JP7671082B2 - Plowing machine - Google Patents

Description

The present invention relates to a working machine and a judgment method. In particular, the present invention relates to a working machine that is attached to the rear of a tractor and a method for judging the state of a farm field using the working machine.

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 costs 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. The present invention was made in consideration of such problems, and aims to evaluate the field condition obtained as a result of work while working in the field.

The method of judging according to one embodiment of the present invention detects changes in the vertical movement of a ground contact member that is attached to a work machine attached to the rear of a traveling body traveling through the field, and judges the field condition obtained by the work of the work machine based on the changes in the vertical movement.

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

Furthermore, the results of the determination of the field condition for each work section may be stored in association with information regarding the changes in the up and down movement for each work section.

Furthermore, the field condition associated with the stored information on the change in the vertical movement may be reassessed in accordance with an operator's instruction to change the judgment criteria.

The working machine according to one embodiment of the present invention is attached to the rear of a traveling body that travels through a field, and includes a ground contact member that contacts the field, a detector that detects changes in the vertical movement of the ground contact member caused by unevenness in the field, and a control unit that transmits information about the changes in the vertical movement detected by the detector to a determiner that determines the field condition.

The working machine according to one embodiment of the present invention is attached to the rear of a traveling body that travels through a field, and includes a ground contact member that contacts the field, a detector that detects changes in the vertical movement of the ground contact member caused by unevenness in the field, and a control unit that determines the field condition obtained by the work based on the changes in the vertical movement.

The control unit may determine the field condition based on the change in the up and down movement for each work section of the field.

The system may further include a memory unit that stores the field condition for each work section in association with information regarding changes in the vertical movement for each work section.

The control unit may receive an instruction to change the judgment criteria from the worker, and may re-evaluate the field condition for each work section using information about the change in the up and down movement for each work section stored in the memory unit based on the instruction to change the judgment criteria.

The working machine according to one embodiment of the present invention comprises a frame, a rotor attached to the frame and having a working claw, a cover member rotatably connected to the frame, a grounding member rotatably connected to the cover member and capable of contacting a field, and a detection member connected to the grounding member and detecting a change in the rotation angle of the grounding member relative to the frame or the cover member.

The detection member may have an angle detector and an extendable rod, the angle detector may be installed on the frame or the cover member, and the extendable rod may connect the angle detector to the ground member.

The telescopic rod may extend and retract when the rotation of the ground member causes the angle detector to rotate beyond the movable range of the angle detector.

The telescopic rod may include a first arm portion, a second arm portion, and an elastic portion, the first arm portion and the second arm portion being slidably connected to each other, and the elastic portion may impart an elastic force to each of the first arm portion and the second arm portion in both directions in which the telescopic rod extends and contracts.

The working machine according to the present invention makes it possible to evaluate the field condition obtained as a result of work while working in the field.

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 the 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. 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. 4 is a diagram showing an example of an interface displayed on a screen in the method for determining a farm 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. 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. FIG. 2 is a diagram showing an example of mapping data of a method for determining a farm field condition and a yield according to an embodiment of the present invention. 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.

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, and repeated explanations are omitted. For convenience of explanation, the terms "upper" (top) and "lower" (bottom) are used in the description, but "upper" (top) and "lower" (bottom) 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).

<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, a working machine equipped with a ground contact member capable of contacting the field during operation can be used in addition to a tiller. 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]
[0023] 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 farm field.

The traveling machine body 10 includes a vehicle body 100, a monitor 110, and a three-point link mechanism 120. The monitor 110 is provided in the front of the vehicle body 100. The three-point link mechanism 120 is provided in the rear of the vehicle body 100. As described below, 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 work machine 20 is connected to the three-point link mechanism 120. Since the structure of the three-point link mechanism 120 is publicly known, 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, a cover member (apron 220), and a leveling member (leveller 230). 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 leveller 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 and receives various information to the control unit 191 via the communication unit 121. The communication unit 121 may be wired or wireless. For example, CAN (Controller Area Network), Wi-Fi (registered trademark), or Bluetooth (registered trademark) can be used as a communication method for 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 machine body 10. The position detection unit 195 detects the current position of the traveling machine body 10. The position information detected by the position detection unit 195 is transmitted to the control unit 191. As the position detection unit 195, for example, a global navigation satellite system (GNSS) can be used. As the GNSS, a satellite positioning system such as GPS, GLONASS, Galileo, or Quasi-Zenith Satellite System (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 machine body 10 can be used. The control unit 191, the display unit 193, and the position detection unit 195 are connected by wire or wirelessly via CAN, Wi-Fi, or Bluetooth, 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, via CAN, Wi-Fi, or Bluetooth, 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 at 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 leveling member (central apron 320), and a central leveler 330. The central shield cover 310 and the central apron 320 are connected to each other with a first connection part (not shown) as an axis of rotation (rotation axis). The central apron 320 and the central leveler 330 are connected to each other with a second connection part 332 as a rotation axis. The first connection part and the second connection part 332 have a hinge-like hinge. That is, each of the first connection part and the second connection part 332 has a cylindrical part and a columnar part. Here, the cylindrical part of the connection part is fixed to one of the two members connected by the connection part, the columnar part penetrates the inside of the cylindrical part, and both ends of the columnar part 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 soil 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 and 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 section 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. The extension leveler 430, like the central apron 320, levels the soil that has been tilled or stirred by the operation of the rotor 207 arranged in the extension work section 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 (earth-piling state).

