JP7829962B2 - Agricultural machinery operation methods - Google Patents

Description

This invention relates to a method for operating agricultural machinery.

Regarding mechanisms for operating a lifting device on a traveling machine to ensure that an agricultural implement, which can be attached to a traveling machine to cultivate or crush soil, is in the proper tilling state, Patent Document 1, "Control device for tilling machine," and Patent Document 2, "Automatic control system for implement," have been proposed.
Patent Document 1, "Control device for tiller," describes a mechanism that operates a lifting device on the traveling machine based on detection information obtained from a cover sensor that detects the rotation angle of the rear cover of a rotary tiller as the height relative to the ground.

The mechanism described in Patent Document 2, "Automatic Control System for Work Machines," involves installing cameras in locations that allow the traveler and the work machine attached thereto to be viewed from the sides and front/rear, and performing calculations and measurements based on the images obtained from these cameras to raise and lower the work machine attached to the traveler.

Japanese Patent Application Publication No. 8-214602 Japanese Patent Publication No. 2007-61042

Originally, when using machinery for tilling or pulverizing soil, it is desirable to operate the machine appropriately according to the conditions of the field where the work is being performed. Operating the machine encompasses a wide range of factors, including not only the raising and lowering of the lifting device to which the implement is attached, but also the travel speed, the rotation speed of the PTO (power take-off) shaft (the shaft that supplies power to the implement), and more.

The mechanism described in Patent Document 1, "Control Device for Tiller," includes a control program in the control device 18 that "adjusts the lifting speed of the rotary tiller 3 based on detection information from the cover sensor S3, as shown in Figure 3, when the rotary tiller 3 is forcibly raised from the tilling depth setting position to the lifting limit position by the control operation of the forced lifting control means 18D" (Patent Document 1 [0024]). However, since the lifting device of the traveling machine is operated only by the cover sensor, control that takes into account the soil condition after tilling and soil crushing is not performed.

The mechanism described in Patent Document 2, "Automatic Control System for Working Machines," states that "simultaneously with the above control operation, the amount of wheel sinking of the tractor main unit 1 and the front-to-rear pitching posture of the machine are calculated and measured by analyzing captured images, and this acquired information is transmitted to the control device 17 as information to compensate for the control amount and control speed when executing the above automatic tillage depth control, and is used to improve responsiveness and prevent hunting." (Patent Document 2 [0030]) "The image of the tillage device 2 taken from the rear (see Figure 5) is analyzed to calculate and measure the absolute inclination angle of the tillage device 2 in the left-right direction and the relative inclination angle with respect to the ground surface GL, etc." "The imaging device 41 is equipped with an analysis unit 44 which includes an analysis device 42 for analyzing the captured images and a transmission device 43 for wirelessly transmitting the information acquired by the image analysis. On the other hand, the traveling body 31 of the excavator B is equipped with a receiving device 45 for receiving this wireless information and is connected to the control device 38. The position of the excavation point x in the bucket 37 is calculated and measured by the analysis of the captured images, and based on the obtained information, excavation work to the desired depth, horizontal excavation, slope excavation, etc., is performed." (Patent Document 2 [0040]).

The mechanism described in Patent Document 2 involves installing cameras in locations that allow the traveler and the work equipment attached thereto to be viewed from the side and front and rear, and performing calculations and measurements based on the images obtained from these cameras to raise and lower the work equipment attached to the traveler.
Although the mechanism described in Patent Document 2 uses a camera to enable more precise control than that described in Patent Document 1, it does not take into account the soil condition after tillage and soil crushing, just like Patent Document 1.
This invention was made in view of the above-mentioned problems, and aims to provide a method for operating an agricultural machine that can be controlled in cooperation with a mobile machine in order to judge the state after the work is completed.

