JP7555609B2 - Program, display method, and information processing device - Google Patents

Description

The present invention relates to a display method, and in particular to a method for displaying the field condition of a field determined based on changes in the up and down movement of a ground-contact member attached to a working machine attached to the rear of a tractor.

Currently, in order to reduce the amount of time spent on farm work, efforts are being made to automate farm machinery, and a variety of farm machinery has been developed. In particular, farm machinery (cultivators and tillers) that are attached to the rear of a running machine such as a tractor and can be changed depending on the type of work, such as plowing or plowing, can be used for a variety of farm work simply by changing the running machine like an attachment, making it possible to handle a variety of farm work, and making a significant contribution to reducing the cost of farm work.

Furthermore, traditional farm work relied on the experience and intuition of each farmer. This resulted in variations in the efficiency of farm work among farms, which in turn led to variations in the yield and quality of agricultural produce. Furthermore, when farming generations change, it is difficult for the new generation of farmers to inherit all of their experience and intuition, and the accumulated experience in farm work goes to waste.

When tilling or plowing a field using a tiller or puddler, it is necessary to know the leveling condition and size of the soil clods after plowing or plowing. However, it is not possible to check the leveling condition and size of the soil clods for the entire field, so information can only be obtained for a limited area of the field. For this reason, workers have had to estimate the leveling condition and size of the soil clods by the vibrations transmitted to the working machine during work and by visually inspecting the field condition after work. As a method for evaluating the field condition after plowing or plowing, a method has been used in which an angle sensor 22 is placed at the pivot base of the rear cover 21 and the tilling depth is detected by the rotation of the rear cover 21 (for example, Patent Document 1).

Japanese Patent Application Publication No. 9-28109

However, the structure disclosed in Patent Document 1 does not allow for detailed evaluation of the leveling condition of the field or the size of the soil masses. Furthermore, the work machine with the structure disclosed in Patent Document 1 is not able to manage the field condition of the entire field, and the field condition at each position in the field is dependent on the memory of the worker. The present invention was made in consideration of such problems, and aims to display the field condition obtained as a result of work while working in the field so that the worker can easily see it.

The display method according to one embodiment of the present invention displays on the same screen the work path of a work machine traveling through a field and the results of judging the state of the field worked by the work machine.

The determination result may be displayed along the work route.

The determination result may be based on a change in the vertical movement of a ground contact member provided on the work machine that is in contact with the field relative to the field.

The work route may be determined based on the past judgment results.

The display method according to one embodiment of the present invention displays the results of block judgments that determine the state of a field for each work section worked by a work machine traveling in the field for each work section.

The results of real-time assessments that assess the state of the field in a section that is shorter than the work section may be displayed in an area different from the field map in which the results of the block assessments are displayed.

The result of the block determination may be a determination result based on information obtained by statistically processing the information used in the real-time determination.

The block determination and the real-time determination may be performed based on changes in the vertical movement of a ground contact member provided on the work machine that is in contact with the field relative to the field.

Depending on the results of the real-time judgment, the operator may be notified of guidance to change the working conditions of at least one of the working machine and the traveling machine body towing the working machine.

The real-time judgment result includes a first judgment result, a second judgment result, and a third judgment result according to the field condition, the first judgment result is defined as a result indicating a relatively good field condition, the third judgment result is defined as a result indicating a relatively bad field condition, and the second judgment result is defined as a result indicating a field condition between the first judgment result and the third judgment result, and when the real-time judgment result is the first judgment result or the third judgment result, the guidance may not be notified to the worker, and when the real-time judgment result is the second judgment result, the guidance may be notified to the worker.

A field judgment result for the field may be displayed, which is derived based on the proportion of results of the block judgment for the field that are judged to be unsuccessful based on the pass/fail judgment criteria.

The working machine according to the present invention can display the field condition obtained as a result of work while working in the field so that the worker can easily see it.

1 is a schematic diagram showing the overall configuration of a traveling machine body and a working machine according to an embodiment of the present invention. FIG. 2 is a block diagram showing the functional configuration of a traveling machine body and a work machine according to an embodiment of the present invention. 1 is a top view showing an overall configuration of a work machine according to an embodiment of the present invention; 1 is a side view showing an overall configuration of a leveller angle detection mechanism for a work machine according to an embodiment of the present invention. FIG. 4 is a diagram showing an operational flow of a method for determining a farm field condition using a work machine according to an embodiment of the present invention. FIG. 11 is a diagram showing an example of an interface displayed on a field registration screen in the method for determining a field condition according to one embodiment of the present invention. FIG. 2 is a diagram showing a method for determining a farm field state according to an embodiment of the present invention. FIG. 2 is a diagram showing a method for determining a farm field state according to an embodiment of the present invention. FIG. 2 is a diagram showing a method for determining a farm field state according to an embodiment of the present invention. FIG. 2 is a diagram showing an interface related to a lookup table (LUT) used to determine a field condition according to an embodiment of the present invention. FIG. 2 is a diagram showing an example of data obtained by the method for determining a farm field condition according to the embodiment of the present invention. FIG. 10 is a diagram showing an example of displaying a determination result of a farm field state on a monitor according to the embodiment of the present invention. FIG. 10 is a diagram showing an example of displaying a determination result of a farm field state on a monitor according to the embodiment of the present invention. 11 is a diagram showing an example of a method for notifying a worker of work guidance for changing work conditions in the method for displaying a determination result of a farm field condition according to an embodiment of the present invention. FIG. FIG. 13 is a diagram showing an example of displaying an appropriate work route using the determination result of the field condition according to the embodiment of the present invention. FIG. 11 is a diagram showing an example of a method for changing the criteria for the determination result of the field condition according to the embodiment of the present invention. FIG. 4 is a side view showing details of a leveller angle detection mechanism of the work machine according to one embodiment of the present invention. FIG. 4 is a top view showing details of a leveller angle detection mechanism of the work machine according to one embodiment of the present invention. 1 is a side view showing a state in which an extensible rod is fully extended in a working machine according to an embodiment of the present invention. FIG. 1 is a side view showing a state in which an extensible rod is fully contracted in a working machine according to an embodiment of the present invention. FIG. FIG. 2 is a diagram showing an example of a method for managing data obtained by the method for determining a farm field state according to the embodiment of the present invention. 1A is a diagram showing an example of a method for determining a farm field condition according to an embodiment of the present invention, and FIG. 1B is a diagram showing an example of yield mapping data. FIG. 1 is a diagram showing yield mapping data according to an embodiment of the present invention, divided at boundaries of blocks of a method for determining a farm field condition. FIG. 10 is a diagram showing an example of displaying a determination result of a farm field state on a monitor according to the embodiment of the present invention. FIG. 11 is a diagram showing an example of a real-time determination result of a field condition according to an embodiment of the present invention. FIG. 11 is a diagram showing an example of an interface displayed on a field registration screen in the method for determining a field condition according to one embodiment of the present invention. FIG. 10 is a diagram showing an example of displaying on a monitor the judgment result of the field condition for the entire field according to the embodiment of the present invention.

The working machine according to the present invention will be described below with reference to the drawings. However, the working machine according to the present invention can be implemented in many different ways, and should not be interpreted as being limited to the description of the embodiments shown below. In the drawings referred to in this embodiment, the same parts or parts having similar functions are given the same numbers, or the same numbers are followed by alphabets, and repeated explanations are omitted. For convenience of explanation, the terms "upper" (top) and "lower" are used in the description, but "upper" (top) and "lower" (lower) refer to the up-down direction when the working machine is working on the field (see FIG. 1). Similarly, when the terms "forward" (front side) and "rear" (rear side) are used in the description, "forward" (front side) refers to the direction of the traveling machine body that pulls the working machine relative to the working machine, and "rear side" refers to the direction of the working machine relative to the traveling machine body (see FIG. 1).

First Embodiment
In this embodiment, a configuration in which a tiller is used as a working machine for determining the field condition is illustrated, but the present invention is not limited to this configuration. For example, as a working machine for determining the field condition, other than a tiller, a working machine equipped with a ground contact member that can contact the field during operation can be used. For example, a cultivator, a soil crusher, a plow, or the like may be used as such a working machine. In this embodiment, since a tiller is used as the working machine, the ground contact member corresponds to a leveling member (leveler).

[Overall configuration]
Fig. 1 is a schematic diagram showing the overall configuration of a traveling machine body and a working machine according to an embodiment of the present invention. As shown in Fig. 1, a working machine 20 is attached to the rear of a traveling machine body 10 that travels in a field. However, if the working machine 20 is provided with a self-propelled mechanism, the traveling machine body 10 can be omitted. In this case, each function of the traveling machine body 10 for realizing the embodiment of the present invention described below is provided in the working machine 20.

