Work equipment diagnostic systems, agricultural machinery, agricultural work support systems

Abstract

A work device diagnosis system (11) is provided with a weight sensor (17) that detects the weight of a work device (2) connected to a traveling body (3) of an agricultural machine (1) traveling in a field (H), and a control device (12) that diagnoses the work device on the basis of a change in the weight of the work device. The work machine has the work device diagnosis system, the traveling body, and a connection device (8) that connects the work device to the traveling body. An agricultural work assistance system (100) includes the work device diagnosis system, the agricultural machine, and a management server (20) on which an externally accessible database (21) has been constructed, the agricultural machine further has a communication device (18) that communicates wirelessly with the management server, the control device transmits a diagnosis result for the work device to the management server via the communication device, and the management server receives the diagnosis result for the work device and stores the result in the database.

Description

[Technical Field]

[0001] The present invention relates to a technique for performing agricultural work using a work implement connected to an agricultural machine while the agricultural machine is traveling in a field. [Background technology]

[0002] For example, Patent Documents 1 and 2 disclose techniques for performing agricultural work using a work implement connected to an agricultural machine while the agricultural machine is traveling in a field. In Patent Document 1, a control unit provided in a tractor measures the weight of the work implement based on the towing load of the work implement (work machine) detected by a load sensor, determines the type of work implement based on the weight, and if the work implement is a rotary tiller, determines the wear level of the tiller tines based on sensor values ​​from a PTO rotation sensor and a tilling depth sensor. In Patent Document 2, if the type of work ultimately performed by the work implement (work machine) is seeding, fertilizing, or chemical spraying, which consumes materials, a consumption calculation unit provided in a management server calculates the amount of material consumed based on changes in the weight of the work implement detected by a weight sensor provided in the tractor, and estimates the type of material from the consumption amount. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-35638 [Patent Document 2] Japanese Patent Publication No. 2021-87361 Summary of the Invention [Problem to be solved by the invention]

[0004] There is a demand for detecting the status of working devices and maintaining them appropriately in order to prevent breakdowns in working devices and agricultural machinery and to ensure proper agricultural work. While it is common to use sensors to detect the status of working devices, providing a sensor for each detection item of the working device's status, as in Patent Document 1, for example, increases the number of parts, increases the number of maintenance targets, and raises other problems such as rising costs.

[0005] SUMMARY OF THE INVENTION In view of the above problems, an object of the present invention is to detect the state of a work device with a simple configuration. [Means for solving the problem]

[0006] The technical means of the present invention for solving the above technical problems is characterized by the following points.

[0007] The present invention 1st Aspects relating to The working implement diagnostic system includes a weight sensor that detects the weight of a working implement that performs ground work and is connected to a traveling body of an agricultural machine that travels in a field, and a diagnostic tool that diagnoses the working implement based on a change in the weight of the working implement detected by the weight sensor. working and / or operating condition of and a control device for diagnosing the The control device diagnoses the work and / or operational status of the work device with respect to the diagnostic items based on the results of comparing the change in weight of the work device with diagnostic criteria for the diagnostic items corresponding to the type of the work device, calculates the difference between the weight of the work device before performing the ground work and the weight of the work device after performing the ground work, and diagnoses whether the status of the work device with respect to the diagnostic items is good or bad based on the results of comparing the difference with a predetermined value included in the diagnostic criteria. do.

[0008] A work implement diagnostic system according to a second aspect of the present invention includes a weight sensor that detects the weight of a work implement that performs ground work and is connected to a traveling body of an agricultural machine that travels in a field, and a control device that diagnoses the work and / or operation state of the work implement based on changes in the weight of the work implement detected by the weight sensor, The control device detects a change in weight of the working device. and the diagnostic criteria for the diagnostic items according to the type of the working device are compared, and Diagnosing the working and / or operational status of the working device If the work implement is a type of work implement that plows or levels the field, the state of soil adhesion to the work implement is diagnosed. .

[0009] A work implement diagnostic system according to a third aspect of the present invention includes a weight sensor that detects the weight of a work implement that performs ground work and is connected to a traveling body of an agricultural machine that travels in a field, and a control device that diagnoses the work implement based on changes in the weight of the work implement detected by the weight sensor, The control device When the work implement has finished the ground work and stopped in a state separated from the soil, the weight is detected by the weight sensor. Weight of the working device Set as the weight after work , A change in the weight of the work implement after the ground work is performed from the weight of the work implement before the ground work is performed is detected. .

[0010] A work implement diagnostic system according to a fourth aspect of the present invention includes a weight sensor that detects the weight of a work implement that performs ground work and is connected to a traveling body of an agricultural machine that travels in a field, a control device that diagnoses the work implement based on changes in the weight of the work implement detected by the weight sensor, and a storage device that stores the results of the diagnosis of the work implement by the control device. .

[0011] The control device may diagnose the status of the work and / or movement of the work device based on changes in weight of the work device. The control device may compare the change in weight of the work device with diagnostic criteria for diagnostic items corresponding to the type of work device, and diagnose the status of the work and / or movement of the work device with respect to the diagnostic items based on the results. The control device may determine whether the trend in change in weight of the work device matches a predetermined trend of the diagnostic criteria, and diagnose the good or bad status of the work device with respect to the diagnostic items based on the results of this determination.The control device may calculate the difference between the weight of the work device before performing the ground work and the weight of the work device after performing the ground work, and diagnose the condition of the work device for the diagnostic item based on the result of comparing the difference with a predetermined value included in the diagnostic criteria.

[0012] When the work implement is a type of work implement that tills or levels the ground in the field, the control device may diagnose the state of soil adhering to the work implement.

[0013] When the working device is a type of working device that performs work that consumes a placed material, the control device may diagnose whether the working state and / or operation of the working device is good or bad.

[0014] The control device may set the weight of the work device detected by the weight sensor when the work device has finished the ground work and stopped away from the soil as a post-work weight, and detect a change in the post-work weight from the weight of the work device before performing the ground work.

[0015] The work device diagnostic system may include the work device and a display device that displays a diagnosis result of the work device by the control device.

[0016] The control device may display a change in weight of the working device on the display device, and may display a warning on the display device when the condition of the working device is diagnosed as poor.

[0017] The work implement diagnostic system may include a storage device that stores the results of the diagnosis of the work implement by the control device.

[0018] An agricultural machine according to one aspect of the present invention includes the implement diagnostic system, a traveling machine body that travels in a field, and a coupling device that couples an implement to the traveling machine body.

