Control system for agricultural implement

Abstract

To provide a control system for an agricultural implement that is installed on a tractor which can properly level an uneven soil surface.SOLUTION: A control system for an agricultural implement that is applied to an implement 2 attached to a tractor 1 to perform agricultural works, includes: a control unit 25 provided in the implement 2; an implement height detection means 26 that is provided in the implement 2 and that can obtain information required for detecting the height of the implement; and a pressure device 27 which can select whether to increase or decrease a downward pressure against a ground leveler of the implement including a portion that makes contact with the ground surface. When the height of the implement 2 is determined to be higher than a reference height based on the information from the implement height detection means 26, the control unit 25 performs control to increase the pressure of the pressure device 27. When the height of the implement is determined to be lower than the reference height, the control unit performs control to decrease the pressure of the pressure device 27.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to an agricultural work machine control system, and more particularly to an agricultural work machine control system that controls the working depth of a work machine that is attached to a tractor to perform agricultural work. [Background technology]

[0002] When performing agricultural work using a work machine attached to a tractor, for example, plowing or tilling, the work machine often moves up and down to follow the unevenness of the ground surface. In addition, the work machine may be equipped with an automatic device.

[0003] Furthermore, Patent Document 1 discloses an agricultural work machine having a function that prevents an automatic device from raising and lowering the tilling work machine in situations where there is no need to raise and lower the tilling work machine. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2016-208844 A Summary of the Invention [Problem to be solved by the invention]

[0005] Conventionally, when agricultural work is performed using a work machine attached to a tractor, the work is performed following the original unevenness of the ground surface of the field, so there are cases where the unevenness of the ground surface cannot be leveled out. Even if an automatic device is used, if the position of the soil leveling body moves up and down along the original unevenness of the ground surface, the tilling depth also moves accordingly, and there are cases where the unevenness of the ground surface cannot be leveled out.

[0006] In addition, in Patent Document 1, the apron can be set to a locked or free state, but the worker must operate it each time to change the state. Therefore, in order to perform this operation, the worker must always check the state of the field. Also, if the timing of the operation is off, the worker will not be able to perform the work properly.

[0007] In view of the above-mentioned problems, an object of the present invention is to provide an agricultural machine control system that can accurately smooth out unevenness in the ground surface in a machine that is attached to a tractor to perform agricultural work. [Means for solving the problem]

[0008] In order to achieve the above-mentioned object, one representative agricultural work machine control system of the present invention is an agricultural work machine control system applied to a work machine attached to a tractor to perform agricultural work, and comprises a control unit provided on the work machine, a work machine height detection means provided on the work machine and capable of acquiring information necessary to detect the height of the work machine, and a pressure device that can select whether to increase or decrease the downward pressure applied to the ground leveling body including the part of the work machine that contacts the ground surface, and the control unit controls the pressure of the pressure device to increase when it determines that the work machine is higher than a reference height based on information from the work machine height detection means, and to decrease the pressure of the pressure device when it determines that the work machine is lower than the reference height. Effect of the Invention

[0009] According to the present invention, in a work machine which is attached to a tractor to perform agricultural work, unevenness in the ground surface can be accurately leveled. Problems, configurations and effects other than those described above will become apparent from the following embodiments. [Brief description of the drawings]

[0010] [Figure 1] 1 is a block diagram of an agricultural machine control system according to a first embodiment of the present invention. FIG. [Diagram 2] FIG. 2 is a rear view showing a working machine applicable to the first embodiment of the present invention. [Diagram 3] FIG. 1 is a side view showing a work implement attached to a tractor applicable to a first embodiment of the present invention. [Figure 4] FIG. 2 is a side view of a ground leveling body height detection mechanism applicable to the first embodiment of the present invention. [Diagram 5] FIG. 2 is a side view of a pressure device applicable to the first embodiment of the present invention. [Figure 6] 1 is a diagram showing a remote control device applicable to a first embodiment of the present invention. [Figure 7] 3 is a flowchart of the agricultural machine control system according to the first embodiment of the present invention. [Figure 8] FIG. 5 is a block diagram of an agricultural machine control system according to a second embodiment of the present invention. [Figure 9] FIG. 11 is a side view of a ground leveling body height detection device applicable to a second embodiment of the present invention. [Figure 10] 6 is a flowchart of an agricultural machine control system according to a second embodiment of the present invention. [Figure 11] FIG. 11 is a block diagram of an agricultural machine control system according to a third embodiment of the present invention. [Figure 12] 10 is a flowchart of an agricultural machine control system according to a third embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] An embodiment for carrying out the present invention will be described.

[0012] (First embodiment) FIG. 1 is a block diagram of an agricultural machine control system according to a first embodiment of the present invention.

[0013] In a configuration equipped with a work implement 2 attached to a tractor 1, the tractor 1 is equipped with a soil leveling body height detection means 11, a tractor control unit 12, and a lifting device 13. Furthermore, a display unit 31 and an operation unit 32 can be arranged on the tractor 1 side. Moreover, the work implement 2 is equipped with a soil leveling body height detection mechanism 21, a control unit 25, a work implement height detection means 26, and a pressure device 27. The work implement 2 can be a work implement equipped with a tilling unit or a soil leveling body.

[0014] The soil leveling body height detection means 11 is a means for acquiring information on the height of the soil leveling body of the work machine 2 from a change in the soil leveling body height detection mechanism 21. In the first embodiment, a change in the position of a member obtained by a mechanical mechanism is utilized.

[0015] The tractor control unit 12 performs processing for controlling the tractor 1, and may be one that is already installed in the tractor 1. The tractor control unit 12 receives a signal from the soil leveling body height detection means 11, and controls the lifting device 13 based on the signal. The tractor control unit 12 is made up of electronic devices and the like required for control, processing, and the like.

[0016] The lifting device 13 is a device for changing the height of the work implement 2 relative to the tractor 1. For example, a cylinder or the like is provided to change the height of a connection part that connects the work implement 2.

[0017] The leveling body height detection mechanism 21 is a mechanism that detects the height of the leveling body of the working machine 2. For example, the position of members such as wires is changed according to the height of the leveling body. A specific configuration will be described later. The leveling body of the working machine 2 here is a leveling body that includes a portion that contacts the ground surface of the field. Specifically, it is a leveling body that moves along the ground surface while contacting the ground surface of the field as the tractor 1 (working machine 2) moves. In the working machine 2, the height of the leveling body can be changed relative to the height of the tilling section.

[0018] The control unit 25 acquires information on the height of the work machine 2 from the work machine height detection means 26. The control unit 25 also controls the pressure applied to the pressure device 27 in accordance with the height of the work machine 2 detected by the work machine height detection means 26. The pressure control is to increase or decrease the pressure, etc. The control unit 25 can transmit necessary information to the display unit 31 and acquire operation information from the operation unit 32. The control unit 25 is composed of electronic devices and the like required for control, processing, and the like. The control unit 25 can be installed on the work machine 2, but may also be installed on the tractor 1. For example, the control unit 25 may be provided integrally with a remote control having the operation unit 32.

[0019] The work machine height detection means 26 is a means for detecting the height of the work machine 2. In particular, it detects the height of the tilling section of the work machine 2 or the height of a part of the work machine 2 that is linked to the height of the tilling section. The work machine height detection means 26 can use a sensor for this purpose, such as an acceleration sensor, an angular velocity sensor (gyro sensor), a multi-axis sensor, an inclination sensor, a geomagnetic sensor, a distance sensor (laser sensor, ultrasonic sensor, electromagnetic wave sensor), etc.

[0020] The pressure device 27 is a device that can select whether to increase or decrease the pressure applied to the ground leveling body by the working machine 2 through the biasing means. The pressure is applied in the direction (downward) that pushes the ground leveling body against the ground surface.

