Agricultural work machine and information processing device

Abstract

To provide an agricultural work machine capable of correctly grasping states of an actuator and a movable part interlocking with the actuator.SOLUTION: An agricultural work machine includes a first movable part, a second movable part interlocking with the first movable part, a first sensor for detecting a state of the first movable part, a second sensor for detecting a state of the second movable part, and a processing part for performing processing on the basis of outputs of both the first sensor and the second sensor. It may further include a connection part for connecting the first movable part and the second movable part and interlocking the second movable part with the first movable part by transferring force generated by movement of the first movable part to the second movable part.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] One embodiment of the present invention relates to an agricultural work machine and an information processing apparatus that performs processing on the agricultural work machine.

Background Art

[0002] In an agricultural work machine, based on an operator's instruction, an information processing apparatus transmits a control signal to an actuator, and based on the control signal, the actuator operates to operate various movable parts. Conventionally, the operation of the movable parts has been detected by a sensor or the like to control the operation of the actuator.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In an agricultural work machine, for example, one movable part that operates due to the operation of an actuator may cause another movable part to operate in conjunction with it. In this case, since only the operation of one movable part is detected by a sensor or the like to control the operation of the actuator, the operation of the actuator may stop even though the other movable parts are not operating in the desired state. Therefore, the operator has to visually check the state of the movable part to determine whether the operation of the movable part is performed normally, and there is a problem that the work burden on the operator is large. In addition, in order to realize the automation of the agricultural work machine, it is necessary to correctly grasp the state of the actuator and the movable parts.

[0005] One embodiment of the present invention has been made in view of the above problems, and an object thereof is to provide an agricultural work machine capable of correctly grasping the state of a movable part and a movable part interlocking therewith.

Means for Solving the Problems

[0006] In one embodiment of the present invention, an agricultural working machine includes a first movable part, a second movable part interlocked with the first movable part, a first sensor for detecting the state of the first movable part, a second sensor for detecting the state of the second movable part, and a processing unit that performs processing based on the outputs of both the first sensor and the second sensor.

[0007] The agricultural working machine may further include a connecting part that connects the first movable part and the second movable part and transmits the force generated by the movement of the first movable part to the second movable part, thereby interlocking the second movable part with the first movable part.

[0008] When the processing unit controls the first movable part and the second movable part to a predetermined state, the processing unit may perform different processing depending on whether both the output of the first sensor and the output of the second sensor indicate that they have been controlled to the predetermined state, and whether either one of the output of the first sensor and the output of the second sensor does not indicate that it has been controlled to the predetermined state.

[0009] The agricultural working machine may further include a first working part and a second working part that rotates with respect to the first working part, and the second movable part may limit the rotation of the second working part with respect to the first working part when the second working part is in a rotated state.

[0010] The agricultural working machine may further include a power unit that generates rotational power for the second working part, the first movable part may be connected to the power unit, and the second working part may rotate along with the movement of the first movable part that has received power from the power unit.

[0011] The processing unit may perform one process based on the outputs of both the first sensor and the second sensor.

[0012] Receive the outputs of each of a first sensor that detects the state of a first movable part of an agricultural working machine and a second sensor that detects the state of a second movable part interlocked with the first movable part, and perform processing based on the outputs of both the first sensor and the second sensor.

Advantages of the Invention

[0013] According to an embodiment of the present invention, it is possible to provide an agricultural working machine capable of correctly grasping the state of an actuator and a movable part interlocking therewith.

Brief Description of the Drawings

[0014]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Embodiments for Carrying Out the Invention

[0015] Hereinafter, embodiments of an agricultural working machine according to an embodiment of the present invention and an information processing apparatus for performing processing on the agricultural working machine will be described with reference to the drawings. However, the agricultural working machine and the information processing apparatus according to an embodiment of the present invention can be implemented in many different modes and are not construed as being limited to the description of the examples shown below. In the drawings referred to in the present embodiment, the same parts or parts having the same function are denoted by the same reference numerals or reference numerals followed by alphabets, and the repeated description thereof is omitted. For example, when the working machine of the present invention is composed of three working bodies, a central working body, a left working body, and a right working body, in order to indicate the parts of each working body, "C", "L", and "R" may be attached after the numbers.

[0016] In the specification and claims of the present application, unless otherwise specified, "up" indicates the direction vertically away from the field, and "down" indicates the direction vertically approaching the field. Also, "front" indicates the direction in which the traveling body is located with respect to the working machine, and "rear" indicates the direction opposite to the front by 180°. Also, "left" indicates the left when facing the direction in which the traveling body is located with respect to the working machine, and "right" indicates the direction opposite to the left by 180°.

