JP7413166B2 - agricultural machinery - Google Patents

Description

The present invention relates to an agricultural machine.

Conventionally, the working machine disclosed in Patent Document 1 includes a traveling vehicle and a tilling device attached to the traveling vehicle. The tilling device has a tilling section for cultivating a field, and a tilling cover that covers the tilling section. The tilling cover has a main cover that covers the upper part of the tilling part, and a rear cover that covers the rear part of the tilling part. The rear cover is pivotally supported by the rear end of the main cover so as to be able to swing up and down, and the lower end of the rear cover contacts the cultivated land to level the cultivated land.

Japanese Patent Application Publication No. 2007-49925

In the working machine of Patent Document 1, the tilling device is controlled to move up and down based on the rocking displacement of the rear cover, thereby cultivating the tillage at a predetermined tilling depth. However, since the rocking displacement of the rear cover (height displacement of the lower end of the rear cover) changes depending on work conditions such as soil conditions and tillage conditions, it is difficult to accurately detect the plowing depth. In order to perform highly accurate tillage especially when the field is sloped, it is necessary for the operator to easily recognize the tillage depth.

The present invention was made in order to solve the problems of the prior art, and provides an agricultural machine that can easily recognize the plowing depth of the tilling device even when the field is sloped. For the purpose of providing.

An agricultural machine according to one aspect of the present invention includes a traveling vehicle, a tilling device arranged behind the traveling vehicle and connected via a coupling device, and a distance sensor attached to the coupling device to measure the distance to the ground. a first inclination sensor that detects the inclination angle of the tilling device with respect to the horizontal; and a plowing depth calculation unit that calculates the plowing depth of the tilling device based on the distance measured by the distance sensor and the inclination angle detected by the first inclination sensor. and a second inclination sensor that detects the inclination angle of the traveling vehicle, and the control device has a tillage depth calculated by the plowing depth calculation unit based on the inclination angle of the traveling vehicle detected by the second inclination sensor. It has a correction section that corrects the plowing depth of the tillage device to a depth perpendicular to the ground on which the traveling vehicle is located .

Further, the correction unit corrects the inclination angle of the tilling device detected by the first inclination sensor based on the difference between the inclination angle of the tilling device and the inclination angle of the traveling vehicle detected by the second inclination sensor, and the plowing depth calculation unit corrects the distance to the ground measured by the distance sensor to a distance perpendicular to the ground on which the traveling vehicle is located, based on the corrected inclination angle of the tilling device corrected by the correction unit.
The control device also includes a switching section that switches between a first mode that allows the correction section to correct the plowing depth of the tilling device calculated by the plowing depth calculation section, and a second mode that prohibits the correction.

Additionally, the first tilt sensor is attached to the coupling device.
Furthermore, the agricultural machine is equipped with a display device that displays the plowing depth.

According to the agricultural machine described above, even when the field is sloped, the plowing depth of the tilling device can be easily recognized.

It is a side partial sectional view showing the state where the tilling device was attached to the connection frame. It is a front view showing a connection frame. It is a figure showing a block diagram of a work machine. It is a 1st diagram for explaining the calculation method of plowing depth. It is a 2nd diagram for demonstrating the calculation method of tilling depth. It is a figure showing a setting screen. FIG. 1 is a first diagram showing a first application screen. FIG. 2 is a second diagram showing a first application screen. FIG. 3 is a diagram showing a first reference screen. It is a figure showing a list screen. It is a figure showing a detailed screen. FIG. 1 is a diagram showing a second application screen. It is a figure which shows the 2nd reference screen. FIG. 2 is a second diagram showing a second application screen. FIG. 2 is an overall side view of the connecting frame with the tilling device attached and connected to the vehicle body.

An embodiment of the present invention will be described below with appropriate reference to the drawings.
FIG. 11 shows a working machine (agricultural working machine) 4 in which a tilling device 3 is connected to a coupling device 2 attached to a traveling vehicle 1. In this embodiment, a tractor is illustrated as the traveling vehicle 1. Further, as the tilling device 3, a rotary tilling device is illustrated. In this embodiment, the direction of arrow A1 in FIG. 11 (the forward direction of the working machine 4) is assumed to be the forward direction, and the direction of arrow A2 in FIG. 11 (the backward moving direction of the working machine 4) is assumed to be the backward direction. Therefore, the front side in FIG. 11 is the left side, and the back side in FIG. 11 is the right side. In addition, the horizontal direction perpendicular to the longitudinal direction will be described as the vehicle body width direction.

As shown in FIG. 11, the working machine 4 has a vehicle body 1A that can travel. The vehicle body 1A includes a prime mover (not shown) and a power transmission case (transmission) 5. The prime mover is an engine such as a diesel engine. The prime mover may be an electric motor or a hybrid type having a diesel engine and an electric motor.
The power transmission case 5 includes, for example, a flywheel housing that accommodates a flywheel, a clutch housing that accommodates a clutch that intermittently transmits the power of the prime mover that is transmitted via the flywheel, and power that is transmitted via the clutch. It is configured by being directly connected to a transmission case that houses a power transmission case 5 that changes the speed of power.

As shown in FIG. 11, the working machine 4 has a traveling device 6 that supports the vehicle body 1A so that it can travel. The traveling device 6 is, for example, a wheel-type traveling device 6, and includes a front wheel 6F provided at the front of the vehicle body 1A and a rear wheel 6R provided at the rear of the vehicle body 1A.
As shown in FIGS. 1A and 11, a PTO shaft 8 is provided on the back surface of the vehicle body 1A so as to protrude rearward. The PTO shaft 8 is an output shaft that takes out the power of the working machine 4 (power of the prime mover) to the outside. Further, a hydraulic device 9 is mounted on the rear portion of the vehicle body 1A. The hydraulic device 9 has a hydraulic cylinder therein, and has a left lift arm 10L and a right lift arm 10R that are driven by the hydraulic cylinder and swing up and down.

As shown in FIGS. 1A and 11, a connecting device 2 that connects the rotary tilling device 3 is attached to the rear part of the vehicle body 1A. The connecting device 2 includes a link mechanism such as a three-point link mechanism 11 and a connecting frame 12. The three-point link mechanism 11 includes a top link 13, a first lower link 14L, and a second lower link 14R. The top link 13 is arranged at the rear of the upper part of the vehicle body 1A and at the center in the width direction of the vehicle body. The front part of the top link 13 is pivotally connected to a top link bracket 15 attached to the back surface of the vehicle body 1A. The first lower link 14L and the second lower link 14R are arranged side by side in the vehicle width direction at the rear of the lower part of the vehicle body 1A. The front portion of each lower link 14L, 14R is pivotally connected to a lower link bracket 16 fixed to the vehicle body 1A. The midway portion of the first lower link 14L and the left lift arm 10L are connected by a left lift rod 60L. Further, the midway portion of the second lower link 14R and the right lift arm 10R are connected by a right lift rod 60R. Therefore, by driving the left lift arm 10L and the right lift arm 10R to swing up and down, the first lower link 14L and the second lower link 14R swing up and down.

As shown in FIGS. 1A and 1B, the connecting frame 12 has a main frame 17. As shown in FIGS. The main frame 17 is formed by bending a square pipe or the like. The upper portion 17A is formed in a curved shape that is convex upward when viewed from the front. The first side portion 17L extends diagonally downward to the left (in an inclined direction that shifts to the left as it goes downward) from the lower left end (lower end on one side) of the upper portion 17A. The second side portion 17R extends diagonally downward to the right (in an inclined direction that shifts to the right as it goes downward) from the lower right end (lower end on the other side) of the upper portion 17A. Therefore, the first side portion 17L and the second side portion 17R extend from the main frame 17 so that the distance in the vehicle body width direction gradually increases as it goes downward. The upper parts of the first side part 17L and the second side part 17R are connected by a reinforcing member 18 formed of a square pipe or the like.

As shown in FIGS. 1A and 1B, an upper engagement bracket 19 is fixed to the upper portion 17A of the main frame 17. The upper engagement bracket 19 has a link connection part 20 at the upper part. The rear part of the top link 13 is pivotally connected to the link connecting portion 20 (see FIG. 1A). Further, the upper engagement bracket 19 has an engagement portion 21 at the rear. The engaging portion 21 includes a first engaging portion 21A and a second engaging portion 21B. The first engagement portion 21A and the second engagement portion 21B are formed in a hook shape, and the first engagement portion 21A is provided above the second engagement portion 21B.

As shown in FIGS. 1A and 1B, a first lower engagement bracket 22L is fixed to the lower end of the first side 17L, and a second lower engagement bracket 22R is fixed to the lower end of the second side 17R. is fixed. A first lower link 14L is connected to the first lower engagement bracket 22L. Specifically, a connecting pin or the like is fixed to the first lower engagement bracket 22L, and the rear portion of the first lower link 14L is pivotally connected to the connecting pin. Further, a second lower link 14R is connected to the second lower engagement bracket 22R. Specifically, a connecting pin or the like is fixed to the second lower engagement bracket 22R, and the rear portion of the second lower link 14R is pivotally connected to the connecting pin.

As shown in FIGS. 1A and 11, the rotary tilling device 3 is exemplified as a side drive type rotary tilling device 3 in this embodiment. Note that the rotary tiller 3 may be a center drive type rotary tiller 3. The rotary tilling device 3 has a machine frame 46 and a tilling section 47. The machine frame 46 includes a gear case 48 located at the center in the vehicle width direction, a left support arm 49L extending leftward from the gear case 48, a right support arm 49R extending rightward from the gear case 48, and a left support arm 49L. The transmission case 50 is attached to the right support arm 49R, and the side frame is attached to the right support arm 49R.