[0021] The display unit 31 has a means for displaying necessary information, and is capable of remote communication with the control unit 25. For example, it is a display screen using liquid crystal, organic EL, LED, etc. Information displayed on the display unit 31 is, for example, the height state of the work machine 2 detected by the work machine height detection means 26, the state of pressure applied by the pressure device 27, the setting state of the agricultural work machine control system, etc. Communication between the display unit 31 and the control unit 25 may be wireless or wired.

[0022] The operation unit 32 includes an operation switch for operation and can communicate with the control unit 25 remotely. For example, the operation switch is a plurality of switches such as push buttons. The operation unit 32 can be used to set the agricultural machine control system, control the pressurizing device 27, and perform operations to change the state of the work machine 2. Communication between the operation unit 32 and the control unit 25 can be wireless or wired. The operation unit 32 can be configured integrally with the display unit 31. In addition, the display unit 31 and the operation unit 32 can be configured integrally with each other and the display screen can be configured using a touch panel system in order to facilitate operation. For example, a general-purpose portable terminal such as a smartphone or a tablet computer can be applied.

[0023] Here, an automatic system can be formed by the soil leveling body height detection means 11, the tractor control unit 12, the lifting device 13, and the soil leveling body height detection mechanism 21. The automatic system is controlled so as to keep the height of the tilling part constant relative to the height of the soil leveling body of the work machine 2.

[0024] FIG. 2 is a rear view showing a working machine applicable to the first embodiment of the present invention. FIG. 3 is a side view showing a working machine attached to a tractor applicable to the first embodiment of the present invention. A working machine 2 is attached to the rear of a tractor 1, and agricultural work is performed by the working machine 2. In FIGS. 2 and 3, a case where the working machine 2 is a plow working machine 50 will be described. The left-right direction in FIG. 2 is the lateral direction of the plow working machine 50, and the up-down direction in FIG. 2 is the up-down direction of the plow working machine 50. The left direction in FIG. 3 is the front direction of the plow working machine 50, and the up-down direction in FIG. 3 is the up-down direction of the plow working machine 50. In addition, the illustration of the tractor 1 is omitted in FIG. 2, and the illustration of the tractor 1 is simplified in FIG. 3, and only the rear part is shown.

[0025] The side working units 55' installed on both sides of the central working unit 55 can be folded relative to the central working unit 55. The central working unit 55 is provided with a mast 51a and left and right hitches 51b as the mounting unit 51, and the tilling implement 50 is attached to the rear of the tractor 1 via these. The PTO (Power Take Off) power from the tractor 1 is input via an input shaft provided at the front, and the tilling unit 69 (see FIG. 3) equipped with tilling claws 68 rotates inside the tilling unit cover 52 and the first leveling body 53 behind it to break down the soil. The first leveling body 53 and the second leveling body 54 provided behind it flatten the surface of the soil. In this way, the tilling work is performed.

[0026] The left and right electric hydraulic cylinders 56 can operate the rotation mechanism 57 by extending and retracting the cylinders, and can fold the side working parts 55' on both sides inward relative to the central working part 55, thereby shortening the overall width of the tilling machine 50. The left and right extended ground leveling body drive devices 60 can rotate the left and right extended ground leveling bodies 61 around the rotation shaft 61a via the arms 62 and wires 63 by rotating the internal motors. This allows the selection of whether the extended ground leveling bodies 61 provided at both ends of the second ground leveling body 54 are extended outward or folded inward. The second ground leveling body drive device 66 can select whether the second ground leveling body 54 is rotated through the second ground leveling body link means 67 by rotating the internal motor to a soil pulling state fixed at the bottom, or a normal tilling state where the rotation is not fixed.

[0027] A leveling body height detection mechanism 70 is provided near the center of the central working unit 55. The leveling body height detection mechanism 70 constitutes the leveling body height detection mechanism 21 in Fig. 1. The leveling body height detection mechanism 70 can detect the height of the second leveling body 54 by using a rod 71 and a push-pull wire 76 that are linked to the height of the second leveling body 54.

[0028] Two pressure devices 80 are provided in the central working section 55. The two pressure devices 80 are provided slightly outside the central working section 55, at positions symmetrical with respect to the center of the central working section 55. The pressure devices 80 can select a pressurized state (biased state) or a free state (non-biased state) via a biasing means 81 such as a gas spring by rotating an internal motor. This makes it possible to select whether or not to bias the first leveling body 53 and the second leveling body 54 against the work surface by the biasing means 81. Details will be described later. The pressure devices 80 constitute the pressure device 27 in FIG. 1.

[0029] The control box 58 can be provided in the central working section 55. Specifically, it is provided above the tilling section cover 52, which is located above the tilling section 69, and in FIG. 2 it is provided on a frame pipe 59 provided above the tilling section cover 52. This reduces vibrations from the tilling section 69. The control section 25 and work machine height detection means 26 shown in FIG. 1 can be provided inside the control box 58. The control box 58 can have dustproof and waterproof functions.

[0030] As shown in FIG. 3, the tilling implement 50 is attached to the rear of the tractor 1. At this time, the mounting part 51 having the mast 51a and the hitch 51b is attached to the top link 15 and the lower link 16 on the tractor 1 side via a connecting part not shown. In this way, the tilling implement 50 is attached to the tractor 1. Here, the top link 15 is disposed above the lower link 16. In this configuration, when the lower link 16 is moved up and down by a cylinder or the like, the lower link 16 rotates around the fulcrum 16a on the tractor 1 side, and the top link 15 also rotates around the fulcrum 15a on the tractor 1 side. This allows the tilling implement 50 to be moved up and down. At this time, the link mechanism of the top link 15 and the lower link 16 is configured so that the tilling implement 50 tilts forward as the tilling implement 50 is raised up. This is the same for the other implements 2. The top link 15 is provided near the left-right center, and two lower links 16 are provided on the left and right. By moving these link mechanisms up and down, the lifting device 13 shown in FIG. 1 can be configured.

[0031] If the working machine height detection means 26 detects the front-to-rear angle of the tilling working machine 50 (working machine 2) at this time, the control unit 25 can calculate the working machine height. For this reason, a sensor that detects the front-to-rear angle of the tilling working machine 50 can be applied as the working machine height detection means 26 in this case. As this sensor, for example, an acceleration sensor, an angular velocity sensor (gyro sensor), a multi-axis sensor, an inclination sensor, a geomagnetic sensor, etc. can be used.

[0032] Fig. 4 is a side view of a soil leveling body height detection mechanism applicable to the first embodiment of the present invention. The left direction in Fig. 4 is the front direction of the tilling machine 50, and the up-down direction in Fig. 4 is the up-down direction of the tilling machine 50. A specific example of the soil leveling body height detection mechanism 70 will be described with reference to Fig. 4.

[0033] The ground leveling body height detection mechanism 70 includes a rod 71, an arm 72, a fulcrum base 73, a fixed plate 74, a mounting plate 75, a push-pull wire 76, and a wire guard 77. The ground leveling body height detection mechanism 70 can constitute the ground leveling body height detection mechanism 21 in FIG.

[0034] As shown in FIG. 4, the tilling machine 50 is provided with a tilling section cover 52 on the top of the tilling section 69. A first leveling body 53 is attached to the rear side of the tilling section cover 52 so as to be rotatable around a pivot 53a with a horizontal axis as its central axis. The first leveling body 53 covers the rear side of the tilling section 69. Furthermore, a second leveling body 54 is attached to the rear side of the first leveling body 53 so as to be rotatable around a pivot 54a with a horizontal axis as its central axis. The second leveling body 54 is configured so that its underside is parallel to the ground surface 100 during farm work and extends further rearward than the first leveling body 53. In the case of tilling work, the ground surface 100 is a surface containing soil and water.

[0035] The lower end of the rod 71 is connected to the second leveling body 54 via a first fulcrum 70a, which is the same fulcrum as the rotation fulcrum 54a. The upper end of the rod 71 is connected to the rear end of the arm 72 via a second fulcrum 70b. The front end of the arm 72 is connected to one end of a push-pull wire 76 at a connection point 70d. The fulcrum base 73 is attached to the tilling section cover 52. The fulcrum base 73 is connected to the arm 72 midway via a third fulcrum 70c.