Using FIG. 4, the detailed configuration of the leveller angle detection mechanism 500 will be described. 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 section 520 and the second arm section 530 are connected to each other so that they can slide relative to each other. The first elastic section 540 applies an elastic force to the first arm section 520 and the second arm section 530 in the direction in which the telescopic rod 590 contracts. On the other hand, the second elastic section 550 applies an elastic force to the first arm section 520 and the second arm section 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.

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, 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 machine are displayed. The worker moves the traveling machine 10 to the corner of the field and selects an image corresponding to the positional relationship between the traveling machine 10 and the field. When an image is selected, the position information of the traveling machine 10 is detected by the GNSS equipped in the traveling machine 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 the memory of the traveling machine 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 implement 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 body 10 is plotted based on the position information detected by the GNSS provided on the traveling body 10 and the change in the vertical movement of the leveller 230 detected by the leveller angle detection mechanism 500 provided on the working machine 20. The plot data shown in Fig. 7 is analyzed for each of the work sections L1, L2, and L3 of the field. In the example shown in Fig. 7, an example of analyzing the 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. In Fig. 7, the field is divided into work sections L1, L2, and L3. In this embodiment, the method for determining the field condition analyzes the plot data for each of the work sections L1, L2, and L3, and determines the determination results for each section.

A method of analyzing plot data in which the vertical movement of the leveller 230 is detected will be described with reference to FIG. 8. The state of the field is determined based on the magnitude of change in unevenness. Specifically, the state of the field is determined based on the difference between adjacent peaks and valleys detected in the plot data. The difference between the adjacent peaks and valleys is called an adjacent PV (Peak to Valley) value. Each adjacent PV value in one work section is calculated, and the state of the field 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, the determination is performed based on the average value of PV1 to PV3. The 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 FIG. 10, a method for determining the field condition based on the statistical values of adjacent PV values shown in FIG. 8 (hereinafter referred to as adjacent PV statistical values) will be described. As shown in FIG. 10, the interface related to the lookup table (interface based on LUT 630) has items of determination result 631, selection 633, and adjacent PV statistical value determination 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. 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", or may refer to a state close to "optimum" within the "excess" range. Similarly, "Good 2" may refer to a state between "optimum" and "insufficient", or may refer to a state close to "optimum" within the "insufficient" range. The items "Good 1" and "Good 2" refer to a state in which the field condition can be made "optimal" by slightly changing the working conditions, for example by slowing or speeding up the traveling machine body 10.

When the judgment result is "good 1" or "good 2", a work operation guidance such as "increase the vehicle speed" or "slow down the vehicle speed" may be displayed to the worker via the monitor 110. Alternatively, when the judgment result is "good 1" or "good 2", a work operation guidance such as "reduce the rotor rotation speed" or "increase the rotor rotation speed" may be displayed to the worker via the monitor 110. By slowing down the vehicle speed of the traveling machine body 10 or increasing the rotation speed of the rotor 207, the action of the rotor 207 on the field is increased, and the soil crushing property of the field surface can be improved. As a result, the field condition can be brought closer to "optimum" from "good 2". On the other hand, by increasing the vehicle speed of the traveling machine body 10 or decreasing the rotation speed of the rotor 207, the work on the field by the rotor 207 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 "optimum" from "good 1". If the judgment result is "good 1", the speed can be increased, improving work efficiency.