As shown in FIG. 1A, the gear case 48 is provided with a PIC shaft (input shaft, not shown) projecting forward. The PIC shaft is connected to the yoke 44 by a spline connection, etc., and the power from the PTO shaft 8 is transmitted via the drive shaft 40 to a bevel gear transmission mechanism in the gear case 48 and a transmission shaft in the left support arm 49L. The signal is transmitted to a chain transmission mechanism within the case 50.

As shown in FIG. 1A, a top mast 54 is fixed to the upper part of the gear case 48. An upper connecting portion 55 that engages with the engaging portion 21 is provided at the front upper portion of the top mast 54 . The upper connecting portion 55 is constituted by a pin, and in the illustrated example, the upper connecting portion 55 fits into and engages with the second engaging portion 21B.
A bracket 51L is fixed to the left support arm 49L, and a bracket 51R is fixed to the right support arm 49R. The left bracket 51L is provided with a first lower connecting portion 52L, and the right bracket 51R is provided with a second lower connecting portion 52R. The first lower connecting portion 52L and the second lower connecting portion 52R are configured by pins. In the following description, the left support arm 49L and the right support arm 49R may be collectively referred to as support arm 49.

As shown in FIG. 1A, the tilling section 47 includes a rotating shaft 56 provided between the lower part of the transmission case 50 and the side frame, and a large number of tilling claws 57 attached to the rotating shaft 56. The rotating shaft 56 is supported by the machine frame 46 so as to be rotatable about an axis extending in the width direction of the vehicle body. The rotating shaft 56 rotates, for example, in the direction of arrow Y1 in FIG. 1A by the power transmitted to the chain transmission mechanism within the transmission case 50. The tilling claws 57 rotate together with the rotary shaft 56, plunge into the soil of the field, till the soil, and throw the tilled soil backward. Note that the rotary tiller 3 has a tiller cover including a main cover that covers the upper part of the tiller 47 and a rear cover that covers the rear of the tiller 47.

As shown in FIG. 2, the work machine 4 includes a control device 70 and a display device 80. The control device 70 and the display device 80 are connected by an in-vehicle network such as CAN. The control device 70 controls the traveling system and work system of the working machine 4. Note that the control device 70 may be any device that controls the work system or travel system of the work machine 4, and the control method is not limited.
As shown in FIG. 2, an operating member 72 is connected to the control device 70, and the control device 70 controls the vertical movement of the coupling device 2 based on the operation of the operating member 72. Specifically, an angle sensor 71 that detects, for example, the angle of the lift arm 10 is connected to the control device 70, and the operating member 72 includes a position lever 73 that operates up and down the coupling device 2, and a position lever 73 that operates the coupling device 2 to raise and lower the coupling device 2. It includes an upper limit setting dial 74 for setting the upper limit of .

The control device 70 raises and lowers the control device 70 based on the detection signal output from the angle sensor 71, the operation signal output from the position lever 73, and the operation signal output from the upper limit setting dial 74. The control device 70 calculates (obtains) the angle (actual angle) of the lift arm 10 based on the detection signal output from the angle sensor 71 and a predetermined table stored in a storage device (not shown). The control device 70 calculates (obtains) the angle (instruction angle) of the lift arm 10 based on the operation of the position lever 73 based on the operation signal output from the position lever 73 and a predetermined table stored in the storage device. do. Further, the control device 70 determines the upper limit of the angle of the lift arm 10 based on the operation of the upper limit setting dial 74 (upper limit angle ), in other words, the upper limit of the height of the coupling device 2 is calculated (obtained).

The control device 70 controls the rear end of the lift arm 10 when the indicated angle is smaller than the upper limit angle and the actual angle is smaller than the indicated angle, or when the indicated angle is larger than the upper limit angle and the actual angle is smaller than the upper limit angle. (the end on the tilling device 3 side).
The control device 70 maintains the height of the lift arm 10 when the indicated angle is smaller than the upper limit angle and the actual angle is equal to the indicated angle, or when the indicated angle is larger than the upper limit angle and the actual angle is equal to the upper limit angle. let

The control device 70 controls the rear end of the lift arm 10 when the indicated angle is smaller than the upper limit angle and the actual angle is larger than the indicated angle, or when the indicated angle is larger than the upper limit angle and the actual angle is larger than the upper limit angle. lower the section.
Note that the control device 70 only needs to control the raising and lowering of the coupling device 2 based on the operation of the position lever 73, the upper limit setting dial 74, etc., and the control method is not limited to the above method, and existing techniques can be applied. be.

The display device 80 can display various information regarding the work machine 4. Specifically, as shown in FIG. 2, the display device 80 includes a control section 80a, a display section 80b, and a storage section 80c. The control unit 80a is composed of a CPU and the like, and mainly controls the display on the display unit 80b. The display section 80b is a touch panel that can perform display and input. The storage unit 80c is a nonvolatile memory or the like, and stores information to be displayed on the display unit 80b, information regarding control of the working machine 4, and the like. The storage unit 80c stores, for example, various application software.

As shown in FIG. 2, the work machine 4 includes a position detection device 90. The position detection device 90 is a device that detects the position of the working machine 4 (vehicle body 1A). In this embodiment, the position detection device 90 is, for example, a positioning device, and is provided in the traveling vehicle 1. The position detection device 90 can detect its own position (positioning information including latitude and longitude) using a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, Michibiki, etc. That is, the position detection device 90 receives a satellite signal (position of the positioning satellite, transmission time, correction information, etc.) transmitted from a positioning satellite, and determines the position of the work implement 4 (vehicle body 1A) (for example, , latitude, longitude), that is, the vehicle body position is detected. As shown in FIG. 2, the position detection device 90 includes a receiving device 91 and an inertial measurement unit (IMU) 92. The receiving device 91 is a device that has an antenna and the like and receives satellite signals transmitted from a positioning satellite, and is attached to the vehicle body 1A separately from the inertial measurement device 92. In this embodiment, the receiving device 91 is attached to the upper part of the cabin (protection mechanism) 32 provided in the vehicle body 1A. Note that the mounting position of the receiving device 91 is not limited to the above-mentioned position, and may be in the center of the hood, or in the case where the vehicle body 1A is provided with a rope, it may be above the rope.

The inertial measurement device 92 includes an acceleration sensor that detects the acceleration of the vehicle body 1A, a gyro sensor that detects the angular velocity of the vehicle body 1A, and the like. The inertial measurement device 92 is provided below the vehicle body 1A, for example, the driver's seat 30, and can detect the roll angle, pitch angle, yaw angle, etc. of the vehicle body 1A.
Note that in this embodiment, the position detection device 90 is a position detection device 90 that detects the position of the vehicle body 1A based on a satellite signal, but the position detection device 90 may be any other device as long as it can detect the position of the vehicle body 1A. , the position of the vehicle body 1A may be detected based on the acceleration detected by the inertial measurement device 92 and predetermined position information, and is not limited to the above configuration. Further, the position detection device 90 only needs to be able to detect the position of the working machine 4, and may be provided in the display device 80 instead of the traveling vehicle 1, and its configuration is not limited to the above configuration.

As shown in FIG. 2, the working machine 4 includes a distance sensor 58, a first inclination sensor 59A, and a plowing depth calculating section 80a1. The distance sensor 58 is attached to the coupling device 2 and measures the distance to the ground G. Specifically, the distance sensor 58 is a sensor that measures the distance from the distance sensor 58 to the ground G. The distance sensor 58 is configured by, for example, a laser sensor. The distance sensor 58 has a laser irradiation section 58A, and measures the distance from the laser irradiation section 58A to the ground G by receiving laser light emitted from the laser irradiation section 58A and reflected by the ground G. Note that the distance sensor 58 is not limited to a laser sensor as long as it can measure the distance from the coupling device 2 to the ground G as shown in FIG. 3A.

As shown in FIG. 1A, the distance sensor 58 is provided on a sensor attachment part 62 attached to the connection frame 12. The sensor attachment portion 62 protrudes forward from the connection frame 12 and further protrudes forward than the tilling portion 47 . Moreover, the distance sensor 58 is located behind the rear wheel 6R. For this reason, the distance sensor 58 is located in front of the tiller 47 and measures the distance in uncultivated land that is not tilled by the tiller 47.

Note that the distance sensor 58 may be attached to other parts of the connection frame 12. Further, the distance sensor 58 may be attached to the first lower link 14L or the second lower link 14R, or may be attached to the first lower link 14L and the second lower link 14R.
The first inclination sensor 59A is a sensor that detects the inclination of the rotary tillage device 3, and measures the inclination angle θ1 with respect to the horizontal (ground G). As shown in FIG. 1A, like the distance sensor 58, the first tilt sensor 59A is provided in the sensor mounting portion 62, and the first tilt sensor 59A is located behind the rear wheel 6R. Note that the first tilt sensor 59A may be attached to another part of the connecting frame 12 separately from the distance sensor 58.

The plowing depth calculation unit 80a1 calculates the tillage of the tillage device 3 based on the inclination angle θ1 of the tillage device 3 with respect to the horizontal detected by the first inclination sensor 59A included in the working machine 4 in addition to the distance measured by the distance sensor 58. Calculate depth D. The plowing depth calculating section 80a1 is composed of, for example, electric/electronic components, a program installed in the control section 80a, etc., and calculates the plowing of the tilling device 3 based on the signals output from the distance sensor 58 and the first inclination sensor 59A. Calculate depth D. Specifically, the plowing depth calculation unit 80a1 acquires the distance measured by the distance sensor 58 and the inclination angle θ1 detected by the first inclination sensor 59A, and in addition to the distance and inclination angle θ1, the plowing depth calculation unit 80a1 obtains dimensional information used for calculating the plowing depth D. is obtained to calculate the plowing depth D. Hereinafter, calculation of the plowing depth D by the plowing depth calculating section 80a1 will be described with reference to FIG. 3A.