[0036] An attachment plate 75 is provided above a connection point 70d at one end of the push-pull wire 76 with the arm 72. The push-pull wire 76 is structured to pass through a wire guard 77 attached to the attachment plate 75. The attachment plate 75 is fixed to the fulcrum base 73 (cultivation section cover 52) via a fixing plate 74.

[0037] The other end of the push-pull wire 76 is connected to a soil leveling body height detection means 11 provided on the tractor 1 as shown in Fig. 3. The soil leveling body height detection means 11 is a sensor capable of detecting the position of the other end of the push-pull wire 76, and a potentiometer, for example, can be used. The wire guard 77 is connected to the tractor 1 side.

[0038] When the second soil leveling body 54 rises relative to the tilling section cover 52, the second fulcrum 70b connected to the arm 72 via the rod 71 rises. Then, the arm 72 rotates about the third fulcrum 70c of the fulcrum base 73, moving the connection point 70d of the arm 72 and the push-pull wire 76 in a downward direction. As a result, the push-pull wire 76 is pulled toward the tilling implement 50, and the position of the other end of the push-pull wire 76 shifts, which is detected by the soil leveling body height detection means 11.

[0039] When the second soil leveling body 54 descends relative to the tilling section cover 52, the second fulcrum 70b connected to the arm 72 via the rod 71 descends. Then, the arm 72 rotates about the third fulcrum 70c of the fulcrum base 73, and moves the connection point 70d of the arm 72 and the push-pull wire 76 in the upward direction. This causes the push-pull wire 76 to be pushed toward the tractor 1, and the position of the other end of the push-pull wire 76 shifts, which is detected by the soil leveling body height detection means 11.

[0040] Information on the positional deviation of the other end of the push-pull wire 76 obtained from the soil leveling body height detection means 11 is sent to the tractor control unit 12. The tractor control unit 12 controls the lifting device 13 to change the height of the work implement 2 so as to offset this deviation. At this time, the height of the tilling section cover 52 also changes, so the tractor control unit 12 controls so that the difference A in height of the second soil leveling body 54 relative to the tilling section cover 52 becomes constant (so as to return to a predetermined difference). Here, the height of the tilling section cover 52 relative to the tilling section 69 is constant, so that the difference B in height between the center of the tilling section 69 and the second soil leveling body 54 is essentially controlled to be constant.

[0041] Fig. 5 is a side view of a pressure device applicable to the first embodiment of the present invention. The left direction in Fig. 5 is the front direction of the tilling machine 50, and the up-down direction in Fig. 5 is the up-down direction of the tilling machine 50. A specific example of the pressure device 80 will be described with reference to Fig. 5.

[0042] The pressure device 80 includes a biasing means 81 , a rotating body 82 , a mounting body 83 , and a storage case 85 .

[0043] The biasing means 81 is configured between the first end 81a and the second end 81b, and is a means for exerting a force to bias these ends in a direction away from each other. For example, a gas spring or a spring can be used. The lower first end 81a of the biasing means 81 is rotatably attached to the mounting portion 86 of the first ground leveling body 53. The mounting portion 86 of the first ground leveling body 53 is provided at a position (lower portion of the first ground leveling body 53) close to the pivot fulcrum 54a that connects with the second ground leveling body 54. The upper second end 81b of the biasing means 81 is connected by being provided in the long hole portion 82b of the rotating body 82.

[0044] The mounting body 83 is fixed to the tilling section cover 52, and includes a first stopper 83a and a second stopper 83b. The rotating body 82 is provided rotatably about a rotation center 82a whose axial direction is the horizontal direction relative to the mounting body 83, and includes an elongated hole portion 82b, a first side surface 82c, and a second side surface 82d. The rotating body 82 is rotatable by the power of an actuator (e.g., rotation of a motor) provided in the storage case 85. In a pressurized state, the first side surface 82c of the rotating body 82 abuts against the first stopper 83a of the mounting body 83, and in a free state, the second side surface 82d of the rotating body 82 abuts against the second stopper 83b of the mounting body 83.

[0045] The state of FIG. 5 shows a pressurized state in which pressure is applied downward. In this state, the actuator in the storage case 85 is operated and the first side surface 82c of the rotating body 82 abuts against the first stopper 83a of the mounting body 83. At this time, the second end 81b of the biasing means 81 is located at the end of the long hole portion 82b of the rotating body 82, and the upper side of the second end 81b is the end of the long hole portion 82b. As a result, when a force is applied from the lower side to the upper side of the second leveling body 54, a compressive biasing force is generated in the biasing means 81, and a reaction force that presses the vicinity of the rotation fulcrum 54a of the first leveling body 53 downward is generated. Accordingly, a force directed downward is also generated in the second leveling body 54.

[0046] On the other hand, the actuator in the storage case 85 is operated from the state of FIG. 5 to rotate the rotating body 82 counterclockwise in FIG. 5. Then, the second side surface 82d of the rotating body 82 abuts against the second stopper 83b of the mounting body 83 and stops. This state is a free state where no pressure is applied downward. At this time, the second end 81b of the urging means 81 is located near the center of the long hole portion 82b of the rotating body 82. This allows the second end 81b to move within the long hole portion 82b. Therefore, when a force is applied from the lower side to the upper side of the second leveling body 54, the second end 81b of the urging means 81 moves within the long hole portion 82b, and no force is generated in the urging means 81. In other words, the end of the first leveling body 53 on the side of the rotation fulcrum 54a and the second leveling body 54 can move upward.

[0047] Fig. 6 is a diagram showing a remote control device applicable to the first embodiment of the present invention. Fig. 6 illustrates an example of a remote control device 90 in which the display unit 31 and the operation unit 32 of Fig. 1 are integrally configured.

[0048] The remote control device 90 is equipped with a switch section 91 that is a push button. Also, a display section 92 is provided in the upper center of the switch section 91. In the remote control device 90, the switch section 91 corresponds to the operation section 32 in Fig. 1, and the display section 92 corresponds to the display section 31 in Fig. 1. The switch section 91 makes it possible to operate various actuators of the tilling implement 50, such as the electric hydraulic cylinder 56, the extension leveling body drive device 60, the second leveling body drive device 66, and the pressure device 80. Specific switches of the switch section 91 are shown below.

[0049] The switch 91a is a power switch for the remote control device 90. The switch 91b is a switch for switching the display content of the display unit 92. The switch 91c is a mode changeover switch. The switch 91d is a switch for confirming the selected content, etc. Using these switches, the agricultural machine control system can be set.

[0050] The switch 91e is a switch that activates the pressurizing device 80 to a pressurized state. The switch 91f is a switch that activates the pressurizing device 80 to a free state where no pressure is applied. These switches are switches that can switch the pressurizing state of the pressurizing device 80 by operation of the operator, regardless of the control by the agricultural machine control system.

[0051] A liquid crystal screen or an organic EL screen can be used as the display unit 92. The display unit 92 can display the pressure state of the pressure device 80, the setting state of the agricultural machine control system, the height state of the tillage machine 50, etc.

[0052] FIG. 7 is a flowchart of the agricultural machine control system according to the first embodiment of the present invention.

[0053] First, in step S101, a reference position is set. The reference position here is information on an appropriate working height when the working implement 2 is working. For example, it is the position of the main body of the working implement 2 relative to the tractor 1 (for example, the position of the working implement height detection means 26 or the height position of the center of the tilling section). That is, in the case of the tilling implement 50 of FIG. 3, the height of the part fixed to the mounting part 51 attached to the tractor 1 (the part whose height does not change independently of the mounting part 51) may be used as the reference. This height reference can be set by the operator by operating the operation part 32 (remote control device 90), and the information is stored in the control part 25. Also, a standard reference position for the target working implement 2 may be stored in advance.