This invention is
A groove-forming section that forms grooves in the soil after the work is completed as the process progresses,
A photographic device provided with the aforementioned groove capable of photographing,
An agricultural machine having a control unit that is capable of communicating with a traveling machine, which is provided with an operating unit on the traveling machine body that can operate based on information about the shape of the groove captured by the aforementioned photographing device,
The control unit compares and determines a measured value of the groove length measured based on image information from the imaging device with a sum of a set value which is a set groove length and a set tolerance value which are set in advance.
The steps include: giving a first operation instruction to the mobile unit when it is determined that the measured value is greater than the sum of the values,
A method for operating agricultural machinery, characterized by including
It relates to.

This invention further,
A step of determining whether the traveling machine is at the instruction limit for the first operation after the first operation instruction,
A method for operating agricultural machinery, characterized by including
It relates to.

This invention further,
If the traveling machine is at the instruction limit for the first operation, the process involves giving a second operation instruction.
A method for operating agricultural machinery, characterized by including
It relates to.

This invention further,
A step of issuing a warning when all of the aforementioned operating parts reach their operating limits,
A method for operating agricultural machinery, characterized by including
It relates to.

This invention further,
If it is determined that the measured value is not greater than the sum of the measured values, the process involves comparing the measured value with a separate sum of the measured values obtained by subtracting the allowable value from the set value,
A method for operating agricultural machinery, characterized by including
It relates to.

This invention further,
The process of issuing another first operation instruction to the mobile unit when it is determined that the measured value is smaller than the other combined value,
A method for operating agricultural machinery, characterized by including
It relates to.

This invention further,
If, after the aforementioned first operation instruction, the mobile body is at the instruction limit for another first operation, a second operation instruction is given.
A method for operating agricultural machinery, characterized by including
It relates to.

This invention further,
A step of issuing a warning when all of the aforementioned operating parts reach their operating limits,
A method for operating agricultural machinery, characterized by including
It relates to.

This invention is
A groove-forming section that forms grooves in the soil after the work is completed as the process progresses,
A photographic device provided with the aforementioned groove capable of photographing,
Based on information regarding the shape of the groove captured by the aforementioned imaging device, the system includes a control unit for the traveling machine that is operable with an operating unit on the traveling machine, and a control unit that can communicate with each other.
The control unit compares and determines a value obtained by adding a set value, which is the groove length, and a preset tolerance value, based on the image information from the imaging device.
If it is determined that the measured value is greater than the sum of the values, a first operation instruction is given to the mobile unit.
Agricultural machinery characterized by,
It relates to.

This invention further,
The control unit determines, after the first operation instruction, whether the mobile body is at the instruction limit for the first operation.
Agricultural machinery characterized by,
It relates to.

This invention further,
The control unit issues a second operation instruction if the traveling machine is at the instruction limit for the first operation.
Agricultural machinery characterized by,
It relates to.

This invention further,
The control unit issues a warning when all of the operating units reach their operating limits.
Agricultural machinery characterized by including,
It relates to.

This invention further,
If the control unit determines that the measured value is not greater than the sum of the values, it compares the measured value with a separate sum of the values obtained by subtracting the allowable value from the set value.
Agricultural machinery characterized by,
It relates to.

This invention further,
The control unit, when it determines that the measured value is smaller than the other combined value, issues a different first operation instruction to the mobile unit.
Agricultural machinery characterized by,
It relates to.

This invention further,
The control unit issues a second operation instruction if the mobile body is at the instruction limit for another first operation after the first operation instruction has been issued.
Agricultural machinery characterized by including,
It relates to.

This invention further,
The control unit issues a warning when all of the operating units reach their operating limits.
Agricultural machinery characterized by,
It relates to.

The present invention aims to provide an agricultural machinery operation method and agricultural machinery that can be controlled in conjunction with a mobile machine in order to determine the state after the work is completed.

This is a front view relating to the first embodiment of the present invention. This is an enlarged front view of the groove-forming portion according to the first embodiment of this invention. This is an enlarged side view of the groove-forming portion according to the first embodiment of the present invention. This is a plan view relating to the first embodiment of the present invention. This is a block diagram relating to the first embodiment of the present invention. This is a flowchart relating to the first embodiment of this invention. This is a front view relating to a second embodiment of the present invention.