FIG. 3A shows a reference (standard) working posture of the working machine 4, and shows the positions of the components of the rotary tilling device 3 and the distance sensor 58 in the working posture of the working state. Distance from the irradiation starting point C1 of the laser irradiation unit 58A of the distance sensor 58 (the starting point where the laser beam is irradiated) to the irradiation point C2, which is the point irradiated with the laser beam (distance to the ground G measured by the distance sensor 58) ) is set as L1. Further, the rotation radius of the tilling claw 57 (the radius of the rotation locus of the outermost end in the rotational radial direction of the tilling claw 57) is R, and the height of the axis C3 of the rotation shaft 56 from the ground G is H. . Further, a line passing through the axis C3 and the axis C4 of the support arm 49 is S1. Further, the inclination angle detected by the first inclination sensor 59A is θ1, and the mounting angle of the first inclination sensor 59A is assumed to be θ2. In other words, the first inclination when the inclination angle θ1 of the first inclination sensor 59A is zero (θ1=0) in the standard working posture of the rotary tillage device 3, that is, in the posture in which the measurement direction of the distance sensor 58 is perpendicular to the ground G. The angle of sensor 59A is θ2. Further, a line passing through the irradiation starting point C1 and perpendicular to the line S1 is designated as S2, and the intersection of the line S1 and the line S2 is designated as C5. Line S3 indicates a horizontal line, and line S4 indicates a vertical line.

Furthermore, the distance L2 between the irradiation starting point C1 and the intersection C5 and the distance L3 between the axis C3 and the intersection C5 are determined based on the dimensions of the rotary tiller 3 and the position of the irradiation starting point C1. After determining the distance L2 and the distance L3, the plowing depth calculation unit 80a1 obtains the dimension information (distances L2, L3, mounting angle θ2) and the rotation radius R from the outside in advance. Specifically, the work machine 4 includes a first acquisition section 80a2 and a second acquisition section 80a3, and the first acquisition section 80a2 and the second acquisition section 80a3 are configured to control electric/electronic components and the control section 80a, for example. It consists of installed programs, etc.

The first acquisition unit 80a2 acquires individual information of the tilling device 3 connected to the connection device 2. The first acquisition unit 80a2 acquires the individual information of the tilling device 3 by acquiring information input to the display device 80 via the storage unit 80c or the like. For example, the storage unit 80c stores individual information (identification information) that allows the tilling device 3 to be identified, such as the name, model number, and product number of the tilling device 3 that can be attached to the working machine 4, and the first acquisition unit 80a2 Based on the information input to the display device 80, individual information of the tilling device 3 is acquired from the storage section 80c.

In this embodiment, the second acquisition unit 80a3 can acquire the radius of rotation R in addition to the distances L2, L3 and the mounting angle θ2 of the first tilt sensor 59A as dimensional information. The display device 80 can display a predetermined setting screen M1 on which distances L2, L3, mounting angle θ2, and rotation radius R can be set and input, and the second acquisition unit 80a3 displays the information set and input on the setting screen M1. It is possible to obtain it. The storage unit 80c stores the individual information of the tilling device 3 and the information inputted to the setting screen M1 in association with each other, and the second acquisition unit 80a3 inputs the settings to the setting screen M1 via the storage unit 80c etc. Get the information.

The plowing depth calculation unit 80a1 calculates the plowing depth D using the following formula [1].
D=RH [1]
The height H is determined by the following formula [2].
H=X0+X1-X2 [2]
X0 is L1 cos θ1, which is a value obtained by correcting the distance L1 measured by the distance sensor 58 to the vertical distance to the ground G.

Moreover, X1=L2sin(θ1+θ2), and X2=L3cos(θ1+θ2).
Therefore, the plowing depth D is determined by the following formula [3].
D=R-(L1cosθ1+L2sin(θ1+θ2)-L3cos(θ1+θ2))[3]
Thereby, the plowing depth calculation unit 80a1 calculates the plowing depth D using equation [3] based on the distance L1 measured by the distance sensor 58 and the inclination angle θ1 detected by the first inclination sensor 59A.

Since θ1=0 when the rotary tiller 3 is in the standard working posture,
L1cosθ1=L1.
When the work implement 4 sinks into the ground G and the rotary tilling device 3 is tilted from the standard working posture, or when the rotary tilling device 3 itself is tilted from the standard working posture, the tilling depth D is calculated by taking this tilting into account. be done. That is, the control device 70 corrects the distance L1 to the ground G measured by the distance sensor 58 using the inclination angle θ1 detected by the first inclination sensor 59A. Thereby, the plowing depth D can be detected with high accuracy.

Note that the number of distance sensors 58 is not limited to one, and a plurality of distance sensors can be provided. When a plurality of distance sensors 58 are provided, the plowing depth D is calculated by setting the average value of the distances measured by each distance sensor 58 as L1.
Further, as shown in FIG. 2, the working machine 4 includes a second inclination sensor 59B, and the control device 70 includes a correction section 80a4 and a switching section 80a5. The second inclination sensor 59B is a sensor that detects the inclination of the traveling vehicle 1, and measures the inclination angle θ3 with respect to the horizontal (ground G). Specifically, the second inclination sensor 59B can measure the pitch angle of the inclination of the vehicle body 1A. As shown in FIG. 1A, the second inclination sensor 59B is provided on the vehicle body 1A, and is capable of detecting the inclination angle θ3 of the vehicle body 1A with respect to the horizontal. The second inclination sensor 59B only needs to be able to detect at least the inclination of the vehicle body 1A, and its mounting position and sensor structure are not limited to the above-mentioned configuration. The configuration may be such that two tilt sensors 59B are used.

The correction unit 80a4 and the switching unit 80a5 are configured of, for example, electrical/electronic components, a program installed in the control unit 80a, and the like. The correction unit 80a4 corrects the plowing depth D of the tilling device 3 calculated by the plowing depth calculation unit 80a1 based on the inclination angle θ3 of the traveling vehicle 1 detected by the second inclination sensor 59B, and makes a correction perpendicular to the ground G. The subsequent plowing depth D (second plowing depth D2) can be calculated. In the following, for convenience of explanation, the plowing depth D calculated by the plowing depth calculating section 80a1 without the correction by the correcting section 80a4 will be referred to as the first plowing depth D1, and the plowing depth D calculated by the plowing depth calculating section 80a1 due to the correction by the correcting section 80a4 will be referred to as the first plowing depth D1. The calculated plowing depth D after correction may be referred to as a second plowing depth D2.

The control unit 80a also operates in a mode in which correction by the correction unit 80a4 is allowed, that is, a first mode (slope mode) in which correction by the correction unit 80a4 is effective, and a mode in which correction by the correction unit 80a4 is prohibited, that is, correction It is possible to switch to a second mode (flat ground mode) in which the correction by the section 80a4 is disabled. That is, in the first mode, the plowing depth calculating section 80a1 calculates the second plowing depth D2, and in the second mode, the plowing depth calculating section 80a1 calculates the first plowing depth D1. The switching unit 80a5 switches the control unit 80a to either the first mode or the second mode. Here, the switching unit 80a5 switches to either the first mode or the second mode based on the operation information input to the slope mode ON/OFF switching button 124 on the setting screen M1.

To explain in detail the calculation of the second plowing depth D2 in the first mode, the correction unit 80a4 converts the inclination angle θ1 in calculating the first plowing depth D1 in the second mode to the inclination angle θ3 detected by the second inclination sensor 59B. The plowing depth calculation unit 80a1 calculates the corrected second plowing depth D2. To describe the inclination angle θ1 corrected by the correction unit 80a4 as the inclination angle θ'1, the correction unit 80a4 calculates the difference between the inclination angle θ1 detected by the first inclination sensor 59A and the inclination angle θ3 detected by the second inclination sensor 59B. Correction is performed using the difference as the corrected tilt angle θ'1 (θ'1=θ1-θ3). Hereinafter, calculation of the second plowing depth D2 by the plowing depth calculating section 80a1 corrected by the correcting section 80a4 will be described with reference to FIG. 3B.

Assuming that the corrected height of the axis C3 of the rotating shaft 56 perpendicular to the ground G is H', the second plowing depth D2 is determined by the following formula [4] as described above.
D2=R-H' [4]
The height H' after correction is determined by the following equation [5].
H'=X'0+X'1-X'2 [5]
X'0 is L1cosθ'1, which is a value obtained by correcting the distance L1 measured by the distance sensor 58 to the vertical distance to the ground G.

Moreover, X'1=L2sin (θ'1+θ2), and X'2=L3cos (θ'1+θ2).
Therefore, the plowing depth D is determined by the following formula [6].
D2=R-(L1cosθ'1+L2sin(θ'1+θ2)-L3cos(θ'1+θ2))[6]
Therefore, the second plowing depth D2 corrected by the correction unit 80a4 is obtained by the following equation [7].

D2=R-(L1cos(θ1-θ3)+L2sin(θ1-θ3+θ2)-L3cos(θ1-θ3+θ2))[7]
As a result, when the working machine 4 is traveling, for example, in a field that is sloped and has relatively few irregularities, and the switching section 80a5 switches the control section 80a to the first mode, the correction by the correction section 80a4 is allowed, When the work vehicle and the rotary tillage device 3 are tilted from the standard working posture, the tillage depth calculation unit 80a1 calculates the second tillage depth D2 for the slope of the field by taking this tilt into consideration based on formula [7]. do. Correction is made using the tilt angle θ1 detected by the first tilt sensor 59A and the tilt angle θ3 detected by the second tilt sensor 59B. As a result, the plowing depth D can be detected with high accuracy even when the vehicle is traveling on a sloped field with relatively few irregularities.