[0019] An agricultural work support system according to one embodiment of the present invention includes the implement diagnostic system, an agricultural machine equipped with the implement diagnostic system, and a management server in which a database accessible from the outside has been constructed, wherein the agricultural machine has a running body that runs through a field, a coupling device that couples an implement to the running body, and a communication device that communicates wirelessly with the management server, and a control device provided in the implement diagnostic system transmits the diagnostic results of the implement to the management server via the communication device, and the management server receives the diagnostic results of the implement and stores them in the database. [Effects of the Invention]

[0020] According to the present invention, the state of the work device can be detected with a simple configuration. [Brief explanation of the drawings]

[0021] [Figure 1] FIG. 2 is an electrical configuration diagram of the implement diagnostic system, the agricultural machine, and the agricultural work support system. [Figure 2A] 4 is a flowchart showing an example of a diagnostic operation of the working device diagnostic system. [Figure 2B] 2B is a flowchart showing details of the process S20 in FIG. 2A. [Figure 2C] 2B is a flowchart showing details of the process S30 in FIG. 2A. [Figure 3] 10 is a graph showing an example of changes in weight of a work implement for tilling and soil leveling. [Figure 4] 10 is a graph showing an example of changes in weight of work equipment for spraying and planting. [Figure 5] FIG. 10 is a diagram illustrating an example of the relationship between the type of working device, diagnostic items, and diagnostic criteria. [Figure 6] FIG. 1 is a side view of an agricultural machine. [Figure 7A] FIG. 2 is a side view showing a state in which the cultivator (work implement) connected to the agricultural machine is raised. [Figure 7B] FIG. 2 is a side view showing a state in which the cultivator connected to the agricultural machine is lowered. [Figure 8]FIG. 1 is a side view showing a sprayer (working device) connected to an agricultural machine. DETAILED DESCRIPTION OF THE INVENTION

[0022] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0023] 6 is a side view of the agricultural machine 1. The agricultural machine 1 is composed of a tractor. Note that the agricultural machine of the present invention is not limited to a tractor, and may be composed of other agricultural machines such as a rice transplanter or a combine harvester, or a work vehicle other than a tractor that performs agricultural work.

[0024] The agricultural machine 1 includes a traveling body 3, a prime mover 4, a transmission 5, a traveling device 7, and a coupling device 8. The traveling body 3 is supported so as to be able to travel by the traveling device 7. In this embodiment, the front wheels 7F and rear wheels 7R provided on the traveling device 7 are tire-type wheels, but may also be, for example, crawlers (traveling tracks).

[0025] A cabin 9 is provided above the traveling body 3. A driver's seat 10 is provided inside the cabin 9. In FIG. 6, the left side is the front of the traveling body 3, and the right side is the rear of the traveling body 3. Furthermore, as you face FIG. 6, the back side is the right side of the traveling body 3, and the front side is the left side of the traveling body 3.

[0026] A prime mover 4 is provided at the front of the traveling machine body 3. The prime mover 4 is configured by a diesel engine, an electric motor, or the like. In this embodiment, the prime mover 4 is configured by a diesel engine.

[0027] A transmission 5 is provided in the center of the traveling machine body 3. The transmission 5 can change the propulsion force of the traveling device 7 by switching between multiple gear stages, and can also switch the traveling device 7 between forward and reverse. The driving force of the prime mover 4 is transmitted to the traveling device 7 by the transmission 5, and the traveling device 7 is driven, causing the traveling machine body 3 to travel forward and backward.

[0028] A coupling device 8 configured with a three-point link mechanism or the like is provided at the rear of the traveling machine body 3. The coupling device 8 couples the work implement 2, which performs ground work, to the traveling machine body 3. More specifically, by coupling the work implement 2 to coupling parts 8g and 8h provided on the coupling device 8, the work implement 2 and the traveling machine body 3 (agricultural machine 1) are coupled together, and the traveling machine body 3 can tow the work implement 2.

[0029] The coupling device 8 also functions as a lifting device that raises and lowers the working implement 2. Specifically, the coupling device 8 has a pair of lift arms 8a, lower links 8b, top links 8c, lift rods 8d, and lift cylinders 8e, one on each side. The lift arms 8a are supported on the upper rear part of the transmission 5 so as to be able to swing up and down. The lift arms 8a swing when driven by the lift cylinders 8e, which are composed of hydraulic cylinders. The lower links 8b are supported on the lower rear part of the transmission 5 so as to be able to swing up and down. The top link 8c is supported on the rear part of the transmission 5 above the lower link 8b so as to be able to swing up and down. The lower links 8b and the top link 8c have coupling portions 8g and 8h at their tip ends (rear ends in FIG. 6 ) to which the working implement 2 can be coupled. The lift rod 8d connects the lift arms 8a to the lower links 8b.

[0030] As the lift cylinder 8e extends and retracts, the lift arm 8a rises and falls, and the lower link 8b connected to the lift arm 8a via the lift rod 8d rises and falls, causing the working device 2 to rise and fall around the front end of the lower link 8b (the side opposite to the connecting portions 8g and 8h) as a fulcrum.

[0031] A plurality of types of working implements 2 can be connected to the traveling machine body 3 by a connecting device 8. Examples of working implements 2 include a tiller (rotary tiller) that tills a field, a rough tiller (stubble cultivator) that performs rough tilling, a ridger that forms ridges, a tiller (drive harrow) that puddles, a spreader that spreads fertilizer or pesticides, a transplanter that transplants seedlings, and a seeder that sows seeds.

[0032] 7A and 7B are side views showing a state in which a tiller 2A (working device 2) is connected to the traveling body 3 of the agricultural machine 1. In detail, FIG. 7A shows the tiller 2A connected to the traveling body 3 by the coupling device 8 in a state in which it is in a raised position P2, and FIG. 7B shows it in a state in which it is in a lowered position P1.

[0033] As shown in FIG. 7A, when the tiller 2A is in the raised position P2, the tiller tines 2g provided on the tiller 2A are separated from the soil H1 of the field H. In other words, the raised position P2 of the tiller 2A is a non-working position where tilling work cannot be performed. As shown in FIG. 7B, when the tiller 2A is in the lowered position P1, the tiller tines 2g can come into contact with the soil H1. Tilling work is performed. In other words, the lowered position P1 of the tiller 2A is a working position where tilling work can be performed.