In the first embodiment of this invention shown in Figures 1 to 6, 11 is a traveling machine and 21 is an agricultural implement. In this embodiment, the traveling machine 11 consists of a tractor. 12 is a traveling device. In this embodiment, the traveling device 12 is the tire of the tractor.
13 is the PTO shaft. The PTO shaft 13 outputs driving force from the traveling machine body 11 to the agricultural implement 21.
Element 14 is a lifting device. The lifting device 14 connects the traveling machine body 11 and the agricultural implement 21, and lifts the agricultural implement 21 up and down.

The agricultural implement 21 is mounted on the traveling machine 11 for operation.
In this first embodiment of the present invention, the agricultural implement 21 performs puddling, which is a tilling and soil breaking operation. After puddling, the soil becomes muddy when mixed with water.
22 is a land leveling device. The land leveling device 22 is attached to the agricultural implement 21 and is used to level the field.

23 is a groove-forming section.
The agricultural implement 21 is designed so that at least a portion of its rear section can be buried in the soil, and a groove-forming section 23 is provided in the buried section. Therefore, the groove-forming section 23 can form grooves 41 in the soil after it has been crushed as the agricultural implement 21 moves forward. The groove-forming section 23 has a square pyramidal shape with its apex at the bottom, as shown in Figures 2 and 3.
The field is tilled, and then the furrow-forming unit 23 forms furrows 41 by scratching into the leveled soil. In this embodiment, the furrow-forming unit 23 is shaped like a square pyramid with its apex at the bottom and is installed on the contact portion of the leveling body 22, which is the leveling unit of the agricultural implement 21.

The soil after puddling becomes muddy due to mixing with water. Because the soil is muddy and contains a large amount of water after puddling, the groove 41 is formed on the front side in the direction of travel by the groove-forming section 23, while the rear side is blocked as time passes after groove formation, returning to its original state.

If the trench 41 is short, that is, if the trench 41 disappears prematurely, it means that the soil has not been sufficiently broken down. The moisture that was not mixed with the soil fills the trench 41 prematurely, making the trench 41 appear shorter.
When the trench 41 becomes shorter, for example, if the depth of the agricultural implement 21 is insufficient, only the surface layer will become muddy, and the moisture from the uncrushed soil below will rise to the surface, filling the trench 41. Alternatively, even if the depth is correct, if the agricultural implement 21 is traveling at too high a speed at a certain point, or if the PTO rotation speed of the PTO shaft 13 is too low, the soil will not be sufficiently crushed, and it will not become a proper muddy state. As a result, moisture will rise to the surface of the soil and fill the trench 41.

On the other hand, if the furrows 41 are long, that is, if the furrows 41 disappear too slowly, this occurs when excessive soil pulverization leads to excessive mixing of soil and water, resulting in high viscosity of the mud after tillage. In this state, there is less water to fill the furrows 41 formed in the topsoil of the mud, and the mud itself has a high clay content, so it takes time to fill the furrows 41. Therefore, the apparent length of the furrows 41 increases.

The length of the trench 41 increases when, for example, the agricultural implement 21 sinks too deeply, causing excessive mixing and crushing of the soil from the surface to deeper levels, resulting in high viscosity. Alternatively, besides the depth of the agricultural implement 21, if the implement 21 travels too slowly or the PTO rotation speed of the PTO shaft 13 is too fast, the soil crushing and mixing with moisture progresses too much, preventing the soil from reaching the proper mud state. Therefore, the high viscosity of the soil after work causes it to take longer for the trench 41 to fill, resulting in an apparent length of the trench 41.

By setting the difference from the reference state of the mobile unit 11 as an allowable value, which is the indicated limit, it becomes possible to adjust the operation of the moving parts of the mobile unit 11.