On the other hand, if the work implement 4 is traveling in a field that is relatively uneven and not sloped, and the switching unit 80a5 switches the control unit 80a to the second mode, the correction by the correction unit 80a4 is prohibited, and the plowing The depth calculation unit 80a1 calculates the plowing depth D based on equation [3]. As a result, even when the vehicle is traveling in a field that has relatively many unevenness and is not sloped, the plowing depth D can be detected with high accuracy while suppressing the influence of disturbance due to unevenness.

In the embodiment described above, the correction unit 80a4 corrects the inclination angle θ1 by the inclination angle θ3, and the plowing depth calculation unit 80a1 calculates the corrected second plowing depth D2. Based on θ3, the first plowing depth D1 of the tilling device 3 calculated by the plowing depth calculation unit 80a1 may be corrected to calculate the second plowing depth D2, and the correction unit 80a4 should be used instead of the plowing depth calculation unit 80a1. may be configured such that the second plowing depth D2 is calculated.

As shown in FIG. 2, the display device 80 of the working machine 4 includes a plowing depth acquisition section 80a6, a reference acquisition section 80a7, a position acquisition section 80a8, a map creation section 80a9, and an average calculation section 80a10. There is. The plowing depth acquisition unit 80a6, the reference acquisition unit 80a7, the position acquisition unit 80a8, the map creation unit 80a9, and the average calculation unit 80a10 are comprised of, for example, electrical/electronic components, programs incorporated in the control unit 80a, and the like. The tilling depth acquisition unit 80a6 acquires the tilling depth D (first tilling depth D1 or second tilling depth D2) of the tilling device 3 included in the working machine 4. In this embodiment, the tilling depth D calculated by the tilling depth calculation unit 80a1 is acquired. Further, the tilling depth acquisition section 80a6 only needs to be able to acquire the tilling depth D of the tilling device 3, and its acquisition source is not limited to the tilling depth calculation section 80a1. However, the plowing depth D temporarily stored in the storage unit 80c may be acquired.

The standard acquisition unit 80a7 acquires a predetermined standard indicating the degree of plowing depth D. Specifically, the reference acquisition unit 80a7 acquires information stored in advance in the storage unit 80c or information inputted by operating the display unit 80b. The standard is a level (rank) indicating the degree of plowing depth D. In this embodiment, the standard includes three levels, including a first level, a second level, and a third level in descending order of plowing depth D. That is, the criteria in this embodiment are a lower limit value that corresponds to the plowing depth D and is a threshold value between the first level and the second level, and an upper limit value that is the threshold value between the second level and the third level. Contains. In the following description, the most appropriate value among the central levels (second level in this embodiment) of the standards will be described as the reference value. Further, an example will be explained in which the lower limit value of the standard is "11.5 cm" and the upper limit value is "13.5 cm". Note that the standard may include four or five levels, and the number is not limited.

The position acquisition unit 80a8 acquires the position of the work implement 4 when the tillage device 3 tills the soil. In the present embodiment, the position acquisition unit 80a8 can acquire at least the position of the vehicle body 1A when the tilling device 3 is used to till the field among the positions of the vehicle body 1A detected by the position detection device 90, and can acquire the current position of the vehicle body 1A. It is.
The map creation unit 80a9 associates the plowing depth D acquired by the tillage depth acquisition unit 80a6, the reference acquired by the reference acquisition unit 80a7, and the position acquired by the position acquisition unit 80a8, and creates a field map (first field map). Create m1). The first field map m1 is a field when the working machine 4 is actually traveling, and is a virtual field in which the degree of tilling depth D acquired by the tilling depth acquisition unit 80a6 is associated with each position. Specifically, the map creation unit 80a9 divides the virtual field into a plurality of areas Qn (n=1, 2, 3...n), and divides the virtual field into areas Qn (n=1, 2, 3, . The plowing depth D obtained by the plowing depth obtaining unit 80a6 is assigned. The area Qn is divided, for example, according to the time interval at which the tilling depth acquisition unit 80a6 acquires the tilling depth D. Specifically, from the position acquired by the position acquisition unit 80a8 when the tillage depth acquisition unit 80a6 acquired the tillage depth D last time (N=n-1), the tillage depth acquisition unit 80a6 acquires the tillage depth D this time (N=n). The area up to the position acquired by the position acquisition unit 80a8 when acquiring the plowing depth D is divided into one area Qn. The width of the area Qn corresponds to the widthwise length (working width) of the tilling device 3.

The map creation unit 80a9 allocates divided data d1n (n=1, 2, 3, . . . n), which is the plowing depth D corresponding to each of the plurality of areas Qn. When the map creation unit 80a9 allocates the divided data d1n to the plurality of areas Qn, the map creation unit 80a9 associates the standard acquired by the standard acquisition unit 80a7 with the virtual field, and associates the divided data d1n with the standard acquired by the standard acquisition unit 80a7. Based on this, divided data d2n (n=1, 2, 3, . . . n) representing the degree of plowing depth D is assigned to a plurality of areas Qn, and a first field map m1 is created. That is, the first field map m1 includes the tilling depth D acquired by the tilling depth acquisition section 80a6, the reference acquired by the reference acquisition section 80a7, and the position acquired by the position acquisition section 80a8. The first field map m1 created by the map creation unit 80a9 is stored in the storage unit 80c.

The first field map m1 that is being created by the map creating section 80a9 is temporarily stored in the storage section 80c, and is updated every time the tilling depth acquisition section 80a6 acquires the tilling depth D. Further, when the working machine 4 finishes the work of acquiring the plowing depth D, the map creation unit 80a9 finishes updating the first field map m1, that is, ends the temporary storage in the storage unit 80c, and completes the creation. The first field map m1 thus obtained is stored in the storage unit 80c.

Further, since the plowing depth calculation unit 80a1 calculates the plowing depth D at the position where the work implement 4 has traveled, that is, the position where the tilling device 3 has passed, the first field map m1 is based on the route along which the work implement 4 has traveled. Created. For example, when the working machine 4 performs tilling work using the tilling device 3, the working machine 4 runs in a substantially straight line from one side of the field to the other side and from the other side to the other side. A plurality of areas Qn extending from one side to the other and continuous in a band shape are displayed in parallel.

Further, in the present embodiment, the area Qn is divided according to the time interval at which the plowing depth acquisition unit 80a6 acquires the plowing depth D, but the map creation unit 80a9 divides the area Qn by a predetermined distance regardless of the time interval. It may be divided by interval (positional interval), or it may be divided into a mesh shape with predetermined intervals, and the method of dividing area Qn is not limited to the method described above. Furthermore, the map creation unit 80a9 creates a field map (first field The field map m1 may display the plowing depth D as contour lines, and the display method is not limited to the method described above.

The average calculating unit 80a10 calculates the average of the tilling depths D based on the tilling depths D acquired by the tilling depth acquiring unit 80a6. In this embodiment, the average calculation unit 80a10 acquires a plurality of plowing depths D included in the first field map m1, and averages the plurality of plowing depths D to calculate the plowing depth in the first field map m1. Calculate the average of D. The storage unit 80c stores the first field map m1 and the average plowing depth D corresponding to the first field map m1 and calculated by the average calculation unit 80a10 in association with each other.

In addition, in this embodiment, the first field map m1 includes the tilling depth D acquired by the tilling depth acquisition section 80a6, the reference acquired by the reference acquisition section 80a7, the position acquired by the position acquisition section 80a8, and the average calculation section 80a10. contains the average value of the tilling depth D calculated by Date information (year/month/day or year/month), time information (start time and/or end time of tilling), total tilling time, average value of tilling depth D, traveling speed of work implement 4, working width, The information may include the model of the working machine 4 and any or all of the reference values.

As shown in FIGS. 4, 5A, etc., the display unit 80b of the display device 80 can display various screens (multiple screens) in response to operations, such as a predetermined home screen (not shown), A setting screen M1, a first application screen M2 that displays the plowing depth D of the tilling device 3, a first reference screen M3 that accepts reference setting input, and the like are individually displayed. A common designation section 110 is displayed on the screen displayed by the display section 80b. The specifying unit 110 specifies the transition of the screen displayed by the display unit 80b, and can mutually switch the screens displayed by the display unit 80b. The designation unit 110 includes, for example, a home button 110a that designates displaying the home screen (switches to the home screen), and a return button 110b that returns from the currently displayed screen to the previous screen (switches to the previous screen). Contains. Furthermore, when the first application screen M2 or the like is displayed, the designation section 110 has a settings button 110c that designates to display the settings screen M1. The settings button 110c is arranged on the opposite side of the home button 110a and the return button 110b.

The setting screen M1 is a screen for controlling the working machine 4 and setting the display device 80, and the display section 80b displays the setting screen M1 when the setting button 110c of the specifying section 110 is operated. As shown in FIG. 4, the setting screen M1 displays a plurality of setting areas corresponding to the contents to be set. In this embodiment, the setting screen M1 displays a first setting area 120a, a second setting area 120b, a third setting area 120c, a fourth setting area 120d, and a fifth setting area 120e. The first setting area 120a is an area displayed on the left side of the setting screen M1 and above the designated area 115. The first setting area 120a is an area for setting and inputting information regarding the tilling device 3. The second setting area 120b is an area displayed on the upper right side of the setting screen M1. The second setting area 120b is an area for setting and inputting information regarding the settings of the first application screen M2, for example. The third setting area 120c is an area displayed on the lower right side of the setting screen M1. The third setting area 120c is an area for setting and inputting information regarding communication of the position detection device 90, for example. The fourth setting area 120d is an area displayed below the third setting area 120c, and includes a first confirmation button 121 for confirming the information set and input in the first setting area 120a to third setting area 120c. I'm here. The fifth setting area 120e is an area displayed on the left side of the setting screen M1 and between the first setting area 120a and the designated area 115. The fifth setting area 120e includes a work history button 123 that displays a setting screen M1, which will be described later, and a slope mode ON/OFF switching button 124.