The traveling machine body 10 includes a vehicle body 100, a monitor 110, and a three-point link mechanism 120. The monitor 110 is provided in front of the vehicle body 100. The three-point link mechanism 120 is provided in the rear of the vehicle body 100. As described later, the monitor 110 displays information such as a setting screen for various conditions, the rotation angle of the leveling member in contact with the field, and the judgment result of the field condition. It is preferable that the monitor 110 is a display with a touch sensor. In this embodiment, the monitor 110 is provided in the traveling machine body 10, but the monitor 110 can be replaced with a communication terminal (e.g., a smartphone, a mobile phone, a tablet PC, a PDA, a notebook PC, and a PHS) held by the worker. The working machine 20 is connected to the three-point link mechanism 120. The traveling machine body 10 can change the height of the working machine 20 relative to the traveling machine body 10 by controlling the three-point link mechanism 120. It is preferable that the traveling machine body 10 has a height adjustment function for the working machine 20. This adjustment function may automatically adjust the height of the work machine 20 so as to keep the angle of the apron 220 relative to the shield cover 210, which will be described later, constant. The structure of the three-point link mechanism 120 is well known, so a detailed description will be omitted.

In this embodiment, the working machine 20 is a tiller. The working machine 20 includes a frame 200, a rotor 207, a shield cover 210, an apron 220 (cover member), and a leveler 230 (leveling member). The rotor 207 is rotatably attached to the frame 200. The rotor 207 has a plurality of working claws, and the working claws are rotated and applied to the field to till or stir the field. The apron 220 is provided behind the rotor 207 so as to be rotatable (pivotable) relative to the frame 200 and the shield cover 210. Since the positional relationship between the shield cover 210 and the frame 200 is fixed, the shield cover 210 can be regarded as a part of the frame 200, and the above configuration can be said to be such that the apron 220 is rotatably connected to the frame 200. The leveler 230 is provided so as to be rotatable relative to the apron 220. The apron 220 and the leveller 230 come into contact with the field to level the field that has been disturbed by the work of the rotor 207.

2 is a block diagram showing the functional configuration of the traveling machine body and the working machine according to one embodiment of the present invention. As shown in FIG. 2, the traveling machine body 10 has a control unit 191, a display unit 193, and a position detection unit 195. The working machine 20 has a control unit 291 and a detection unit 293. The control unit 191 and the control unit 291 are connected by a communication unit 121. The control unit 291 transmits or transmits various information to the control unit 191 via the communication unit 121. For example, as described below, the control unit 291 can transmit information regarding changes in the up and down movement of the leveler 230 to the control unit 191. In addition, the control unit 291 can receive information set by the height adjustment function from the control unit 191. The communication unit 121 may be wired or wireless. For example, CAN (Controller Area Network), Wi-Fi (registered trademark), Bluetooth (registered trademark), etc. can be used as a communication method of the communication unit 121. In addition, when the monitor 110 is replaced with a communication terminal held by the worker, at least the control unit 191 and the display unit 193 are realized by the central processing unit (CPU) of the communication terminal. Of course, the position detection unit 195 may be provided in the communication terminal.

The display unit 193 is controlled by the control unit 191 and displays an image on the monitor 110 so that the worker can see it. However, as described above, the display unit 193 may display an image on a communication terminal held by the worker instead of displaying an image on the monitor 110 provided on the traveling body 10. The position detection unit 195 detects the current position of the traveling body 10. The position information detected by the position detection unit 195 is transmitted to the control unit 191. As the position detection unit 195, for example, a global navigation satellite system (GNSS) can be used. As the GNSS, a satellite positioning system such as GPS, GLONASS, Galileo, or Quasi-Zenith Satellite (QZSS) can be used. However, the position detection unit 195 is not limited to the GNSS, and other devices that detect the position information of the traveling body 10 can be used. The position detection unit 195 may be provided in the work machine 20 instead of in the traveling machine body 10, or may be provided in both the traveling machine body 10 and the work machine 20. The control unit 191, the display unit 193, and the position detection unit 195 are connected by wire or wirelessly in the same manner as described above.

The detection unit 293 detects the rotation angle of the leveller 230 relative to the apron 220. In other words, the detection unit 293 detects changes in the up and down movement of the leveller 230 relative to the field. The changes in the up and down movement of the leveller 230 detected by the detection unit 293 are transmitted to the control unit 291. As the detection unit 293, a potentiometer, for example, can be used, as will be described in detail later. However, the detection unit 293 is not limited to a potentiometer, and other devices that detect changes in the up and down movement of the leveller 230 can be used. The control unit 291 and the detection unit 293 are connected by wire or wirelessly, as described above.

The information on the change in the vertical movement of the leveller 230 sent to the control unit 291 is sent to the control unit 191 via the communication unit 121. The information on the change in the vertical movement of the leveller 230 is then analyzed by the control unit 191 to determine the field condition. Details of the method of determining the field condition will be described later. However, the control unit 291 may analyze the information on the change in the vertical movement of the leveller 230 and determine the field condition. The control unit 191 and the control unit 291 may communicate with a server via a network. In other words, the information on the change in the vertical movement of the leveller 230 detected by the detection unit 293 may be sent from the control unit 191 or the control unit 291 to the server, and the server may analyze the information to determine the field condition.

As will be described in more detail later, the position information detected by the position detection unit 195 is not only used to display the current position of the traveling body 10, but is also displayed on the monitor 110 together with the results of the determination of the field condition obtained based on the changes in the up and down movement of the leveller 230 detected by the detection unit 293.

[Configuration of work machine 20]
Fig. 3 is a top view showing the overall configuration of a working machine according to an embodiment of the present invention. As shown in Fig. 3, the working machine 20 has a frame 200, a central working unit 300, an extension working unit 400, a leveller extension unit 490, a leveller angle detection mechanism 500, and a leveller control unit 600. The working machine 20 is attached to the rear of the traveling machine body 10. Although details will be described in Fig. 4, a rotor 207 having a plurality of working claws is provided below each of the central working unit 300 and the extension working unit 400.

The frame 200 has a main frame 201, a transmission frame (the frame on which the chain case 203 is provided), and a side frame 205. The main frame 201 extends in the longitudinal direction of the working machine 20 (a direction perpendicular to or simply intersecting the traveling direction of the traveling machine body). The chain case 203 and the side frame 205 are arranged on both the left and right ends of the main frame 201. Between the chain case 203 and the side frame 205, a rotor 207 is supported rotatably relative to the frame 200. Specifically, the rotor 207 is attached below each of the central shield cover 310 and the extended shield cover 410 described later. In other words, the multiple working claws provided on the rotor 207 are arranged in the longitudinal direction of the working machine 20.

The central working section 300 has a central shield cover 310, a central apron 320, and a central leveller 330. The central shield cover 310 and the central apron 320 are connected to each other with a first connection section (not shown) as an axis of rotation (rotation axis). The central apron 320 and the central leveller 330 are connected to each other with a second connection section 332 as an axis of rotation. The first connection section and the second connection section 332 have a hinge-like hinge. That is, each of the first connection section and the second connection section 332 has a cylindrical section and a columnar section. Here, the cylindrical section of the connection section is fixed to one of the two members connected by the connection section, the columnar section penetrates the inside of the cylindrical section, and both ends of the columnar section are fixed to the other of these members.

The central shield cover 310 and the central apron 320 prevent debris scattered by the operation of the rotor 207 from being released to the outside. In other words, the central shield cover 310 and the central apron 320 can be called cover members. The central leveler 330 levels the field by contacting the field that has been tilled or stirred by the operation of the rotor 207. In other words, the central leveler 330 can be called a leveling member or a ground contact member.

The extension working section 400 is provided at both the left and right ends of the central working section 300, and is connected to the central working section 300 so that it can be switched between a stored state (not shown) in which it is folded above the central working section 300, and an unfolded working state as shown in FIG. 3.

The extension work unit 400 has an extension shield cover 410, an extension apron 420, and an extension leveller 430, similar to the central work unit 300. The extension shield cover 410 and the extension apron 420 are connected with the connection part 422 as a pivot axis. The extension apron 420 and the extension leveller 430 are connected with the connection part 432 as a pivot axis. The connection parts 422, 432 have the same structure as the first connection part and the second connection part 332 described above.

The extension shield cover 410 and the extension apron 420, like the central shield cover 310 and the central apron 320, prevent debris scattered by the operation of the rotor 207 arranged in the extension work unit 400 from being released to the outside. In other words, the extension shield cover 410 and the extension apron 420 can be called cover members. Similarly to the central apron 320, the extension leveler 430 levels the field by contacting the field that has been tilled or stirred by the operation of the rotor 207 arranged in the extension work unit 400. In other words, the extension leveler 430 can be called a leveling member or a grounding member. Although not shown, an apron pressurizing mechanism is provided between the extension shield cover 410 and the extension apron 420. The apron pressurizing mechanism pressurizes the extension apron 420 so that the extension apron 420 rotates downward relative to the extension shield cover 410.

When there is no particular distinction between the central shield cover 310 and the extended shield cover 410, they are simply referred to as the shield cover 210. When there is no particular distinction between the central apron 320 and the extended apron 420, they are simply referred to as the apron 220. When there is no particular distinction between the central leveller 330 and the extended leveller 430, they are simply referred to as the leveller 230.

