Farm work machine control system

Abstract

To provide a farm work machine control system capable of increasing safety in control of changing between a work state and a storage state of a work machine that is mounted on a tractor and performs farm work.SOLUTION: A farm work machine control system applied to a work machine 2 including a work part mounted on a tractor 1 and performing farm work, includes: a control part 21; and an actuator 22 that can be changed between a storage state and a work state by moving the whole or a part of the work part by control of the control part 21. At the time of changing the whole or a part of the work part, the control part 21 turns on a middle flag when the whole or a part of the work part is in the middle of moving.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an agricultural machine control system, and more particularly to an agricultural machine control system used to control a work machine that is attached to a tractor and performs agricultural work. [Background technology]

[0002] Some implements that are attached to tractors to perform agricultural work employ a mechanism that allows the working section to be in a working state when performing agricultural work and to be in a stored state when not performing agricultural work. This makes it easier to perform agricultural work when performing agricultural work, and easier to move when not performing agricultural work, ensuring safety.

[0003] Patent document 1 also discloses a configuration in which, when an operator operates an operating unit to change the posture of the second work body, a control unit judges flag information stored in a memory unit, and if the flag information stored in the memory unit indicates a deployed state, drives the third work body to a stored state using a drive device, and if the flag information stored in the memory unit indicates a stored state, drives the second work body to a stored state using a drive device, and generates flag information for the third work body as a stored state. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2022-39277 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, when changing between the working state and the stored state, it is important to ensure safety, and misunderstanding these states can lead to serious accidents. Among these, distinguishing when changing from the working state to the stored state and from the stored state to the working state is also an important element.

[0006] On the other hand, in Patent Document 1, the flag information is only for the deployed state and the stored state, and when the device is driven to the stored state, flag information is generated for the stored state. Therefore, even when the device is being changed from the deployed state to the stored state, the device may be judged as being in the stored state, and may be judged as being in the stored state even when the device is not actually in the stored state. In this case, there is a risk that the operator may mistakenly believe that the device is in the stored state, which may pose a danger when moving from one field to another.

[0007] In view of the above-mentioned problems, the present invention aims to provide a control system for agricultural machinery that can increase safety when controlling changes in the working state and stored state of a working section of a working 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 control system for an agricultural work machine of the present invention is a control system for an agricultural work machine applied to a work machine having a working unit that is attached to a tractor to perform agricultural work, and is characterized in that it comprises a control unit and an actuator that can move all or part of the working unit under the control of the control unit to change the state between a stored state and a working state, and when changing all or part of the working unit, the control unit sets an intermediate flag to ON while all or part of the working unit is moving. Effect of the Invention

[0009] According to the present invention, in an agricultural work machine control system, it is possible to improve safety when controlling the change between the working state and the stored state of a working unit of a work machine that is attached to a tractor to perform agricultural work. 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 showing an embodiment of an agricultural machine control system according to the present invention; [Diagram 2]5 is a graph showing an example of a change in current value due to operation of an actuator in the agricultural machine control system of the present invention. [Diagram 3] FIG. 2 is a rear view showing a first state of the working machine applicable to the first embodiment of the present invention. [Figure 4] FIG. 4 is a rear view showing a second state of the working machine applicable to the first embodiment of the present invention. [Diagram 5] FIG. 4 is a rear view showing a third state of the working machine 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] 4 is a flowchart (first half) of control according to the first embodiment of the present invention. [Figure 8] 5 is a flowchart (second half) of control according to the first embodiment of the present invention. [Figure 9] FIG. 11 is a plan view of a working machine applicable to a second embodiment of the present invention. [Figure 10] 5 is a flowchart of control according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

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

[0012] <Block diagram> FIG. 1 is a block diagram showing an embodiment of an agricultural machine control system according to the present invention.

[0013] In a configuration including a work implement 2 mounted on a tractor 1, an operation unit 11 and a display unit 12 can be arranged on the tractor 1 side. In addition, a control unit 21, an actuator 22, and a sensor 23 are provided on the work implement 2 side.

[0014] The operation unit 11 includes an operation switch for operation, and can communicate with the control unit 21 remotely. For example, the operation switch is a plurality of switches such as push buttons. The operation unit 11 can perform operations such as activating the actuator 22. Communication between the operation unit 11 and the control unit 21 may be wireless or wired. The operation unit 11 may be configured integrally with the display unit 12. In addition, the display unit 12 and the operation unit 11 may be configured integrally with each other and the display screen may adopt 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.

[0015] The display unit 12 has a means for displaying necessary information, and is capable of remotely communicating with the control unit 21. For example, it is a display screen using liquid crystal, organic EL, LED, etc. Information displayed on the display unit 12 is, for example, the operation status of the actuator 22, the status of the part of the work machine 2 operated by the actuator 22, information detected by the sensor 23, etc. The communication between the display unit 12 and the control unit 21 may be wireless or wired.

[0016] The control unit 21 can perform control when changing from a working state to a stored state, or from a stored state to a working state. Details will be described later. Furthermore, the control unit 21 can transmit necessary information to the display unit 12 and obtain operation information from the operation unit 11. The control unit 21 controls the actuator 22 based on the operation information of the operation unit 11. Here, information from the sensor 23 may be reflected in the control. The control unit 21 can also transmit information on the control of the actuator 22, information based on the contents detected by the sensor 23, etc. to the display unit 12. The control unit 21 may also have a storage unit that stores data necessary for control as necessary. The control unit 21 is composed of electronic devices and the like necessary for control, processing, etc. The control unit 21 can be installed on the work machine 2, but may also be installed on the tractor 1. For example, the control unit 21 may be provided integrally with a remote control having the operation unit 11.

[0017] The actuator 22 is an actuator for moving a part of the working machine 2 as necessary. The actuator 22 is, for example, a cylinder such as a hydraulic cylinder or an electric hydraulic cylinder, or a motor. In particular, it is an actuator for changing the state of a working unit that performs agricultural work of the working machine 2. The actuator for changing the state of the working unit can change the state, for example, by changing the position or angle of all or part of the working unit by being driven. Accordingly, it becomes possible to change all or part of the working unit between a working state or a stored state.

[0018] Various types of sensors are applied as the sensor 23 according to the needs of the work machine 2, and are installed at appropriate locations of the work machine 2. The sensor 23 is, for example, an acceleration sensor, an angular velocity sensor, a tilt sensor, a geomagnetic sensor, a rotation sensor, a potentiometer, a limit switch, a stroke sensor, etc. This makes it possible to detect the state of the actuator 22, the state of the parts operated by the actuator 22, the current state of the work machine 2 (for example, the tilt, the working depth, etc.), etc.

[0019] <Example of change in current value> FIG. 2 is a graph showing an example of a change in current value due to the operation of an actuator in the agricultural machine control system of the present invention.

[0020] When the actuator 22 is operated, the current value changes, but this change can be detected by the control unit 21. Alternatively, a sensor 23 for detecting the current value may be provided separately, and the current value detected therein may be transmitted to the control unit. The change in the current value here can be displayed on the display unit 12.

[0021] The change over time in the current value in FIG. 2 can be explained by dividing it into periods A1 to A5.

[0022] During the period A1 before the actuator 22 is actuated, the actuator 22 is in a pre-actuated state (a state in which power for driving is not being supplied), so the current value is low or substantially constant at 0.

[0023] Next, the current value is highest at point (period) A2, which is the start of operation of actuator 22. Here, power for driving is supplied under the control of control unit 21, and actuator 22 starts to operate. This shows that the current value is high at the time of initial operation, since the load is the highest.