In other words, as the tolerance value is increased, the operation of the moving parts of the mobile body 11 becomes less sensitive, and even if there is a change in the length of the groove 41 as determined by the imaging device 31, the moving parts of the mobile body 11 will not immediately operate. Conversely, as the tolerance value is decreased, the operation of the moving parts of the mobile body 11 becomes more sensitive, and compared to the case where the tolerance value is increased, if there is a change in the length of the groove 41 as determined by the imaging device 31, the moving parts of the mobile body 11 will immediately operate.

31 is a photographic device. In this embodiment, the photographic device 31 consists of a camera.
The camera 31 is installed at the rear and above the agricultural machine 21. The camera 31 is capable of photographing the furrow 41 and the soil after work.
The photographing device 31 is installed on the agricultural implement 21 so as to be able to photograph the entire trench 41, including at least the rear part of the agricultural implement 21.
Since the rear portion of the agricultural implement 21 is included in the photograph, the length of the trench 41 can be photographed using the rear portion of the agricultural implement 21, that is, the leveling body 22 in the first embodiment, as a reference. Therefore, when determining the length of the photographed trench 41, the rear portion of the agricultural implement 21 can be used as a reference, making it easy to determine the trench length.
There are no limitations on the installation location of the imaging device 31. Also, the imaging direction for capturing the groove 41 does not necessarily have to be directly from above; it is acceptable to capture the groove 41 at an angle, as long as the groove 41 is captured. Furthermore, even if the captured image is distorted, such as with a 360-degree camera or an ultra-wide-angle camera, the control unit (calculation unit) can process it to accurately measure the groove length 42 of the groove 41.
32 is the shooting range of the imaging device 31.

The imaging device 31 photographs the groove length 42 from the front of the groove 41 formed by the groove-forming portion 23 to the rear where the groove 41 is closed, up to the point where the groove 41 disappears.
Since the groove 41 is photographed from above and behind the groove forming section 23, the photographing device 31 can be positioned close to the agricultural machine 21. The photographing range of the photographing device 31 is such that the difference in width between the part of the groove 41 that is visually close and the part of the groove 41 that disappears at the rear is discernible. Furthermore, it is desirable to photograph the entire groove 41 of at least one groove 41.
When the wide groove 41 is photographed from the front of the groove 41 with the imaging device 31, it becomes easier to accurately determine the position of the end of the groove 41. Furthermore, the end of the groove 41 on the rear side in the direction of travel becomes easier to recognize as having clearly disappeared due to the perspective that can be created by the imaging device 31. In other words, the groove 41, which gradually disappears as it moves towards the rear in the direction of travel, can be clearly recognized at a shorter apparent distance in the captured image due to perspective.

The soil, being the soil after puddling, is muddy and contains a large amount of moisture. Therefore, the groove 41 formed by the groove-forming unit 23 is blocked on the rear side as time passes after groove formation, returning to its original state. For this reason, taking a photograph along the direction of the groove 41 allows for clearer images that clearly show the difference in length in the front-to-back direction and the difference in width from the beginning to the end of the groove 41.

Figure 5 illustrates the block diagram showing the information transmission relationships.
The operating unit, alarm device, display device, first operating unit, second operating unit, ... n-1st operating unit, nth operating unit of the mobile unit 11 are connected to the mobile unit control unit (control unit).
Specific examples of the operating parts include the first operating part = the lifting device 14 (three-point linkage) of the traveling machine body 11, the second operating part = the PTO device consisting of the PTO shaft 13 of the traveling machine body 11, and the third operating part = the traveling device 12 of the traveling machine body 11.

The vehicle control unit (control unit) is equipped with a communication processing unit and an operation instruction unit.
The communication processing unit processes the information input from the operation unit, alarm device, display device, first operation unit, second operation unit, ... n-1 operation unit, n operation unit, and transmits it to the work machine control unit (control unit) of the agricultural work machine 21.
The operation instruction unit outputs operation instructions, consisting of what the traveling machine 11 should do, received from the work machine control unit (control unit) via communication, to the alarm device, display device, first operation unit, second operation unit, ... n-1 operation unit, and nth operation unit.
The mobile unit control unit (control unit) communicates and connects with the work machine control unit (control unit).