A leveller extension 490 is provided at the end of the extension leveller 430, which can further increase the width that can be leveled. The leveller extension 490 is rotatably connected to the extension leveller 430. The leveller extension 490 also has a guide surface 491 that is inclined toward the running machine body side with respect to the longitudinal direction of the work machine 20.

The leveller angle detection mechanism 500 is connected to a control box 501. The control box 501 is provided above the central shield cover 310. The control box 501 has the functions of the control unit 291 in FIG. 2, and transmits the rotation angle of the central leveller 330 relative to the central apron 320 detected by the leveller angle detection mechanism 500 to a control unit 191 provided in the traveling machine body 10.

The leveller control unit 600 controls the angle of the central leveller 330 relative to the central apron 320. The extension leveller 430 is linked to the central leveller 330 and controlled to the same angle as the central leveller 330. For example, in the working state, the leveller control unit 600 can push the central leveller 330 downward, thereby realizing a state in which the central leveller 330 and the extension leveller 430 rotate downward relative to the central apron 320 and the extension apron 420 (soil piling state).

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

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

When the potentiometer 510 is provided with an elastic portion for returning to the origin, the elastic modulus of each of the first elastic portion 540 and the second elastic portion 550 is greater than the elastic modulus of the elastic portion for returning to the origin. Therefore, when the central leveller 330 rotates relative to the central apron 320 due to the influence of unevenness in the field, the potentiometer 510 operates via the first arm portion 520 and the second arm portion 530 in conjunction with the rotation of the central leveller 330. In this manner, the rotation angle of the central leveller 330 relative to the central apron 320 can be detected by the potentiometer 510.

The extension leveller 430 is connected to the central leveller 330 and rotates together with the central leveller 330, so the rotation angle of the central leveller 330 and the extension leveller 430 (leveller 230) can be detected by the potentiometer 510. In other words, the leveller angle detection mechanism 500 can be used to detect changes in the up and down movement of the leveller 230.

In FIG. 4, the central leveller 330 rotates relative to the central apron 320, which rotates relative to the central shield cover 310, so the potentiometer 510 detects the rotation of both the central apron 320 and the central leveller 330. However, by performing a calculation process on the data obtained by the potentiometer 510 to eliminate the effect of the rotation of the central apron 320, it is possible to detect only the rotation of the central leveller 330.

In this embodiment, the leveller angle detection mechanism 500 detects the rotation angle of the leveller 230 (central leveller 330) relative to the apron 220 (central apron 320), but is not limited to this configuration. For example, the rotation angle of a ground member in contact with the field may be detected in a configuration in which the ground member is rotatably connected to the frame 200 or the shield cover 210 (e.g., the central shield cover 310). The ground member does not have to rotate relative to the frame 200 or the shield cover 210. In that case, however, a detector capable of detecting changes in the up and down movement of the ground member is provided instead of the potentiometer 510.

[Method of determining field condition]
A method for determining a field condition using the working implement 20 of this embodiment will be described with reference to Figures 5 to 10. Figure 5 is a diagram showing the operational flow of the method for determining a field condition using the working implement according to one embodiment of the present invention. The operator operates the monitor 110 to start up a program for determining the field condition, which starts the program operation.

When the program operation starts, a menu screen is displayed on the monitor 110 (S601). "Field registration" is selected from the menu screen, and the position and size of the field are registered (S603). By registering the field information in advance, it is possible to display the judgment results at each position in the field. When "Field registration" is selected, the screen shown in FIG. 6 is displayed on the monitor 110. FIG. 6 is a diagram showing an example of an interface displayed on the screen in a method for judging the field condition according to one embodiment of the present invention. As shown in FIG. 6, an input area 611 and a position selection area 613 are displayed on the monitor 110.

The input area 611 is provided with an input box 615 in which the name, long side size, and short side size of the field can be input. The name, long side size, and short side size of the field are stored in association with each other, and for example, by selecting the name of the field in a pull-down menu, the long side size and short side size registered in advance may be automatically input.

In the position selection area 613, a schematic diagram of a rectangular field and an icon of the traveling body 10 are displayed. The worker moves the traveling body 10 to the corner of the field and selects an image that corresponds to the positional relationship between the traveling body 10 and the field. When an image is selected, the position information of the traveling body 10 is detected by the GNSS equipped in the traveling body 10, and the position information of the outer edge of the field is registered based on the position information and the size of the field entered in the input box 615. The position information of the field may be stored in a memory equipped in the traveling body 10, or may be registered in external storage of a server related to this program via the Internet. In this manner, the position information of the field is registered.

As shown in FIG. 5, when the work machine 20 starts traveling in the field registered in S603 while performing work (S605), the leveller 230 moves up and down (rotates relative to the apron 220) due to the unevenness of the field. The change in the up and down movement (change in the rotation angle of the leveller 230 relative to the apron 220) is detected using the potentiometer 510 (S607), and the state of the field after work can be determined by analyzing the change in the up and down movement (S609).

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

Using FIG. 8, a method for analyzing plot data in which the vertical movement of the leveller 230 is detected will be described. The field condition is determined based on the magnitude of change in unevenness. Specifically, the field condition is determined based on the difference between adjacent peaks and valleys detected in the plot data. This difference between adjacent peaks and valleys is called the adjacent PV (Peak to Valley) value. Each adjacent PV value in one work section is calculated, and the field condition is determined based on the statistical value of these adjacent PV values. Specifically, the difference between the first peak p1 and the first valley v1 (the magnitude of change in the vertical movement of the leveller 230) is PV1, the difference between the first valley v1 and the second peak p2 is PV2, and the difference between the second peak p2 and the second valley v2 is PV3. Then, for example, a determination is made based on the average value of PV1 to PV3. Details of this determination method based on adjacent PV values will be described later.

When detecting peaks and valleys in the above analysis, filtering is performed, for example, to ignore the micro-vibration regions r1 and r2. For example, low-pass filtering may be used as this filtering. As another filtering method, when an adjacent PV value is smaller than a predetermined value, the processing may be performed by ignoring the peaks and valleys associated with the adjacent PV value.

A method for detecting a work stoppage will be described with reference to FIG. 9. While the work machine 20 is working in the field, the leveler 230 moves up and down within a certain range, but when work is stopped and the work machine 20 is lifted up, the leveler 230 rotates downward to the limit of its movable range and barely moves up and down. For example, as shown in FIG. 9, when the work machine 20 is lifted up, the plot data falls to near the lower limit and barely moves up and down (symbol z1 in FIG. 9). When the plot data shows such a peculiar behavior, it may be determined that work has stopped. When it is determined that work has stopped, the import of the plot data may be interrupted. Also, only information before the position at which the state determined to be a work stoppage began (symbol z2 in FIG. 9) may be the subject of analysis.

Using Figure 10, we will explain a method of judging the field condition based on the statistical value of the adjacent PV values shown in Figure 8 (hereinafter referred to as adjacent PV statistical value). As shown in Figure 10, the interface related to the lookup table (interface based on LUT 630) has items of judgment result 631, selection 633, and adjacent PV statistical value judgment range 635.

The judgment result 631 has three items, "insufficient," "optimum," and "excess," as well as items "good 1" and "good 2." "Insufficient" refers to a state in which the soil masses on the surface are still large and the soil crushing properties of the field surface are poor or the leveling state is poor. Specifically, a state in which the average value and standard deviation of the adjacent PV statistics are relatively large is judged to be "insufficient." "Excess" refers to a state in which the soil masses on the surface are small and the soil crushing properties of the field surface are good or the leveling state is good, but the soil masses are smaller than necessary or the leveling state is good. To reach this "excessive" state, the work time on the field is long, which is not efficient. Therefore, the "excessive" item is provided to mean that it is not necessary to work until the "excessive" state is reached. Specifically, a state in which the average value and standard deviation of the adjacent PV statistics are relatively small is judged to be "excessive." "Optimum" is the area between "insufficient" and "excessive."

Here, "Good 1" may refer to a state between "optimum" and "excess" (a state in which the range of "Good 1" does not overlap with the range of "excess"), or may refer to a state close to "optimum" within the range of "excess" (a state in which the range of "Good 1" overlaps with the range of "excess"). Similarly, "Good 2" may refer to a state between "optimum" and "insufficient" (a state in which the range of "Good 2" does not overlap with the range of "insufficient"), or may refer to a state close to "optimum" within the range of "insufficient" (a state in which the range of "Good 2" overlaps with the range of "insufficient"). The items "Good 1" and "Good 2" refer to a state in which the field state can be made "optimum" by slightly changing the work conditions, for example, by slowing or speeding up the traveling machine body 10. As described later, when the judgment result is "Good 1" or "Good 2", work guidance such as "Please speed up the vehicle" or "Please slow down the vehicle" may be displayed to the worker via the monitor 110. Alternatively, if the judgment result is "Good 1" or "Good 2," work guidance such as "Please reduce the rotor rotation speed" or "Please increase the rotor rotation speed" may be displayed to the worker via the monitor 110.