[0024] Next, during the period A3 when the actuator 22 is moving (operating) after passing the peak of A2, the current value of the actuator 22 is maintained at a certain level. This indicates that the actuator 22 is performing the required work and is in operation (driving). The current value here is lower than the values ​​at point A2 and during the period A4, and is in a range higher than the values ​​during the periods A1 and A5.

[0025] Next, the current value becomes high again for a predetermined period of time during period A4 when the movement of actuator 22 stops. This indicates that the part operated by actuator 22 has stopped moving because it hit a stopper, etc., but power continues to be supplied to actuator 22, causing it to continue operating. This indicates that the load on actuator 22 has increased, causing the current value to increase. Control unit 21 can detect this state and stop actuator 22.

[0026] Next, during the period A5 when the actuator 22 stops operating, the current value is maintained at a substantially constant low or zero current value (substantially the same current value as in the range of A1). This is because the actuator 22 is not operating (no power is being supplied for driving it).

[0027] <First embodiment> (Working machine applicable to the first embodiment) Fig. 3 is a rear view showing a first state of a working machine applicable to a first embodiment of the present invention, Fig. 4 is a rear view showing the working machine in a second state, and Fig. 5 is a rear view showing the working machine in a third state. The working machine 2 in Figs. 3 to 5 shows an embodiment using a tilling working machine 30 equipped with a folding mechanism. In the following description, the traveling direction of the tilling working machine 30 is the forward direction. The left-right direction in Figs. 3 to 5 is the lateral direction, and the up-down direction in Figs. 3 to 5 is the up-down direction of the tilling working machine 30.

[0028] A central working unit 35 of the tilling implement 30 is attached to the rear of the tractor 1. Extension working units 35' installed on both sides of the central working unit 35 can be folded relative to the central working unit 35. The control unit 21 is installed in the central working unit 35.

[0029] The central working unit 35 is provided with a mast 31a and left and right hitches 31b, which are the mounting unit 31, and the tilling implement 30 is attached to the tractor 1 via these. PTO (Power Take Off) power from the tractor 1 is input via an input shaft provided at the front, and is transmitted to the tilling unit 49 equipped with tilling claws 48 inside the tilling unit cover 32 and the first soil leveling body 33 behind it. The tilling unit 49 then rotates to break down the soil into small pieces, and the first soil leveling body 33 and the second soil leveling body 34 provided behind it flatten the soil surface. In this manner, tilling work is performed.

[0030] The control box 38 can be provided in the central working section 35. Specifically, it is provided above the tilling section cover 32, which is located above the tilling section 49, and may be installed on the tilling section cover 32 or on another frame, etc. Inside the control box 38, the control section 21 shown in Fig. 1 and, depending on the type of sensor, the sensor 23 can be provided. The control box 38 can have dustproof and waterproof functions.

[0031] The electric hydraulic cylinders 36 provided on both the left and right sides operate the left and right rotation mechanisms 37 by extending and retracting the cylinders. This causes the extension working parts 35' provided on the left and right end sides of the central working part 35 to rotate and be folded inwardly or opened outwardly.

[0032] The state in Fig. 3 shows the extended working units 35' on both sides in an open, deployed state. In this state, the extended working units 35' are extended to widen the overall width for tilling work. In this state, the tilling unit 49 can be rotated to perform agricultural work, thereby increasing the efficiency of agricultural work. Usually, this state is the working state for performing agricultural work.

[0033] Fig. 5 shows the storage state where both extension working units 35' on both sides are closed inward in the horizontal direction and folded. In this state, since both extension working units 35' on both sides are folded, the overall width in the horizontal direction of the tilling implement 30 can be shortened, making it suitable for traveling when moving outside of a field. This reduces the possibility of the tilling implement 30 colliding with a utility pole or the like, ensuring safety. Note that work may be performed in the state shown in Fig. 5, but for the sake of explanation, the stored state is used here.

[0034] Figure 4 shows an intermediate state between Figures 3 and 5. This state is in the middle of changing from the stored state to the deployed state (working state), or from the deployed state (working state) to the stored state. In this state, the extended working unit 35' is in the middle of folding or deploying, so it is not suitable for agricultural work and is not safe for transportation.

[0035] The extended land leveling bodies 41 are provided at both ends of the tilling machine 30 (ends of the extended working units 35' on both sides). The left and right extended land leveling body drive devices 40 can rotate the left and right extended land leveling bodies 41 around the rotating shafts 41a via the arms 42 and wires 43 by rotating the internal motors. This allows the extended land leveling bodies 41 provided at both ends of the second land leveling body 34 to be selected between an extended state in which they are opened outward and extended, and a stored state in which they are closed inward and folded. In the state shown in FIG. 3, the left and right extended land leveling bodies 41 are in a folded state. In addition, when the extended working units 35' on both sides are operated to change the state, the extended land leveling bodies 41 of the attached mechanism must be kept in a folded and stored state to prevent interference.

[0036] The second leveling body drive device 46 rotates the internal motor via the second leveling body link means 47, allowing the user to select whether the second leveling body 34 is fixed at the bottom in a soil-pulling state, or a normal plowing state in which the rotation is not fixed.

[0037] The central working section 35 is provided with two pressure devices 60. The pressure devices 60 can manually select between a pressurized state (biased state) in which pressure is applied via a biasing means 61 such as a gas spring, or a free state (unbiased state) in which no pressure is applied. In addition, the pressure devices 60 may be provided with a motor so that the pressurized state or the free state can be selected by the rotation of the motor. This makes it possible to select whether or not to bias the first leveling body 33 and the second leveling body 34 against the work surface by the biasing means 61.

[0038] The electric hydraulic cylinder 36, the (motor of) the extended soil leveling body drive device 40, the (motor of) the second soil leveling body drive device 46, and the (motor of) the pressure device 60 can be applied as the actuator 22 in Fig. 1. Furthermore, as the sensor 23 in Fig. 1, these actuators and sensors that detect their operating states can be applied. For example, a sensor that detects the opening and closing of the extended working section 35' (e.g., a potentiometer, limit switch, etc.) and a sensor that detects the operation of the electric hydraulic cylinder 36 (e.g., a stroke sensor, etc.) can be applied. Furthermore, as the sensor 23, an inclination sensor, acceleration sensor, etc. can be provided on the tilling machine 30. This sensor can also be provided inside the control box 38.

[0039] (Remote control device) 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 70 in which the operation unit 11 and the display unit 12 of Fig. 1 are integrated together.

[0040] Remote control device 70 includes switches 71, which include push button switches 71a to 71p. Also, a display unit 72 is provided in the center above switch 71. In remote control device 70, switches 71 (switches 71a to 71p) correspond to operation unit 11 in FIG. 1, and display unit 72 corresponds to display unit 12 in FIG. 1.

[0041] The switch 71a is a power switch for the remote control device 70. The switch 71b is a switch for switching the display content of the display unit 72. The switch 71c is a mode changeover switch. The switch 71j is a switch for confirming the selected content.

[0042] The switch 71d is a switch for selecting the left extension working unit 35'. The switch 71e is a switch for selecting the right extension working unit 35'.