The work machine control unit (control unit) includes a communication processing unit, a calculation unit, an operation processing unit, and a storage unit.
The communication processing unit of the work equipment control unit (control unit) processes the information input from the traveling machine control unit (control unit) so that it can communicate with the traveling machine control unit (control unit) in a mutually communicative manner.
The calculation unit calculates and measures the groove length 42 of the groove 41 using image analysis processing and outputs an acquired value which is the length of the groove 41. Furthermore, the calculation unit compares the output acquired value with a set value which is a pre-set reference value for the groove length 42 of the groove 41 and a pre-set allowable value.
The motion processing unit performs an action selection process to give a predetermined motion command to the mobile body 11.
The memory unit stores the results of calculations performed by the calculation unit.
The work machine control unit (control unit) is connected to the operation unit, alarm device, display device, and camera 31 of the agricultural work machine 21.

The vehicle control unit shown in Figure 5 is installed near the driver's seat of the vehicle and is configured to communicate with the work machine control unit (control unit) provided in the agricultural work machine 21.
Information regarding the groove 41 captured by the imaging device 31 is transmitted to a calculation unit located within the work machine control unit.
The calculation unit located within the work machine control unit (control unit) shown in Figure 5 acquires the image information captured by the imaging device 31, and based on the image information, calculates and measures the groove length 42 of the groove 41 through image analysis processing, and outputs the acquired value which is the value of the groove length 42 of the groove 41 included in the image information.

The work machine control unit (control unit) is equipped with an operation processing unit, as shown in Figure 5, which is capable of selecting an operation to give a predetermined operation command to the traveling machine 11 based on the calculation result obtained by the calculation unit, and is capable of transmitting an operation signal based on the selection process to the traveling machine 11.
Based on the calculation results obtained by the calculation unit, the system performs an action selection process to give a predetermined action command to the mobile body 11, processes the action signal based on the selection process in the communication processing unit, and transmits it to the mobile body 11.

Furthermore, the calculation unit compares the output acquired value with the set value, which is a pre-set reference value for the groove length 42 of the groove 41, and the pre-set allowable value.
The calculation unit compares the acquired value with the sum of a set value, which is a predetermined value for the length of the groove 41, and a predetermined allowable value, which is a predetermined allowable length.

The control unit's operation processing unit transmits an operation signal, which is an operation instruction, to the traveling machine body 11 based on the result of the comparison calculation.
The operation signal transmitted from the control unit of the agricultural machine 21 can be received by the control device of the traveling machine 11, and various operating parts can be operated based on the operation signal. There are no restrictions on the operating parts of the traveling machine 11 that can be operated by the operation signal. There can be 1 to n operating parts.

Upon receiving an operation signal from the control unit, the traveling machine 11 can operate the first, second, and third operating units it has based on the operation signal, thereby controlling the agricultural machine 21.
Specific examples of the operating parts include the first operating part = the lifting device 14 (three-point linkage) of the traveling body 11, the second operating part = the PTO device consisting of the PTO shaft 13 of the traveling body 11, and the third operating part = the traveling device 12 of the traveling body 11. The traveling device 12 increases or decreases the traveling speed.
When applied to the flow chart shown in Figure 6, the A1 operation is raising the lifting device 14, the B1 operation is lowering the lifting device 14, the A2 operation is increasing the speed of the travel device 12, the B2 operation is decelerating the travel device 12, the A3 operation is decreasing the PTO rotation speed of the PTO shaft 13, the B3 operation is increasing the PTO rotation speed of the PTO shaft 13, and so on.

The control unit can receive the current status of the first, second, and third operating units as mobile unit information and can transmit it as such mobile unit information.
The control unit is configured to determine whether or not to transmit an operation signal based on the information of the moving vehicle.