Selection 633 enables or disables the judgment result for each item in judgment result 631. For example, in the interface based on LUT 630 shown in FIG. 10, the items "Excess", "Insufficient", and "Optimal" are checked, so only these three judgment results are valid, and the judgment result will never be "Good 1" or "Good 2".

In the adjacent PV statistical value judgment range 635, the range of adjacent PV statistics for each judgment result is specified. In other words, the adjacent PV statistical value judgment range 635 is the judgment criterion. In the adjacent PV statistical value judgment range 635 for the items "optimum", "good 1", and "good 2", both the upper and lower limits are set. In the adjacent PV statistical value judgment range 635 for the item "excess", at least the upper limit is set. In the adjacent PV statistical value judgment range 635 for the item "insufficient", at least the lower limit is set. The adjacent PV statistical value judgment range 635 may be changed by inputting a numerical value, or its value may be changed by the + button and - button. Note that when the + button or - button is selected, both the upper and lower limits of the adjacent PV statistical value judgment range 635 change. In other words, when the + button or - button is selected, both the upper and lower limits change so that the difference between the upper and lower limits (i.e., the width of the range) does not change. However, when the + or - button is selected, the upper and lower limits may change as the range width changes, or only the upper or lower limit may change.

For example, when adjacent PV statistics are calculated from plot data such as that shown in FIG. 8, a judgment result is derived based on the adjacent PV statistics and the criteria displayed on the interface based on the LUT 630 in FIG. 10. In this manner, judgment results are derived for each of the work sections L1, L2, and L3 shown in FIG. 7. Then, as shown in FIG. 5, the derived judgment results are displayed on the monitor 110 provided on the traveling machine body 10 (S611). The method of displaying the judgment results on the monitor 110 will be described in detail later.

[Judgment results and data related to the judgment results]
The judgment results derived for each work section as described above are stored in the storage device as a data table 640 in association with the plot data (measurement data) in FIG. 8 and adjacent PV statistics calculated from the plot data (see FIG. 11). FIG. 11 is a diagram showing an example of data obtained by the method for judging the field condition according to the embodiment of the present invention. The plot data and adjacent PV statistics can be collectively referred to as "information relating to changes in the vertical movement" of the leveler 230 with respect to the field. In other words, the judgment results of the field condition for each work section are stored in association with information relating to changes in the vertical movement of the leveler for each work section.

As shown in FIG. 11, the data table 640 has items of section 641, plot data 643, adjacent PV statistical value 645, and judgment result 647. Section 641 corresponds to the work sections L1, L2, and L3 shown in FIG. 7. The information of section 641 includes information for identifying the field. In other words, it is possible to recognize which position in which field is indicated based on section 641. Plot data 643 is measurement data indicating the up and down movement of the leveler 230 relative to the travel distance of the traveling machine body 10. Adjacent PV statistical value 645 is a statistical value calculated based on plot data 643. In FIG. 11, the average value and standard deviation are displayed as the statistical values, but other statistical values may be used. The judgment result 647 is derived based on the LUT 630 in FIG. 10.

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

[How to display the judgment results]
A method for displaying the results of the farm field condition determination derived as described above will be described with reference to FIGS.

12 and 13 are diagrams showing an example of displaying the results of the determination of the field state according to the embodiment of the present invention on a monitor. As shown in FIG. 12, the monitor 110 displays a field map 650, a real-time determination result 660, various information display section 670, and a work route 677. The field map 650 is divided into work sections based on the field position information registered by the "field registration" shown in FIG. 6 and information such as the work machine width set separately. The field map 650 displays a traveling machine icon 657, which allows the current position of the traveling machine body 10 in the field where work is being performed to be recognized. Furthermore, the field map 650 displays a work route 677 that suggests to the worker the route along which the work will be performed. In other words, the work route 677 is the route along which the work machine 20 travels. The field map 650 also displays the results of the determination of the state of the field worked by the work machine 20 together with the work route 677.

In this embodiment, a block judgment is performed to judge the state of the field for each work section. As shown in FIG. 12, in the field map 650, the judgment results of the field state are displayed along the work route 677. For each work section for which the work and field state judgment have been completed, the judgment results are displayed with a pattern or color that can be visually identified. The pattern or color assigned to each work section reflects the judgment results shown in FIG. 11. For example, block 651 is a work section whose judgment result is "excess". Block 653 is a work section whose judgment result is "insufficient". Block 655 is a work section whose judgment result is "optimal". These judgment results are derived for each block, so they can be said to be the results of block judgment. Note that the judgment results displayed on the field map 650 in FIG. 12 are the judgment results 631 checked in the selection 633 in FIG. 10. In other words, in the selection 633 in FIG. 10, the three items "excess", "insufficient", and "optimal" are checked, so these three judgment results are displayed in FIG. 12.

The real-time judgment result 660 is displayed in the upper left of the field map 650. The real-time judgment result 660 is the result of real-time judgment that judges a field in a section shorter than the work section in which the block judgment is performed. In the real-time judgment result 660, the judgment result is displayed in a gradation. In other words, while the field map 650 displays only three types of judgment results, "optimum," "excess," and "shortage," the real-time judgment result 660 displays judgment results in more stages. For example, in the example of FIG. 12, the real-time judgment result 660 displays the judgment results of "excess" 661, "good 1" 663, "optimum" 665 (first judgment result), "good 2" 667 (second judgment result), and "shortage" 669 (third judgment result) according to the state of the field. "Optimum" 665 is defined as a result indicating a relatively good state of the field. "Shortage" 669 is defined as a result indicating a relatively bad state of the field. "Good 2" 667 is defined as a result that indicates the field condition between these judgment results. A cursor 666 is displayed below the real-time judgment result 660. The cursor 666 points to a position that corresponds to the real-time judgment result.

In this embodiment, the judgment result based on the adjacent PV values (PV1, PV2, PV3) described in FIG. 8 is displayed as the real-time judgment result 660. For example, for each of the values of PV1, PV2, and PV3 in FIG. 8, a judgment result is derived based on the criteria displayed in FIG. 10, and the derived judgment result is displayed as the real-time judgment result 660. However, as the real-time judgment result 660, a judgment result based on adjacent PV statistical values of a section shorter than each block (651, 653, 655) may be displayed. In other words, as the real-time judgment result 660, a judgment result based on the statistical values of multiple adjacent PV values (PV1, PV2, PV3) of a section shorter than each block may be displayed. Here, the block judgment results displayed on the field map 650 are judgment results based on the adjacent PV statistical values 645 of each block, so it can be said that the block judgment results are judgment results based on information (adjacent PV statistical values 645) obtained by statistically processing the information (plot data 643) used in the real-time judgment.

In the above example, the cursor 666 points to one of the five levels: "Excess" 661, "Good 1" 663, "Optimal" 665, "Good 2" 667, and "Insufficient" 669, but the cursor 666 may point to more than the five levels described above depending on the adjacent PV value. In other words, the cursor 666 may display the adjacent PV value in analog form. In this case, the five-level gauge may be displayed with a width corresponding to the width of each range of the adjacent PV statistical value judgment range 635 shown in FIG. 10. The above configuration will be explained in detail later.

In the upper right corner of the field map 650, a miscellaneous information display section 670 is displayed. In FIG. 12, the worked area is displayed in the miscellaneous information display section 670. The worked area corresponds to the area where the working machine 20 has performed work, and is an area determined by the width of the working machine 20, the overlap amount with the work trace, and the travel distance. The miscellaneous information display section 670 is provided with a pull-down button 671. When the pull-down button 671 is selected, a pull-down menu 673 is displayed as shown in FIG. 13. In this example, the pull-down menu 673 displays the "work progress rate" and "work completion time" in addition to the currently displayed "worked area". However, the pull-down menu 673 shown in FIG. 13 is merely an example, and information other than the above information may be displayed.

The currently displayed item ("Worked area") is displayed in a different format from the other items ("Work progress rate" and "Work completion time") so that it is easier for the worker to see. When "Work progress rate" is selected from the pull-down menu 673, the ratio of the worked area to the planned work area is displayed. When "Work completion time" is selected, the estimated work completion time calculated based on the remaining work area after subtracting the worked area from the planned work area and the current vehicle speed of the traveling machine body 10 is displayed. Note that when the pull-up button 672 is selected while the pull-down menu 673 is displayed, the pull-down menu 673 is retracted and the display returns to the state shown in FIG. 12.

Figure 14 is a diagram showing an example of a method for notifying a worker of guidance to change work conditions in a method for displaying the judgment result of the field condition according to an embodiment of the present invention. As shown in Figure 14, when the real-time judgment result 660 is, for example, "Good 1" 663 and "Good 2" 667 (second judgment result), and the result can be changed to "Optimal" 665 (first judgment result) by slightly changing the work conditions, the worker is notified of work guidance 675 to change the work conditions of at least one of the traveling machine body 10 and the work machine 20. In Figure 14, the work guidance 675 is notified by displaying a caption on the screen, but the work guidance may be notified by voice instead of a caption.