The first setting area 120a is an area where information regarding calculation of the plowing depth D of the tilling device 3, that is, individual information of the tilling device 3, dimensional information of the distance sensor 58 and the first inclination sensor 59A, etc. can be set and input. . Specifically, as shown in FIG. 4, the first setting area 120a displays a plurality of input units 122.
The plurality of input units 122 are capable of setting and inputting individual information of the tilling device 3, dimensional information of the first inclination sensor 59A, and the like. The plurality of input sections 122 include at least a first input section 122a that is a section for inputting the rotation radius R, a second input section 122b for inputting a distance L2, and a third input section 122b for inputting a distance L3. section 122c, a fourth input section 122d that is a section for inputting the mounting angle θ2 of the first inclination sensor 59A, and a device selection section 122e for selecting individual information of the tilling device 3. The first input section 122a to the fourth input section 122d can accept the input of arbitrary numerical values, and the input of numerical values to the first input section 122a to the fourth input section 122d is performed using the predetermined number displayed on the display section 80b. This is done by operating the operating tools and the operating switches included in the display device 80.

The device selection unit 122e is a part that selects individual information of the tilling device 3 connected to the connecting device 2, that is, selects and operates individual information that allows the tilling device 3 to be identified, such as the name, model number, product number, etc. of the tilling device 3. be. The device selection section 122e displays, for example, the individual information acquired by the control section 80a from the storage device as a list, and the operator can select the information by operating the display section 80b or operating the operation switch included in the display device 80. Select individual information.

In the present embodiment, the setting screen M1 displays a device selection section 122e that allows selection and operation of individual information of the tilling device 3; It is also possible to display a portion where individual information of the tilling device 3 can be directly input by operating a predetermined operating tool or an operating switch included in the display device 80.
When the operator sets and inputs information in the first setting area 120a and operates the first confirmation button 121, the storage section 80c stores the individual information of the tilling device 3 selected in the device selection section 122e and the first input section 122a. The rotation radius R input in , the distance L2 input in the second input section 122b, the distance L3 input in the third input section 122c, and the mounting angle of the first tilt sensor 59A input in the fourth input section 122d. θ2 is stored in association with each other.

In addition, the plurality of input sections 122 input the length in the width direction (working width) of the tilling device 3 and the working range of the tilling device 3 separately from the device selection section 122e and the first input section 122a to the fourth input section 122d. It may include an input section for inputting a width to be overlapped (wrap width) and the like.
Furthermore, based on the individual information of the tilling device 3 selected by the device selection section 122e, the display device 80 displays the rotation radius R, distance L2, distance L3, and attachment angle θ2 corresponding to the individual information from the storage section 80c. The information may be acquired and displayed in advance on the first input section 122a to the fourth input section 122d, and the display of the setting screen M1 is not limited to the above-described configuration.

Furthermore, the setting screen M1 only needs to be able to set and input information regarding calculation of the plowing depth D of the tilling device 3, that is, individual information of the tilling device 3, dimensional information of the distance sensor 58 and the first inclination sensor 59A, and display the information. The area, display method, etc. are not limited to the above configuration.
As shown in FIG. 5A, the first application screen M2 is a screen that displays various information corresponding to the application, and includes a first application area 130. The first application area 130 is displayed above the designated area 115. Note that the first application screen M2 in FIG. 5A is a screen that displays the first field map m1 that is being created by the map creation unit 80a9, among the tillage depth display applications that display the tillage depth D of the tillage device 3. There is. In other words, on this first application screen M2, the tilling depth D of the tilling performed by the tilling device 3 while actually driving the work implement 4 is determined based on the tilling depth D acquired by the tilling depth acquiring unit 80a6 included in the display device 80. can be displayed.

As shown in FIG. 5A, the first application area 130 of the first application screen M2 is mainly divided into a first display area 130a, a second display area 130b, and a third display area 130c. The first display area 130a is an area that is displayed from the left end to the right end of the first application area 130, for example, at the upper end of the first application area 130. The current plowing depth D acquired by the plowing depth acquisition section 80a6 is displayed in the first display area 130a. Further, when the current plowing depth D is equal to the reference value acquired by the reference acquisition unit 80a7, "standard plowing depth" is displayed near the displayed plowing depth D. Note that in addition to the plowing depth D described above, predetermined information such as the position information of the work implement 4 and the vehicle speed may be displayed in the first display area 130a. For example, instead of the current plowing depth D, the first display area 130a displays the travel distance of the work implement 4, the travel area of the tilling device 3 (the product of the working width and the travel distance), the positioning state of the position detection device 90, etc. May be displayed.

The second display area 130b is displayed below the first display area 130a, and is an area extending from the left end of the first application area 130 to the right side. That is, the second display area 130b is arranged between the designated area 115 and the first display area 130a.
The third display area 130c is arranged to the right of the second display area 130b, and is an area displayed between the designated area 115 and the first display area 130a at the right end of the first application area 130.

As shown in FIG. 5A, the second display area 130b displays a field display section 131, and the field display section 131 displays the first field map m1 created by the map creation section 80a9. The field display section 131 also shows the case where the driver seated in the driver's seat 30 of the working machine 4 (vehicle body 1A) views the actual field, and the first field map m1 (field image) displayed on the field display section 131. The field images are displayed diagonally so that they are intuitively consistent. Note that the field image displayed by the field display section 131 may be displayed in a bird's-eye view, and its display form is not limited to the above-mentioned form. Note that for convenience of explanation, the virtual field displayed on the field display section 131 may be referred to as a "virtual field" or a "field image."

Further, the field display section 131 displays the current position of the working machine 4 acquired by the position acquisition section 80a8. Specifically, the field display section 131 shows a machine display section 132 that displays the position of the working machine 4 based on the position information acquired by the position acquisition section 80a8, that is, the position information detected by the position detection device 90. ing. Specifically, it is an image section that displays the current position of the working machine 4 on the field display section 131, and the machine display section 132 virtually shows the working machine 4 (vehicle body 1A). The display position of the machine display section 132 with respect to the field display section 131 is fixed.

Therefore, when the work equipment 4 is actually driven, the display position of the machine display section 132 in the virtual field remains fixed, and the field display section changes as the position of the vehicle body 1A detected by the position detection device 90 changes. A virtual field (field image) shown at 131 scrolls.
The field display unit 131 displays the divided data d2n assigned to the plurality of areas Qn in different display formats depending on the degree of division. Specifically, the field display section 131 displays a first degree display section 141 indicating the divided data d2n on the field image. For example, the first degree display section 141 is displayed on the field display section 131 and displays the degree of plowing depth D with respect to a predetermined reference at a predetermined position.

The first degree display unit 141 displays the degree of plowing depth D in each area Qn on the field in sections with different display formats, based on the first field map m1. The first degree display unit 141 displays an area Qn (first level) where the plowing depth D is less than the lower limit value, that is, an area Qn where the plowing depth D is relatively shallow, in “red” in the virtual field displayed by the field display unit 131. It is displayed in section 142a. The first degree display unit 141 also displays an area Qn (second level) where the tilling depth D is greater than or equal to the lower limit value and less than the upper limit value, that is, an area Qn where the tilling depth D is appropriate, in “blue”. The area Qn where the plowing depth D exceeds the upper limit value, that is, the area Qn (third level) where the plowing depth D is relatively deep, is displayed as a "yellow" section 142c.

Note that the first degree display section 141 may display the degree of the first field map m1 by changing the display form depending on the degree, and the display form to be changed is not limited to color, and the color to be changed is as described above. The color gamut is not limited to the specified color gamut, and may be changed arbitrarily by the operator. For example, the first degree display unit 141 may display the section 142a in "light blue", the section 142b in "green", and the section 142c in "red", and the configuration is not limited to the above-described structure. .

Further, as shown in FIG. 5A, the display section 80b may display the current plowing depth D of the tilling device 3 separately from the first field map m1 of the field display section 131. Specifically, the display section 80b displays the second degree display section 145 on the first application screen M2. The second degree display section 145 displays the degree of tillage depth D with respect to a predetermined standard at the location where the tillage device 3 is located. Specifically, the second degree display section 145 determines the degree of plowing depth D at the current position of the work implement 4 from the displayed first field map m1 based on the position information acquired by the position acquisition section 80a8. indicate. Further, the second degree display section 145 is displayed in the third display area 130c.

As shown in FIG. 5A, the second degree display section 145 includes a numerical value display section 146, a first display section 148, and a second display section 149. The numerical display section 146 is a section that displays the tilling depth D acquired by the tilling depth acquisition section 80a6 in numbers or the like.
The first display unit 148 displays, for example, an arrow pointing in one direction (for example, upward) to indicate that the tilling depth D is shallow relative to the reference, that is, that the tilling depth D acquired by the tilling depth acquisition unit 80a6 is less than the lower limit value. This figure is arranged above the numerical display section 146 as shown in FIG. 5A. For example, the second display section 149 indicates that the tilling depth D is deeper than the standard, that is, that the tilling depth D acquired by the tilling depth acquisition section 80a6 exceeds the upper limit value. It is a figure indicated by an arrow pointing in a direction (for example, downward), and is arranged below the numerical display section 146.

Further, when the return button 110b is operated on the first application screen M2, a window pops up to accept a selection input as to whether to return to the home screen (not shown). When a selection input to "return to the home screen" is made in the window, the map creation section 80a9 finishes the creation of the first field map m1, and the storage section 80c stores the first field map m1 that has been created. Store map m1. Further, when the storage unit 80c stores the first field map m1 that has been created, the average calculation unit 80a10 calculates the average value of the plowing depth D. Thereby, the storage unit 80c stores the updated first field map m1 and the average value of the plowing depth D corresponding thereto in association with each other.