[0043] Switch 71f is a switch that opens the extension working unit 35'. When this switch is pressed, the electric hydraulic cylinders 36 on both sides are actuated, and the extension working units 35' on both sides are opened and deployed as shown in FIG. 3. Note that within a predetermined time after switch 71d or switch 71e is pressed, only the extension working unit 35' on the corresponding side opens. Alternatively, after pressing switch 71d or switch 71e, only the extension working unit 35' on the corresponding side opens until a release operation is performed to release the operation.

[0044] Switch 71g is a switch that closes the extension working unit 35'. When this switch is pressed, the electric hydraulic cylinders 36 on both sides are actuated, and the extension working units 35' on both sides are closed, as shown in FIG. 3, resulting in the stored state shown in FIG. 5. Note that within a predetermined time after switch 71d or switch 71e is pressed, only the extension working unit 35' on the corresponding side is closed. Alternatively, after pressing switch 71d or switch 71e, only the extension working unit 35' on the corresponding side is closed until a release operation is performed to release the operation.

[0045] The switch 71h is a switch that activates the pressure device 60 to bring it into a pressurized state, and the switch 71i is a switch that activates the pressure device 60 to bring it into a free state.

[0046] Switch 71k is a switch that operates the left extended ground leveling body drive device 40 to open the left extended ground leveling body 41 outward and in an extended state. Switch 71l is a switch that operates the left extended ground leveling body drive device 40 to close the left extended ground leveling body 41 inward and in a folded state. Switch 71m is a switch that operates the right extended ground leveling body drive device 40 to open the right extended ground leveling body 41 outward and in an extended state. Switch 71n is a switch that operates the right extended ground leveling body drive device 40 to close the right extended ground leveling body 41 inward and in a folded state.

[0047] The switch 71o is a switch for operating the second soil leveling body driving device 46 to set it to the plowing state. The switch 71p is a switch for operating the second soil leveling body driving device 46 to set it to the soil pulling state.

[0048] The switches 71f to 71i may be used as selection buttons for setting or the like.

[0049] A liquid crystal screen or an organic electroluminescence (EL) screen can be used as the display unit 72. The display unit 72 can display the state of the extension working unit 35' (stored state, working state, states between these, etc.), caution and warning displays, operation guide displays, etc. In addition, the display unit 72 can display various types of information related to operations, settings, and the tilling work implement 30 (work implement 2).

[0050] The remote control device 70 may also have a function of notifying by sound such as a speaker. This allows for notification by a buzzer or voice. In this case, the sound may be emitted in conjunction with the display on the display unit 72.

[0051] (Control from deployed state to stored state) Figures 7 and 8 show a flow chart of the control of the first embodiment of the present invention. "A", "B", and "C" in Figures 7 and 8 indicate that the same alphabets are connected between Figures 7 and 8. These processes can be performed by the control unit 21 unless otherwise specified. Figures 7 and 8 show the control when changing the tillage implement 30 from the deployed state to the stored state.

[0052] First, in step S101, an operation to store the extended working unit is performed. The initial state of the tilling implement 30 is the unfolded state (working state) of FIG. 3. In this case, the open / close flag of the extended working unit 35' is ON. Then, the operator performs an operation to store the extended working unit 35' by pressing the switch 71g of the remote control device 70, which is the operation unit 11. This operation signal is transmitted to the control unit 21. At this time, if the extended ground leveling body 41 is in the extended state, the extended ground leveling body open / close flag is ON, and if the extended ground leveling body 41 is in the stored state, the extended ground leveling body open / close flag is OFF.

[0053] Next, in step S102, it is determined whether the extended ground leveling body open / close flag is OFF. If the extended ground leveling body 41 is not in the stored state, interference will occur when storing the extended working unit 35'. The control unit 21 determines whether the extended ground leveling body open / close flag is currently OFF. This information is stored in the memory unit of the control unit 21 based on the control up to that point. If the extended ground leveling body open / close flag is OFF, the process proceeds to step S104, and if the extended ground leveling body open / close flag is not OFF, the process proceeds to step S103.

[0054] In step S103, the extension leveling body open / close flag is turned ON. Since the extension leveling body open / close flag is not OFF, the extension leveling body open / close flag is turned ON by the processing of the control unit 21. After step S103, the process proceeds to step S105.

[0055] In step S104, it is determined whether the extended ground leveling body in progress flag is ON. Even if the extended ground leveling body open / close flag is OFF, since the extended ground leveling body 41 may be in between a stored state and an extended state, the control unit 21 processes the flag to determine whether the extended ground leveling body in progress flag is ON. If the extended ground leveling body in progress flag is ON, it indicates that the extended ground leveling body 41 is in between a stored state and an extended state. If the extended ground leveling body in progress flag is ON, the process proceeds to step S105, and if the extended ground leveling body in progress flag is not ON, the process proceeds to step S113.

[0056] In step S105, the storage operation of the extended land leveling body is started. Here, under the control of the control unit 21, the extended land leveling body drive device 40 is driven to start the operation of the extended land leveling body 41 to the stored state. Note that, according to the steps up to this point, the conditions for the extended land leveling body 41 to move to the stored state in step S105 are when the extended land leveling body open / close flag is ON, or when the extended land leveling body open / close flag is OFF but the extended land leveling body in progress flag is ON. If the extended land leveling body open / close flag is OFF and the extended land leveling body in progress flag is not ON, it is determined to be in the stored state and the extended land leveling body drive device 40 does not operate.

[0057] Next, in step S106, the midway flag of the extension leveling body is turned ON. This is because the extension leveling body 41 is in the middle of moving, so the midway flag of the extension leveling body is turned ON by the processing of the control unit 21. The midway state can be determined, for example, by the current value or voltage value of the extension leveling body drive device 40 (the motor of the extension leveling body). For example, it can be determined by detecting that the state of A3, which is a current value within a predetermined range shown in FIG. 2, has been reached. The predetermined range of the current value here is a range that is higher than the current value during periods A1 and A5 assumed in normal times by a predetermined value or more, and is lower than the current value during periods A2 and A4 by a predetermined value or more. In addition, the sensor 23 may be used to detect that the extension leveling body 41 is moving (by detecting the position and angle). In this case, the control unit 21 determines that the extension leveling body 41 is in the middle of moving based on the information from the sensor 23.

[0058] Next, in step S107, the storage operation of the extended ground leveling body is stopped. This stop of the extended ground leveling body 41 can be determined when the control unit 21 stops the drive control of the extended ground leveling body drive device 40. In addition, the sensor 23 may be used to determine that the storage operation of the extended ground leveling body 41 has stopped.

[0059] Next, in step S108, it is determined whether the extended land leveling body has stopped at the storage position. This determination can be made by the control unit 21. This determination can be made, for example, by the current value or voltage value of the extended land leveling body drive device 40 (the motor of the extended land leveling body). For example, if the time of A3, which is a current value within a predetermined range shown in FIG. 2, is greater than or equal to a predetermined value, it can be determined that the extended land leveling body 41 has moved to the storage position. The predetermined range of the current value here is a range that is greater than or equal to a predetermined value higher than the current value during the periods A1 and A5 assumed under normal conditions, and is greater than or equal to a predetermined value lower than the current value during the periods A2 and A4. In addition, the sensor 23 may be used to detect that the extended land leveling body 41 has moved to the storage position. In this case, the control unit 21 makes the above determination based on the information from the sensor 23. If it is determined that the extended land leveling body 41 has stopped at the storage position, the process proceeds to step S109, and if it is determined that the extended land leveling body 41 does not stop at the storage position, the process proceeds to step S121.