Note that when the real-time judgment result 660 is "shortage" 669 (third judgment result), this work guidance 675 does not have to be notified. The reason is that when it is "shortage" 669, a small change in the work conditions will not result in "optimum" 665, so changing the work conditions may have no effect. In such a case, the work may be continued without notifying the work guidance 675, and a work route may be proposed to give priority to the blocks with "shortage" 669, as described below. The above work guidance 675 is not notified when the real-time judgment result 660 is "optimum" 665 either. However, the above work guidance 675 may be notified when it is "shortage" 669. The same applies to the case of "excess" 661.

Figure 14 (A) shows a method of notifying the work guidance when the real-time judgment result 660 is "Good 2" 667. "Good 2" 667 is a judgment result in which the soil crushing property of the field surface is slightly worse than "optimal" 665. In other words, by changing the work conditions to conditions that involve more work on the field than the current work conditions and improve the soil crushing property of the field surface, "Good 2" 667 may change to "optimal" 665. In such a case, the work guidance 675 displays "Please slow down the vehicle speed" to prompt the worker to change the work conditions. By slowing down the vehicle speed of the traveling machine body 10, the effect of the rotor 207 on the field increases, and the soil crushing property of the field surface can be improved. As a result, the field condition can be brought closer to "optimal" 665 from "Good 2" 667.

Instead of displaying "Slow down the vehicle speed" in the work guidance 675, "Increase the rotor rotation speed", "Pressure the apron", or "Increase the apron pressure". If the field does not become "Excessive" 661, "Good 1" 663, or "Optimal" 665 even after changing the work conditions or performing work multiple times, or if the value of the potentiometer 510 is extremely small, the height of the work implement 20 relative to the traveling body 10 may be set to a position higher than the appropriate position, so "Lower the work implement" may be displayed. By increasing the rotation speed of the rotor 207, the soil crushing properties of the field surface can be improved in the same way as when the vehicle speed of the traveling body 10 is slowed. The apron is pressurized by an apron pressurizing mechanism provided between the extension shield cover 410 and the extension apron 420. When the apron 220 is pressurized (or the pressure applied to the apron 220 is increased), the apron 220 rotates downward relative to the shield cover 210, causing soil in the field to accumulate on the apron 220. This improves the soil crushing properties of the field surface in the same way as when the vehicle speed of the traveling machine body 10 is slowed down.

(B) of FIG. 14 shows a method of notifying the work guidance when the real-time judgment result 660 is "Good 1" 663. "Good 1" 663 is a judgment result in which the soil crushing property of the field surface is slightly better than "optimal" 665. In other words, by changing the work conditions to conditions in which the amount of work on the field is less than the current work conditions and the soil crushing property of the field surface is reduced, "Good 1" 663 may change to "optimal" 665. In such a case, the work guidance 675 displays "Please increase the vehicle speed" to prompt the worker to change the work conditions. By increasing the vehicle speed of the traveling machine body 10, the action of the rotor 207 on the field is reduced and the soil crushing property of the field surface can be reduced. As a result, the field condition can be brought closer to "optimal" 665 from "Good 1" 663. When the judgment result is "Good 1" 663, the speed of the traveling machine body 10 can be increased, thereby improving work efficiency.

Instead of displaying "Increase vehicle speed", the work guidance 675 may display "Reduce rotor rotation speed", or "Release apron pressure", or "Reduce apron pressure". By reducing the rotation speed of the rotor 207, the soil crushing properties of the field surface can be reduced in the same way as when the vehicle speed of the traveling body 10 is increased. When the pressure of the apron 220 is released (or the pressure of the apron 220 is reduced), soil in the field is less likely to remain, and the soil crushing properties of the field surface can be reduced in the same way as when the vehicle speed of the traveling body 10 is increased.

Figure 15 is a diagram showing an example of displaying an appropriate work route using the results of the field condition judgment according to an embodiment of the present invention. The example shown in Figure 15 is an example in which a second work route 679 is determined based on the judgment results of the work after the field has been worked once. In particular, this example shows a work route 679 that preferentially passes through blocks judged to be "short" in the first work. In the example of Figure 15, the work route 679 does not pass through rows (blocks lined up north and south) in which there are no blocks judged to be "short", but passes only through rows in which there are blocks judged to be "short". Here, for the sake of convenience, the terms "first work route" and "second work route" are used, but this merely means the order of work. In other words, the "first work route" is not limited to the route used to work the field for the first time.

In FIG. 15, the second work path 679 is a path in which the traveling machine body 10 moves straight in the column direction (north-south direction) like the first work path 677 (see FIG. 12), but the second work path 679 may be a path in which the traveling machine body 10 moves straight in the row direction (east-west direction). Also, in FIG. 15, the straight movement in the column direction in the second work path 679 passes through all the blocks arranged in the column direction, but it may bend or turn back in the middle of the blocks arranged in the column direction. Although not shown, when displaying the judgment result of the field state due to the second work, it is possible to display it so that the judgment result of the field state due to the first work is overwritten. However, in order to make it possible to distinguish the judgment results of the first and second works, for example, the judgment result of the first work may be displayed dimly or semi-transparently. Alternatively, the first judgment result and the second judgment result may be displayed in different windows.

In addition, when determining each of the first work path 677 and the second work path 679, the work path can be determined including the unfolding or folding of the extension working unit 400 of the work machine 20. For example, the first work path 677 may be a work path in a state where the extension working unit 400 is unfolded, and the second work path 679 may be a work path in a state where the extension working unit 400 is folded. Of course, the opposite to the above, the first work path 677 may be a work path in a state where the extension working unit 400 is folded, and the second work path 679 may be a work path in a state where the extension working unit 400 is unfolded.

In addition, if there are multiple past judgment results from the work, the most recent two judgment results will be displayed. However, the worker can also select to read out the judgment results from any past work.

In this way, the worker can evaluate the field condition resulting from the work while working in the field. Furthermore, by displaying the judgment results on the field map 650, the worker can easily see at a glance the areas where work is insufficient and the areas where no further work is required. Furthermore, by determining the work route from the second time onwards based on the field map 650 including the judgment results, it is possible to display a work route that gives priority to working in areas where additional work is required, and therefore an efficient work route can be suggested to the worker.

In this embodiment, the configuration for determining whether the field condition is good or bad based on the change in the up-down movement of the leveller 230 is exemplified, but the present invention is not limited to this configuration. For example, it may be determined whether the field condition falls under a certain condition based on the change in the up-down movement of the leveller 230. In addition, in this embodiment, the configuration for determining the field condition based on the change in the up-down movement of the ground contact member such as the leveller 230, that is, the magnitude of unevenness on the field surface, is exemplified, but the present invention is not limited to this configuration. For example, the difference in the field condition before and after the work by the working machine 20 may be evaluated by a non-contact method, and the field condition may be determined by judging the evaluation result. As a non-contact method, for example, image analysis of an image taken by a camera, a distance measuring device using ultrasonic waves or infrared rays, and a distance measuring device using light (LiDAR; Light Imaging Detection and Ranging) can be used. As another method, when the soil mass is large, the resistance to the work of the working machine 20 is large, and the torque of the PTO shaft becomes large. Therefore, the state of the field can be determined based on the torque fluctuation of the PTO shaft. Alternatively, the state of the field can be determined by measuring the vibration of a rake (rake or handle) attached to the bottom of the apron 220.

Figure 16 is a diagram showing an example of a method for changing the criteria for the judgment results of a field condition according to an embodiment of the present invention. (A) in Figure 16 is a display screen before the judgment criteria are changed, and (B) is a display screen after the judgment criteria are changed. The display screen shown in (A) in Figure 16 is similar to the display screen in Figure 12, but differs from the display screen in Figure 12 in that a criterion change 680A is displayed in the lower left of the field map 650A. Other than that, it is the same as the display screen in Figure 12, so a description will be omitted.

The criteria for judging the field condition are defined in the LUT 630 shown in FIG. 10, and the judgment results are displayed as shown in FIG. 16(A). However, some workers may desire judgment results that are different from those defined in the LUT 630. For example, even if a field condition is judged to be "excessive" according to a specified judgment criterion, the worker may prefer that field condition. In such cases, the judgment criteria can be automatically changed using the method described below.

When the operator selects the criterion change 680A, the range of the adjacent PV statistical value judgment range 635 in the LUT 630 is changed so that the field condition currently being worked on is included in the judgment result of "optimum". In this change, the difference between the upper and lower limits of the adjacent PV statistical value judgment range 635 associated with the judgment result of "optimum", that is, the width of the range of the adjacent PV statistical value judgment range 635 judged to be "optimum", is maintained, and both the upper and lower limits are changed. In accordance with this change, the adjacent PV statistical value 645 in the data table 640 shown in FIG. 11 is re-evaluated, and the re-evaluation result is reflected in the judgment result 647. Based on the re-evaluation result of this judgment result 647, the field map 650B shown in FIG. 16B is updated. The reflection of the re-evaluation result in the field map 650B is limited to the field currently being worked on. However, the reflection of the judgment result may be applied to fields other than the field currently being worked on. The above-mentioned change in the judgment criteria is performed by the control unit 191 or the control unit 291 shown in FIG. 2. As described above, when the criteria change 680A is selected, the adjacent PV statistics 645 may be re-evaluated and the result may be overwritten in the data table 640, and the information after the criteria change 680A is selected may be stored in the data table 640 together with the information before the criteria change 680A is selected.