The storage unit 80c stores the first field map m1 and the average plowing depth D in association with each other, and when a predetermined operation is performed on the display device 80 to display the first application screen M2 again, the first application screen M2 is displayed as shown in FIG. 5B. As such, selection operation sections (in this embodiment, the first selection reception section 135 and the second selection reception section 136) are displayed in the first application area 130. The selection operation units 135 and 136 can accept a first operation and a second operation. The first selection reception unit 135 can accept the first operation, and the second selection reception unit 136 can accept the second operation. The first selection reception unit 135 and the second selection reception unit 136 are image units that allow selection operation of either one, and the first selection reception unit 135 is written as “from the beginning”, and the second selection reception unit 136 is written as "work from continuation".

When the selection operation units 135, 136 accept the first operation, the map creation unit 80a9 creates a new first field map m1, and when the selection operation units 135, 136 accept the second operation, the map creation unit 80a9 creates a new first field map m1. 80a9 updates the first field map m1 stored in the storage section 80c.
Specifically, when the first selection reception unit 135 receives the first operation, the map creation unit 80a9 selects a first field map m1 different from the first field map m1 whose creation was completed last time based on the operation information. Creation of field map m1 is started. On the other hand, when the second selection reception unit 136 receives the second operation, the map creation unit 80a9 acquires the first field map m1 whose creation was completed last time from the storage unit 80c based on the operation information, and The creation of the first field map m1 is restarted, and the first field map m1 is updated.

Note that the selection operation unit includes a first selection reception unit 135 and a second selection reception unit 136, but the selection operation unit selects a first field map different from the first field map m1 whose creation was completed last time. The configuration is not limited to the above-described configuration as long as it can accept a selection operation for starting the creation of the first field map m1 or restarting the creation of the first field map m1. Further, the map creation unit 80a9 only needs to be able to confirm the first field map m1 that is being created based on some kind of operation or input information; for example, the first application screen M2 may be It may also include a save button (not shown) for finishing the cultivation, that is, for finalizing the first field map m1 created by the map creation section 80a9. In such a case, when the save button is operated, the map creation unit 80a9 finishes creating the first field map m1 that is being created, and the storage unit 80c stores the created first field map m1. . Further, when the save button is operated and the storage unit 80c stores the first field map m1 that has been created, the average calculation unit 80a10 calculates the average value of the plowing depth D.

As shown in FIG. 2, the display device 80 includes a first changing section 80a11. The first changing unit 80a11 is composed of, for example, electrical/electronic components, a program installed in the control unit 80a, etc., and the first changing unit 80a11 inputs the changed standard on the screen displayed on the display unit 80b. The first reception unit 150 that accepts the request is displayed, and the criteria are changed based on the information input to the first reception unit 150. When the first changing unit 80a11 changes the standard, the standard acquiring unit 80a7 acquires the changed standard, and the map creating unit 80a9 associates the changed standard with the first field map m1 being created. As a result, the map creation unit 80a9 re-allocates the divided data d2n based on the divided data d1n included in the first field map m1 and the criteria acquired by the standard acquisition unit 80a7. Update.

In this embodiment, the first reception unit 150 is displayed on the first reference screen M3 displayed by the display unit 80b. When the operator performs a predetermined operation on the display device 80, in this case, presses the "Detailed tilling depth display setting" button in the upper right corner of the setting screen M1, the display device 80 displays the number on the display section 80b, as shown in FIG. 1. Display the reference screen M3. The first reception section 150 has a reference input section 151 and a second confirmation button 152. The reference input unit 151 is a part that can accept input of a reference for the plowing depth D, and is a part that defines a range in which the plowing depth D is "appropriate". In this embodiment, the reference input section 151 includes a reference value input section 151a, a lower limit input section 151b, and an upper limit input section 151c. The reference value input section 151a is a section for inputting the most appropriate value of the plowing depth D, and in FIG. 6, "12.5 cm" is input as the reference value.

The lower limit input section 151b is a section for inputting a lower limit value corresponding to the plowing depth D among the standards. In this embodiment, the lower limit input section 151b receives the input of the lower limit value by accepting the input of the difference between the reference value and the lower limit value (first deviation), and in FIG. 1.0cm" is input. That is, in the first reception unit 150 shown in FIG. 6, the lower limit value is input as "11.5 cm".

The upper limit input section 151c is a section for inputting an upper limit value corresponding to the plowing depth D among the standards. In the present embodiment, the upper limit input section 151c receives an input of the upper limit value by receiving an input of the difference (second deviation) between the reference value and the upper limit value, and in FIG. 1.0cm" is input. That is, in the first reception unit 150 shown in FIG. 6, the upper limit value is input as "13.5 cm".

The second confirmation button 152 is an image section that allows an operation to confirm the value (reference value, etc.) input in the reference input section 151. Therefore, when the operator sets and inputs a value to the reference input section 151 and operates the second confirmation button 152, the reference acquisition section 80a7 obtains the input reference value, first deviation, and second deviation. , the map creation unit 80a9 associates the criteria based on the reference value, the first deviation, and the second deviation with the first field map m1 displayed by the field display unit 131, and calculates the divisions included in the first field map m1. The divided data d2n is reassigned based on the data d1n and the standard acquired by the standard acquisition unit 80a7, and the first field map m1 is updated.

As shown in FIG. 7A, the display device 80 can call up and display the field map (first field map m1) stored in the storage unit 80c. Specifically, the display device 80 includes a list display section 160, selection sections 161 and 166, and a map display section 171. The list display section 160, the selection sections 161 and 166, and the map display section 171 are display images displayed on various screens displayed on the display device 80. The list display section 160 displays the first field map m1 stored in the storage section 80c as a list. The selection section accepts a selection operation for one of the first field maps m1 displayed on the list display section 160. The map display section 171 reads and displays the first field map m1 for which the selection section has received the selection operation from the storage section 80c. Note that the control unit 80a performs calculation processing for displaying the list display unit 160, the selection unit, and the map display unit 171 on the display unit 80b. The list display section 160, selection section, and map display section 171 will be described in detail below, mainly using FIGS. 7A to 8.

As shown in FIG. 7A, the display section 80b separately displays a list screen M4 that displays a list display section 160 and selection sections 161 and 166, and a second application screen M6 that displays a map display section 171. Further, the list screen M4 and the details screen M5 display a designation section 110 that is common to the screens M1, M2, and M3.
When the worker performs a predetermined operation on the display device 80, in this case pressing the work history button 123 on the setting screen M1, the display device 80 displays a list screen M4 on the display section 80b, as shown in FIG. 7A. The list screen M4 is a screen that displays a list of information on the first field map m1 stored in the storage section 80c, and includes a list display section 160. List display section 160 is displayed above designated area 115. The list display section 160 displays a list of the first field maps m1 stored in the storage section 80c as a table. For example, as shown in FIG. 7A, the list display section 160 includes a name display section 160a that displays the name of the tilling operation corresponding to the first field map m1, and a date display section 160a that displays the name of the tilling operation corresponding to the first field map m1, and a date display section 160a that displays the name of the tilling operation corresponding to the first field map m1, and a date display section 160a that displays the name of the tilling operation corresponding to the first field map m1. It has a display section 160b.

Further, the list screen M4 may include a selection section 161 in addition to the list display section 160. For example, as shown in FIG. 7A, the selection section 161 is displayed on the right side of the table in the list display section 160. Ru. The selection section 161 is arranged adjacent to the list display section 160, and is a plurality of image sections corresponding to each of the first field maps m1 displayed by the table. That is, in the present embodiment, when a selection operation is performed on the selection section 161 adjacent to the right side of one first field map m1 among the first field maps m1 displayed on the list display section 160, the selected selection section 161 accepts selection input of one first field map m1. In the above example, the selection section 161 is arranged adjacent to the list display section 160, but the display device 80 may include the list display section 160 and the selection sections 161, 166. The display method and display form are not limited to the above-described example, and may be configured such that, for example, the image section of the selection section 161 is displayed within the table of the list display section 160. Further, the selection section 166 may be displayed on a screen different from the list display section 160, that is, displayed on a screen different from the list screen M4.

Specifically, as shown in FIG. 7B, the display section 80b may be able to display the selection section 166 and a details screen M5 that displays details of the first field map m1. In such a case, the details screen M5 is a screen that transitions from the list screen M4, and for example, by operating the list display section 160, one of the first field maps m1 displayed on the list display section 160 can be selected. The first field map m1 is selected as the target for detailed display. Thereby, the display unit 80b displays a detailed screen M5 corresponding to the selected first field map m1. The details screen M5 displays an information display section 165 and a selection section 166 above the designated area 115. The information display section 165 is a display area that displays information stored in the storage section 80c in association with the first field map m1. The information display section 165 displays, for example, the name of the tilling operation corresponding to the first field map m1, date information (Year/Month/Day or Year/Month) when the work implement 4 tilled, and time information (start time and time of tilling). / or end time), the total tilling time, the average value of tilling depth D, the traveling speed of the working machine 4, the working width, the model of the working machine 4, and the reference value. In the present embodiment, the information display unit 165 displays, for example, the name of the tilling operation corresponding to the first field map m1, the date on which the work implement 4 tilled, the start time and end time of tilling, the total time of tilling, and the tilling operation. The average value of the depth D, the traveling speed of the working machine 4, the working width, the model of the working machine 4, and the reference value are displayed.

In this embodiment, the average calculation unit 80a10 calculates the average value of the plowing depth D when the storage unit 80c stores the first field map m1 that has been created, and the information display unit 165 calculates the average value of the plowing depth D. Although the average value of plowing depth D is displayed, the display device 80 only needs to be able to display the average value of plowing depth D on at least the information display section 165, and the timing at which the average calculation section 80a10 calculates the average value of plowing depth D is , is not limited to the case where the storage unit 80c stores the first field map m1. For example, when one first field map m1 is selected as a target for detailed display among the first field maps m1 displayed on the list display section 160, the average calculation unit 80a10 calculates the average calculation unit 80a10. The configuration may be such that the average value of the plowing depth D in is calculated.