[0054] Next, in step S102, it is determined whether the automatic control of the agricultural work machine control system is ON. This determination is made by the control unit 25. For example, the automatic control of the agricultural work machine control system can be turned ON or OFF by operating the operation unit 32 (remote control device 90). Also, if the height of the work machine 2 that can be detected by the work machine height detection means 26 exceeds the height of the range in which agricultural work can be performed, agricultural work cannot be performed, so the control unit 25 may perform control to turn the automatic control OFF. If the automatic control is ON, the process proceeds to step S103, and if the automatic control is not ON (OFF), the process ends.

[0055] In step S103, the vertical movement of the work implement 2 is detected. Here, the control unit 25 acquires information relating to the height of the work implement 2 from the work implement height detection means 26, and the control unit 25 calculates the current height of the work implement 2. The height here is, for example, the height position of the main body of the work implement 2 relative to the tractor 1, and is the same height position as the reference position in step S101. In the case of the tillage implement 50 of Figures 2 and 3, the work implement height detection means 26 in the control box 58 detects information relating to the height.

[0056] Next, in step S104, it is determined whether or not the height position of the work machine 2 is above a reference position. This determination is made by the control unit 25. This determination is made by comparing the reference position for the height of the work machine 2 set in step S101 with the current height position of the work machine 2 detected in step S103. If the height position of the work machine 2 is higher than the reference position (or is higher than the reference position by a predetermined amount or more), the process proceeds to step S106, and if the height position of the work machine 2 is not higher than the reference position (or is not higher than the reference position by a predetermined amount or more), the process proceeds to step S105.

[0057] Next, in step S105, it is determined whether or not the height position of the work machine 2 is below a reference position. This determination is made by the control unit 25. This determination is made by comparing the reference position for the height of the work machine 2 set in step S101 with the current height position of the work machine 2 detected in step S103. If the height position of the work machine 2 is lower than the reference position (or is lower than the reference position by a predetermined amount or more), the process proceeds to step S107, and if the height position of the work machine 2 is not lower than the reference position (or is not lower than the reference position by a predetermined amount or more), the process proceeds to step S108.

[0058] In step S106, the pressure applied by the pressure device 27 is increased. The control of increasing the pressure applied by the pressure device 27 is performed by the control unit 25. If the pressure device 27 can change the pressure in stages, the pressure is increased by a predetermined amount (one stage). If the pressure cannot be increased any further, the pressure is left as it is. For example, in the case of the pressure device 80 shown in FIG. 5, since there are two states, a pressurized state and a free state, if the state is free, the state is changed to the pressurized state, and if the state is pressurized, the state is left as it is. After step S106, the process proceeds to step S109.

[0059] In step S107, the pressure applied by the pressure device 27 is reduced. The control of reducing the pressure applied by the pressure device 27 is performed by the control unit 25. If the pressure device 27 can change the pressure in stages, the pressure is reduced by a predetermined amount (one stage). If the pressure cannot be reduced any further, the pressure is left as it is. For example, in the case of the pressure device 80 shown in FIG. 5, since there are two states, a pressurized state and a free state, if the pressure device is in the pressurized state, the state is changed to the free state, and if the state is in the free state, the state is left as it is. After step S107, the process proceeds to step S109.

[0060] In step S108, the pressure applied by the pressure applying device 27 is not changed. This is because it has been determined in steps S104 and S105 that the height of the work implement 2 has not changed (or is within a predetermined range). For example, in the case of the pressure applying device 80 shown in FIG. 5, if it is in a pressurized state, it remains in the pressurized state, and if it is in a free state, it remains in the free state. After step S108, the process proceeds to step S109.

[0061] In step S109, it is determined whether the leveling body height of the working machine 2 is lower than the set value. The determination here is made by the tractor control unit 12 based on the information on the leveling body height detected by the leveling body height detection means 11 using the leveling body height detection mechanism 21. The leveling body height of the working machine 2 is the height of the leveling body including the part that contacts the ground surface of the field, and the height of the leveling body can be changed along the ground surface of the field. The set value is the value of the difference in height of the leveling body relative to the main body part of the working machine 2. This set value can be determined in advance. For example, in the case of the leveling body height detection mechanism 70 shown in FIG. 4, the position of the other end of the push-pull wire 76 is shifted according to the difference A in height of the second leveling body 54 relative to the tilling section cover 52. Therefore, the leveling body height detection means 11 detects the leveling body height based on this position and compares the difference A with the set value. If the leveling body height of the work implement 2 is lower than the set value, the process proceeds to step S111, and if the leveling body height of the work implement 2 is not lower than the set value, the process proceeds to step S110. The set value may be a specific value or may be within a certain range.

[0062] In step S110, it is determined whether the leveling body height of the work implement 2 is above a set value. As in step S109, this determination is made by the tractor control unit 12 based on the information on the leveling body height detected by the leveling body height detection means 11. If the leveling body height of the work implement 2 is above the set value, the process proceeds to step S112, and if the leveling body height of the work implement 2 is not above the set value, the process proceeds to step S113. The set value here is the same as the set value in step S109.

[0063] In step S111, the automatic system lowers the working implement 2. The control here is performed by the tractor control unit 12. Since the tractor control unit 12 has determined in step S109 that the height of the soil leveling body of the working implement 2 has been lowered, the lifting device 13 of the tractor 1 is controlled to lower the height of the working implement 2. The lowering amount here is the amount by which the height of the soil leveling body of the working implement 2 used in step S109 is lowered until it reaches the set value. As shown in Figs. 4 and 5, when the pressure by the pressure device 80 is strengthened and the second soil leveling body 54 is lowered, the difference A in height of the second soil leveling body 54 with respect to the tilling section cover 52 becomes large. At this time, the automatic system works, and the lifting device 13 lowers the height of the tilling implement 50 (working implement 2). In this way, the positions of the tilling section cover 52 and the tilling section 69 are also lowered, and the height difference A moves in the direction of decreasing. This allows the height difference A to be returned to the set value. After step S111, the process returns to step S102.

[0064] In step S112, the automatic system raises the working implement 2. The control here is performed by the tractor control unit 12. Since the tractor control unit 12 has determined in step S110 that the height of the soil leveling body of the working implement 2 has risen, the tractor control unit 12 controls the lifting device 13 of the tractor 1 to raise the height of the working implement 2. The amount of raising here is the amount by which the height of the soil leveling body of the working implement 2 used in step S110 is raised to a set value. As shown in Figs. 4 and 5, when the pressure by the pressure device 80 is weakened and the second soil leveling body 54 rises, the difference A in height of the second soil leveling body 54 with respect to the tilling section cover 52 becomes smaller. At this time, the automatic system works, and the lifting device 13 raises the height of the tilling implement 50 (working implement 2). In this way, the positions of the tilling section cover 52 and the tilling section 69 also rise, and the height difference A moves in the direction of extension. This allows the height difference A to be returned to the set value. After step S112, the process returns to step S102.

[0065] In step S113, the automatic system does not operate and the work implement 2 does not move up or down. This is because the tractor control unit 12 has determined in steps S109 and S110 that the height of the soil leveling body of the work implement 2 has not changed. Therefore, the height difference A shown in Figure 4 remains the same. After step S112, the process returns to step S102.

[0066] In this way, in the first embodiment, when the height of the working machine 2 becomes high, the pressure applied by the pressure device 27 to press the land leveling body downwards is increased, making it possible to flatten the ground surface. Also, when the height of the working machine 2 becomes low, the pressure applied by the pressure device 27 to press the land leveling body downwards is decreased, making it possible to flatten the ground surface. The control of the pressure applied by the pressure device 27 at this time can be configured only by the working machine 2, without depending on the performance of the tractor 1. Furthermore, by using an automatic system at the same time, the height of the tilling part relative to the land leveling body can be kept constant, making it possible to perform stable agricultural work. Furthermore, in the first embodiment, the system of pressurization by the pressure device 27 according to the height of the working machine 2 and the automatic system that can keep the height of the tilling part relative to the land leveling body constant are configured separately, making it possible to introduce each system separately. For example, by adding a pressurization system later to a working machine in which an automatic system has been introduced, it is possible to construct the agricultural working machine control system of the first embodiment. This makes it possible to increase versatility and reduce costs.