[0034] For example, when a work implement 2 that performs tilling or leveling work other than a tiller 2A, such as a rough tiller, ridger, or plow, is connected to the traveling body 3 by a connecting device 8, as shown in Figures 7A and 7B, the ground work members (such as the tiller tines 2g) of the work implement 2 are raised and lowered by the connecting device 8, and move away from or into contact with the soil H1.

[0035] 8 is a side view showing a state in which a spreader 2B (working device 2) is coupled to the traveling body 3 of the agricultural machine 1. The spreader 2B is positioned by the coupling device 8 at a raised position P3 away from the soil H1, whether or not the spreader 2B is performing a spreading operation in which materials (fertilizer, chemicals, etc.) stored (placed) in a hopper 2h are spread over a field H. When the spreader 2B performs a spreading operation, the materials stored in the hopper of the spreader 2B are consumed.

[0036] For example, even when a work implement 2 that performs ground work (such as planting seedlings (materials) or sowing seeds (materials)) that consumes materials other than the spreader 2B, such as a transplanter or a sowing machine, is connected to the traveling body 3 by the connecting device 8, the work implement 2 is positioned at the raised position P3 by the connecting device 8, as shown in Figure 8.

[0037] 1 is an electrical configuration diagram of an agricultural work support system 100. The agricultural work support system 100 is a system that supports agricultural work, and includes an implement diagnostic system 11, an agricultural machine 1, and a management server 20.

[0038] The implement diagnostic system 11 is a system that diagnoses the implement 2 connected to the agricultural machine 1, and is mounted on the agricultural machine 1. The implement diagnostic system 11 diagnoses the work state and / or operation state of the implement 2, for example, based on changes in the weight of the implement 2. The implement diagnostic system 11 includes a control device 12, a storage device 13, a display device 14, a weight sensor 17, and the implement 2. In the implement diagnostic system 11, the diagnosis of the work state and / or operation state of the implement 2 is performed by the control device 12, as will be described below.

[0039] The agricultural machine 1 has an implement diagnostic system 11, a coupling device 8, an operating device 15, a positioning device 16, and a communication device 18. As another example, the coupling device 8, the operating device 15, the positioning device 16, and the communication device 18 may be provided in the implement diagnostic system 11, and the implement 2 may be provided in the agricultural machine 1.

[0040] The control device 12 is composed of an ECU (electronic control unit) including a CPU (or microcomputer) and memory. The control device 12 is a controller for the agricultural machine 1 and the implement diagnostic system 11. The internal memory of the control device 12 includes a volatile memory and a non-volatile memory. The storage device 13 is composed of a volatile memory and a non-volatile memory. The internal memory of the control device 12 and the storage device 13 store control data for the control device 12 to control each part in a readable and writable manner.

[0041] The display device 14 is composed of a touch panel and the like. Various types of information are displayed on the display device 14. In addition, various types of information can be input by performing predetermined operations on the display screen of the display device 14. The operation device 15 includes various operation members such as switches, keys, handles, levers, pedals, etc. for operating the agricultural machine 1 and the work implement 2, respectively, as well as sensors and electric circuits that output signals according to the operation state of each operation member. The display device 14 and operation device 15 are input interfaces.

[0042] The positioning device 16 is installed on the traveling body 3 of the agricultural machine 1. The positioning device 16 receives satellite signals (position of the positioning satellite, transmission time, correction information, etc.) transmitted from a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Beidou, Galileo, or Michibiki, and detects the current position (e.g., latitude and longitude) based on the satellite signals. In other words, the positioning device 16 constitutes a position detection device that detects the position of the traveling body 3 of the agricultural machine 1. The control device 12 calculates the position of the working device 2 from the position of the traveling body 3 detected by the positioning device 16 and the relative position of the working device 2 with respect to the traveling body 3.

[0043] The communication device 18 includes an antenna and an electric circuit for wirelessly communicating with the management server 20 via a public communication network such as the Internet. The management server 20 is provided outside the agricultural machine 1. A database 21 is constructed in the management server 20. Various types of information for supporting agricultural work performed by the agricultural machine 1 and the work implement 2 are stored in the database 21 of the management server 20. The control device 12 communicates with the management server 20 via the communication device 18, and transmits and receives information and data to and from the management server 20. The communication device 18 is both a communication interface and an input interface. For example, a person involved in agriculture can access the management server 20 using a terminal device such as a PC (personal computer), smartphone, or tablet device, and view the various types of information stored in the database 21.

[0044] The weight sensor 17 detects the weight of the working device 2 connected to the traveling machine body 3. In more detail, the weight sensor 17 is composed of, for example, a load sensor installed on the connecting device 8 and a computing unit (details not shown). The load sensor detects the load applied from the working device 2 to the connecting device 8 and outputs a detection signal corresponding to that load. The computing unit calculates the weight of the working device 2 based on the detection signal from the load sensor.

[0045] The coupling device 8 includes a control valve (not shown) for extending and retracting the lift cylinder 8e. The control valve is a solenoid valve that operates based on a control signal (electrical signal) input from the control device 12. The hydraulic pump (not shown) provided in the agricultural machine 1, the control valve, and the lift cylinder 8e are connected by an oil passage (not shown) through which hydraulic oil discharged from the hydraulic pump flows. The control device 12 electrically controls the switching position or opening degree of the control valve 36 to adjust the hydraulic pressure of the hydraulic oil supplied from the control valve to the lift cylinder 8e, thereby extending and retracting the lift cylinder 8e.

[0046] The implement diagnostic system 11 (controller 12) diagnoses the implement 2 based on changes in the weight of the implement 2 detected by the weight sensor 17. That is, the controller 12 diagnoses the state of work and / or operation of the implement 2 based on changes in the weight of the implement 2. If the implement 2 is a tilling / land leveling device such as a cultivator, rough cultivator, ridger, or puddler, the implement diagnostic system 11 (controller 12) diagnoses the state of tilling / land leveling work based on changes in the weight of the implement 2. If the implement 2 is a sprayer / planting device such as a spreader, transplanter, or sow, the implement diagnostic system 11 (controller 12) diagnoses the state of spraying / planting work based on changes in the weight of the implement.