[0060] In step S109, the midway flag of the extended ground leveling body is turned OFF. Here, since the extended ground leveling body 41 is not in the midway state because it is stopped at the storage position, the control unit 21 processes the extended ground leveling body 41 to turn OFF the midway flag.

[0061] Next, in step S110, the open / close flag of the extension ground leveling body is turned OFF. Here, since the extension ground leveling body 41 is in a stored state stopped at the stored position, the open / close flag of the extension ground leveling body 41 is turned OFF by the processing of the control unit 21.

[0062] Next, in step S111, the open / close flag and the in-progress flag of the extension ground leveling body are stored. Here, the control unit 21 stores in the storage unit of the control unit 21 that the open / close flag of the extension ground leveling body 41 is OFF and that the in-progress flag of the extension ground leveling body 41 is OFF by processing.

[0063] Next, in step S112, the state of the extended ground leveling body is notified. Here, information regarding the state of the extended ground leveling body 41 is sent to the display unit 12 (remote control device 70) by processing of the control unit 21, and the content is displayed on the display unit 12 (display unit 72). The state of the extended ground leveling body 41 is notified here by notifying that it is in the stored state because the open / close flag is OFF and the intermediate flag is OFF. The display unit 12 (display unit 72) displays, for example, by letters, pictures, or diagrams, that the extended ground leveling body 41 is in the stored state. Additionally, this may be notified by a speaker.

[0064] Next, in step S113, the extension work unit starts a storing operation. Since it has been confirmed that the extension leveling body 41 is in the stored state, the control unit 21 controls the electric hydraulic cylinder 36, which is the actuator 22, to operate the extension work unit 35' to the stored state. In this case, the extension work unit 35' may be controlled to operate to the stored state only while the switch 71g is pressed, or may be controlled to operate to the stored position once the switch 71g is pressed.

[0065] Next, in step S114, the extension working unit's on-going flag is turned ON. This is because the extension working unit 35' is in the middle of moving, so the control unit 21 processes the extension working unit's on-going flag to be turned ON. The on-going state can be determined, for example, by the current value or voltage value of the electric hydraulic cylinder 36. For example, this can be done by detecting that the state of A3, which is a current value within a predetermined range shown in FIG. 2, has been reached. The predetermined range of the current value here is a range that is higher than the current value during periods A1 and A5 assumed under normal conditions by a predetermined value or more, and lower than the current value during periods A2 and A4 by a predetermined value or more. In addition, the sensor 23 may be used to detect that the extension working unit 35' is moving (by detecting the position and angle). In this case, the control unit 21 determines that the extension working unit 35' is on the way to moving based on the information from the sensor 23. In addition, in step S114, when the on-going flag is turned ON, a signal to stop the PTO may be output to the tractor 1. This avoids danger and prevents damage to parts such as the clutch.

[0066] Next, in step S115, the storing operation of the extension working unit is stopped. This stopping of the extension working unit 35' can be determined when the control unit 21 stops driving control of the electric hydraulic cylinder 36. Alternatively, information from the sensor 23 may be used to determine that the storing operation of the extension working unit 35' has stopped.

[0067] Next, in step S116, it is determined whether the extension working unit has stopped at the storage position. This determination can be made by the control unit 21. This determination can be made, for example, based on the current value or voltage value of the electric hydraulic cylinder 36. For example, if the time of A3, which is a current value within a predetermined range shown in FIG. 2, is greater than or equal to a predetermined time, it can be determined that the extension working unit 35' has moved to the storage position. The predetermined range of the current value here is a range that is greater than or equal to a predetermined current value during periods A1 and A5 assumed under normal conditions, and is less than or equal to a predetermined current value during periods A2 and A4. In addition, the sensor 23 may be used to detect that the extension working unit 35' has moved to the storage position. In this case, the control unit 21 makes the above determination based on information from the sensor 23. If it is determined that the extension working unit 35' has stopped at the storage position, the process proceeds to step S117, and if it is determined that the extension working unit 35' does not stop at the storage position, the process proceeds to step S123.

[0068] Next, in step S117, the in-progress flag of the extension working unit is turned OFF. Here, since the extension working unit 35' is not in the in-progress state stopped at the storage position (not in the in-progress state), the control unit 21 processes the extension working unit 35' and turns OFF the in-progress flag.

[0069] Next, in step S118, the open / close flag of the extension working unit is turned OFF. Here, since the extension working unit 35' is stopped at the stored position and in a stored state, the control unit 21 processes the extension working unit 35' and turns OFF the open / close flag.

[0070] Next, in step S119, the open / close flag and the in-progress flag of the extension work unit are stored. Here, the control unit 21 stores in its memory by processing the control unit 21 that the open / close flag of the extension work unit 35' is OFF and that the in-progress flag of the extension work unit 35' is OFF.

[0071] Next, in step S120, the state of the extension work unit is notified. Here, information on the state of the extension work unit 35' is sent to the display unit 12 (remote control device 70) by processing of the control unit 21, and the content is displayed on the display unit 12 (display unit 72). The state of the extension work unit 35' is notified here by notifying that it is in a stored state because the open / close flag is OFF and the intermediate flag is OFF. Then, the display unit 12 (display unit 72) displays, for example, characters, pictures, or diagrams, that the extension work unit 35' is in a stored state. It may also display that it is in a state where it is safe to travel. Additionally, these may be notified by a speaker. Furthermore, this information may be transmitted to the tractor 1. After step S120, the processing ends.

[0072] On the other hand, in step S121, the open / close flag and the in-progress flag of the extension ground leveling body are stored. Here, the control unit 21 stores in the memory unit of the control unit 21 whether the open / close flag of the extension ground leveling body 41 is ON or OFF, and the in-progress flag of the extension ground leveling body 41 is ON, by the processing of the control unit 21.

[0073] Next, in step S122, the status of the extended ground leveling body is notified. Here, information regarding the status of the extended ground leveling body 41 is sent to the display unit 12 (remote control device 70) by processing of the control unit 21, and the content is displayed on the display unit 12 (display unit 72). The status of the extended ground leveling body 41 is notified here by notifying that the extended ground leveling body 41 is not in a stored state because the mid-processing flag of the extended ground leveling body 41 is ON. The display unit 12 (display unit 72) displays, for example, by letters, pictures, or diagrams, that the extended ground leveling body 41 is not in a stored state. Additionally, this information may be notified by a speaker.

[0074] Next, in step S123, the open / close flag and the on-going flag of the extension work unit are stored. Here, the storage unit of control unit 21 stores, by processing, that the open / close flag of extension work unit 35' is ON, and that in the case from step S116, the on-going flag of extension work unit 35' is ON, and in the case from step S122, the on-going flag of extension work unit 35' is OFF.

[0075] Next, in step S124, the state of the extension working unit is notified. Here, information on the state of the extension working unit 35' is transmitted to the display unit 12 (remote control device 70) by the processing of the control unit 21, and the content is displayed on the display unit 12 (display unit 72). In this case, the notification of the state of the extension working unit 35' is notified that the extension working unit 35' is in the middle of being not stored, in the case of step S116 and after, because the in-progress flag of the extension working unit 35' is ON. In this case, the display unit 12 (display unit 72) displays, for example, characters, pictures, or diagrams, that the extension working unit 35' is in the middle of being not stored. It is also possible to display that the state is not suitable for agricultural work (the PTO cannot rotate) or that the tractor cannot be moved safely. In addition, these may be notified by a speaker. Furthermore, this information may be transmitted to the tractor 1, and an instruction to stop the PTO or prohibit travel may be issued. Also, in the case of step S122 and after, the open / close flag of the extended working unit 35' is ON and the in-progress flag of the extended working unit 35' is OFF, so that it is notified that the state of the extended working unit 35' is in the unfolded state. In this case, the display unit 12 (display unit 72) displays, for example, by letters, pictures, or diagrams, that the extended working unit 35' is in the unfolded state. Also, since the extended ground leveling body 41 is in an in-progress state as stored in step S121, it may be displayed that the state is not suitable for agricultural work. In addition, these facts may be notified by a speaker. Furthermore, this information may be transmitted to the tractor 1, and an instruction to stop the PTO or prohibit travel may be issued.