[0067] Second Embodiment 8 is a block diagram of an agricultural machine control system according to a second embodiment of the present invention. In the second embodiment, differences from the first embodiment will be mainly described, the same parts are given the same reference numerals, and descriptions of parts that are not particularly described will be omitted.

[0068] In the agricultural machine control system of the second embodiment, the tractor 1 side is provided with a tractor control unit 12' and a lifting device 13. Furthermore, a display unit 31 and an operation unit 32 can be arranged on the tractor 1 side. Moreover, the work machine 2 side is provided with a soil leveling body height detection device 22, a control unit 25', work machine height detection means 26, and a pressure device 27. Here, the lifting device 13, display unit 31, operation unit 32, work machine height detection means 26, and pressure device 27 are the same as in the first embodiment.

[0069] The tractor control unit 12' performs processing for controlling the tractor 1, and may be one that is already installed in the tractor 1. The tractor control unit 12' is capable of communicating with the control unit 25' and is capable of controlling the lifting device 13 based on information from the control unit 25'. The tractor control unit 12' is composed of electronic devices and the like required for control, processing, and the like. The communication between the tractor control unit 12' and the control unit 25' may be wireless or wired.

[0070] The leveling body height detection device 22 is a means for detecting the height of the leveling body of the working machine 2. For this purpose, it can be configured with a mechanism that changes according to the height of the leveling body and a sensor that detects the change in the mechanism. The specific configuration will be described later. The leveling body of the working machine 2 here is the same as that in the first embodiment.

[0071] The control unit 25' obtains information on the height of the working machine 2 from the working machine height detection means 26. The control unit 25' controls the pressure of the pressure device 27 according to the height of the working machine 2 detected by the working machine height detection means 26. The control of the pressure is the same as that in the first embodiment. The control unit 25' obtains information on the height of the leveling body of the working machine 2 from the leveling body height detection device 22. The control unit 25' outputs a signal to the tractor control unit 12' to change the height position of the working machine 2 according to the height of the leveling body of the working machine 2 detected by the leveling body height detection device 22. The control unit 25' can also transmit necessary information to the display unit 31 and obtain operation information from the operation unit 32. The control unit 25' is composed of electronic devices and the like required for control, processing, and the like.

[0072] 2 and 3 shown in the first embodiment can also be applied to the second embodiment, except that the configuration of the soil leveling body height detection device is different. In this case, a control unit 25' is applied instead of the control unit 25.

[0073] 9 is a side view of a soil leveling body height detection device applicable to the second embodiment of the present invention. The left direction in FIG. 9 is the front direction of the tilling machine 50, and the up-down direction in FIG. 9 is the up-down direction of the tilling machine 50.

[0074] The ground leveling body height detection device 110 includes a rod 111, an arm 112, a fulcrum stand 113, a bar 114, a sensor 115, and a communication line 118. The ground leveling body height detection device 110 can constitute the ground leveling body height detection device 22 in FIG.

[0075] The lower end of the rod 111 is connected to the second leveling body 54 by a first fulcrum 110a, which is the same fulcrum as the rotation fulcrum 54a. The upper end of the rod 111 is connected to the rear end of the arm 112 by a second fulcrum 110b. The front end of the arm 112 is connected to a fulcrum base 113 by a third fulcrum 110c. The fulcrum base 113 is fixed to the tilling section cover 52.

[0076] The lower end of a bar 114 is connected to the middle of the arm 112 by a fourth fulcrum 110d. A sensor 115 is attached to the fulcrum base 113, and a sensor arm 115a that works in conjunction with the sensor 115 is connected to the middle of the bar 114 by an attachment part 114a. Here, the sensor 115 can be, for example, a potentiometer that can detect the rotation position of the sensor arm 115a. One end of a communication line 118 is connected to the sensor 115, and the other end of the communication line 118 is connected to the control part 25'.

[0077] When the second leveling body 54 rises relative to the tilling section cover 52, the arm 112 rotates about the third fulcrum 110c via the rod 111, and the rear end of the arm 112 rises. Then, the bar 114 connected to the middle of the arm 112 also rises, and the attachment part 114a to the sensor arm 115a rises. Then, the sensor arm 115a rotates upward. The sensor 115 detects the amount of this rotation and transmits the information to the control section 25'.

[0078] When the second leveling body 54 descends relative to the tilling section cover 52, the arm 112 rotates about the third fulcrum 110c via the rod 111, and the rear end of the arm 112 descends. Then, the bar 114 connected to the middle of the arm 112 also descends, and the attachment part 114a to the sensor arm 115a descends. Then, the sensor arm 115a rotates downward. The sensor 115 detects the amount of this rotation and transmits the information to the control section 25'.

[0079] The control unit 25', which has acquired information from the sensor 115, calculates the amount of change in the height of the working implement 2 from the amount of rotation of the sensor 115 so that the difference A in height of the second soil leveling body 54 relative to the tilling unit cover 52 becomes constant (returns to a predetermined difference). This information is transmitted from the control unit 25' to the tractor control unit 12', which controls the lifting device 13 to change the height of the working implement 2. As a result, the tractor control unit 12 controls so that the difference A in height of the second soil leveling body 54 relative to the tilling unit cover 52 becomes constant. Here, because the height of the tilling unit cover 52 relative to the tilling unit 69 is constant, the difference B in height between the center of the tilling unit 69 and the second soil leveling body 54 is essentially controlled to be constant.

[0080] In addition, the leveling body height detection device 110 is capable of changing the position of the fourth fulcrum 110d to which the bar 114 is connected by providing multiple holes in the middle of the arm 112. In addition, the leveling body height detection device 110 employs a mechanism that uses multiple nuts in the mounting part 114a, making it possible to change the position of the mounting part 114a relative to the bar 114. With these configurations, the leveling body height detection device 110 is capable of changing the amount of rotation of the sensor arm 115a in response to the amount of vertical movement of the second leveling body 54.

[0081] FIG. 10 is a flowchart of the agricultural machine control system according to the second embodiment of the present invention.

[0082] Steps S201 to S208 are similar to steps S101 to S108 in the first embodiment shown in Fig. 7. After steps S206 to S208, the process proceeds to step S209.

[0083] In step S209, it is determined whether the leveling body height of the work implement 2 is below the set value. This determination is made by the control unit 25' based on the information on the leveling body height detected by the leveling body height detection device 22. For example, in the case of the leveling body height detection device 110 shown in FIG. 9, the difference A in height of the second leveling body 54 relative to the tilling section cover 52 is compared with the set value. If the leveling body height of the work implement 2 is below the set value, the process proceeds to step S211, and if the leveling body height of the work implement 2 is not below the set value, the process proceeds to step S210. The set value may be a specific value or may be within a certain range.

[0084] In step S210, it is determined whether the leveling body height of the work machine 2 is above the set value. As in step S209, this determination is made by the control unit 25' based on the information on the leveling body height detected by the leveling body height detection device 22. If the leveling body height of the work machine 2 is above the set value, the process proceeds to step S212, and if the leveling body height of the work machine 2 is not above the set value, the process proceeds to step S213. The set value here is the same as the set value in step S209.

[0085] In step S211, a signal is output to the tractor 1 to instruct the tractor 1 to lower the height position of the work implement 2. Here, the control unit 25' sends a signal to the tractor control unit 12' to lower the height position of the work implement 2 based on the determination in step S209. In the case of the soil leveling body height detection device 110 shown in FIG. 9, the soil leveling body height detection device 110 calculates the amount of lowering so that the difference A in height of the second soil leveling body 54 relative to the tillage unit cover 52 becomes a set value, and transmits a signal. After step S211, the process proceeds to step S214.