[0047] Furthermore, whether the implement 2 is for tilling / land leveling or for spraying / planting, the implement diagnostic system 11 (controller 12) diagnoses the operating state of the implement 2 based on changes in the weight of the implement 2. For example, if the implement 2 is for tilling / land leveling, and if the weight of the implement 2 is on a decreasing trend after ground work begins and the amount of weight loss is equal to or greater than a predetermined threshold, the implement diagnostic system 11 (controller 12) may diagnose that a part or equipment for tilling / land leveling is missing or broken, and that the implement 2 is not operating normally. Also, if the implement 2 is for spraying / planting, and if the weight of the implement 2 does not decrease after ground work begins and the amount of weight loss is less than a threshold, the implement diagnostic system 11 (controller 12) may diagnose that a part or equipment for spraying / planting is broken, and that the implement 2 is not operating normally. If the trend and amount of change in the weight of the working implement 2 are opposite to those described above, the working implement diagnostic system 11 (controller 12) may diagnose that the working implement 2 is operating normally.

[0048] Fig. 2A is a flowchart showing an example of the diagnostic operation of the operating device diagnostic system 11. The processes in Fig. 2A are executed by the control device 12 in accordance with a software program stored in the internal memory. The same is true for the processes in Figs. 2B and 2C described below.

[0049] For example, when the agricultural machine 1 is located in the field H and a start switch (not shown) included in the operation device 15 is turned on, the control device 12 determines that a work start instruction has been input (S1 in FIG. 2A). Alternatively, for example, the control device 12 may determine that a work start instruction has been input when it receives, via the communication device 18, a work start signal transmitted from a remote operation device (not shown) that remotely operates the agricultural machine 1 and the work implement 2. Note that the method for inputting a work start instruction is not limited to the above.

[0050] When a work start command is input, the control device 12 checks the type (and model) of the working device 2 connected to the traveling body 3 (S2). At this time, for example, the control device 12 may determine the type (and model) of the working device 2 from information about the working device 2 that has been input in advance via the display device 14 or operation device 15 and stored in internal memory or the storage device 13. Alternatively, the control device 12 may detect the weight of the working device 2 at the raised positions P2, P3 using the weight sensor 17, determine the model of the working device 2 from that weight, and determine the model from that model. Alternatively, the control device 12 may obtain information indicating the type of working device 2 from a CPU or memory provided in the working device 2, and determine the type (and model) of the working device 2 from that information. Note that the method for checking the type (and model) of the working device 2 is not limited to the above.

[0051] If the work implement 2 is a sprayer, transplanter, or sower that consumes (applies to the field H) materials such as fertilizer, chemicals, seedlings, or seeds for spraying or planting (S2; spraying or planting), the control device 12 detects the weight of the work implement 2 at the raised positions P2, P3 using the weight sensor 17 as the pre-work weight Wb (S3) and stores the pre-work weight Wb in internal memory or the storage device 13. At this time, materials for work are loaded on the work implement 2. After the pre-work weight Wb is detected, the work implement 2 begins ground work while the traveling body 3 travels in the field H (S4).

[0052] On the other hand, if the work implement 2 is a tilling / land leveling type work implement such as a cultivator, rough cultivator, ridger, or plow that tills or levels the ground without consuming materials (S2; tilling / land leveling type), the control device 12 does not detect the weight of the work implement 2, and the work implement 2 starts ground work while the traveling body 3 travels in the field H (S4).

[0053] Ground work may be performed by automatically driving the agricultural machine 1 and the work implement 2 by the control device 12, or by manually driving the agricultural machine 1 and the work implement 2 by a driver. Furthermore, ground work may be performed by automatically steering the agricultural machine 1 by the control device 12, manually driving the agricultural machine 1 by a driver, and automatically or manually operating the work implement 2 (semi-automatically).

[0054] Thereafter, when the ground work is completed, for example, by the agricultural machine 1 and the implement 2 being stopped for a predetermined time (S5), the control device 12 checks the type of implement 2 (S6). If the implement 2 is a tilling / land leveling implement (S6: tilling / land leveling), the control device 12 checks that the implement 2 is at the raised position P2 (S7 in FIG. 2B: YES), and then detects the weight of the implement 2 at this time as the post-work weight Wa using the weight sensor 17 (S8).

[0055] If the working implement 2 is located at the lowered position P1 (S7: NO), the control device 12 positions the working implement 2 at the raised position P2 using the connecting device 8 (S7: YES), and then detects the post-work weight Wa of the working implement 2 using the weight sensor 17 (S8).

[0056] Next, the control device 12 calculates the amount of change ΔWx in the weight of the working implement 2 and determines the trend in the weight change of the working implement 2 (S9). At this time, the control device 12 calculates the amount of change ΔWx by subtracting the initial weight Wi of the working implement 2, which has been stored in advance in an internal memory or the like (which may be the storage device 13), from the post-work weight Wa of the working implement 2 (Wa - Wi = ΔWx). In other words, the amount of change ΔWx is the difference between the post-work weight Wa of the working implement 2 and the initial weight Wi. The initial weight Wi is, for example, the weight of the working implement 2 (a tillage / land leveling working implement) detected by the weight sensor 17 when the working implement 2 is coupled to the traveling body 3 via the coupling device 8 and stored in the internal memory of the control device 12 or the like. In other words, the initial weight Wi is the weight of the working implement 2 (a tillage / land leveling working implement) before performing ground work. The control device 12 also determines, as the trend in the weight change of the working implement 2, whether the post-work weight Wa is greater than or equal to the initial weight Wi.

[0057] FIG. 3 is a graph showing an example of changes in the weight of a tilling / land leveling implement 2. In FIG. 3, the horizontal axis represents time, and the vertical axis represents the weight of the implement 2. A tilling / land leveling implement 2 performs ground work such as tilling or leveling by bringing a ground work member such as a tiller tine 2g into contact with the soil. Therefore, when the implement 2 performs ground work and soil adheres to the ground work member, the post-work weight Wa of the implement 2 increases compared to the initial weight Wi, as shown by the thick dashed dotted line in FIG. 3. Furthermore, as the amount of soil adhering to the ground work member increases, the post-work weight Wa increases. In contrast, if almost no soil adheres to the ground work member, the post-work weight Wa of the implement 2 becomes approximately equal to the initial weight Wi, as shown by the thick solid line in FIG. 3.

[0058] When soil adheres to a tilling / land leveling implement 2 and the weight of the implement 2 increases, the load on the implement 2 and the agricultural machine 1 to which the implement 2 is coupled increases. In particular, when the weight of the implement 2 exceeds the rated weight, an excessive load is placed on the implement 2 and the agricultural machine 1. If the implement 2 and the agricultural machine 1 continue to operate under such an excessive load, the implement 2 and the agricultural machine 1 are prone to malfunction, and ground work may not be performed properly. For this reason, there is a demand for knowing the condition of the implement 2 and for appropriate maintenance of the implement 2, such as removing soil from the implement 2.