[0017] The agricultural working machine according to the present embodiment is used for an agricultural working machine that is connected to the rear part of a traveling body such as a tractor and has a movable part interlocked with an actuator, such as a weeding machine, a tiller, a ridging machine, or a lawn mower.

[0018] In this embodiment, as an example of an agricultural working machine, a ridging machine having a configuration capable of switching between a storage state in which the width of the agricultural working machine is reduced by folding a part of the agricultural working machine and an unfolded state in which the width of the agricultural working machine is increased by unfolding a part of the agricultural working machine is used to explain the features of an embodiment of the present invention. However, the agricultural working machine according to an embodiment of the present invention may be a tiller, a ridging machine, or a lawn mower, or may be an agricultural working machine other than these. Further, as long as no technical contradiction occurs, the techniques between different embodiments can be combined.

[0019] [1. First Embodiment] Hereinafter, the configuration of the working machine 10 according to the first embodiment will be described with reference to FIGS. 1 and 2. FIG. 1 is a perspective view of the configuration of an agricultural working machine (unfolded state) according to an embodiment of the present invention as viewed from the upper left rear side. FIG. 2 is a perspective view of the configuration of an agricultural working machine (state in which only the left working body is stored) according to an embodiment of the present invention as viewed from the upper left rear side. Note that since FIG. 2 is a view in which only the position of the left working body 10L has changed with respect to FIG. 1, for convenience of explanation, some of the reference numerals that have already appeared in FIG. 1 are omitted.

[0020] [1-1. Configuration of the Working Machine 10] As shown in FIG. 1, the working machine 10 according to the present embodiment includes a central working body 10C, a left working body 10L, and a right working body 10R, and has a structure divided into three parts. The central working body 10C is disposed at the central part of the working machine 10 and functions as the working machine body. The left working body 10L and the right working body 10R are rotatably attached to both left and right ends of the central working body 10C in the vertical direction. The working machine 10 can be folded by rotating the left working body 10L and the right working body 10R obliquely upward from the unfolded state shown in FIG. 1 so as to overlap the central working body 10C (see FIG. 2: FIG. 2 shows a state in which the left working body 10L is folded so as to overlap the central working body 10C). On the other hand, from the state in which the left working body 10L and the right working body 10R are stored, they can be unfolded as shown in FIG. 1 by rotating them obliquely downward. When the left working body 10L and the right working body 10R are not particularly distinguished, they may be referred to as side working bodies.

[0021] A state in which the left working body 10L and the right working body 10R are folded on top of the central working body 10C is called a storage state. The storage state is a state in which the width of the working machine 10 in a direction orthogonal to the traveling direction of the traveling body is reduced. On the other hand, a state in which the left working body 10L, the right working body 10R, and the central working body 10C are arranged side by side horizontally is called an unfolded state. The unfolded state is a state in which the working body of the working machine 10 is extended in a direction orthogonal to the traveling direction of the traveling body.

[0022] Next, the central working body 10C will be described. The central working body 10C includes a control box 11 that controls various operations of the working machine 10, a top mast 12 and a lower link connecting portion 14 that function as a connecting portion to a traveling body such as a tractor, an input shaft 16 to which power is transmitted from the traveling body, a support frame 18C that extends in the left-right direction and supports the central working body 10C, a transmission frame (chain case) 20C, a gear box 22, a central shield cover 24C, a working rotor (not shown), a first central soil cultivating body 28C, a second central soil cultivating body 30C, apron control mechanisms 31a and 31b, and a central lever control mechanism 32C. Although not shown, the working rotor is provided with a plurality of working claws.

[0023] The top mast 12 is provided at the front center of the central working body 10C, and the lower link connecting portion 14 is provided at two locations on the front left and right of the central working body 10C. The top mast 12 and the lower link connecting portions 14 provided at two locations on the left and right (the lower link connecting portion 14 on the right side is not shown) are respectively connected to a top link of the traveling body (not shown) and lower links provided at two locations on the left and right (3-point link hitch mechanism), whereby the working machine 10 is mounted on the rear portion of the traveling body so as to be liftable. Note that the connection between the working machine 10 and the traveling body may be via an auto hitch frame mounted on the 3-point link hitch mechanism of the traveling body.

[0024] The input shaft 16 is provided in the gear box 22 provided at the front center of the central working body 10C, and inputs the power transmitted from the traveling body to the working machine 10. The input shaft 16 is connected to the PTO shaft of the traveling body, and power is transmitted from the PTO shaft via a universal joint or the like.