Further, the selection section 166 displayed on the detailed screen M5 accepts a selection input of the first field map m1 displayed on the detailed screen M5, that is, among the first field maps m1 displayed on the list display section 160, A selection input for the first field map m1 is accepted. The selection section 166 displayed on the detailed screen M5 is a display image displayed below the information display section 165.

Note that on the details screen M5, it may be possible to edit the information of the first field map m1 stored in the storage unit 80c. For example, among the information associated with the first field map m1, the first It may be possible to edit the name of the tilling work corresponding to the field map m1 and the explanation (memo) of the first field map m1. Further, on the detailed screen M5, it may be possible to delete information on the first field map m1 stored in the storage section 80c. As shown in FIG. 7B, the details screen M5 has a delete button 167, and the delete button 167 accepts an input operation for deleting data corresponding to the first field map m1 displayed on the details screen M5. . When the delete button 167 is operated, the control unit 80a deletes the data of the first field map m1 displayed on the detailed screen M5 for which the delete button 167 has received the input operation from the storage unit 80c.

As shown in FIG. 8, the second application screen M6 is a screen that displays various information corresponding to the application, similar to the first application screen M2, and has a second application area 170. The second application area 170 is displayed above the designated area 115. Note that the second application screen M6 in FIG. 8 shows a screen that displays the field map stored in the storage unit 80c, among the tilling depth display applications that display the tilling depth D of the tilling device 3.

As shown in FIG. 8, the second application area 170 of the second application screen M6 includes a map display section 171. The map display section 171 displays, as a field map, the first field map m1 stored in the storage section 80c, for example, and for which the selection sections 161 and 166 have received selection inputs. The map display unit 171 also displays the map image of the first field map m1 in a bird's-eye view from above (bird's-eye display). Similar to the field display section 131, the map display section 171 displays the map image diagonally so that the driver seated in the driver's seat 30 of the work equipment 4 (vehicle body 1A) intuitively matches the view of the actual field. The display format is not limited to the above-mentioned format. Note that for convenience of explanation, the virtual field map displayed on the map display section 171 may be referred to as a "virtual map" or a "map image."

Furthermore, the map display section 171 may be able to perform predetermined operations such as enlarging or reducing the displayed map image, or moving the display area, and the display method is not limited to the above-described configuration.
As shown in FIG. 8, the map display unit 171 displays the divided data d2n allocated to the plurality of areas Qn of the first field map m1 in different display formats depending on the degree of division. Specifically, the map display section 171 displays a third degree display section 172 indicating the divided data d2n on the map image. For example, the third degree display section 172 is displayed on the map display section 171 and displays the degree of plowing depth D with respect to a predetermined reference at a predetermined position.

The third degree display section 172 displays the degree of plowing depth D at each position on the virtual map based on the first field map m1. The third degree display section 172 displays an area Qn where the tilling depth D is less than the lower limit value, that is, an area Qn (first level) where the tilling depth D is relatively shallow, in "red" on the virtual map displayed by the map display section 171. It is displayed in section 173a. The third degree display unit 172 also displays areas Qn in which the tilling depth D is greater than or equal to the lower limit value and less than the upper limit value, that is, areas Qn (second level) where the tilling depth D is appropriate, in “blue”. The area Qn where the plowing depth D exceeds the upper limit value, that is, the area Qn (third level) where the plowing depth D is relatively deep, is displayed as a "yellow" section 173c.

Note that the third degree display section 172 may display the degree of the field map by changing the display form depending on the degree, and the display form to be changed is not limited to color, and the color to be changed is the color gamut described above. It is not limited to , and may be changed arbitrarily by the operator. For example, the section 173a may be displayed in "light blue," the section 173b may be displayed in "green," and the section 173c may be displayed in "red," and the configuration is not limited to the above.

The map display section 171 may display the standards of the field map stored in the storage section 80c. As shown in FIG. 8, a reference display section 174 that displays a reference is displayed on the left side of the third degree display section 172. The reference display section 174 displays numerical values of the reference value, lower limit value, and upper limit value of the field map degree, and the color of the degree. By displaying the reference display section 174, the correspondence between the colors of the field map and the plowing depth values can be linked at a glance.

Further, as shown in FIG. 2, the display device 80 of the work machine 4 includes a reference changing unit (second changing unit) 80a12 that changes the reference, and a map creating unit 80a9 stores information stored in the storage unit 80c. A new field map (second field map m2) is created based on the reference change by the reference change unit 80a12. For example, the map creation unit 80a9 calls the first field map m1 displayed on the map display unit 171, and creates a new field map (second field map m2) based on the change in the standard by the standard change unit 80a12. . The standard changing unit 80a12 is composed of, for example, electrical/electronic components, a program installed in the control unit 80a, etc., and the standard changing unit 80a12 receives input of changed standards on a screen displayed on the display unit 80b. The change input section 180 is displayed, and the criteria are changed based on the information input to the change input section 180. In this embodiment, the change input section 180 is displayed on the second reference screen M7 displayed by the display section 80b.

When the operator performs a predetermined operation on the display device 80, the display device 80 displays the second reference screen M7 on the display section 80b, as shown in FIG. The change input section 180 has a reference input section 181 and a third confirmation button 182. The reference input section 181 is a section that can accept input of a reference for the plowing depth D, similar to the reference input section 181, and is a section that defines a range in which the plowing depth D is "appropriate". In this embodiment, the reference input section 181 includes a reference value input section 181a, a lower limit input section 181b, and an upper limit input section 181c. Similar to the reference value input section 151a of the first reference screen M3, the reference value input section 181a is pre-inputted with the reference value corresponding to the first field map m1 for which the selection section 161, 166 has received the selection input. "12.5cm" has been input.

The lower limit input section 181b is a section for inputting a lower limit value corresponding to the plowing depth D of the reference, similar to the lower limit input section 151b of the first reference screen M3. In this embodiment, the input of the lower limit value is accepted by accepting the input of the difference between the reference value and the lower limit value (first deviation), and the lower limit input section 181b receives the input of the difference between the reference value and the lower limit value (first deviation), and the lower limit input section 181b selects the first deviation from which the selection section 161, 166 has received the selection input. The first deviation corresponding to the one-field map m1 is input in advance. In the example of FIG. 9, for example, "12.5 cm" is input to the reference value input section 181a. In the lower limit input section 181b, "1.0 cm" is inputted in advance, and this is changed to "2.0 cm" in the lower limit input section 181b. That is, in the change input section 180 shown in FIG. 9, the lower limit value is input as "10.5 cm".

The upper limit input section 181c is a section for inputting the upper limit value corresponding to the plowing depth D of the reference, similar to the upper limit input section 181c of the first reference screen M3. In this embodiment, the input of the upper limit value is accepted by accepting the input of the difference (second deviation) between the reference value and the upper limit value, and the upper limit input unit 181c receives the input of the upper limit value by accepting the input of the difference (second deviation) between the reference value and the upper limit value. The second deviation corresponding to the one-field map m1 is input in advance. In the example of FIG. 9, "1.0 cm" is previously input into the upper limit input section 181c, and the case is shown in which it is changed to "2.0 cm" in the upper limit input section 181c. That is, in the change input section 180 shown in FIG. 9, the upper limit value is input as "14.5 cm".

The third confirmation button 182 is an image section that allows an operation to confirm the value (reference value, etc.) input in the reference input section 181. Therefore, when the operator sets and inputs a value into the reference input section 181 and operates the third confirmation button 182, the reference acquisition section 80a7 obtains the input reference value, first deviation, and second deviation. , based on the first field map m1 for which the selection units 161 and 166 have received the selection input, and based on the divided data d1n included in the first field map m1 and the standard acquired by the standard acquisition unit 80a7. d2n is reassigned, that is, the changed standard is associated with the position and plowing depth D that are associated with the called first field map m1, and a new field map (second field map m2) is created. create.

When the map creation unit 80a9 creates the second field map m2, the map display unit 171 displays the second field map m2, which is the new field map. Specifically, the map display section 171 displays the second field map m2 instead of the first field map m1, as shown in FIG. Therefore, the standards are different between the first field map m1 and the second field map m2, and in the example of FIG. Since the second field map m2 is also larger, the degree of plowing depth D at each position on the map is displayed differently. Specifically, the second field map m2 displayed on the second application screen M6 shown in FIG. 10 is relatively deeper than the first field map m1 displayed on the second application screen M6 shown in FIG. Many sections 173b (second level) that are appropriate for D are displayed, and fewer sections 173a (first level) with a relatively shallow tillage depth D and fewer sections 173c (third level) with a relatively deep tillage depth D are displayed. . As a result, the reference changing unit 80a12 changes the reference, so that the map display unit 171 can transition the display from the first field map m1 to the second field map m2 having a different degree of cultivation.

Note that in the embodiment described above, the map display section 171 transitions the display from the first field map m1 to the second field map m2, but the map creation section 80a9 allows the selection sections 161 and 166 to accept and store selection inputs. It is sufficient to call up the first field map m1 stored in the section 80c and create a new field map (second field map m2) based on the change in the standard by the standard changing section 80a12. The configuration may be such that the first field map m1 called up from the section 80c is not displayed, but the second field map m2 created by the map creation section 80a9 is displayed.

In such a case, when the reference change unit 80a12 further changes the reference while the map display unit 171 is displaying the second field map m2, the map creation unit 80a9 changes the reference to the changed reference and the first field map m1. Based on the associated positions and cultivation, it is possible to create a new second field map m2 that is different from the second field map m2 displayed by the map display section 171.