As a different work operation guidance from the above, when the judgment result is "Good 1" or "Good 2", work operation guidance such as "Pressure the apron" or "Increase the apron pressure", or "Release the apron pressure" or "Reduce the apron pressure" may be displayed to the worker via the monitor 110. 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, the apron 220 rotates downward relative to the shield cover 210, so that soil in the field is retained in the apron 220. This increases the action of the rotor 207 on the field, and the soil crushing property of the field surface can be improved. On the other hand, when the pressure of the apron 220 is released, soil is less likely to be retained, so the work on the field by the rotor 207 is reduced, and the soil crushing property of the field surface can be reduced.

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 field condition judgment method according to the embodiment of the present invention. The plot data and adjacent PV statistics together can be 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 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 determination result of the field condition derived as described above will be described with reference to Fig. 12 and Fig. 13. Fig. 12 is a diagram showing an example of displaying the determination result of the field condition according to the embodiment of the present invention on a monitor. Fig. 13 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.

As shown in FIG. 12, the monitor 110 displays a field map 650, a real-time judgment result 660, and various information 670. 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. In the field map 650, a pattern or color is applied to each work section for which the work and field state judgment has been completed so that the work section can be visually identified. The pattern or color applied to each work section reflects the judgment result shown in FIG. 11. For example, block 651 is a work section whose judgment result is "excessive". Block 653 is a work section whose judgment result is "insufficient". Block 655 is a work section whose judgment result is "optimal". A traveling machine icon 657 is displayed on the field map 650, and the current position of the traveling machine 10 in the field where work is being performed can be recognized. The judgment results displayed on the farm field map 650 in FIG. 11 are the judgment results 631 checked in the selection 633 in FIG. 10. In other words, because the three items "excess," "shortage," and "optimum" are checked in the selection 633 in FIG. 10, these three judgment results are displayed in FIG. 11.

The real-time judgment result 660 is displayed in the upper left of the field map 650. The judgment result is displayed in gradation in the real-time judgment result 660. In other words, while the field map 650 displays only three types of judgment results, "optimum,""excess," and "insufficient," the real-time judgment result 660 displays more levels of judgment results. For example, in addition to the above three types of judgment results, the judgment results of "good 1" and "good 2" shown in FIG. 10 may be displayed. Note that when "good 1" and "good 2" are checked in the selection 633 in FIG. 10, instead of displaying the judgment results of "good 1" and "good 2," the operator may be informed via the monitor 110 of "increase the vehicle speed" or "slow down the vehicle speed,""reduce the rotor rotation speed" or "increase the rotor rotation speed," or "
Work operation guidance such as "Please pressurize the apron" or "Please release the pressure on the apron" may be displayed.

Information 670 is displayed in the upper right corner of the field map 650. The information 670 displays the predicted time of completion of the work, the area worked on, and the area to be worked on. However, the information 670 shown in FIG. 12 is merely an example, and information other than the above information may be displayed.

In this way, the worker can evaluate the field condition resulting from the work while working in the field. Furthermore, the judgment results are displayed on the field map 650, so the worker can at a glance recognize areas where work is insufficient and areas where no further work is required.

Figure 13 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 13 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 13 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. 13(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 standard change 680A, the range of the adjacent PV statistical value judgment range 635 in the LUT 630 is changed so that the field state 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 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. 13B 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, or the information after the criteria change 680A is selected may be saved together with the information before the criteria change 680A is selected.

A part of the work section that was judged as "excess" in field map 650A has been changed to an "optimal" judgment in field map 650B. Also, a part of the work section that was judged as "optimal" in field map 650A has been changed to an "insufficient" judgment in 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 LUT 630 by simply selecting change criteria 680A.

In the present embodiment, a configuration has been exemplified in which, when criterion change 680A is selected, the judgment results of the area judged up to that point are updated based on the judgment criteria changed by the selection of criterion change 680A, but it is not necessary to update the judgment results judged before the selection of criterion change 680A. Also, in the present embodiment, a configuration has been exemplified in which, when criterion change 680A is selected, LUT 630 is changed so that the field condition currently being worked on is included in the judgment result of "optimum", but LUT 630 may be changed by selecting a work section of the field condition to be included in the judgment result of "optimum" after selecting criterion change 680A.