[0025] The support frame 18C also serves as the main body frame of the central working body 10C, and extends in the left-right direction with respect to the traveling direction of the traveling body on both the left and right sides of the gear box 22. Here, a transmission shaft (not shown) is inserted into the left support frame 18C disposed between the gear box 22 and the transmission frame 20C. Power for rotating the working rotor is transmitted from the gear box 22 to the transmission frame 20C through this transmission shaft. Also, a transmission shaft (not shown) for transmitting the power from the gear box 22 to the transmission shaft inserted into the support frame 18R, which will be described later, is also inserted into the right support frame 18C in the same manner as the left support frame 18C.

[0026] The central shield cover 24C is provided along the support frame 18C and is disposed so as to cover the upper part of the working rotor. The soil crushed by the working rotor hits the inner wall of the central shield cover 24C and is further crushed, and then falls back to the field again. In this way, the central shield cover 24C has both a function of preventing the scattering of the soil lifted by the working rotor and a function of crushing the soil.

[0027] The working rotor of the central working body 10C has a configuration in which a plurality of working claws are attached to a rotating shaft (not shown) rotatably supported below the central shield cover 24C using a flange or a holder. The power input from the input shaft 16 is shifted in speed within the gear box 22, transmitted via the transmission shaft in the support frame 18C, the transmission frame 20C, etc., and converted into the rotational motion of the working rotor.

[0028] The first central soil preparation body 28C is rotatably attached to the central shield cover 24C and is usually called an apron. The second central soil preparation body 30C is rotatably attached to the first central soil preparation body 28C in the vertical direction and is usually called a leveler. The first central soil preparation body 28C serves as a cover for returning mud and soil scattered by the rotation of the working rotor of the central working body 10C to the field, and also serves as a soil preparation member for pressing the second central soil preparation body 30C against the field to perform soil preparation work. The second central soil preparation body 30C serves as a soil preparation member for leveling the surface of the field by directly contacting the field.

[0029] The apron control mechanisms 31a and 31b are installed between the central shield cover 24C and the first central soil preparation body 28C and function as means for controlling the rotation of the first central soil preparation body 28C in the vertical direction. The apron control mechanisms 31a and 31b can be switched between a pressurized mode that prevents the upward rotation of the first central soil preparation body 28C and a non-pressurized mode that does not prevent the upward rotation of the first central soil preparation body 28C. In the pressurized mode, a biasing force that prevents the upward rotation of the first central soil preparation body 28C is applied. This biasing force is realized by the reaction force of a spring disposed on a link rod that constitutes the apron control mechanisms 31a and 31b. By setting the apron control mechanisms 31a and 31b to the pressurized mode, the soil crushing performance and soil preparation performance of the first central soil preparation body 28C can be enhanced, and the field can be finished more efficiently.

[0030] The central leveler control mechanism 32C is installed between the central shield cover 24C and the second central soil preparation body 30C and functions as means for controlling the rotation of the second central soil preparation body 30C in the vertical direction. The central leveler control mechanism 32C can be switched between a soil gathering mode that fixes the second central soil preparation body 30C in a state facing downward (soil gathering state) and a soil preparation mode that does not prevent the vertical rotation of the second central soil preparation body 30C. The mode switching is realized by restricting or releasing the operation of a link rod that constitutes the central leveler control mechanism 32C.

[0031] Next, the left working body 10L will be described. The left working body 10L includes a support frame 18L that extends in the left-right direction and supports the left working body 10L, a left shield cover 24L, a working rotor 26L (see Fig. 2) disposed below the left shield cover 24L, a transmission frame (chain case) 20L, a first left soil cultivating body 28L, a second left soil cultivating body 30L, a left leveling control mechanism 32L, and a left extended soil cultivating body rotation mechanism 34L. The roles played by the left shield cover 24L, the transmission frame 20L, the first left soil cultivating body 28L, the second left soil cultivating body 30L, and the left leveling control mechanism 32L are the same as those of the corresponding elements in the aforementioned central working body 10C, respectively, so the description here will be omitted.

[0032] The support frame 18L also serves as the main body frame of the left working body 10L, and a transmission shaft (not shown) is inserted therein.

[0033] Here, as shown in Fig. 2, the working rotor 26L includes a rotating shaft 26La and a plurality of working claws 26Lb disposed around the rotating shaft 26La via a holder. In a state where the left working body 10L is deployed, the transmission frame 20L is connected to the transmission frame 20C via a transmission shaft inserted into the support frame 18L. Therefore, the power transmitted to the transmission frame 20C is transmitted to the transmission frame 20L. When the rotating shaft 26La rotates due to the power transmitted through the transmission frame 20L (see Fig. 1), the working claws 26Lb disposed around it rotate simultaneously to crush and stir the soil in the field. Although not shown, the working rotors of the central working body 10C and the right working body 10R also have the same configuration as the working rotor 26L.