A part of the work section that was judged as "excess" in the field map 650A of FIG. 16(A) has been changed to an "optimal" judgment in the field map 650B of FIG. 16(B). Also, a part of the work section that was judged as "optimal" in the field map 650A has been changed to an "insufficient" judgment in the field map 650B. Then, after selecting change criteria 680A, the judgment result based on the judgment criteria changed as described above is displayed. In this way, even during work, the judgment criteria can be changed without manually changing the settings of the LUT 630 by simply selecting change criteria 680A.

In this embodiment, when the change criteria 680A is selected, the judgment results of the area that have been judged up to that point are updated based on the judgment criteria changed by the selection of the change criteria 680A. However, it is not necessary to update the judgment results that were judged before the selection of the change criteria 680A. Also, in this embodiment, when the change criteria 680A is selected, the LUT 630 is changed so that the field condition currently being worked on is included in the judgment result of "optimum". However, the LUT 630 may be changed by selecting a block of field conditions that is to be included in the judgment result of "optimum" after the change criteria 680A is selected.

[Configuration of the straightener angle detection mechanism 500]
The detailed configuration of the leveller angle detection mechanism 500 will be described with reference to Figures 17 and 18. Figure 17 is a side view showing details of the leveller angle detection mechanism of a work machine according to one embodiment of the present invention. Figure 18 is a top view showing details of the leveller angle detection mechanism of a work machine according to one embodiment of the present invention. In the following description, for convenience of explanation, the potentiometer 510 and the connecting rotation member 560 are drawn with thicker lines than the other members.

First, the connection structure between the first arm portion 520 and the second arm portion 530 will be described in detail. As shown in FIG. 18, a first arm connector 521 extending from the first arm portion 520 to the second arm portion 530 is connected to the first arm portion 520. A second arm connector 523 is connected to the tip of the first arm connector 521. The second arm connector 523 is cylindrical, and the second arm portion 530 is inserted into the hollow portion of the cylinder. With this configuration, the first arm portion 520 and the second arm portion 530 are connected to be able to slide.

The second arm portion 530 is provided with a first stopper 531 and a second stopper 533. The first elastic portion 540 is provided between the first stopper 531 and the second arm connecting portion 523. The second elastic portion 550 is provided between the second stopper 533 and the second arm connecting portion 523. Since the first elastic portion 540 and the second elastic portion 550 are both arranged at these positions in a contracted state, the first elastic portion 540 imparts an elastic force to the first arm portion 520 and the second arm portion 530 in the direction in which the telescopic rod 590 contracts, and the second elastic portion 550 imparts an elastic force to the first arm portion 520 and the second arm portion 530 in the direction in which the telescopic rod 590 extends. In addition, when the first elastic portion 540 and the second elastic portion 550 are collectively referred to as the elastic portion, it can be said that the elastic portion applies an elastic force to each of the first arm portion 520 and the second arm portion 530 in both the direction in which the telescopic rod 590 extends and the direction in which the telescopic rod 590 contracts.

Although not shown in the description of FIG. 4, as shown in FIG. 17 and FIG. 18, the leveler angle detection mechanism 500 further has a connecting rotation member 560, a bracket 570, and a rotation shaft 580. The connecting rotation member 560 is rotatably connected to the first arm portion 520 via the rotation shaft 580. The connecting rotation member 560 is also rotatably connected to the bracket 570. The potentiometer 510 is attached to the bracket 570. The bracket 570 is attached to the base 314 by a fixing portion 575. The potentiometer 510, the connecting rotation member 560, the bracket 570, and the rotation shaft 580 may be collectively referred to as an angle detector.

The connecting rotation member 560 has a third arm portion 561 and a rotating shaft 563. The third arm portion 561 has an opening 565. The rotating shaft 580 penetrates the opening 565, so that the third arm portion 561 is rotatably connected to the first arm portion 520. The bracket 570 has a first stopper 571 and a second stopper 573. The bracket 570 also has an opening 577. The rotating shaft 563 penetrates the opening 577, so that the connecting rotation member 560 is rotatably connected to the bracket 570. When the connecting rotation member 560 rotates in the R1 direction, the first stopper 571 comes into contact with the rotating shaft 580 to restrict the rotation of the connecting rotation member 560. The state in which the rotation shaft 580 is engaged with the first stopper 571 in this way and the rotation of the connecting rotation member 560 is restricted is called the first rotation limit. When the connecting rotation member 560 rotates in the R2 direction, the second stopper 573 comes into contact with the third arm portion 561, thereby restricting the rotation of the connecting rotation member 560. This state in which the rotation of the connecting rotation member 560 is restricted by the third arm portion 561 engaging with the second stopper 573 is called the second rotation limit.

As described above, the elastic modulus of each of the first elastic portion 540 and the second elastic portion 550 is greater than the elastic modulus of the elastic portion for returning the potentiometer 510 to the origin. Therefore, in the rotation range of the connecting rotation member 560 between the first rotation limit and the second rotation limit, the connecting rotation member 560 rotates following the up and down movement of the central leveler 330. On the other hand, when the central leveler 330 moves up and down so that the connecting rotation member 560 rotates beyond the first rotation limit or the second rotation limit, as shown below, the first elastic portion 540 or the second elastic portion 550 expands and contracts, thereby expanding and contracting the expansion rod 590, and damage to the leveler angle detection mechanism 500 is suppressed.

Figure 19 is a side view showing the telescopic rod in its most extended state in a work machine according to one embodiment of the present invention. The state shown in Figure 19 corresponds to the leveller piling up soil. When the central leveller 330 rotates downward so that the connecting pivot member 560 rotates beyond the first pivot limit, the first elastic part 540 contracts and the second elastic part 550 extends, thereby extending the telescopic rod 590.

Figure 20 is a side view showing the telescopic rod in its most contracted state in a work machine according to one embodiment of the present invention. The state shown in Figure 20 corresponds to a state in which the leveller runs up onto a ridge or the like. When the central leveller 330 rotates upward so that the connecting pivot member 560 rotates beyond the second pivot limit, the first elastic part 540 expands and the second elastic part 550 contracts, causing the telescopic rod 590 to contract.

As described above, even if the leveller moves up and down so that the connecting pivot member 560 pivots beyond the first or second pivot limit, the leveller angle detection mechanism 500 can be prevented from being damaged without restricting the leveller's rotation.

In this embodiment, the result of the determination of the field condition may be recorded together with the location information of the registered field. In other words, the result of the determination of the field condition may be recorded as mapping data. In this case, the mapping data of the determination result is recorded in association with other mapping data.

The mapping data of the field condition determination results obtained as described above can be associated with other mapping data to manage how the field condition affects the crops grown in the field. FIG. 21 is a diagram showing an example of a method for managing data obtained by a field condition determination method according to an embodiment of the present invention. As shown in FIG. 21, in addition to the various data shown in FIG. 11, cultivation depth 691C, yield 693C, and fertilizer amount 695C are associated with each other and stored in data table 640C. Note that cultivation depth 691C, yield 693C, and fertilizer amount 695C may be average values or standard deviations in section 641C, similar to adjacent PV statistics 645C.

The tillage depth 691C can be obtained, for example, based on the height of the work machine 20 relative to the traveling machine body 10 and the rotation angle of the apron 220 relative to the shield cover 210. The tillage depth 691C may also be obtained based on the rotation angle of the leveler 230 relative to the apron 220 in addition to the above-mentioned rotation angle.

The yield 693C is data acquired, for example, when harvesting crops using a harvester. The yield 693C data is mapping data, similar to the determination result of the field condition. Because the device that acquires the yield 693C is different from the work machine 20 of this embodiment, the block size of the determination result 647C may differ from the block size of the yield obtained by the harvester. An example is shown in Figures 22 and 23. (A) of Figure 22 is a field map 650C on which the mapping data of the determination result 647C is displayed. (B) of Figure 22 is a field map 700C on which the mapping data of the yield 693C is displayed.

In FIG. 22A, block 651C is a work section with a judgment result of "excess", block 653C is a work section with a judgment result of "insufficient", and block 655C is a work section with a judgment result of "optimal". In FIG. 22B, block 701C is a work section with a "high" yield, block 703C is a work section with a "low" yield, and block 705C is a work section with a "normal" yield. Note that field maps 650C and 700C show the same field and are the same field size. Field map 650C is divided horizontally:vertically at a ratio of 8:6, while field map 700C is divided horizontally:vertically at a ratio of 5:4. In other words, the size of one block in field map 650C and field map 700C are different.