[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 14 and 15. Figure 14 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 15 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. 15, 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 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, and the second elastic portion 550 applies an elastic force to the first arm portion 520 and the second arm portion 530 in the direction in which the telescopic rod 590 extends. 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. 14 and FIG. 15, 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 rotation shaft 563. The third arm portion 561 has an opening 565. The rotation 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 rotation 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 rotation 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 and the rotation of the connecting rotation member 560 is restricted in this manner is called a 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 referred to as a 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 16 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 16 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 17 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 17 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. 18 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. 18, 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 data of the yield 693C is mapping data, similar to the determination result of the field condition. Since the device that acquires the yield 693C is different from the working machine 20 of this embodiment, the block size of the determination result 647C may differ from the block size of the yield acquired by the harvester. An example is shown in Figures 19 and 20. (A) of Figure 19 is a field map 650C on which the mapping data of the determination result 647C is displayed. (B) of Figure 19 is a field map 700C on which the mapping data of the yield 693C is displayed.

In FIG. 19A, 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. 19B, block 701C is a work section with a "high" yield, block 703C is a work section with a "low" yield, and block 705C is a work section with a "normal" yield. 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. 20) as shown in FIG. 20. In the case of FIG. 20, 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. Note that 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 Figure 19, or it may be displayed overlapping as in Figure 20. The worker may check the above display and change the judgment criteria as in the example shown in Figure 13, 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. 18 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 the harvester or other working machine acquires mapping data of the field, it is possible to use the field information registered by the field registration shown in Figures 5 and 6. For example, since the registered field information includes the position information of the field, the field where work will be performed next may be specified based on the current position 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. 18 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 "increase the vehicle speed" or "slow the vehicle speed", "reduce the rotor rotation speed" or "increase the rotor rotation speed", or "pressurize the apron" or "release the apron pressure" may be displayed to the worker so that the judgment result of the block approaches the judgment result of a block with a "high" yield.

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: Vehicle body, 110: Monitor, 120: Three-point link mechanism, 121: Communication unit, 191: Control unit, 193: Display unit,
195: Position detection unit, 200: Frame, 201: Main frame, 203: Chain case, 205: Side frame, 207: Rotor, 210: Shield cover, 220: Apron, 230: Leveler, 291: Control unit,
293: Detection unit, 300: Central working unit, 310: Central shield cover, 314, 334: Base, 320: Central apron, 330: Central leveller, 332: Second connection unit, 400: Extension working unit, 410: Extension shield cover, 420: Extension apron, 422, 432: Connection unit, 430: Extension leveller, 490: Leveller extension unit, 500: Leveller angle detection mechanism, 501: Control box, 510: Potentiometer, 520: First arm unit, 521: First arm connection unit,
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 pivot member, 561: Third arm portion, 563: Pivot shaft, 565: Opening, 570: Bracket, 571: First stopper, 573: Second stopper, 575: Fixing portion, 577: Opening, 580: Pivot shaft, 590: Telescopic rod, 611: Input area, 613: Position selection area, 615: Input frame, 630: LUT, 631: Determination result, 633: Selection, 635: Adjacent PV statistical value determination range, 640: Data table, 641: Section, 643: Plot data, 645: adjacent PV statistics, 647: judgment result, 650, 700C: farm field map, 651, 653, 655, 701C, 703C, 705C: block, 657: traveling machine icon, 660: real-time judgment result, 670: various information,
680A: Standard change, 691C: Cultivation depth, 693C: Yield, 695C: Fertilizer amount

Claims (4)

A tiller including a rotary working unit equipped with a rotating working claw attached to a traveling body, a first cover member provided above the rotary working unit, and a frame provided above the first cover member and extending in the same direction as the rotation axis of the working claw.
A ground contact member capable of contacting a field;
A detection means for detecting a change in the vertical rotation or vertical movement of the ground contact member;
A control box having a transmission means for transmitting information regarding the vertical rotation or change in the vertical movement of the ground contact member to a display of the traveling body or a communication terminal held by a user in order to display field information regarding the leveling state or the soil crushing state of the field based on the detection result by the detection means, or to notify work guidance related to the field information,
The control box is provided above the frame of the tiller. The tiller of claim 1 , wherein the control box receives position information of the traveling body or position information of the communication terminal from the traveling body or the communication terminal, and acquires the field information based on the position information. The tiller according to claim 2 , wherein the control box divides a work area based on the position information and acquires the field information for each of the divided work areas. a second cover member provided behind the rotary working unit and rotatably connected to the first cover member;
The ground member is rotatably connected to the second cover member ,
The tiller according to claim 2 or 3, wherein the control box acquires the field information based on the detection result and the position information.

Images