[0086] In step S212, a signal is output to the tractor 1 to instruct it to raise the height position of the work implement 2. Here, the control unit 25' sends a signal to raise the height position of the work implement 2 to the tractor control unit 12' based on the judgment in step S210. In the case of the soil leveling body height detection device 110 shown in FIG. 9, the soil leveling body height detection device 110 calculates the amount of lift so that the difference A in height of the second soil leveling body 54 relative to the tillage unit cover 52 becomes a set value, and transmits a signal. After step S212, the process proceeds to step S215.

[0087] In step S213, a signal is output to the tractor 1 to instruct it to maintain the height position of the work implement 2. Here, the control unit 25' sends a signal to the tractor control unit 12' to maintain the height position of the work implement 2. After step S213, the process proceeds to step S216.

[0088] In step S214, the tractor 1 lowers the position of the work implement 2. Here, the tractor control unit 12' controls the lifting device 13 to lower the height of the work implement 2. This is performed based on a signal instructing the lowering of the height position of the work implement 2 in step S211. As a result, the height of the soil leveling body of the work implement 2 is controlled to the set value. After step S214, the process returns to step S202.

[0089] In step S215, the tractor 1 raises the position of the work implement 2. Here, the tractor control unit 12' controls the lifting device 13 to raise the height of the work implement 2. This is performed based on a signal instructing the raising of the height position of the work implement 2 in step S212. As a result, the height of the soil leveling body of the work implement 2 is controlled to the set value. After step S215, the process returns to step S202.

[0090] In step S216, the tractor 1 does not change the position of the work implement 2. Here, the tractor control unit 12' controls the lifting device 13 to maintain the height of the work implement 2 as is. This is performed based on a signal instructing to maintain the height position of the work implement 2 in step S213. After step S216, the process returns to step S202.

[0091] In this way, in the second embodiment, when the height of the working machine 2 becomes high, the pressure applied by the pressure device 27 to press the land leveling body downwards is increased, making it possible to flatten the ground surface. Also, when the height of the working machine 2 becomes low, the pressure applied by the pressure device 27 to press the land leveling body downwards is decreased, making it possible to flatten the ground surface. Furthermore, by simultaneously using the land leveling body height detection device 22, the height of the tilling part relative to the land leveling body can be made constant, making it possible to carry out stable agricultural work. Furthermore, the second embodiment can be applied to cases where the lifting device 13 can be controlled based on a signal transmitted from the control unit 25' on the working machine 2 side to the tractor control unit 12'. In this case, the control is possible through communication between the control unit 25' on the working machine 2 side and the tractor control unit 12' of the tractor 1, so there is no need to provide a member such as the push-pull wire 76 as in the first embodiment.

[0092] (Third embodiment) 11 is a block diagram of an agricultural machine control system according to a third embodiment of the present invention. In the third embodiment, differences from the first and second embodiments will be mainly described, and the same reference numerals are given to the same parts, and the same description of parts that are not particularly described will be omitted.

[0093] In the agricultural work machine control system of the third embodiment, a display unit 31' and an operation unit 32 can be arranged on the tractor 1 side. Also, the work machine 2 side is provided with a soil leveling body height detection device 22, a control unit 25'', work machine height detection means 26, and a pressure device 27. Here, the soil leveling body height detection device 22, work machine height detection means 26, pressure device 27, and operation unit 32 are the same as those in the second embodiment.

[0094] The control unit 25'' obtains information on the height of the work machine 2 from the work machine height detection means 26. The control unit 25'' transmits information on pressurization to the display unit 31' based on information on the height of the work machine 2 detected from the work machine height detection means 26. The control unit 25'' controls pressurization of the pressurizing device 27 based on the operation of the operation unit 32. The control unit 25'' obtains information on the height of the leveling body of the work machine 2 from the leveling body height detection device 22. The control unit 25'' transmits information on the height adjustment operation of the work machine 2 to the display unit 31' based on information on the height of the leveling body of the work machine 2 detected from the leveling body height detection device 22. The control unit 25'' can also transmit necessary information to the display unit 31' and obtain operation information from the operation unit 32. The control unit 25'' is composed of electronic devices and the like required for control, processing, and the like.

[0095] The display unit 31' has the same functions as the display unit 31 of the first embodiment, but in addition has the following functions. The display unit 31' displays information on the pressurizing operation based on information on pressurizing from the control unit 25''. The display unit 31' also displays information on operating the height of the work machine 2 based on information on adjusting the height of the work machine 2 from the control unit 25''. The operation unit 32 may be configured integrally with the display unit 31', or the remote control device 90 of FIG. 6 shown in the first embodiment can be applied.

[0096] The tillage implement 50 shown in Figures 2 and 3 in the first embodiment can also be applied to the third embodiment, except that the configuration of the soil leveling body height detection device is different. In this case, a control unit 25'' is applied instead of the control unit 25.

[0097] FIG. 12 is a flowchart of the agricultural machine control system according to the third embodiment of the present invention.

[0098] Steps S301 to S305 are similar to steps S101 to S105 in the first embodiment. The control unit 25 in the first embodiment corresponds to the control unit 25'' in the third embodiment. In step S304, if the height position of the work machine 2 is above the reference position, the process proceeds to step S306, and if the height position of the work machine 2 is not above the reference position, the process proceeds to step S305. In step S305, if the height position of the work machine 2 is below the reference position, the process proceeds to step S307, and if the height position of the work machine 2 is not below the reference position, the process proceeds to step S308.

[0099] In step S306, the operator is notified to increase the pressure. Here, based on the determination in step S304, the control unit 25'' transmits information to the display unit 31' to increase the pressure. The display unit 31' receives the information and displays information to increase the pressure. In the case of the remote control device 90 in FIG. 6, the display unit 92 displays information to increase the pressure. This display can be made by characters, figures, pictures, graphs, bars, or the like. For example, the display can be made by displaying an explanation of a specific switch operation method of the operation unit 32 (switch unit 91) for increasing the pressure or a diagram for operating the switches. Alternatively, the height or field conditions can be displayed as levels by numerical values, graphs, bars, or the like. Based on this, the operator operates the operation unit 32 (switch unit 91) to increase the pressure of the pressure device 27 (pressure device 80) (step S309). In the case of the pressure device 80 shown in FIG. 5, if it is in a free state, it is changed to a pressurized state, and if it is in a pressurized state, it is maintained in the pressurized state.

[0100] In step S307, the operator is notified to reduce the pressure. Here, based on the determination in step S305, the control unit 25'' transmits information to the display unit 31' to reduce the pressure. The display unit 31', which has received the information, displays information to perform an operation to reduce the pressure. In the case of the remote control device 90 in FIG. 6, the information to perform an operation to reduce the pressure is displayed on the display unit 92. This display can be displayed by characters, figures, pictures, graphs, bars, or the like. For example, it can be performed by displaying an explanation of a specific switch operation method of the operation unit 32 (switch unit 91) for reducing the pressure or a diagram for operating the switches. Alternatively, the height and field conditions may be displayed as levels using numerical values, graphs, bars, or the like. Based on this, the operator operates the operation unit 32 (switch unit 91) to perform an operation to reduce the pressure of the pressure device 27 (pressure device 80) (step S310). In the case of the pressure device 80 shown in FIG. 5, if it is in a pressurized state, it is changed to a free state, and if it is in a free state, it is left in the free state.

[0101] In step S308, the operator is notified that the pressure will not be changed. Here, control unit 25'' transmits information that the pressure will not be changed to display unit 31'. Display unit 31' receives this information and displays information that there is no need to perform an operation to change the pressure. In the case of remote control device 90 of FIG. 6, this information is displayed on display unit 92. This display can be made using characters, figures, pictures, graphs, bars, etc.