The set value, which is a reference value for the groove length 42 of the groove 41 from the front of the groove 41 to the rear where the groove 41 is closed, and the sum of the set value and a set tolerance value are compared and calculated.
As a result, if the groove 41 is short, that is, if the groove 41 disappears prematurely, the operation processing unit issues an operation instruction to the traveling machine 11, which is to cause the traveling machine 11 to operate in a way that corrects the shortening of the groove 41 when it is short.

Specific examples of operating parts that are the target of an operation instruction that states that the traveling machine should operate in a way that corrects the shortening of the groove 41 when the groove is short include the first operating part = the lifting device 14 (3-point linkage) of the traveling machine body 11, the second operating part = the PTO device consisting of the PTO shaft 13 of the traveling machine body 11, and the third operating part = the traveling machine 12 of the traveling machine body 11. The traveling machine 12 increases or decreases the traveling speed.
When applied to the flow chart, the A1 operation raises the lifting device 14, the B1 operation lowers the lifting device 14, the A2 operation increases the speed of the travel device 12, the B2 operation decelerates the travel device 12, the A3 operation decreases the PTO rotation speed of the PTO shaft 13, and the B3 operation increases the PTO rotation speed of the PTO shaft 13. The operation is selected to eliminate the shortening of the groove.

In other words, to solve the problem of insufficient soil pulverization, which is the shortness of the trenches 41, that is, the premature disappearance of the trenches 41, the lifting operation of the lifting device to which the implement is attached is used to sufficiently pulverize the soil with the agricultural implement 21, turning it into a muddy state below the surface. This is done by further increasing the depth of the agricultural implement 21, or by slowing down the speed of the agricultural implement 21 and increasing the PTO rotation speed of the PTO shaft 13 to achieve an appropriate muddy state.
The depth and length of the trenches to be created are adjusted to ensure proper puddling work is performed.

On the other hand, the sum of a set value, which is a reference value for the groove length 42 of the groove 41 from the front of the groove 41 to the back where the groove 41 is closed, and a set allowable value, which are compared and calculated against a predetermined set value.
As a result, if the groove 41 is long, that is, if the groove 41 disappears too slowly, the traveling machine 11 is instructed to operate in a way that corrects the lengthening of the groove 41.

Specific examples of operating parts that are the target of an operation instruction consisting of a procedure in which the traveling machine should operate to eliminate the lengthening of the groove 41 when the groove is long include the first operating part = the lifting device 14 (3-point linkage) of the traveling machine body 11, the second operating part = the PTO device consisting of the PTO shaft 13 of the traveling machine body 11, and the third operating part = the traveling machine 12 of the traveling machine body 11. The traveling machine 12 increases or decreases the traveling speed.
When applied to the flow chart, the A1 operation raises the lifting device 14, the B1 operation lowers the lifting device 14, the A2 operation increases the speed of the travel device 12, the B2 operation decelerates the travel device 12, the A3 operation decreases the PTO rotation speed of the PTO shaft 13, and the B3 operation increases the PTO rotation speed of the PTO shaft 13. The operation selected will eliminate the lengthening of the groove.
The depth and length of the trenches to be created are adjusted to ensure proper puddling work is performed.

In other words, to solve the problem of the furrows 41 being too long, meaning the furrows 41 disappearing too slowly, excessive soil pulverization, excessive mixing of soil and water, and high viscosity of the mud after tillage, the lifting operation of the lifting device to which the implement is attached prevents excessive soil pulverization by the agricultural implement 21, prevents excessive mixing of soil and water, and avoids high viscosity of the mud after tillage.
The agricultural implement 21 mixes and crushes the soil from the surface to deeper levels to prevent excessive mud mixing. The speed of the agricultural implement 21 is increased to prevent it from being too slow, and the PTO rotation speed of the PTO shaft 13 is decreased to prevent excessive soil crushing and mixing with moisture, which would result in an improper mud state.
Based on these illustrations and descriptions, the following relationships exist between the lifting device, the traveling device, and the PTO rotation speed when the groove is short and when the groove is long: the B1 operation (downward), the B2 operation (deceleration), the B3 operation (speed increase), and the A1 operation (upward), the A2 operation (speed increase), and the A3 operation (deceleration).

