in the data table 640C. The plowing depth 691C, the yield 693C, and the fertilizer application amount 695C may be the average value in the section 641C or the standard deviation as in the adjacent PV statistical value 645C.

The tillage depth 691C can be obtained, for example, based on the height of the working machine 20 with respect to the traveling machine body 10 and the rotation angle of the apron 220 with respect to the shield cover 210. Further, the plowing depth 691C may be obtained based on the rotation angle of the leveler 230 with respect to the apron 220 in addition to the above rotation angle.

The yield 693C is, for example, data acquired when a crop is harvested using a harvester. The data of the yield 693C is the mapping data as well as the determination result of the field condition. Since the device for acquiring the yield 693C is different from the working machine 20 of the present embodiment, the size of the block of the determination result 647C and the size of the block of the yield obtained by the harvester may be different. An example thereof is shown in FIGS. 19 and 20. FIG. 19A is a field map 650C on which the mapping data of the determination result 647C is displayed. FIG. 19B is a field map 700C displaying mapping data of yield 693C.

In FIG. 19A, block 651C is a work section where the judgment result is “excessive”, block 653C is a work section where the judgment result is “insufficient”, and block 655C is a work section where the judgment result is “optimal”. Is. In FIG. 19B, block 701C is a work section with a “high yield”, block 703C is a work section with a “low yield”, and block 705C is a work section with a “normal” yield. The field maps 650C and 700C show the same field and have the same field size. The field map 650C is divided into horizontal: vertical 8: 6, while the field map 700C is divided into horizontal: vertical 5: 4. That is, the size of each block of the field map 650C and the field map 700C is different.

As described above, when the sizes of one block are different in different field maps, as shown in FIG. 20, the mapping data of the yield 693C is divided by the boundary of the blocks of the determination result 647C (dotted line in FIG. 20). In the case of FIG. 20, the yield data of the block 703C is recorded in the data table 640C as the data of the yield 693C corresponding to the determination result 647C of the block 651C. As the data of the yield 693C corresponding to the determination result 647C of the block 653C, the average value of the yield data of the blocks 703C and the block 705C is recorded in the data table 640C. The average value of the yield data may be a weighted average obtained by weighting the ratio of the occupied area of the yield data of the block 703C to the occupied area of the yield data of the block 705C in the block 653C.

As described above, when the block corresponding to the determination result 647C contains a plurality of yield data, the average value or the weighted average value of the yield data is treated as the yield data of the block. However, when one block contains a plurality of yield data as described above, the yield data of any one of the plurality of yield data may be treated as the yield data of the block. As a method of selecting one yield data from a plurality of yield data, the yield data having the largest occupied area in the block may be adopted, or the yield data having the highest yield or the lowest yield may be adopted.

As described above, when there are a plurality of mapping data for one field, the information is displayed to the worker in response to the worker's request. When displaying these information to the operator, they may be displayed side by side as shown in FIGS. 19A and 19B, or may be displayed overlapping as shown in FIG. 20. The operator confirms the above display, and may change the determination criteria as in the example shown in FIG. 13 so that the determination result of the field condition of the block having a high yield is included in "optimum".

In the above, the yield 693C has been described, but the tillage depth 691C and the fertilizer application amount 695C can also be treated in the same manner as described above.

The data related to the data table 640C shown in FIG. 18 may be stored in the storage device connected to the control unit 191 of the traveling machine body 10, or stored in the storage device connected to the control unit 291 of the working machine 20. It may be stored in the storage device of the server connected to the communication unit of the traveling machine 10 or the working machine 20 via the network or in the external storage connected to the server via the network.

When acquiring field mapping data with a harvester or other working machine, the field information registered by the field registration shown in FIGS. 5 and 6 can be used. For example, since the registered field information includes the field position information, the field to be worked on is specified based on the current position of the harvester or other working machine, or the field candidate is selected. It may be displayed to the worker.

The data related to the data table 640C shown in FIG. 18 may be read out the next time the field is worked. If the criteria are not changed as described above, for example, work on blocks with "optimal" but yields of "normal" or "low" (blocks with less yields). At the time, the operator is asked to "speed up" or "slow down", "rotor rotation" so that the judgment result of the block is close to the judgment result of the block with "high yield". Work operation guidance such as "Please reduce the speed" or "Please increase the rotation speed of the rotor", or "Please pressurize the apron" or "Please release the apron pressurization" may be displayed.

Although the present invention has been described above with reference to the drawings, the present invention is not limited to the above-described embodiment, and can be appropriately modified without departing from the spirit of the present invention.