[0076] Next, in step S125, it is determined whether or not to continue the storage operation of the extension working unit. This is done by the processing of the control unit 21, which causes the display unit 12 (display unit 72) to display information on whether or not to continue the storage operation of the extension working unit 35'. The worker can select whether or not to continue the storage operation by operating the operation unit 11 (switch 71). If the storage operation is to be continued, the process returns to step S102, and if the storage operation is not to be continued, the process ends.

[0077] (Control from stowed state to deployed state) 7 and 8 show the control when changing the tillage implement 30 from the unfolded state to the stored state, but these controls can also be applied when changing from the stored state to the unfolded state. Below, we will explain the main changes (indicated in "") between Figures 7 and 8 when applied from the stored state to the unfolded state.

[0078] In step S101, an operation to "deploy" the extended working unit is performed. The initial state of the tilling implement 30 is the "stored state of FIG. 5." In this case, the open / close flag of the extended working unit 35' is "OFF." Then, the operator performs an operation to "deploy" the extended working unit 35' by pressing "switch 71f" on the remote control device 70, which is the operation unit 11. This operation signal is sent to the control unit 21.

[0079] The processing of steps S102 to S112 is similar. When the extension working unit 35' is in the stored state, the extension ground leveling body 41 is also in the stored state, so in this case, the route of steps S102, S104, and S113 is basically followed.

[0080] Next, in step S113, the extension work unit starts the "deployment" operation. Since it has been confirmed that the extension leveling body 41 is in the stored state, the control unit 21 controls the electric hydraulic cylinder 36, which is the actuator 22, to operate the extension work unit 35' to the "deployment" state. In this case, the extension work unit 35' may be controlled to operate to the "deployment" state only while the "switch 71f" is pressed, or may be controlled to operate to the "deployment" position once the "switch 71f" is pressed.

[0081] The process of step S114 is similar.

[0082] Next, in step S115, the "deployment" operation of the extension working unit is stopped. This stopping of the extension working unit 35' can be determined when the control unit 21 stops driving control of the electric hydraulic cylinder 36. Alternatively, information from the sensor 23 may be used to determine that the "deployment" operation of the extension working unit 35' has stopped.

[0083] Next, in step S116, it is determined whether the extension working unit has stopped at the "deployed" position. This determination can be made by the control unit 21. This determination can be made, for example, based on the current value or voltage value of the electric hydraulic cylinder 36. For example, if the time of A3, which is a current value within a predetermined range shown in FIG. 2, is greater than or equal to a predetermined time, it can be determined that the extension working unit 35' has moved to the "deployed" position. The predetermined range of the current value here is a range that is greater than or equal to a predetermined current value during periods A1 and A5 assumed under normal conditions, and is less than or equal to a predetermined current value during periods A2 and A4. In addition, the sensor 23 may be used to detect that the extension working unit 35' has moved to the "deployed" position. In this case, the control unit 21 makes the above determination based on information from the sensor 23. If it is determined that the extension working unit 35' has stopped at the "deployed" position, the process proceeds to step S117, and if it is determined that the extension working unit 35' does not stop at the "deployed" position, the process proceeds to step S123.

[0084] Next, in step S117, the in-progress flag of the extension working unit is turned OFF. Here, because the extension working unit 35' is not in the "deployed" state stopped at the "deployed" position (not in the in-progress state), the in-progress flag of the extension working unit 35' is turned OFF by processing of the control unit 21.

[0085] Next, in step S118, the open / close flag of the extension working unit is set to “ON.” Here, since the extension working unit 35′ is in the “deployed” state stopped at the “deployed” position, the control unit 21 processes the extension working unit 35′ to set the open / close flag to “ON.”

[0086] Next, in step S119, the open / close flag and the in-progress flag of the extension work unit are stored. Here, the control unit 21 stores in its memory, by processing, that the open / close flag of the extension work unit 35' is "ON" and that the in-progress flag of the extension work unit 35' is OFF.

[0087] Next, in step S120, the state of the extended working unit is notified. Here, information on the state of the extended working unit 35' is sent to the display unit 12 (remote control device 70) by the processing of the control unit 21, and the content is displayed on the display unit 12 (display unit 72). The state of the extended working unit 35' is notified in this case by the open / close flag being "ON" and the intermediate flag being "OFF". Then, the display unit 12 (display unit 72) displays, for example, characters, pictures, or diagrams, that the extended working unit 35' is in the "unfolded" state. In addition, a display may be made that "farm work is being performed and traveling outside the field is dangerous." In addition, these things may be notified by a speaker. Furthermore, this information may be transmitted to the tractor 1, and a signal may be transmitted to prohibit traveling at a speed higher than a predetermined speed. After step S120, the processing ends.

[0088] The processes in steps S121 and S122 are similar.

[0089] Next, in step S123, the open / close flag and the on-going flag of the extension work unit are stored. Here, the control unit 21 stores in its memory, by processing, that the open / close flag of the extension work unit 35' is "OFF", and that in the case from step S116, the on-going flag of the extension work unit 35' is ON, and in the case from step S122, the on-going flag of the extension work unit 35' is OFF.

[0090] Next, in step S124, the state of the extended working unit is notified. Here, information on the state of the extended working unit 35' is transmitted to the display unit 12 (remote control device 70) by the processing of the control unit 21, and the content is displayed on the display unit 12 (display unit 72). In this case, in the case of step S116 and after, the notification of the state of the extended working unit 35' is notified that the extended working unit 35' is in an intermediate state and not in an "unfolded" state because the intermediate flag of the extended working unit 35' is ON. In this case, the display unit 12 (display unit 72) displays, for example, by characters, pictures, or diagrams, that the extended working unit 35' is in an intermediate state and not in an "unfolded" state. It is also possible to display that the state is not suitable for agricultural work (the PTO cannot rotate) or that the tractor cannot be moved safely. In addition, these may be notified by a speaker. Furthermore, this information may be transmitted to the tractor 1. Also, in the case of step S122 onwards, the open / close flag of the extended working unit 35' is "OFF" and the in-progress flag of the extended working unit 35' is OFF, thereby notifying the user that the extended working unit 35' is in the "storage" state. In this case, the display unit 12 (display unit 72) displays, for example, by text, pictures, or diagrams, that the extended working unit 35' is in the "storage" state. Also, since the extended ground leveling body 41 is in the in-progress state as stored in step S121, it may be displayed that the state is not suitable for "movement". Additionally, the user may be notified of these facts by a speaker. Furthermore, this information may be transmitted to the tractor 1.

[0091] Next, in step S125, it is determined whether or not to continue the "deployment" operation of the extension work unit. This is done by processing the control unit 21, which causes the display unit 12 (display unit 72) to display information on whether or not to continue the "deployment" operation of the extension work unit 35'. The worker can select whether or not to continue the "deployment" operation by operating the operation unit 11 (switch 71). If the "deployment" operation is to be continued, the process returns to step S102, and if the "deployment" operation is not to be continued, the process ends.