[0059] Taking the above-mentioned demands into consideration, in the implement diagnosis system 11, after step S9 of FIG. 2A, the control device 12 diagnoses the tilling / land leveling implement 2 based on the amount of change ΔWx in the weight of the implement 2 and the change trend (S20).

[0060] Fig. 2B is a flowchart showing details of the diagnostic process S20 for the tilling / land leveling implement 2 in Fig. 2A. Fig. 5 is a diagram showing an example of the relationship between the type of implement 2, diagnostic items, and diagnostic criteria. The information in the table shown in Fig. 5 is stored in advance in storage device 13 as control information for diagnosis. Control device 12 compares the amount of change and trend in the weight of implement 2 with the diagnostic criteria corresponding to the type of implement 2 in the control information of Fig. 5, and diagnoses implement 2 with respect to the diagnostic items corresponding to the type of implement 2.

[0061] 2B, the control device 12 first determines the type of working implement 2 (S21) and sets an increase threshold value ΔWn corresponding to the type of working implement 2 (S22). At this time, the control device 12 determines the type of working implement 2 for tilling or soil leveling, i.e., whether it is a cultivator, rough cultivator, ridger, or plow. Then, as shown in FIG. 5, for example, if the working implement 2 is a cultivator, the control device 12 sets (determines) a predetermined value ΔW1 as the increase threshold value ΔWn; if the working implement 2 is a rough cultivator, the control device 12 sets a predetermined value ΔW2 as the increase threshold value ΔWn; if the working implement 2 is a ridger, the control device 12 sets a predetermined value ΔW3 as the increase threshold value ΔWn; and if the working implement 2 is a plower, the control device 12 sets a predetermined value ΔW4 as the increase threshold value ΔWn.

[0062] Next, the control device 12 compares the amount of change ΔWx in the weight of the working device 2 with an increase threshold ΔWn that corresponds to the type of working device 2. If the amount of change ΔWx is equal to or less than the increase threshold ΔWn (S23: NO), the control device 12 determines that the state of soil adhesion on the working device 2 is good (the amount of soil adhesion is small), and also diagnoses (determines) whether soil is adhering to the working device 2 based on the trend in the change in the weight of the working device 2 (S24).

[0063] That is, the control device 12 diagnoses that the state of soil adhesion to the work device 2 is good because the comparison result that the amount of change ΔWx is less than or equal to the increase threshold value ΔWn does not match the judgment criteria for a tilling / land leveling work device 2 (such as a tiller, rough tiller, ridger, or plow) in Fig. 5. Furthermore, for example, if the post-work weight Wa of the work device 2 is greater than the initial weight Wi, the control device 12 determines that the post-work weight Wa is on an increasing trend relative to the initial weight Wi, and since this judgment result matches the judgment criteria for a tilling / land leveling work device 2 in Fig. 5, it diagnoses that soil is adhering to the work device 2. Furthermore, if the post-work weight Wa of the working device 2 is the same as the initial weight Wi, or if the change amount ΔWx is equal to or less than a predetermined value that is even smaller than the increase threshold value ΔWn, the control device 12 determines that the post-work weight Wa of the working device 2 is tending to be the same as the initial weight Wi, and diagnoses that there is no soil (or almost no soil) attached to the working device 2.

[0064] The control device 12 then stores the diagnosis results of the working implement 2 in the storage device 13 and displays them on the display device 14 (S25). At this time, the control device 12 may also store the post-work weight Wa of the working implement 2, the amount of change in weight ΔWx, and the change trend (in this case, that the weight of the working implement 2 is showing a slight (not excessive or abnormal) increase trend, or that the weight of the working implement 2 has not changed) in the storage device 13 and display them on the display device 14. Furthermore, the control device 12 may confirm from the detection results of the positioning device 16 that the agricultural machine 1 and the working implement 2 are still located in the field H where the ground work was performed, and then display the diagnosis results of the working implement 2, etc. on the display device 14 (the same applies to the displays in process S27, described below, and S35 and S37 in FIG. 2C ).

[0065] On the other hand, if the amount of change ΔWx in the weight of the working implement 2 is greater than the increase threshold value ΔWn (S23: YES), the control device 12 diagnoses that the soil adhesion state of the working implement 2 is an excessive adhesion problem (S26). In other words, the control device 12 diagnoses that the working implement 2 has an excessive soil adhesion problem because the comparison result that the amount of change ΔWx is greater than the increase threshold value ΔWn matches the judgment criteria for a tilling / land leveling working implement 2 (such as a tiller, rough tiller, ridger, or plow) in Figure 5.

[0066] Then, the control device 12 stores the diagnosis results of the working device 2 in the memory device 13, and displays on the display device 14 a warning indicating that the amount of soil adhering and the weight of the working device 2 are excessive (S27). At this time, the control device 12 may also store in the memory device 13 the post-work weight Wa of the working device 2, the amount of change in weight ΔWx, and a message urging the user to remove soil from the working device 2, and display these on the display device 14.

[0067] On the other hand, in FIG. 2A, after the ground work is completed (S5), if the control device 12 confirms that the work implement 2 is a work implement for spraying or planting (S6: spraying or planting), the weight of the work implement 2 at this time is detected by the weight sensor 17 as the post-work weight Wa (S10).

[0068] Next, the control device 12 calculates the amount of change ΔWy in the weight of the working device 2 and determines the change trend of the weight of the working device 2 (S11). At this time, the control device 12 calculates the amount of change ΔWy by subtracting the post-work weight Wa from the pre-work weight Wb of the working device 2 detected in step S3 (Wb-Wa=ΔWy). In other words, the amount of change ΔWy is the difference between the pre-work weight Wb and the post-work weight Wa of the working device 2. The control device 12 also determines, as the change trend of the weight of the working device 2, whether the post-work weight Wa has increased relative to the pre-work weight Wb, or whether it is approximately the same (unchanged).