The display device 80 of the working machine 4 described above includes a tilling depth acquisition unit 80a6 that acquires the tilling depth D of the tilling device 3 included in the working machine 4, and a standard that acquires a predetermined standard indicating the degree of the tilling depth D. An acquisition unit 80a7, a position acquisition unit 80a8 that acquires the position of the work implement 4 when tilling with the tillage device 3, a plowing depth D acquired by the tillage depth acquisition unit 80a6, and a reference acquired by the reference acquisition unit 80a7, A map creation unit 80a9 that creates a field map m1 by associating the position acquired by the position acquisition unit 80a8; a storage unit 80c that stores the field map m1 created by the map creation unit 80a9; and a map display section 171 that calls and displays the field map m1 that has been created. According to the above configuration, the field map m1 stored in the storage unit 80c is displayed, and the operator can easily create a work plan for the tillage device 3 by checking the field map m1.

The display device 80 of the work machine 4 also includes selection operation units 135 and 136 that can accept the first operation and the second operation, and when the selection operation units 135 and 136 accept the first operation, the map creation unit 80a9 creates a new field map m1, and when the selection operation units 135 and 136 accept the second operation, the map creation unit 80a9 updates the field map m1 stored in the storage unit 80c. According to the above configuration, it is possible to select whether to create a new field map m1 or update a field map m1 that has already been created. Thereby, flexibility in creating the field map m1 can be improved.

Further, the display device 80 of the work machine 4 includes a standard changing unit 80a12 that changes the standard, and the map creating unit 80a9 calls the field map m1 stored in the storage unit 80c and changes the field map m1 that has been called out. When the standard is changed by the standard changing unit 80a12, a new field map m2 is created by associating the changed standard with the position and plowing depth D that are associated with the called field map m1. The map display section 171 then displays the new field map m2. According to the above configuration, based on the field map m1 stored in the storage unit 80c, a new field map m2 based on a different standard from that of the field map m1 can be displayed, thereby improving the usability of the field map m1. I can do it.

The storage unit 80c also stores a first field map m1 that is a called field map, and a second field map m2 that is a new field map created when the standard is changed by the standard changing unit 80a12. The map display section 171 displays either the first field map m1 or the second field map m2. According to the above configuration, since the storage unit 80c stores both the first field map m1 and the second field map m2, the map display unit 171 can arbitrarily display the first field map m1 and the second field map m2. can be called. Therefore, the versatility of the map display section 171 can be further improved.

Further, the map display section 171 can display the degree to the standard associated with the second field map m2, and in a state where the second field map m2 can be displayed, the standard changing section 80a12 can change the degree to the second field map m2. When the associated criteria are changed, the display format shown in the second field map m2 is changed based on the changed criteria. According to the above configuration, the standard of the second field map m2 can be changed, and the operator can visually easily recognize the plowing depth D by checking the second field map m2 with the changed standard and a different display format. be able to.

In addition, the display device 80 of the work machine 4 has a list display section 160 that displays the field maps m1 stored in the storage section 80c as a list, and one field map m1 displayed on the list display section 160. The map display section 171 includes selection sections 161 and 166 that accept selection inputs for the map m1, and the map display section 171 calls out one field map m1 for which selection sections 161 and 166 have received selection inputs from the storage section 80c and displays it. According to the above configuration, the operator can select the field map m1 that he/she wants to confirm, and the work efficiency can be improved.

The map display unit 171 also displays the degree of plowing depth D at a predetermined position relative to the standard, and displays the degree in a different display format depending on the degree. According to the above configuration, the operator can visually recognize the degree of plowing depth D by checking the map display section 171.
Further, the standard includes an upper limit value and a lower limit value corresponding to the plowing depth D, and the map display section 171 displays cases where the plowing depth D exceeds the upper limit value, and cases where the plowing depth D is equal to or greater than the lower limit value, and The degree is displayed in different display forms depending on whether it is below the upper limit value or when the plowing depth D is less than the lower limit value. According to the above configuration, the operator can improve the ability to distinguish between the case where the plowing depth D exceeds the upper limit value, the case where it is within the range between the upper limit value and the lower limit value, and the case where the plowing depth D is less than the lower limit value. can be done.

It also includes an average calculation unit 80a10 that calculates the average of the plowing depths D based on the plowing depths D acquired by the plowing depth acquisition unit 80a6, and the storage unit 80c stores the field map m1 created by the map creation unit 80a9, The average plowing depth D corresponding to the field map m1 and calculated by the average calculation unit 80a10 is stored in association with the average plowing depth D. According to the above configuration, it is possible to easily grasp the degree of tillage work in the field map m1.

The above-mentioned agricultural machine (working machine) 4 includes a traveling vehicle 1, a tilling device 3 arranged behind the traveling vehicle 1 and connected via a coupling device 2, and a tilling device 3 that is attached to the coupling device 2 and is connected to the ground G. Based on the distance sensor 58 that measures the distance, the first inclination sensor 59A that detects the inclination angle θ1 of the tilling device 3 with respect to the horizontal, the distance measured by the distance sensor 58 and the inclination angle θ1 detected by the first inclination sensor 59A. The control device 70 includes a tilling depth calculating section 80a1 that calculates the tilling depth D of the tilling device 3, and a second inclination sensor 59B that detects the inclination angle θ3 of the traveling vehicle 1. It has a correction section 80a4 that corrects the plowing depth D of the tilling device 3 calculated by the plowing depth calculation section 80a1 based on the inclination angle θ3 of the traveling vehicle 1 detected by the inclination sensor 59B. According to the above configuration, by correcting the plowing depth D based on the inclination angle θ3 of the traveling vehicle 1, it is possible to detect the plowing depth with high accuracy, especially when the field is sloped and has relatively few irregularities.

Further, the correction unit 80a4 adjusts the inclination angle θ1 of the tilling device 3 detected by the first inclination sensor 59A to the inclination angle θ1 of the tilling device 3 and the inclination angle θ3 of the traveling vehicle 1 detected by the second inclination sensor 59B. The plowing depth D of the tilling device 3 calculated by the plowing depth calculation unit 80a1 is corrected based on the difference. According to the above configuration, the plowing depth can be detected with high accuracy by a relatively simple method of correcting the inclination angle θ1 of the tillage device 3.

The control device 70 also has a switching unit 80a5 that switches between a first mode that allows the correction unit 80a4 to correct the plowing depth D of the tilling device 3 calculated by the plowing depth calculation unit 80a1, and a second mode that prohibits the correction. have. According to the above configuration, the method for calculating the plowing depth D can be changed when the field has relatively many unevenness and is not sloped, or when the field has relatively few unevenness and is sloped. Therefore, the plowing depth D can be calculated using a more appropriate calculation method depending on the field conditions.

Further, the first tilt sensor 59A is attached to the coupling device 2. According to the above configuration, even if the tilling device 3 is replaced, it is not necessary to remove or attach the first inclination sensor 59A or change the wiring method. Furthermore, since the distance sensor 58 and the first inclination sensor 59A are arranged in the same structure, the plowing depth D can be detected with higher accuracy.
Further, the tilling depth calculation unit 80a1 corrects the distance to the ground G measured by the distance sensor 58 using the inclination angle θ1 of the tilling device 3 detected by the first inclination sensor 59A. According to the above configuration, by attaching the distance sensor 58 to the coupling device 2, the distance L1 to the ground G measured by the distance sensor 58 in the uncultivated land before being tilled by the tillage device 3 can be determined by the first inclination sensor 59A. Since the vertical distance X0 to the ground G is calculated by correcting the detected inclination angle θ1, the plowing depth D can be detected with high accuracy.

The agricultural machine 4 also includes a display device 80 that displays the plowing depth D. According to the above configuration, the operator can confirm the calculated plowing depth D.
Although the present invention has been described above, the embodiments disclosed this time should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is indicated by the claims rather than the above description, and it is intended that all changes within the meaning and range equivalent to the claims are included.

1 Traveling vehicle 2 Connecting device 3 Tilling device (rotary tilling device)
4 Work equipment (agricultural equipment)
58 Distance sensor 58A Laser irradiation section 59A First inclination sensor 59B Second inclination sensor 70 Control device 80 Display device 80a1 Plowing depth calculation section 80a4 Correction section 80a5 Switching section D Plowing depth G Ground L1 Distance X0 Vertical distance

Claims (5)

A running vehicle,
a tilling device arranged at the rear of the traveling vehicle and connected via a connecting device;
a distance sensor attached to the coupling device and measuring the distance to the ground;
a first inclination sensor that detects an inclination angle of the tilling device with respect to the horizontal;
A control device including a tilling depth calculation unit that calculates a tilling depth of the tilling device based on the distance measured by the distance sensor and the tilt angle detected by the first tilt sensor;
a second tilt sensor that detects a tilt angle of the traveling vehicle;
Equipped with
The control device is configured to adjust the plowing depth of the tilling device calculated by the plowing depth calculation unit to a depth perpendicular to the ground surface on which the traveling vehicle is located, based on the inclination angle of the traveling vehicle detected by the second tilt sensor. An agricultural machine that has a correction section that corrects the The correction unit corrects the inclination angle of the tilling device detected by the first inclination sensor based on the difference between the inclination angle of the tilling device and the inclination angle of the traveling vehicle detected by the second inclination sensor,
The plowing depth calculating unit calculates a distance perpendicular to the ground where the traveling vehicle is located, based on a tilt angle of the tilling device corrected by the correcting unit, from the distance to the ground measured by the distance sensor. The agricultural machine according to claim 1, which is amended to : The control device includes a switching unit that switches between a first mode that allows the correction unit to correct the plowing depth of the tilling device calculated by the plowing depth calculation unit, and a second mode that prohibits correction. The agricultural machine according to claim 1 or 2 . The agricultural machine according to any one of claims 1 to 3, wherein the first inclination sensor is attached to the coupling device. The agricultural machine according to any one of claims 1 to 4 , further comprising a display device that displays the plowing depth.

Images