[0092] (Effects of the First Embodiment) In this way, in the first embodiment, an intermediate flag is provided for changing between the stored state and the deployed state (working state) of the extended working unit 35', which is a part of the working unit of the tilling machine 30. When the intermediate flag is ON, it is not determined that the state has been changed to the stored state or the deployed state, so safety can be ensured. At this time, the display unit notifies the operator accordingly, so that it is possible to inform the operator of the current state of the working machine and to call his or her attention. In addition, since the stored state and the deployed state are determined when the intermediate flag is OFF, these determinations can be made reliably. In addition, the determination of the intermediate flag being ON while the extended working unit 35' is in the middle of moving can be accurately determined using the current value of the actuator 22 and the sensor 23.

[0093] Furthermore, in the first embodiment, the storage state of the extension leveling body 41, which is an auxiliary mechanism, is checked before the operation of the extension work unit 35' to prevent damage or accidents due to interference with the extension leveling body 41. At this time, by providing a mid-way flag in the extension leveling body 41 as well, if the mid-way flag is ON, it is not determined that the state has been changed to the stored state, which increases the reliability of the determination.

[0094] <Second embodiment> (Working machine applicable to the second embodiment) Fig. 9 is a plan view of a working machine applicable to a second embodiment of the present invention. The working machine 2 in Fig. 9 shows an embodiment using a ridge coating machine 100 equipped with an offset mechanism. In the following description, the traveling direction of the ridge coating machine 100 is the forward direction. The left-right direction in Fig. 9 is the lateral direction, and the upward direction in Fig. 9 is the forward direction of the ridge coating machine 100.

[0095] The ridge coating machine 100 has a mounting part 102 attached to the rear of the tractor 1. One end of an intermediate frame 103 is connected to the mounting part 102 so as to be rotatable left and right, and the other end of the intermediate frame 103 is connected to a working part 105 via a rotating mechanism 104. The working part 105 has a tilling part 107 at the front and a disk part 108 at the rear. PTO power from the tractor 1 is sent to the working part 105 via a transmission mechanism (not shown). The working part 105 is configured to send soil from the old ridge to the disk part 108 by the rotation of the claws 107a inside the tilling part cover 107b of the tilling part 107, and then shape the soil into a new ridge by the rotation of the disk part 108.

[0096] The ridger 100 is also provided with a first cylinder 111 and a second cylinder 112. The extension and contraction of the first cylinder 111 allows the working unit 105 to be offset and the offset amount (lateral position relative to the tractor 1) to be adjusted. The first cylinder 111 is also fully contracted from the forward operation state of FIG. 9 to rotate the intermediate frame 103 in the direction of arrow P relative to the mounting unit 102. This allows the working unit 105 to be offset and moved to the vicinity of the left-right center relative to the tractor 1 and to be stored. In this state, the working unit 105 is positioned behind the tractor 1, and is configured not to protrude from the tractor 1 in the lateral direction as compared to the forward operation state of FIG. 9. This makes it suitable for movement outside the field, etc. Furthermore, the second cylinder 112 is extended from the stored state to rotate the working unit 105 relative to the intermediate frame 103 to a backward operation state, enabling return operation. At this time, the working unit 105 protrudes to the left, which is the opposite of the left-right direction, and the front and rear of the working unit 105 are reversed. The first cylinder 111 and the second cylinder 112 may be, for example, electric hydraulic cylinders.

[0097] The control box 110 is attached to the mounting part 102, and can store the control part 21 shown in Fig. 1 and, depending on the type of sensor, the sensor 23. The control box 110 can have a dustproof and waterproof function.

[0098] The first cylinder 111 and the second cylinder 112 can be applied as the actuator 22 in Fig. 1. As the sensor 23 in Fig. 1, a sensor that detects these actuators or their operating states can be applied. For example, a sensor (e.g., a potentiometer) that detects the rotation of the intermediate frame 103 or the working unit 105, or a sensor (e.g., a stroke sensor) that detects the state of the first cylinder 111 or the second cylinder 112, can be applied. Furthermore, as the sensor 23, an inclination sensor, an acceleration sensor, or the like can be provided on the ridger 100 (particularly on the mounting unit 102 that does not rotate relative to the tractor 1). This sensor can also be provided in the control box 110.

[0099] The remote control device 70 shown in the first embodiment can be similarly applied to the ridge coating machine 100 of the second embodiment. In this case, the remote control device can be provided with a display unit equivalent to the display unit 72, a switch for switching to a stored state, a switch for switching to a forward operation state, and a switch for switching to a reverse operation state.

[0100] (Control from working state to storage state) Fig. 10 is a flow chart of control of the second embodiment of the present invention. Unless otherwise specified, these processes can be performed by the control unit 21. Fig. 10 shows the control when changing the state from the working state to the stored state in the ridge coating machine 100.

[0101] First, in step S201, an operation to store the working unit is performed. The initial state of the ridge coating machine 100 is the working state of FIG. 9. In this case, the open / close flag of the working unit 105 is ON. Then, the operator performs an operation to store the working unit 105 by pressing a switch on the operation unit 11 (remote control device) to set the working unit 105 to the stored state. This operation signal is sent to the control unit 21.

[0102] Next, in step S202, the working unit starts a storage operation. The first cylinder 111, which is the actuator 22, is operated under the control of the control unit 21 to move the working unit 105 to the storage state. In this case, the working unit 105 may be controlled to move to the storage state only while the switch for the storage state is being pressed, or may be controlled to move to the storage position once the switch for the storage state is pressed.

[0103] Next, in step S203, the working unit's in-progress flag is turned ON. This is because the working unit 105 is in the middle of moving, so the working unit's in-progress flag is turned ON by the processing of the control unit 21. The in-progress state can be determined, for example, by the current value or voltage value of the first cylinder 111. For example, this can be determined by detecting that the state of A3, which is a current value within a predetermined range shown in FIG. 2, has been reached. The predetermined range of the current value here is a range that is higher than the current value during periods A1 and A5 assumed in normal times by a predetermined value or more, and is lower than the current value during periods A2 and A4 by a predetermined value or more. In addition, the sensor 23 may be used to detect that the working unit 105 is in the middle of moving (by detecting the position or angle). In this case, the control unit 21 determines that the working unit 105 is in the middle of moving based on information from the sensor 23.

[0104] Next, in step S204, the retracting operation of the working unit 105 is stopped. This stopping of the working unit 105 can be determined when the control unit 21 stops the drive control of the first cylinder 111. Alternatively, information from the sensor 23 may be used to determine that the retracting operation of the working unit 105 has stopped.

[0105] Next, in step S205, it is determined whether the working unit has stopped at the storage position. This determination can be made by the control unit 21. This determination can be made, for example, based on the current value or voltage value of the first cylinder 111. For example, if the time of A3, which is a current value within a predetermined range shown in FIG. 2, is greater than or equal to a predetermined time, it can be determined that the working unit 105 has moved to the storage position. The predetermined range of the current value here is a range that is greater than or equal to a predetermined current value during periods A1 and A5 assumed in normal times, and is less than or equal to a predetermined current value during periods A2 and A4. In addition, the sensor 23 may be used to detect that the working unit 105 has moved to the storage position. In this case, the control unit 21 makes the above determination based on information from the sensor 23. If it is determined that the working unit 105 has stopped at the storage position, the process proceeds to step S206, and if it is determined that the working unit 105 has not stopped at the storage position, the process proceeds to step S210.