[0069] FIG. 4 is a graph showing an example of changes in the weight of a work implement 2 for spraying or planting. In FIG. 4, the horizontal axis represents time, and the vertical axis represents the weight of the work implement 2. The work implement 2 for spraying or planting consumes (applies to the field H) materials such as fertilizer, chemicals, seedlings, or seeds while performing ground work such as spraying or planting. Therefore, when the work implement 2 performs ground work and the amount of materials placed on the work implement 2 decreases, as shown by the thick two-dot chain line in FIG. 4, the post-work weight Wa of the work implement 2 decreases compared to the pre-work weight Wb, as shown by the thick solid line in FIG. 4. Furthermore, as the work time increases, the amount of materials consumed increases, and therefore the post-work weight Wa of the work implement 2 decreases. As the amount of materials applied to the field H (spraying amount / planting amount) increases, the amount of materials consumed also increases, and therefore the post-work weight Wa of the work implement 2 decreases. On the other hand, if the material is hardly consumed (applied to the field H) due to an abnormality (fault) in the work device 2, the post-work weight Wa of the work device 2 will be approximately equal to the pre-work weight Wb (approximately unchanged), as shown by the thick dotted line in Figure 4.

[0070] With regard to the work implement 2 for spraying or planting, there is a desire to understand the state of the work implement 2 and to perform appropriate maintenance of the work implement 2. For this reason, in the work implement diagnosis system 11, after process S11 in Fig. 2A, the control device 12 diagnoses the work implement 2 for spraying or planting based on the amount of change ΔWy in the weight of the work implement 2 and the trend of change (S30).

[0071] 2C is a flowchart showing details of the diagnostic process S30 for the work implement 2 for spraying or planting shown in FIG. 2A. In FIG. 2C, the control device 12 first determines the type of work implement 2 (S31) and sets a reduction threshold ΔWm corresponding to the type of work implement 2 (S32). At this time, for example, if the work implement 2 is a sprayer, the control device 12 multiplies the consumption amount (spraying amount) of a material such as fertilizer or chemical per unit time by the operating time of the work implement 2 that performed the ground work (the operating time of the work implement 2 from the start of the ground work in process S4 in FIG. 2A to the end of the ground work in process S5), calculates the multiplied value as the theoretical consumption amount of the material, and further subtracts a predetermined margin value from the theoretical consumption amount to set the subtraction value ΔW5 as the reduction threshold ΔWm.

[0072] Even when the work implement 2 is a transplanter, a seed sower, or the like, the control device 12 multiplies the consumption amount (plant amount) of materials such as seedlings or seeds per unit time by the operating time of the work implement 2 that performed the ground work, calculates the multiplied value as the theoretical consumption amount of the materials, and then subtracts a predetermined margin value from the theoretical consumption amount to set the resulting subtraction values ​​ΔW6 and ΔW7 as the reduction threshold value ΔWm. As another example, the subtraction of the margin value from the theoretical consumption amount described above may be omitted, and the theoretical consumption amount itself may be set as the reduction threshold value ΔWm (= ΔW5, ΔW6, ΔW7). Furthermore, the method of setting (calculating) the reduction threshold value ΔWm is not limited to the method described above.

[0073] Next, the control device 12 compares the amount of change ΔWy in the weight of the working device 2 with a decrease threshold ΔWm corresponding to the type of working device 2. If the amount of change ΔWy is equal to or greater than the decrease threshold ΔWm (S33: NO), materials are being consumed normally and the weight of the working device 2 is decreasing, and the control device 12 therefore diagnoses that the working condition of the working device 2 is good (S34). In other words, the control device 12 diagnoses that the working condition (spraying condition, transplanting condition, sowing condition, etc.) of the working device 2 is good because the comparison result that the amount of change ΔWy in the weight of the working device 2 is equal to or greater than the decrease threshold ΔWm does not match the judgment criteria for a working device 2 for spraying or planting (such as a sprayer, transplanter, or sower) in FIG. 5.

[0074] Furthermore, because the amount of change ΔWy is equal to or greater than the decrease threshold ΔWm (S33: NO), it can be determined that materials have been consumed normally and that the work device 2 has operated normally to perform ground work, and therefore in process S34 the control device 12 may diagnose that the work operation (spraying operation, transplanting operation, sowing operation, etc.) of the work device 2 is good, in addition to or instead of the work state of the work device 2. Furthermore, the "work operation" of the work device 2 may be regarded as "whether or not it is operating," and the control device 12 may diagnose in process S34 that the work device 2 is "operating normally" (or simply "operating").

[0075] Then, the control device 12 stores the diagnosis results of the working device 2 in the memory device 13 and displays them on the display device 14 (S35). At this time, the control device 12 may also store the post-work weight Wa of the working device 2, the amount of change in weight ΔWy, and the change trend (in this case, that the weight of the working device 2 is on a decreasing trend) in the memory device 13 and display them on the display device 14.

[0076] On the other hand, if the amount of change ΔWy in the weight of the working implement 2 is smaller than the decrease threshold ΔWm (S33: YES), the control device 12 diagnoses that the working condition of the working implement 2 is poor because materials are not being consumed normally (S36). In other words, the control device 12 diagnoses that the working condition of the working implement 2 is poor (poor spraying, poor transplanting, poor sowing, etc.) because the comparison result that the amount of change ΔWy is smaller than the decrease threshold ΔWm matches the judgment criteria for a working implement 2 for spraying or planting (such as a sprayer, transplanter, or sower) in Figure 5.

[0077] Furthermore, because the amount of change ΔWy is smaller than the decrease threshold value ΔWm (S33: YES), it is possible to detect that materials have not been consumed normally and that the work device 2 has not operated normally to perform ground work, and therefore in step S36 the control device 12 may diagnose that the work operation of the work device 2 is faulty (or that the work device 2 is "not operating normally" or simply "not operating") in addition to or instead of the work state of the work device 2. Furthermore, if the work device 2 is a spreader or a seed sower, the control device 12 may more specifically diagnose that the work operation of the work device 2 is faulty, such as by stating that "there is a material jam."

[0078] Then, the control device 12 stores the diagnosis result of the working device 2 and a warning indicating that the working condition of the working device 2 is poor in the memory device 13 and displays them on the display device 14 (S37). At this time, the control device 12 may also store in the memory device 13 and display on the display device 14 the post-work weight Wa of the working device 2, the amount of change in weight ΔWy, and the trend of change (in this case, that the weight of the working device 2 is substantially unchanged or is trending upward), a message urging the user to perform maintenance on the working device 2, and the like.

[0079] After diagnosing the maintenance device 2 as described above, the control device 12 reads out the diagnosis results of the maintenance device 2 stored in the storage device 13 in steps S25 and S27 of FIG. 2B and steps S35 and S37 of FIG. 2C at a predetermined timing, and transmits the results to the management server 20 via the communication device 18. The management server 20 receives the diagnosis results of the maintenance device 2 and stores them in the database 21.