[0102] After step S309, step S310, and step S308, the process proceeds to step S311. Step S311 is the same as step S209 in Fig. 10 of the second embodiment. In step S311, if the leveling body height of the work implement 2 is lower than the set value, the process proceeds to step S313, and if the leveling body height of the work implement 2 is not lower than the set value, the process proceeds to step S312.

[0103] Step S312 is the same as step S210 in Fig. 10 of the second embodiment. If the ground leveling body height of the work machine 2 is higher than the set value in step S312, proceed to step S314, and if the ground leveling body height of the work machine 2 is not higher than the set value, proceed to step S315.

[0104] In step S313, the operator is notified to lower the working implement. Here, based on the determination in step S311, the control unit 25'' transmits information to the display unit 31' to lower the working implement 2. The display unit 31', which has received the information, displays information to perform an operation to lower the working implement 2. In the case of the remote control device 90 in FIG. 6, the display is made on the display unit 92. This display can be made by characters, figures, pictures, graphs, bars, or the like. For example, it can be made by displaying an explanation of a specific operation method in the driver's seat of the tractor 1 for lowering the working implement 2 or a diagram for the operation. This display may be made so that an operation suitable for the model of the tractor 1 is displayed by registering the model of the tractor 1 in advance. The operator operates the tractor 1 based on this to perform an operation to lower the working implement 2 (step S316).

[0105] In step S313, if the soil leveling body height detection device 110 shown in Fig. 9 is used, the amount of lowering may be calculated so that the difference A in height of the second soil leveling body 54 relative to the tilling section cover 52 becomes a set value, and the information may be transmitted to the display unit. Then, the display unit 31' may display information about the amount of lowering together with information about the operation to lower the working implement 2.

[0106] In step S314, the operator is notified to raise the working implement. Here, based on the determination in step S312, the control unit 25'' transmits information to the display unit 31' to raise the working implement 2. The display unit 31', which has received the information, displays information to perform an operation to raise the working implement 2. In the case of the remote control device 90 in FIG. 6, the display unit 92 displays the information. This display can be displayed using characters, figures, pictures, graphs, bars, or the like. For example, the display can be performed by displaying an explanation of a specific operation method in the driver's seat of the tractor 1 for raising the working implement 2 or a diagram for the operation. This display may be configured to display an operation that matches the model by registering the model of the tractor 1 in advance. The operator operates the tractor 1 based on this information to perform an operation to raise the working implement 2 (step S317).

[0107] In step S314, if the soil leveling body height detection device 110 shown in Fig. 9 is used, the amount of lifting may be calculated so that the difference A in height of the second soil leveling body 54 relative to the tilling section cover 52 becomes a set value, and the information may be transmitted to the display unit. Then, the display unit 31' may display information on the amount of lifting together with information on the operation to lift the working implement 2.

[0108] In step S315, it is notified that the work machine will not be raised or lowered. Here, information that the work machine 2 will not be raised or lowered is transmitted from the control unit 25'' to the display unit 31'. The display unit 31' receives this information and displays information that there is no need to perform an operation to raise or lower the work machine 2. In the case of the remote control device 90 in FIG. 6, this is displayed on the display unit 92. Also, if a smartphone or tablet computer is used, it may be displayed on that. This display can be displayed as characters, figures, pictures, graphs, bars, etc.

[0109] After steps S315, S316, and S317, the process returns to step S302.

[0110] In this way, in the third embodiment, when the height of the working machine 2 becomes high, the worker is notified to increase the pressure applied by the pressure device 27 to press the land leveling body downward, so that the worker can operate it to flatten the ground surface. Also, when the height of the working machine 2 becomes low, the pressure device 27 is notified to decrease the pressure applied by the land leveling body downward, so that the worker can operate it to flatten the ground surface. Furthermore, by simultaneously using the land leveling body height detection device 22, the worker is notified to operate the tilling part so as to keep the height of the tilling part relative to the land leveling body constant, so that stable agricultural work can be performed. Furthermore, the third embodiment can be applied to a type of tractor that does not have a tractor control unit or cannot communicate with the tractor control unit, as in the first and second embodiments. Also, by manually operating the pressure device 27, the load of the control process of the control unit 25'' can be reduced.

[0111] As described above, the embodiments of the present invention have been described, but the present invention is not limited to the above-mentioned embodiments, and various modified examples other than those described above are also included. For example, the present invention is not limited to those having all the configurations provided in the above-mentioned embodiments. In addition, it is also possible to delete part of the configuration of a certain embodiment or replace it with another configuration.

[0112] For example, the processes in steps S304 to S310 in FIG. 12 of the third embodiment can be replaced with the processes in steps S104 to S108 in FIG. 7 of the first embodiment.

[0113] In addition, the processes of steps S104 to S108 in FIG. 7 of the first embodiment, or the processes of steps S204 to S208 in FIG. 10 of the second embodiment can be replaced with the processes of steps S304 to S310 in FIG. 12 of the third embodiment.

[0114] Furthermore, in the third embodiment, it is possible to display information that enables the worker to determine the field conditions that require pressurization, rather than simply using the height of the work implement as the criterion for pressurization.

[0115] In addition, in the above embodiment, an example of a tilling machine 50 was shown as the working machine 2, but it is also possible to apply the working machine 2 to other machines such as a rotary working machine that is attached to a tractor 1 equipped with a tilling section or a land leveling body.

[0116] In the above embodiment, an example of the pressure device 80 that can be changed to two stages, a pressurized state in which pressure is applied downward and a free state in which pressure is not applied downward, is shown, but a pressure device that can adjust the strength of pressure in multiple stages may be applied. For example, three or more stages, or even four or more stages. In this case, it is possible to adjust the pressure stage using multiple biasing means, or to adjust the pressure stage by changing the position of the end point of the biasing means.

[0117] This specification also includes the disclosure of the following aspects. (Aspect 1) In an agricultural machine control system applied to a machine that is attached to a tractor to perform agricultural work, The control unit is provided in the working machine, a working machine height detection means is provided in the working machine and is capable of acquiring information necessary for detecting the height of the working machine, and a pressure device is provided which can select whether to increase or decrease the downward pressure on the ground leveling body including the part of the working machine that contacts the ground surface, The control unit is characterized in that, based on information from the work machine height detection means, if it determines that the work machine is higher than a reference height, it increases the pressure of the pressure device, and if it determines that the work machine is lower than the reference height, it decreases the pressure of the pressure device.

[0118] (Aspect 2) In an agricultural machine control system applied to a machine that is attached to a tractor to perform agricultural work, The apparatus includes a control unit provided in the working machine, a working machine height detection means provided in the working machine and capable of acquiring information necessary for detecting the height of the working machine, a pressure device capable of selecting whether to increase or decrease the downward pressure on the ground leveling body including the part of the working machine that contacts the ground surface, and a display unit capable of communicating with the control unit, When the control unit determines that the work machine is higher than a reference height based on information from the work machine height detection means, the control unit transmits information to the display unit to increase the pressure of the pressure applying device, and the display unit displays information to increase the pressure of the pressure applying device based on the information from the control unit to increase the pressure of the pressure applying device. A control system for agricultural machinery, characterized in that when the control unit determines that the working machine is lower than a reference height based on information from the working machine height detection means, it sends information to the display unit to reduce the pressure of the pressure device, and the display unit displays information to reduce the pressure of the pressure device based on the information from the control unit to reduce the pressure of the pressure device.

[0119] (Aspect 3) In the agricultural machine control system according to aspect 2, A control system for an agricultural machinery, comprising an operation unit capable of communicating with the control unit, the operation unit having a switch for changing the strength of pressure applied by the pressure applying device, and the control unit receiving operation information for the switch for changing the strength of pressure applied by the pressure applying device from the operation unit and changing the strength of pressure applied by the pressure applying device.