[0106] In step S206, the in-progress flag of the working unit is turned OFF. Here, since working unit 105 is in a stored state stopped at the stored position (not in an in-progress state), the in-progress flag of working unit 105 is turned OFF by processing of control unit 21.

[0107] Next, in step S207, the open / close flag of the working unit is turned OFF. Here, since working unit 105 is in the stored state stopped at the stored position, the open / close flag of working unit 105 is turned OFF by the processing of control unit 21.

[0108] Next, in step S208, the open / close flag and the in-progress flag of the working unit are stored. Here, the open / close flag of working unit 105 is stored as OFF in the memory unit of control unit 21 through processing by control unit 21, and the in-progress flag of working unit 105 is stored as OFF.

[0109] Next, in step S209, the state of the working unit is notified. Here, information on the state of working unit 105 is transmitted to display unit 12 (remote control device) by processing of control unit 21, and the contents are displayed on display unit 12 (display unit of the remote control device). The state of working unit 105 is notified here by determining that it is in the stored state because the open / close flag is OFF and the intermediate flag is OFF. Then, display unit 12 (display unit of the remote control device) displays, for example, characters, pictures, or diagrams, that working unit 105 is in the stored state. It may also display that the tractor is in a state in which it is safe to travel. Additionally, these may be notified by a speaker. Furthermore, this information may be transmitted to tractor 1. After step S209, the processing ends.

[0110] Meanwhile, in step S210, the open / close flag and the in-progress flag of the working unit are stored. Here, the open / close flag of working unit 105 is stored in the memory of control unit 21 as being ON, and the in-progress flag of working unit 105 is stored as being ON, by the processing of control unit 21.

[0111] Next, in step S211, the state of the working unit is notified. Here, information on the state of working unit 105 is transmitted to display unit 12 (remote control device) by processing of control unit 21, and the contents are displayed on display unit 12 (display unit of the remote control device). The state of working unit 105 is notified here by notifying that it is in the middle of being not stored because the open / close flag is ON and the in-progress flag is ON. Then, display unit 12 (display unit of the remote control device) notifies that working unit 105 is in the middle of being not stored. On display unit 12 (display unit of the remote control device), the fact that working unit 105 is not in the stored state is displayed, for example, by characters, pictures, or diagrams. In addition, it may be displayed that farm work is not possible (the PTO cannot rotate) or that the tractor cannot be moved safely. In addition, these things may be notified by a speaker. Furthermore, this information may be transmitted to tractor 1, and an instruction to stop the PTO or to prohibit travel may be issued.

[0112] Next, in step S212, it is determined whether or not to continue the storage operation of the working unit. This is done by the processing of the control unit 21, which causes the display unit 12 (display unit of the remote control device) to display information on whether or not to continue the storage operation of the working unit 105. The worker can select whether or not to continue the storage operation by operating the operation unit 11 (switch on the remote control device). If the storage operation is to be continued, the process returns to step S202, and if the storage operation is not to be continued, the process ends.

[0113] (Control from storage state to working state) In Fig. 10, the control when changing from the working state to the stored state in the ridge coating machine 100 has been shown, but these controls can also be applied when changing from the stored state to the working state. Below, the main changes from Fig. 10 (indicated in "") when applied from the stored state to the working state will be explained.

[0114] First, in step S201, an operation is performed to put the working unit into a "forward working state." The initial state of the ridge coating machine 100 is the "storage" state. In this case, the open / close flag of the working unit 105 is "OFF." Then, the operator presses a switch on the operation unit 11 (remote control device) for putting the working unit 105 into a "forward working state." This operation signal is sent to the control unit 21.

[0115] Next, in step S202, the working unit starts to move to a "forward working state". The first cylinder 111, which is the actuator 22, is operated under the control of the control unit 21 to move the working unit 105 to the "forward working state". In this case, the working unit 105 may move to the "forward working state" only while the switch for the "forward working state" is being pressed, or the working unit 105 may be controlled to move to the "forward working" position once the switch for the "forward working state" is pressed.

[0116] Next, the process of step S203 is similar.

[0117] Next, in step S204, the movement of the working unit 105 to the "forward working state" is stopped. This stopping of the working unit 105 can be determined when the control unit 21 stops the drive control of the first cylinder 111. Alternatively, information from the sensor 23 may be used to determine that the movement of the working unit 105 to the "forward working state" has stopped.

[0118] Next, in step S205, it is determined whether the working unit has stopped at the "forward work" position. This determination can be made by the control unit 21. This determination can be made, for example, based on the current value or voltage value of the first cylinder 111. For example, if the time of A3, which is a current value within a predetermined range shown in FIG. 2, is greater than or equal to a predetermined time, it can be determined that the working unit 105 has moved to the "forward work" position. The predetermined range of the current value here is a range that is greater than or equal to a predetermined current value during the periods A1 and A5 assumed in normal times, and is less than or equal to a predetermined current value during the periods A2 and A4. In addition, the sensor 23 may be used to detect that the working unit 105 has moved to the "forward work" position. In this case, the control unit 21 makes the above determination based on information from the sensor 23. If it is determined that the working unit 105 has stopped at the "forward work" position, the process proceeds to step S206, and if it is determined that the working unit 105 does not stop at the "forward work" position, the process proceeds to step S210.

[0119] In step S206, the on-going flag of the working unit is turned OFF. Here, because working unit 105 is in the "forward work" state stopped at the "forward work" position (not in the on-going state), the on-going flag of working unit 105 is turned OFF by processing of control unit 21.

[0120] Next, in step S207, the open / close flag of the working unit is set to “ON.” Here, since the working unit 105 is in the “forward work” state where it has stopped at the “forward work” position, the open / close flag of the working unit 105 is set to “ON” by processing of the control unit 21.

[0121] Next, in step S208, the open / close flag and the in-progress flag of the working unit are stored. Here, the open / close flag of the working unit 105 is stored as “ON” and the in-progress flag of the working unit 105 is stored as “OFF” in the memory unit of the control unit 21 by the processing of the control unit 21.

[0122] Next, in step S209, the state of the working unit is notified. Here, information on the state of working unit 105 is transmitted to display unit 12 (remote control device) by processing of control unit 21, and the contents are displayed on display unit 12 (display unit of the remote control device). The state of working unit 105 is notified here by determining that it is in the "forward work" state because the open / close flag is "ON" and the on-going flag is "OFF". Then, display unit 12 (display unit of the remote control device) displays, for example, characters, pictures, or diagrams, that working unit 105 is in the "forward work" state. It may also display "The state is one in which agricultural work is being performed, and that it is dangerous to drive the tractor outside the field". Additionally, these things may be notified by a speaker. Furthermore, this information may be transmitted to tractor 1. After step S209, the processing ends.

[0123] Meanwhile, in step S210, the open / close flag and the in-progress flag of the working unit are stored. Here, the open / close flag of the working unit 105 is stored as “OFF” and the in-progress flag of the working unit 105 is stored as “ON” in the memory unit of the control unit 21 by the processing of the control unit 21.