[0080] In the embodiment described above, an example was shown in which the control device 12 confirmed that a command to start ground work had been input (S1 in FIG. 2A ) and then detected the pre-work weight Wb of the spraying / planting work device 2 using the weight sensor 17 (S3). However, the present invention is not limited to this, and the process of confirming the input of a command to start ground work (S1) may be omitted. In this case, for example, the control device 12 may detect using the positioning device 16 or the like that the traveling machine body 3 and the work device 2 have stopped at a position where ground work should start in the field H, and may detect using a switch or sensor that materials have been placed on the spraying / planting work device 2, and then detect the pre-work weight Wb of the spraying / planting work device 2 using the weight sensor 17.

[0081] In the above-described embodiment, the control device 12 performs a good diagnosis of the working device 2 (S24 in FIG. 2B, S34 in FIG. 2C) and then displays the diagnosis result on the display device 14 (25 in FIG. 2B, S35 in FIG. 2C), but the display process of the good diagnosis result may be omitted.

[0082] In the above-described embodiment, the control device 12 diagnoses the state of soil adhesion for tilling / land leveling work implements 2 and the work state for spraying / planting work implements 2, but the present invention is not limited to this, and the control device 12 may diagnose the work implements 2 with respect to other diagnostic items. For example, if the weight of tilling / land leveling work implements 2 is on a decreasing trend, it may be diagnosed as having a missing part. Also, with regard to spraying / planting work implements 2, if the weight of the work implements 2 has decreased by an amount greater than the amount of materials loaded, it may be diagnosed as having a missing part.

[0083] In the above-described embodiment, an example was shown in which the working implement 2 was diagnosed by determining whether it was for tilling / land leveling or spraying / planting, but the present invention is not limited to this. For example, in the case of a working implement that tills while spraying materials such as fertilizer, it may be diagnosed for both poor spraying and poor soil adhesion based on changes in weight. In other words, the working implement 2 may be diagnosed for multiple diagnostic items.

[0084] In the above-described embodiment, an example is shown in which a warning indicating excessive soil adhesion or a problem with the working condition (including work operations and operating status) of the working device 2 is displayed by the display device 14, but the present invention is not limited to this, and the warning may be displayed around the running body 3 by sound or light, for example, by a buzzer, speaker, or warning light provided on the agricultural machine 1.

[0085] The implement diagnostic system 11, agricultural machine 1, and agricultural work support system 100 of the present embodiment described above have the following configurations and provide the following effects.

[0086] The working implement diagnosis system 11 of this embodiment includes a weight sensor 17 that detects the weight of a working implement 2 that performs ground work and is connected to the traveling body 3 of the agricultural machine 1 traveling in a field H, and a control device 12 that diagnoses the working implement 2 based on changes in the weight of the working implement 2 detected by the weight sensor 17.

[0087] The agricultural machine 1 of this embodiment has an implement diagnostic system 11, a traveling machine body 3 that travels in a field H, and a coupling device 8 that couples the implement 2 to the traveling machine body 3.

[0088] The agricultural work support system 100 of this embodiment includes a work implement diagnostic system 11, an agricultural machine 1 equipped with the work implement diagnostic system 11, and a management server 20 in which an externally accessible database 21 has been constructed. In addition to a running body 3 and a coupling device 8, the agricultural machine 1 has a communication device 18 that communicates wirelessly with the management server 20. A control device 12 provided in the work implement diagnostic system 11 transmits the diagnostic results of the work implement 2 to the management server 20 via the communication device 18, and the management server 20 receives the diagnostic results of the work implement 2 and stores them in the database 21.

[0089] According to the above configuration, the control device 12 diagnoses the working device 2 based on changes in the weight of the working device 2 detected by the weight sensor 17, so there is no need to provide a sensor separate from the weight sensor 17, and the good or bad condition of the working device 2 can be detected with a simple configuration. Furthermore, for example, the driver of the agricultural machine 1, the manager of the agricultural machine 1 and the working device 2, and the manager of the field H where ground work has been performed by the agricultural machine 1 and the working device 2 can obtain the diagnosis results of the working device 2 stored in the database 21 of the management server 20 using a terminal device they use, understand the condition of the working device 2 from the diagnosis results, and perform appropriate maintenance of the working device 2, understand the condition of the field H to improve the soil, or consider plans for ground work. Furthermore, for example, the manufacturer of the working device 2 can similarly obtain the diagnosis results of the working device 2 from the management server 20 using a terminal device, and use the diagnosis results to improve and develop the working device 2.

[0090] In this embodiment, the control device 12 diagnoses the work and / or operating state of the work device 2 based on changes in the weight of the work device 2. This makes it possible to detect whether the work state and / or operating state of the work device 2 is good or bad when ground work is performed by the work device 2.

[0091] Furthermore, in this embodiment, the control device 12 diagnoses the state of the work and / or operation of the work device 2 with respect to the diagnostic item based on the result of comparing the change in weight of the work device 2 with the diagnostic criteria for the diagnostic item according to the type of work device 2. As a result, when, for example, ground work is performed using the work device 2, it is possible to detect whether the state of the work and / or operation of the work device 2 is good or bad with respect to the diagnostic item according to the type of work device 2.

[0092] Furthermore, in this embodiment, the control device 12 determines whether the trend in the change in weight of the working device 2 matches a predetermined trend of the diagnostic criteria, and, based on the result of this determination, diagnoses whether the state of the working device 2 is good or bad with respect to the diagnostic items according to the type of working device 2. In this way, it is possible to detect whether the state of the working device 2 is good or bad with respect to the diagnostic items according to the type of working device 2.

[0093] Furthermore, in this embodiment, the control device 12 calculates the difference between the weight of the work implement 2 before ground work is performed and the weight of the work implement 2 after ground work is performed, and compares this difference with a predetermined value included in the diagnostic criteria to determine whether the condition of the work implement 2 is good or bad with respect to the diagnostic items corresponding to the type of work implement 2. This makes it possible to detect whether the condition of the work implement 2 after ground work is good or bad with respect to the diagnostic items corresponding to the type of work implement 2.

[0094] Furthermore, in this embodiment, if the work implement 2 is a work implement 2 of the type that tills or levels the ground in the field H, the control device 12 diagnoses the state of soil adhesion on the work implement 2. This makes it possible to detect whether the state of soil adhesion on the work implement 2 that tills or levels the ground is good or bad.