10: Traveling machine, 20: Working machine, 100: Body, 110: Monitor, 120: Three-point link mechanism, 121: Communication unit, 191: Control unit, 193: Display unit, 195: Position detection unit, 200: Frame, 201: Main frame, 203: Chain case, 205: Side frame, 207: Rotor, 210: Shield cover, 220: Apron, 230: Leveler, 291: Control unit, 293: Detection unit, 300: Central work unit, 310: Central shield cover, 314: 334: pedestal, 320: central apron, 330: central leveler, 332: second connection, 400: extension work, 410: extension shield cover, 420: extension apron, 422, 432: connection , 430: Extension leveler, 490: Leveler extension, 500: Leveler angle detection mechanism, 501: Control box, 510: Potentialometer, 520: 1st arm, 521: 1st arm connection, 523: 2nd arm connection , 530: 2nd arm part, 531: 1st stopper, 533: 2nd stopper, 540: 1st elastic part, 550: 2nd elastic part, 560: connecting rotating member, 561: 3rd arm part, 563: Rotating shaft, 565: Opening, 570: Bracket, 571: 1st stopper, 573: 2nd stopper, 575: Fixed part, 577: Opening, 580: Rotating shaft, 590: Telescopic rod, 611: Input area, 613 : Position selection area, 615: Input frame, 630: LUT, 631: Judgment result, 633: Selection, 635: Adjacent PV statistical value judgment range, 640: Data table, 641: Section, 643: Plot data, 645: Adjacent PV Statistics, 647: Judgment result, 650, 700C: Field map, 651, 653, 655, 701C, 703C, 705C: Block, 657: Traveling machine icon, 660: Real time Judgment result, 670: various information, 680A: standard change, 691C: tillage depth, 693C: yield, 695C: fertilizer application amount

Claims (11)

The change in the vertical movement of the ground contact member in contact with the field, which is provided in the working machine mounted behind the traveling machine traveling in the field, with respect to the field is detected.
A determination method for determining a field state indicating a soil crushed state or a leveled state of the field obtained by the work of the working machine by analyzing the change in the vertical movement for each work section of the field. The determination method according to claim 1, wherein the determination of the field state is performed for each work section of the field. Further, the determination method according to claim 2, wherein the determination result of the field state for each work section is stored in association with the information regarding the change in the vertical movement for each work section. Further, the determination method according to claim 3, wherein the field state associated with the stored information regarding the change in vertical movement is re-determined according to the instruction for changing the determination criteria of the worker. Attached to the rear of the traveling aircraft traveling in the field,
The grounding member in contact with the field and
A detector that detects changes in the vertical movement of the grounding member due to the unevenness of the field, and
Judgment of determining the field state indicating the crushed soil state or the leveling state of the field by analyzing the change of the vertical movement for each working section of the field with the information regarding the change of the vertical movement detected by the detector. The control unit that sends to the device and
A working machine equipped with. Attached to the rear of the traveling aircraft traveling in the field,
The grounding member in contact with the field and
A detector that detects changes in the vertical movement of the grounding member due to the unevenness of the field, and
By analyzing the change in the vertical movement for each work section of the field, a control unit for determining the field state indicating the crushed soil state or the leveling state of the field obtained by the work, and the control unit.
A working machine equipped with. The work machine according to claim 6, wherein the control unit determines the state of the field based on the change in the vertical movement of each work section of the field. The work machine according to claim 7, further comprising a storage unit that stores the field state for each work section in association with information regarding the change in vertical movement for each work section. The control unit receives a judgment standard change instruction from the operator, and uses the information regarding the change in the vertical movement for each work section stored in the storage unit based on the judgment standard change instruction for each work section. The working machine according to claim 8, wherein the field condition is redetermined. With the frame
A rotor attached to the frame and having a working claw,
A cover member rotatably connected to the frame and
A grounding member that is rotatably connected to the cover member and can be contacted with the field.
A detection member connected to the grounding member and detecting a change in the rotation angle of the grounding member with respect to the frame or the cover member.
Equipped with
The detection member has an angle detector and a telescopic rod.
The angle detector is installed on the frame or the cover member.
The telescopic rod connects the angle detector and the grounding member, and
A working machine in which the telescopic rod expands and contracts when the angle detector tries to rotate beyond the movable range of the angle detector due to the rotation of the grounding member . The telescopic rod includes a first arm portion, a second arm portion, and an elastic portion.
The first arm portion and the second arm portion are slidably connected to each other.
The working machine according to claim 10 , wherein the elastic portion applies elastic force to each of the first arm portion and the second arm portion in both the extending direction and the contracting direction of the telescopic rod.

Images