[0124] Next, in step S211, the state of the working unit is notified. Here, information on the state of working unit 105 is transmitted to display unit 12 (remote control device) by processing of control unit 21, and the contents are displayed on display unit 12 (display unit of the remote control device). The state of working unit 105 is notified here by notifying that it is in an intermediate state and not in a "forward work" state because the open / close flag is "OFF" and the intermediate flag is "ON". Then, display unit 12 (display unit of the remote control device) notifies that working unit 105 is in an intermediate state and not in a "forward work" state. Display unit 12 (display unit of the remote control device) displays that working unit 105 is not in a "forward work" state, for example, by using characters, pictures, or diagrams. In addition, it may be displayed that farm work is not possible (PTO rotation is not possible) or that the tractor cannot be moved safely. In addition, these things may be notified by a speaker. Furthermore, this information may be transmitted to tractor 1.

[0125] Next, in step S212, it is determined whether or not to continue the operation of the working unit "to the forward work state". This is done by processing of the control unit 21, which causes the display unit 12 (display unit of the remote control device) to display information on whether or not to continue the operation of the working unit 105 "to the forward work state". The worker can select whether or not to continue the operation "to the forward work state" by operating the operation unit 11 (switch on the remote control device). If the operation "to the forward work state" is to be continued, the process returns to step S202, and if the operation "to the forward work state" is not to be continued, the process ends.

[0126] (Effects of the second embodiment) In this way, in the second embodiment, an on-the-go flag is provided for changing the storage state and working state of the working unit 105 of the ridge coating machine 100. When the on-the-go flag is ON, it is not determined that the state has been changed to the storage state or working state, so safety can be ensured. At this time, the display unit issues a notification corresponding to the state, so that it is possible to inform the worker of the current state of the working machine and to call his or her attention. This improves safety. In addition, since the storage state and working state are determined when the on-the-go flag is OFF, these can be determined reliably. In addition, the on-the-go flag, which is determined when the working unit 105 is in the middle of moving, can be determined accurately using the current value of the actuator 22 and the sensor 23.

[0127] 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.

[0128] For example, in the first embodiment, control was shown for storing the extended soil leveling body 41, which is an auxiliary mechanism, before opening or closing the extended working unit 35' of the tilling implement 30. In order to smoothly open and close the extended working unit 35', other auxiliary mechanisms can also be applied. For example, it is possible to appropriately control the second soil leveling body drive device 46 and the pressure device 60 as necessary. In other words, movement of all or part of the working unit can be performed after the auxiliary mechanisms are stored so as not to interfere with the movement of all or part of the working unit.

[0129] In the first embodiment, the extended working unit 35' and the extended land leveling body 41 on both sides of the tillage implement 30 are described in terms of the stored state and the deployed state. However, it is also possible to apply this to either the left or right side. In this case, information specifying whether the left or right side is being operated can be displayed on the display unit 12 (display unit 72).

[0130] In the second embodiment, the case of changing between the forward operation state and the stored state is shown, but the present invention can be applied to the case of changing between the reverse operation state and the stored state in a similar manner. In this case, the second cylinder 112 is controlled.

[0131] In the above embodiment, the plow work machine 30 equipped with a folding mechanism and the ridge coating machine 100 equipped with an offset mechanism are shown as examples of the work machine 2. However, the present invention is not limited to these examples, and can be applied to a work machine 2 that is mounted on a tractor 1 other than these, the whole or part of the working unit of which can be changed between a stored state and a working state.

[0132] This specification also includes the disclosure of the following aspects. (Aspect 1) In a control system for an agricultural machine that is applied to a machine having a working unit that is attached to a tractor to perform agricultural work, A control unit and an actuator capable of moving all or a part of the working unit under the control of the control unit to change the working unit between a stored state and a working state, The control unit, when changing all or a part of the working unit, sets an intermediate flag ON while all or a part of the working unit is moving.

[0133] (Aspect 2) In the work machine control system according to aspect 1, The control unit does not determine whether the work machine is in a stored state or a working state when an in-progress flag is ON.

[0134] (Aspect 3) In the work machine control system according to the first or second aspect, The control unit determines whether all or a part of the working unit is in the middle of moving by using a current value of the actuator.

[0135] (Aspect 4) In the work machine control system according to the first or second aspect, A control system for a work machine, comprising: a sensor; and the control unit determines whether all or a part of the work unit is in the middle of moving based on information from the sensor.

[0136] (Aspect 5) In the work machine control system according to any one of aspects 1 to 4, The control unit, when all or part of the working unit has moved to a storage position, sets the open / close flag to OFF and the on-going flag to OFF, and when all or part of the working unit has moved to a working position, sets the open / close flag to ON and the on-going flag to OFF, and determines that the working unit is in a stored state when the open / close flag is OFF and the on-going flag is OFF, and that the working unit is in a working state when the open / close flag is ON and the on-going flag is OFF.

[0137] (Aspect 6) In the work machine control system according to any one of aspects 1 to 5, A display unit is provided, A work machine control system, characterized in that, when the in-progress flag is ON, the control unit displays on the display unit a message indicating that the tractor cannot be moved safely.

[0138] (Aspect 7) In the work machine control system according to any one of aspects 1 to 6, A second actuator is provided which can move an auxiliary mechanism provided on the working machine under the control of the control unit to change the working state between a stored state and a working state, A control system for a work machine, characterized in that the control unit moves all or part of the working unit after storing the auxiliary mechanism so as not to interfere with the movement of all or part of the working unit. [Explanation of symbols]

[0139] 1 Tractor 2 Work equipment 11 Control section 12 Display section 21 Control section 22 Actuator 23 Sensors 30 Plowing machine 35 Central Work Section 35' extension working section 36 Electric hydraulic cylinder 40 Extension leveling body drive device 41 Extended grade structure 46 Second leveling body drive unit 60 Pressurizing device 70 Remote control device 71(71a~71p) Switch 72 Display section 100 Ridge Painting Machine 105 Working Section 111 No. 1 cylinder 112 No. 2 cylinder

Claims

1. In a control system for an agricultural machine that is applied to a machine having a working unit that is attached to a tractor to perform agricultural work, A control unit and an actuator capable of moving all or a part of the working unit under the control of the control unit to change the working unit between a stored state and a working state, The control unit, when changing all or a part of the working unit, sets an intermediate flag to ON while all or a part of the working unit is moving.

2. 2. The work machine control system according to claim 1, The control unit does not determine whether the work machine is in a stored state or a working state when an in-progress flag is ON.

3. 2. The work machine control system according to claim 1, The control unit determines whether all or a part of the working unit is in the middle of moving by using a current value of the actuator.

4. 2. The work machine control system according to claim 1, A control system for a work machine, comprising: a sensor; and the control unit determines whether all or a part of the work unit is in the middle of moving based on information from the sensor.

5. The work machine control system according to any one of claims 1 to 4, The control unit, when all or part of the working unit has moved to a storage position, turns the opening / closing flag OFF and the on-going flag OFF, and when all or part of the working unit has moved to a work position, turns the opening / closing flag ON and the on-going flag OFF, and determines that the working unit is in a stored state when the opening / closing flag is OFF and the on-going flag is OFF, and that the working unit is in a working state when the opening / closing flag is ON and the on-going flag is OFF.

6. 2. The work machine control system according to claim 1, A display unit is provided, The control unit, when the in-progress flag is ON, displays on the display unit a message indicating that the tractor cannot be moved safely.

7. 2. The work machine control system according to claim 1, a second actuator capable of moving an auxiliary mechanism provided on the working machine under the control of the control unit to change the working machine between a stored state and a working state; A control system for a work machine, characterized in that the control unit moves all or part of the working unit after storing the auxiliary mechanism so as not to interfere with the movement of all or part of the working unit.

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