[0120] (Aspect 4) In the agricultural machine control system according to any one of aspects 1 to 3, The pressure application device is equipped with a biasing means capable of biasing the leveling body downward from a tilling section cover provided on the upper side of the tilling section of the working machine, and an actuator, and is characterized in that by operating the actuator, it is possible to select a pressurized state in which the leveling body is pressurized downward via the biasing means, or a free state in which the leveling body is not pressurized.

[0121] (Aspect 5) In the agricultural machine control system according to aspect 4, the pressure applying device includes a rotating body that rotates by the operation of the actuator, the rotating body having an elongated hole to which one end of the biasing means is connected, In the pressurized state, one end of the biasing means is located at the end of the long hole portion, and in the free state, one end of the biasing means is located halfway through the long hole portion.

[0122] (Aspect 6) In the agricultural machine control system according to any one of aspects 1 to 5, The working machine includes a leveling body height detection mechanism, the tractor includes a leveling body height detection means, the tractor includes a tractor control unit, and a lifting device that can change the height of the working machine. The leveling body height detection mechanism converts a change in height of the leveling body relative to a tilling section cover provided on the upper side of the tilling section of the working machine into a change in the position of a member, The leveling body height detection means acquires information on changes in the position of the member, The tractor control unit is a control system for agricultural machinery, characterized in that it controls the height of the work machine via the lifting device so that the height of the leveling body relative to the tillage section cover is constant based on information from the leveling body height detection means.

[0123] (Aspect 7) In the agricultural machine control system according to any one of aspects 1 to 5, The working machine includes a ground leveling body height detection device, a tractor control unit that is provided in the tractor and capable of communicating with the control unit, and a lifting device that can change the height of the working machine, The leveling body height detection device acquires information necessary for detecting the height of the leveling body relative to a tilling section cover provided on the upper side of the tilling section of the working machine, The control unit transmits a signal to the tractor control unit to change the height of the work implement so that the height of the soil leveling body relative to the tilling section cover is constant based on information from the soil leveling body height detection device, The tractor control unit controls changing the height of the work machine via the lifting device based on a signal to change the height of the work machine from the control unit.

[0124] (Aspect 8) In the agricultural machine control system according to any one of aspects 1 to 5, The work machine includes a ground leveling body height detection device and a display unit capable of communicating with the control unit, The leveling body height detection device acquires information necessary for detecting the height of the leveling body relative to a tilling section cover provided on the upper side of the tilling section of the working machine, The control unit transmits information to the display unit to change the height of the work machine so that the height of the soil leveling body relative to the tilling section cover is constant based on information from the soil leveling body height detection device, An agricultural machinery control system, characterized in that the display unit displays information on performing an operation to change the height of the work machine based on information to change the height of the work machine from the control unit. [Explanation of symbols]

[0125] 1 Tractor 2 Work equipment 11 Leveling body height detection means 12, 12' Tractor control unit 13 Lifting device 21 Leveling body height detection mechanism 22 Leveling body height detection device 25, 25', 25'' Control Unit 26 Working machine height detection means 27 Pressurizing device 31, 31' display section 32 Operation section 50 Plowing machine 51 Mounting part 52 Tillage section cover 53 First Leveling Body 54 Second Leveling Body 55 Central Work Section 58 Control Box 69 Cultivation Department 70 Leveling body height detection mechanism 76 Push-pull wire 80 Pressurizing device 81 Actuation means 90 Remote Control Device 91 Switch section 92 Display section 100 Ground surface 110 Leveling body height detection device 115 Sensors

Claims

1. In an agricultural machine control system applied to a machine that is attached to a tractor to perform agricultural work, The control unit is provided in the working machine, a working machine height detection means is provided in the working machine and is capable of acquiring information necessary for detecting the height of the working machine, and a pressure device is provided which can select whether to increase or decrease the downward pressure on the ground leveling body including the part of the working machine that contacts the ground surface, The control unit is characterized in that, based on information from the work machine height detection means, if it determines that the work machine is higher than a reference height, it increases the pressure of the pressure device, and if it determines that the work machine is lower than the reference height, it decreases the pressure of the pressure device.

2. In an agricultural machine control system applied to a machine that is attached to a tractor to perform agricultural work, The apparatus includes a control unit provided in the working machine, a working machine height detection means provided in the working machine and capable of acquiring information necessary for detecting the height of the working machine, a pressure device capable of selecting whether to increase or decrease the downward pressure on the ground leveling body including the part of the working machine that contacts the ground surface, and a display unit capable of communicating with the control unit, When the control unit determines that the work machine is higher than a reference height based on information from the work machine height detection means, the control unit transmits information to the display unit to increase the pressure of the pressure applying device, and the display unit displays information to increase the pressure of the pressure applying device based on the information from the control unit to increase the pressure of the pressure applying device. A control system for agricultural machinery, characterized in that when the control unit determines that the working machine is lower than a reference height based on information from the working machine height detection means, it sends information to the display unit to reduce the pressure of the pressure device, and the display unit displays information to reduce the pressure of the pressure device based on the information from the control unit to reduce the pressure of the pressure device.

3. 3. The agricultural machine control system according to claim 2, A control system for an agricultural machinery, comprising an operation unit capable of communicating with the control unit, the operation unit having a switch for changing the strength of pressure applied by the pressure applying device, and the control unit receiving operation information for the switch for changing the strength of pressure applied by the pressure applying device from the operation unit and changing the strength of pressure applied by the pressure applying device.

4. The agricultural machine control system according to claim 1 or 2, The pressure application device is equipped with a biasing means capable of biasing the leveling body downward from a tilling section cover provided on the upper side of the tilling section of the working machine, and an actuator, and is characterized in that by operating the actuator, it is possible to select a pressurized state in which the leveling body is pressurized downward via the biasing means, or a free state in which the leveling body is not pressurized.

5. 5. The agricultural machine control system according to claim 4, the pressure applying device includes a rotating body that rotates by the operation of the actuator, the rotating body having an elongated hole to which one end of the biasing means is connected, In the pressurized state, one end of the biasing means is located at the end of the long hole portion, and in the free state, one end of the biasing means is located halfway through the long hole portion.

6. The agricultural machine control system according to claim 1 or 2, The working machine includes a leveling body height detection mechanism, the tractor includes a leveling body height detection means, the tractor includes a tractor control unit, and a lifting device that can change the height of the working machine. The leveling body height detection mechanism converts a change in height of the leveling body relative to a tilling section cover provided on the upper side of the tilling section of the working machine into a change in the position of a member, The leveling body height detection means acquires information on changes in the position of the member, The tractor control unit is a control system for agricultural machinery, characterized in that it controls the height of the work machine via the lifting device so that the height of the leveling body relative to the tillage section cover is constant based on information from the leveling body height detection means.

7. The agricultural machine control system according to claim 1 or 2, The working machine includes a ground leveling body height detection device, a tractor control unit that is provided in the tractor and capable of communicating with the control unit, and a lifting device that can change the height of the working machine, The leveling body height detection device acquires information necessary for detecting the height of the leveling body relative to a tilling section cover provided on the upper side of the tilling section of the working machine, The control unit transmits a signal to the tractor control unit to change the height of the work implement so that the height of the soil leveling body relative to the tilling section cover is constant based on information from the soil leveling body height detection device, The tractor control unit controls changing the height of the work machine via the lifting device based on a signal to change the height of the work machine from the control unit.

8. The agricultural machine control system according to claim 1 or 2, The work machine includes a ground leveling body height detection device and a display unit capable of communicating with the control unit, The leveling body height detection device acquires information necessary for detecting the height of the leveling body relative to a tilling section cover provided on the upper side of the tilling section of the working machine, The control unit transmits information to the display unit to change the height of the work machine so that the height of the soil leveling body relative to the tilling section cover is constant based on information from the soil leveling body height detection device, An agricultural machinery control system, characterized in that the display unit displays information on performing an operation to change the height of the work machine based on information to change the height of the work machine from the control unit.

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