In this way, when the size of one block is different in different field maps, the mapping data of yield 693C is divided at the boundary of the block of judgment result 647C (dotted line in FIG. 23) as shown in FIG. 23. In the case of FIG. 23, the yield data of block 703C is recorded in data table 640C as the data of yield 693C corresponding to judgment result 647C of block 651C. The average value of the yield data of blocks 703C and 705C is recorded in data table 640C as the data of yield 693C corresponding to judgment result 647C of block 653C. The average value of the yield data may be a weighted average weighted by the ratio of the occupied area of the yield data of block 703C to the occupied area of the yield data of block 705C in block 653C.

As described above, if the block corresponding to determination result 647C contains multiple yield data, the average or weighted average of those yield data is treated as the yield data for that block. However, if one block contains multiple yield data as described above, any one of the multiple yield data may be treated as the yield data for that block. As a method for selecting one yield data from the multiple yield data, the yield data that occupies the largest area in the block may be used, or the yield data with the highest or lowest yield may be used.

As described above, when multiple pieces of mapping data exist for one field, the information is displayed to the worker at the worker's request. When the information is displayed to the worker, it may be displayed side-by-side as in (A) and (B) of FIG. 22, or it may be displayed overlapping as in FIG. 23. The worker may check the above display and change the judgment criteria as in the example shown in FIG. 16, for example, so that the judgment result of the field condition of a block with a high yield is included in "optimum."

The above describes the yield 693C, but the tillage depth 691C and fertilizer amount 695C can also be treated in the same manner.

The data related to the data table 640C shown in FIG. 21 may be stored in a storage device connected to the control unit 191 of the traveling machine body 10, or in a storage device connected to the control unit 291 of the working machine 20, or in a storage device of a server connected to the communication unit of the traveling machine body 10 or the working machine 20 via a network, or in an external storage device connected to the server via a network.

When acquiring mapping data of a field using a harvester or other working machine, the field information registered by the field registration shown in Figures 5 and 6 can be used. For example, since the registered field information includes the location information of the field, the field on which work will be performed may be identified based on the current location of the harvester or other working machine, or candidate fields may be displayed to the worker.

The data related to the data table 640C shown in FIG. 21 may be read out the next time the field is worked. If the judgment criteria have not been changed as described above, for example, when working on a block where the judgment result is "optimal" but the yield is "normal" or "low" (a block where the yield is not the best), work operation guidance such as "Please increase the vehicle speed" or "Please decrease the vehicle speed", "Please decrease the rotor rotation speed" or "Please increase the rotor rotation speed", or "Please pressurize the apron" or "Please release the apron pressure" may be displayed to the worker so that the judgment result of the block approaches the judgment result of the block where the yield is "high".

Second Embodiment
In this embodiment, a configuration will be described in which the judgment criteria of the real-time judgment result 660 are changed depending on the soil quality of the field. Soil types are roughly classified into sandy soil, sandy loam, loam, clay loam, and clay loam. Sandy soil refers to a state in which the soil is almost entirely sand. Meanwhile, clay loam refers to a state in which the soil is almost entirely clay. Loam refers to a state in which the soil is roughly half sand and half clay. Sandy loam refers to a state in which the sand ratio is high in a mixture of sand and clay. Clay loam refers to a state in which the clay ratio is high in a mixture of sand and clay. In the case of soil with a lot of sand, even if the field is judged as "insufficient" in the real-time judgment result, it is relatively easy to change "insufficient" to "optimum". On the other hand, in the case of soil with a lot of clay, more work is required to change "insufficient" to "optimum" compared to the case of sandy soil. Therefore, it is preferable to change the judgment criteria of the real-time judgment result depending on the soil quality. In particular, it is preferable to change the criteria for determining whether the result is "good 1" 663 or "good 2" 667 when notifying the work guidance 675 as shown in Fig. 14, depending on the soil quality. Hereinafter, this embodiment will be described with reference to Figs. 24 and 25.

Figure 24 is a diagram showing an example of displaying the results of the field condition judgment on a monitor according to an embodiment of the present invention. The display screen shown in Figure 24 is similar to the display screen shown in Figure 12, but differs from the display screen shown in Figure 12 in the soil type display on monitor 110D and the display of real-time judgment results 660D.

As shown in FIG. 24, a soil quality display section 710D is provided to the left of the real-time judgment result 660D. The width of the gauge of each judgment result of the real-time judgment result 660D ("Excess" 661D, "Good 1" 663D, "Optimal" 665D, "Good 2" 667D, and "Insufficient" 669D) is displayed with different widths according to the range of each judgment result in the adjacent PV statistical value judgment range 635 shown in FIG. 10. The cursor 666D is displayed in analog according to the adjacent PV values (PV1, PV2, PV3) in FIG. 8. In this embodiment, the cursor 666D is displayed in analog and the width of the gauge of each judgment result of the real-time judgment result 660D is displayed with different widths, but this configuration is not limited to this. For example, in the configuration shown in FIG. 12, the range of each judgment result of the real-time judgment result 660 may be different depending on the soil quality. In other words, as shown in FIG. 12, the gauge width of each judgment result in the real-time judgment result 660 may be the same, and the cursor 666 may indicate one of the judgment results depending on the judgment result.

The soil type display section 710D displays one of the following soil types: sand, sandy loam, loam, clay loam, and clay soil. The above soil types are determined by the operator's settings. However, the above soil types may also be determined automatically based on location information detected by the GNSS provided in the traveling body 10D or the working machine 20D and regional soil information published on the web or managed by a server connected to the communication unit of the traveling body 10D or the working machine 20D. Also, the soil types may be classified into fewer or more types than the five types described above. Or, the soil types may be classified by items different from those described above.

The gauge width of the real-time judgment result 660D in FIG. 24 will be described in detail with reference to FIG. 25. FIG. 25 is a diagram showing an example of a real-time judgment result of a field condition according to an embodiment of the present invention. FIG. 25 (A) shows a real-time judgment result 660D when the soil type is clay soil, and (B) shows a real-time judgment result 660E when the soil type is sand soil.

As shown in FIG. 25A, the width of "Good 2" 667D is displayed smaller than the widths of "Excess" 661D, "Good 1" 663D, and "Optimal" 665D, and the width of "Shortage" 669D is displayed larger. As shown in the soil quality display section 710D, the soil quality of the field shown in FIG. 24 is clay soil. As mentioned above, clay soil is almost entirely clay, and more work is required to break it down into fine lumps than in other cases. In other words, among the conditions that deviate from "Optimal" 665D to the "Shortage" 669D side, only conditions close to "Optimal" 665D can be changed to "Optimal" 665D by changing the work conditions, and conditions that are far from "Optimal" 665D cannot obtain the effect of changing the work conditions. For this reason, the width of "Good 2" 667D is displayed relatively small, and the width of "Shortage" 669D is displayed relatively large.

As shown in FIG. 25B, the widths of "excess" 661E, "good 1" 663E, and "shortage" 669E are displayed smaller than the widths of "optimum" 665E and "good 2" 667E. Unlike the clay soil described above, sandy soil can be crushed relatively easily. In other words, most of the soil lumps are crushed finely in one operation. In addition, by changing the work conditions, even if the conditions deviate from "optimum" 665E to the "shortage" 669E side, they can easily be made "optimum" 665E. Therefore, the range that is judged to be "optimum" 665E is set wide. For this reason, the widths of "optimum" 665E and "good 2" 667E are displayed relatively large, and the widths of "excess" 661E, "good 1" 663E, and "shortage" 669E are displayed relatively small.

As described above, the gauge width of each judgment result in the real-time judgment result 660D in FIG. 24 differs depending on the soil type displayed in the soil type display section 710D. In other words, the range of each judgment result in the adjacent PV statistical value judgment range 635 shown in FIG. 10 differs depending on the above soil type. In other words, an LUT 630 is set for each soil type, and the LUT 630 used as the judgment criterion is switched according to the switching of the soil type in the soil type display section 710D, and the gauge width of each judgment result in the real-time judgment result 660D is determined according to the adjacent PV statistical value judgment range 635 of the switched LUT 630. Here, in the data tables 640 and 640C shown in FIG. 11 and FIG. 21, the above soil type information may be stored together with each judgment result.

As described above, the criteria for the real-time assessment result 660 are changed depending on the soil type, so that the worker can be notified of the working conditions suitable for the field in which he or she is working.

Third Embodiment
In this embodiment, a method of registering a field different from that in the first embodiment will be described. Fig. 6 in the first embodiment shows a method of registering a field in which the size of each of the long and short sides of the field is input and an image corresponding to the positional relationship between the traveling machine body 10 and the field is selected to register the positional information of the field. In this embodiment, a method of inputting the size of two sides and registering the positional information of the field based on the moving direction of the traveling machine body 10 that has entered the field will be described with reference to Fig. 26.