The flowchart shown in Figure 6 will be explained below.
In Figure 6, Ls is the set value and a is the tolerance value.
When the process starts, image information is acquired in S1.
Next, in S2, the groove 41 is determined by image processing.
Next, the length of the groove 41 is measured in S3 to obtain the measured value L.
Next, in S4, determine if L > Ls + a?. If YES, proceed to S5.
In S5, the A1 operation instruction is given to the mobile unit 11.
In S6, it is determined whether the mobile unit 11 is at the instruction limit for the A1 operation. If YES, proceed to S7.
In S7, the A1 operation instruction is stopped, followed by the A2 operation instruction.
Next, in S8, the An-1 operation instruction is stopped, followed by the An operation instruction.
Next, in S9, it is determined whether the mobile unit 11 is at the instruction limit for An operation. If YES, the process proceeds to S10.
In S10, a warning instruction is issued, and the process returns to the start.

In S4, determine if L > Ls + a? If NO, proceed to S11.
In S11, determine whether L < Ls - a?. If YES, proceed to S12.
In S12, the B1 operation instruction is given to the mobile unit 11.
Next, in S13, it is determined whether the mobile body 11 is at the instruction limit for the B1 operation. If YES, proceed to S14.
In S14, the B1 operation instruction is stopped, followed by the B2 operation instruction.
Next, in S15, the Bn-1 operation instruction is stopped, followed by the Bn operation instruction.
Next, in S16, it is determined whether the mobile body 11 is at the instruction limit for Bn operation. If YES, proceed to S17.
In S17, a warning instruction is issued, and the process returns to the start.

If the answer in S6 is NO, proceed to S18.
In S18, the operation instructions for A1 to An are stopped, the operation instructions for B1 to Bn are stopped, and the process returns to the start.
If the answer in S9 is NO, proceed to S18.
In S18, the operation instructions for A1 to An are stopped, the operation instructions for B1 to Bn are stopped, and the process returns to the start.
In S13, if the answer is NO, the operation instructions for A1 to An are stopped, the operation instructions for B1 to Bn are stopped, and the process returns to the start.

If the answer in S16 is NO, proceed to S18.
In S18, the operation instructions for A1 to An are stopped, the operation instructions for B1 to Bn are stopped, and the process returns to the start.
In S11, determine if L < Ls - a?, and if NO, proceed to S19.
In S19, the operation instructions for A1 to An are stopped, the operation instructions for B1 to Bn are stopped, and the process returns to the start.

An alarm device capable of providing voice notifications and a display device that enables visual recognition may be provided on at least one of the traveling machine 11 or the agricultural machine 21.
When all the operating parts of the mobile unit 11 reach their operating limits, a warning instruction is issued, and a warning can be issued to the operator via an alarm device and display device.

The number of grooves 41 that are photographed and formed by the imaging device 31 does not need to be one or more. The more grooves 41 there are, the more reliable the detected grooves 41 become, and thus, an improvement in the accuracy of tillage depth control can be expected.
The degree to which the groove 41 narrows may be measured. The starting point of the groove 41 may be compared with, for example, a point 10 mm from the starting point of the groove 41, and a point 10 mm from the starting point of the groove 41 may be compared with a point 20 mm from the starting point of the groove 41.
The length of the groove 41 is measured by image processing. The area of the grooved portion may also be determined based on the difference in color tone or reflected light between the grooved portion and the non-grooved portion of the image.