[0095] Furthermore, in this embodiment, when the work implement 2 is a type of work implement 2 that performs work that consumes placed materials, the control device 12 diagnoses the quality of the work state and / or operation of the work implement 2. This makes it possible to detect the quality of the work state and / or work operation (operating status) of the work implement 2 when ground work is performed by work implement 2 such as spraying or planting.

[0096] Furthermore, in this embodiment, the control device 12 sets the weight of the work implement 2 detected by the weight sensor 17 when the work implement 2 has finished ground work and is stopped in a state where it is separated from the soil as the post-work weight Wa, and detects the change in the post-work weight Wa from the weights Wi, Wb of the work implement 2 before the ground work was performed. This makes it possible to stably and accurately detect the post-work weight Wa of the work implement 2 and the change in the post-work weight Wa from the weights Wi, Wb before the ground work. Then, the work implement 2 after the ground work can be accurately diagnosed from the change in weight of the work implement 2.

[0097] In this embodiment, the operation device diagnostic system 11 includes the operation device 2 and a display device 14 that displays the diagnostic results of the operation device 2 by the control device 12. This allows a worker or the like to check the diagnostic results of the operation device 2 from the display on the display device 14 and understand whether the condition of the operation device 2 is good or bad.

[0098] Furthermore, in this embodiment, the control device 12 displays the change in weight of the working device 2 on the display device 14, and if it diagnoses that the condition of the working device 2 is poor, displays a warning on the display device 14. This allows a worker or the like to check the change in weight of the working device 2 and the warning displayed on the display device 14, and immediately perform appropriate maintenance on the working device 2.

[0099] Furthermore, in this embodiment, the work implement diagnostic system 11 includes a storage device 13 that stores the diagnostic results of the work implement 2 by the control device 12. As a result, the diagnostic results of the work implement 2 can be accumulated in the storage device 13 and used for maintenance of the work implement 2, improvement and development of the work implement 2, creation of a work plan, soil improvement of the field H, etc.

[0100] Although the present invention has been described above, the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0101] 1. Agricultural machinery 2. Work equipment 3 Running body 8 Coupling device 11 Work equipment diagnostic system 12 Control device 13 Storage device 14 Display device 17 Weight Sensor 18. Communications Equipment 20 Management Server 21 Databases 100 Agricultural work support system H field H1 soil Wa Weight before operation Wb Weight after work Wi initial weight

Claims

1. a weight sensor that detects the weight of a work device that performs ground work and is connected to a traveling body of the agricultural machine that travels in a field; a control device that diagnoses the state of work and / or operation of the working device based on a change in weight of the working device detected by the weight sensor, The control device a diagnosis of the state of work and / or operation of the working device with respect to the diagnostic items based on the results of comparing the change in weight of the working device with diagnostic criteria for the diagnostic items according to the type of the working device; A work implement diagnostic system that calculates the difference between the weight of the work implement before performing the ground work and the weight of the work implement after performing the ground work, and diagnoses the condition of the work implement with respect to the diagnostic items based on the result of comparing the difference with a predetermined value included in the diagnostic criteria.

2. a weight sensor that detects the weight of a work device that performs ground work and is connected to a traveling body of the agricultural machine that travels in a field; a control device that diagnoses the state of work and / or operation of the working device based on a change in weight of the working device detected by the weight sensor, The control device a diagnosis of the state of work and / or operation of the working device with respect to the diagnostic items based on the results of comparing the change in weight of the working device with diagnostic criteria for the diagnostic items according to the type of the working device; A work implement diagnostic system that diagnoses the state of soil adhesion on the work implement when the work implement is a type of work implement used for tilling or leveling the field.

3. a weight sensor that detects the weight of a work device that performs ground work and is connected to a traveling body of the agricultural machine that travels in a field; a control device that diagnoses the working device based on a change in weight of the working device detected by the weight sensor, The control device When the work implement has finished the ground work and stopped in a state separated from the soil, The weight of the working device detected by the weight sensor is set as a post-work weight. A work implement diagnostic system that detects a change in weight of the work implement after the ground work is performed from the weight of the work implement before the ground work is performed.

4. a weight sensor that detects the weight of a work device that performs ground work and is connected to a traveling body of the agricultural machine that travels in a field; a control device that diagnoses the working device based on a change in weight of the working device detected by the weight sensor; a storage device that stores the diagnostic results of the working device by the control device.

5. The control device Diagnosing the state of work and / or operation of the working device based on the change in weight of the working device; a diagnosis of the state of work and / or operation of the working device with respect to the diagnostic items based on the results of comparing the change in weight of the working device with diagnostic criteria for the diagnostic items according to the type of the working device; A work device diagnostic system according to any one of claims 1 to 4, which determines whether the trend in change in the weight of the work device matches a predetermined trend of the diagnostic criteria, and diagnoses the good or bad condition of the work device with respect to the diagnostic items based on the results of the determination.

6. The control device Diagnosing the state of work and / or operation of the working device based on the change in weight of the working device; a diagnosis of the state of work and / or operation of the working device with respect to the diagnostic items based on the results of comparing the change in weight of the working device with diagnostic criteria for the diagnostic items according to the type of the working device; A work device diagnostic system according to any one of claims 1 to 4, which diagnoses the work status and / or operation of the work device if the work device is a type of work device that performs work that consumes materials placed on it.

7. The working device; 5. The work implement diagnostic system according to claim 1, further comprising: a display device that displays a result of diagnosis of the work implement by the control device.

8. 8. The work device diagnostic system according to claim 7, wherein the control device displays a change in weight of the work device on the display device, and displays a warning on the display device when the control device diagnoses that the work device is in a poor condition.

9. The operating device diagnostic system according to any one of claims 1 to 4, a traveling machine body that travels in a field; a coupling device that couples a working implement to the traveling body.

10. The operating device diagnostic system according to any one of claims 1 to 4, an agricultural machine equipped with the implement diagnostic system; a management server in which an externally accessible database is built, The agricultural machine includes: a traveling machine body that travels in a field; A coupling device that couples a working device to the traveling machine body; a communication device that wirelessly communicates with the management server, a control device provided in the maintenance device diagnostic system transmits a diagnostic result of the maintenance device to the management server via the communication device; The management server receives the diagnostic results of the work implement and stores them in the database.

Images