Figure 26 is a diagram showing an example of an interface displayed on a screen in a method for determining a field condition according to one embodiment of the present invention. (A) of Figure 26 shows an interface displayed on monitor 110F. (B) of Figure 26 shows a method for determining field position information based on the direction of movement of traveling machine body 10.

The interface in FIG. 26A is similar to the interface in FIG. 6, but the input area 611F and the entry start button 720F are displayed on the monitor 110F, and the position selection area 613 as in FIG. 6 is not displayed. The input area 611F has an input box for the field name 617F, an input box for the first side size 618F, and an input box for the second side size 619F. An arbitrary name is input into the input box for the field name 617F. The size of the side (first side) of the field in the direction of travel of the traveling machine body 10 when the traveling machine body 10 enters the field is input into the input box for the first side size 618F. The size of the side (second side) that intersects with the first side is input into the input box for the second side size 619F. The entry start button 720F is a button that is pressed before the traveling machine body 10 enters the field.

In this embodiment, the position information of the field is determined based on the moving direction of the traveling body 10 after the entry start button 720F is pressed. First, based on the size relationship between the first side size 618F and the second side size 619F, a state corresponding to the current positional relationship between the traveling body 10F and the field is selected from the four states shown in (B) of FIG. 26. For example, if the first side size 618F is larger than the second side size 619F, state A or B is selected. On the other hand, if the first side size 618F is smaller than the second side size 619F, state C or D is selected. When state A or B is selected and the traveling body 10 moves to the right after entering the field, state B is selected and the position information of the field is determined. On the other hand, when state A or B is selected and the traveling body 10 moves to the left after entering the field, state A is selected and the position information of the field is determined. In this way, the operator can determine the position information of the field by simply entering the traveling machine body 10 into the field and moving after inputting the size of the two sides of the field. In other words, the operational burden on the operator can be reduced. Note that icons A to D shown in FIG. 26(B) may be displayed on the monitor 110F, and the operator may input the first side size 618F and the second side size 619F and then select one of icons A to D to determine the position information of the field.

Fourth Embodiment
In this embodiment, a method of judging a field different from the first and second embodiments will be described. In this embodiment, unlike the block judgment and real-time judgment described above, a field judgment of the entire field will be described. As shown in FIG. 27, the result of the field judgment for the entire field (field judgment result) is derived based on the ratio of blocks judged to be "insufficient" to all blocks of the field. In other words, the field judgment result is derived based on the ratio of the results judged to be unsuccessful based on the pass/fail judgment criterion (block pass/fail judgment criterion) among the results of the block judgment described above. Note that the block pass/fail judgment criterion is a criterion for judging the pass/fail of each block, which is derived based on the judgment result of each block ("optimum", "excess", or "insufficient"). In the following description, an example will be described in which the field judgment result is derived based on the block pass/fail judgment criterion that judges the block judgment results to be "optimum" and "excess" as pass and that judges the block judgment results to be "insufficient" as fail. However, the block pass/fail judgment criterion is not limited to this example, and can be freely set by the operator.

For example, if the total number of blocks in a field is 50, and the number of blocks judged to be "insufficient" is 5 or less (i.e., the proportion of blocks judged to be "insufficient" is 10% or less), the field judgment result can be judged to be "passed". On the other hand, if the number of blocks judged to be "insufficient" is 6 or more (i.e., the proportion of blocks judged to be "insufficient" is greater than 10%), the field judgment result can be judged to be "failed". If the field judgment result is "passed", a notification of the field judgment result 730G such as "The work was completed normally" is displayed on the screen as shown in FIG. 27. On the other hand, if the field judgment result is "failed", a notification such as "Please retry the work" is displayed instead of the above notification. The judgment criteria for "passed" and "failed" (field case failure judgment criteria) can be freely set by the operator.

The present invention has been described above with reference to the drawings, but the present invention is not limited to the above embodiment and can be modified as appropriate without departing from the spirit of the present invention.

10: Traveling machine body, 20: Working machine, 100: Body, 110: Monitor, 120: Three-point link mechanism, 121: Communication unit, 191: Control unit, 193: Display unit, 195: Position detection unit, 200: Frame, 201: Main frame, 203: Chain case, 205: Side frame, 207: Rotor, Shield cover 210, 220: Apron, 230: Leveler, 291: Control unit, 293: Detection unit, 300: Central working unit, 310: Central shield cover, 320: Central apron, 330: Central leveler, 332: Second connection unit, 400: Extension working unit, 410: Extension shield cover, 414, 434: Base, 420: Extension apron, 422, 432: Connection portion, 430: Extension leveller, 490: Leveller extension portion, 500: Leveller angle detection mechanism, 501: Control box, 510: Potentiometer, 520: First arm portion, 521: First arm connecting portion, 523: Second arm connecting portion, 530: Second arm portion, 531: First stopper, 533: Second stopper, 540: First elastic portion, 550: Second elastic portion, 560: Connecting rotation member, 561: Third arm portion, 563: Rotation shaft, 565: Opening, 570: Bracket, 571: First stopper, 573: Second stopper, 575: Fixing portion, 577: Opening, 580: Rotation shaft, 590: Telescopic rod, 611: Input area, 613: Position selection area, 615: Input frame, 630: LUT, 631: Judgment result, 633: Selection, 635: Adjacent PV statistical value judgment range, 640: Data table, 641: Section, 643: Plot data, 645: Adjacent PV statistical value, 647: Judgment result, 650, 700C: Field map, 651, 653, 655, 701C, 703C, 705C: Block, 657: Traveling machine icon, 660: Real-time judgment result, 670: Information display section, 680A: Criteria change, 691C: Tillage depth, 693C: Yield, 695C: Fertilizer amount, 710D: Soil quality display section, 720F: Start entry button, 730G: Field judgment result

Claims (7)

A program for causing a computer to execute a display of a soil crushing state or a soil leveling state of a field, the display including a result of a block judgment for judging a state of a field for each work section worked by a work machine traveling in the field, the program comprising:
displaying the results of a real-time determination for determining the soil crushing or leveling state of a section of the field shorter than the work section in an area different from the field map in which the results of the block determination are displayed;
The result of the block determination is displayed in a visually distinguishable manner using a pattern or color in a plurality of stages,
The result of the real-time determination is displayed in a visually distinguishable manner using a pattern or color in a plurality of stages,
A program for causing a computer to execute the following: displaying the display mode of each stage indicating the result of the block judgment in a display mode common to any one of the display modes of the multiple stages indicating the result of the real-time judgment . The program according to claim 1, wherein the result of the block determination is based on information obtained by statistically processing the information used in the real-time determination. The program according to claim 1 or 2, wherein the block determination and the real-time determination are performed based on a change in the vertical movement of a ground contact member provided on the work machine that contacts the field relative to the field. The program according to any one of claims 1 to 3, which notifies an operator of guidance for changing the working conditions of at least one of the working machine and the traveling machine body towing the working machine, depending on the result of the real-time judgment. The result of the real-time judgment includes a first judgment result, a second judgment result, and a third judgment result according to a soil crushing state or a soil leveling state of the field,
The first judgment result is defined as a result indicating a relatively good condition of the field,
The third judgment result is defined as a result indicating a relatively poor field condition,
the second judgment result is defined as a result indicating a field state between the first judgment result and the third judgment result;
When the result of the real-time determination is the first determination result or the third determination result, the guidance is not notified to the operator.
The program according to claim 4 , wherein the guidance is notified to an operator when the result of the real-time determination is the second determination result. A method for displaying a soil crushing or leveling condition of a field, the method comprising: displaying, for each work section, a result of a block judgment that judges the condition of the field for each work section worked by a work machine traveling in the field, the result of the block judgment being
displaying the results of a real-time determination for determining the soil crushing or leveling state of a section of the field shorter than the work section in an area different from the field map in which the results of the block determination are displayed;
displaying the block determination result and the real-time determination result in a display mode in which at least a part of the result is common ;
The result of the block determination is displayed in a visually distinguishable manner using a pattern or color in a plurality of stages,
The result of the real-time determination is displayed in a visually distinguishable manner using a pattern or color in a plurality of stages,
A display method in which a display mode of each stage showing the result of the block determination is displayed in a common display mode with any one of the display modes of the plurality of stages showing the result of the real-time determination . An information processing device that displays a soil crushing state or a soil leveling state of a field by displaying a result of a block judgment that judges the state of a field for each work section worked by a work machine traveling in the field, the information processing device comprising:
displaying the results of a real-time determination for determining the soil crushing or leveling state of a section of the field shorter than the work section in an area different from the field map in which the results of the block determination are displayed;
displaying the block determination result and the real-time determination result in a display mode in which at least a part of the result is common ;
The result of the block determination is displayed in a visually distinguishable manner using a pattern or color in a plurality of stages,
The result of the real-time determination is displayed in a visually distinguishable manner using a pattern or color in a plurality of stages,
An information processing device that displays the display mode of each stage indicating the result of the block determination in a display mode common to any one of the display modes of the multiple stages indicating the result of the real-time determination .

Images