A second embodiment will be described based on Figure 7.
The groove-forming unit 23 forms grooves 41 in the tilled and then leveled soil by scratching it. Therefore, the groove-forming unit 23 only needs to be able to form grooves 41, so in the second embodiment, as shown in Figure 7, a part of a rod-shaped member extending rearward and downward from the frame is buried in the soil after the work is done to form the grooves 41. That is, in the second embodiment, the groove-forming unit 23 is provided separately from the leveling body 22, vertically from the top of the leveling body 22 to the rear, and straddles the leveling body 22, in an L-shape when viewed from the front.

11. Traveling machine body 21. Agricultural machine 22. Land leveling body 23. Trench forming section 31. Camera device 32. Camera range 41. Trench

Claims (16)

A groove-forming section that forms grooves in the soil after the work is completed as the process progresses,
A photographic device provided with the aforementioned groove capable of photographing,
An agricultural machine having a control unit that is capable of communicating with a traveling machine, which is provided with an operating unit on the traveling machine body that can operate based on information about the shape of the groove captured by the aforementioned photographing device,
The control unit compares and determines a measured value of the groove length measured based on image information from the imaging device with a sum of a set value which is a set groove length and a set tolerance value which are set in advance.
The steps include: giving a first operation instruction to the mobile unit when it is determined that the measured value is greater than the sum of the values,
A method for operating agricultural machinery, characterized by including the following: A step of determining whether the traveling machine is at the instruction limit for the first operation after the first operation instruction,
A method for operating an agricultural implement according to claim 1, characterized by including the following: If the traveling machine is at the instruction limit for the first operation, the process involves giving a second operation instruction.
The method for operating an agricultural implement according to claim 2, characterized by including the following: A step of issuing a warning when all of the aforementioned operating parts reach their operating limits,
The method for operating an agricultural implement according to claim 3, characterized by including the above. If it is determined that the measured value is not greater than the sum of the measured values, the process involves comparing the measured value with another sum of the measured values obtained by subtracting the allowable value from the set value,
A method for operating an agricultural implement according to claim 1, characterized by including the following: The process of issuing another first operation instruction to the mobile unit when it is determined that the measured value is smaller than the other combined value,
The method for operating an agricultural implement according to claim 5, characterized by including the following: If, after the aforementioned first operation instruction, the mobile body is at the instruction limit for another first operation, a second operation instruction is given.
The method for operating an agricultural implement according to claim 6, characterized by including the above. A step of issuing a warning when all of the aforementioned operating parts reach their operating limits,
A method for operating an agricultural implement according to claim 7, characterized by including the following: A groove-forming section that forms grooves in the soil after the work is completed as the process progresses,
A photographic device provided with the aforementioned groove capable of photographing,
Based on information regarding the shape of the groove captured by the aforementioned imaging device, the system includes a control unit for the traveling machine that is operable with an operating unit on the traveling machine, and a control unit that can communicate with each other.
The control unit compares and determines a value obtained by adding a set value, which is the groove length, and a preset tolerance value, based on the image information from the imaging device.
If it is determined that the measured value is greater than the sum of the values, a first operation instruction is given to the mobile unit.
A farming machine characterized by the following features. The control unit determines, after the first operation instruction, whether the mobile body is at the instruction limit for the first operation.
The agricultural implement according to feature 9. The control unit issues a second operation instruction if the traveling machine is at the instruction limit for the first operation.
The agricultural implement according to feature 10. The control unit issues a warning when all of the operating units reach their operating limits.
The agricultural implement according to claim 11, characterized by including the following: If the control unit determines that the measured value is not greater than the sum of the values, it compares the measured value with a separate sum of the values obtained by subtracting the allowable value from the set value.
The agricultural implement according to feature 9. The control unit, when it determines that the measured value is smaller than the other combined value, issues a different first operation instruction to the mobile unit.
The agricultural implement according to feature 13. The control unit issues a second operation instruction if, after the first operation instruction, the mobile body is at the instruction limit for another first operation.
The agricultural implement according to claim 14, characterized by including the following: The control unit issues a warning when all of the operating units reach their operating limits.
The agricultural implement according to feature 15.