[0034] Referring again to FIG. 1 for explanation. The left extended land leveling body rotation mechanism 34L is a mechanism for rotating a left extended land leveling body 36L that is rotatably connected to a second left land leveling body 30L of the left working body 10L. The left extended land leveling body 36L is provided to extend leftward from the end of the second left land leveling body 30L in the direction of the working machine 10, and is responsible for land leveling work in the area outside the left working body 10L. The second left land leveling body 30L and the left extended land leveling body 36L are rotatably connected by an extended land leveling body connecting portion 38L, and the left extended land leveling body 36L is rotatable so as to be folded toward the second left land leveling body 30L.

[0035] Here, in the present embodiment, the left extended land leveling body rotation mechanism 34L includes a drive motor portion 34La, a rotation arm 34Lb, and a connecting wire 34Lc. One end of the rotation arm 34Lb is connected to the drive motor portion 34La, and the other end is connected to the connecting wire 34Lc. Also, one end of the connecting wire 34Lc is connected to the rotation arm 34Lb, and the other end is connected to the left extended land leveling body 36L.

[0036] When the drive motor portion 34La operates, a rotational driving force is generated, and the rotation arm 34Lb rotates in a substantially horizontal direction. In conjunction with the rotational movement of the rotation arm 34Lb, the left extended land leveling body 36L pulled by the connecting wire 34Lc rotates via the extended land leveling body connecting portion 38L. Thereby, the storage and deployment of the left extended land leveling body 36L become possible.

[0037] In the present embodiment, an example in which the left extended land leveling body rotation mechanism 34L is composed of the drive motor portion 34La, the rotation arm 34Lb, and the connecting wire 34Lc has been shown. However, any other mechanism may be used as long as it can rotate the left extended land leveling body 36L via the extended land leveling body connecting portion 38L.

[0038] Next, the right working body 10R will be described. The right working body 10R includes a support frame 18R that extends in the left-right direction and supports the right working body 10R, a right shield cover 24R, a working rotor (not shown) disposed below the right shield cover 24R, a transmission frame (chain case) 20R, a first right soil leveling body 28R, a second right soil leveling body 30R, a right lever control mechanism 32R, and a right extended soil leveling body rotation mechanism 34R. Here, since the roles played by the right shield cover 24R, the transmission frame 20R, the first right soil leveling body 28R, the second right soil leveling body 30R, the right lever control mechanism 32R, and the right extended soil leveling body rotation mechanism 34R are the same as those of the corresponding elements in the aforementioned left working body 10L, the description here will be omitted. Also, the right extended soil leveling body 36R and the extended soil leveling body connecting portion 38R are the same as the aforementioned left extended soil leveling body 36L and the extended soil leveling body connecting portion 38L.

[0039] The support frame 18R also serves as the main body frame of the right working body 10R and has a transmission shaft (not shown) inserted therein.

[0040] In the state where the right working body 10R is deployed, the transmission frame 20R is connected to the transmission shaft inserted into the right support frame 18C via the transmission shaft inserted into the support frame 18R. Therefore, the power transmitted to the transmission shaft inserted into the right support frame 18C is transmitted to the transmission frame 20R.

[0041] Furthermore, the working machine 10 according to the present embodiment is provided with a central soil gathering plate 40Ca and 40Cb, a left soil gathering plate 40L, and a right soil gathering plate 40R on the central working body 10C, the left working body 10L, and the right working body 10R, respectively. These are plates for controlling the water flow (actually, the flow of water containing soil) generated during the subsoiling operation. By providing these soil gathering plates, the finish of the field surface can be improved.

[0042] For example, the center earth-return plates 40Ca and 40Cb are provided at positions where they return soil to the ruts such as the tires of the traveling body that travels in front of the working machine 10, and contribute to flattening the undulations of the field caused by the ruts. Further, the left earth-return plate 40L and the right earth-return plate 40R draw the soil inward and draw in the surrounding water flow on the back side of each earth-return plate. As a result, even if straw or the like is floating outside the ends of the left working body 10L and the right working body 10R, it is drawn into the respective working rotors by the water flow, contributing to improving the finish of the field surface.

[0043] Further, the working machine 10 according to the present embodiment includes a left level control mechanism 32L and a right level control mechanism 32R in the left working body 10L and the right working body 10R, respectively. These left level control mechanism 32L and right level control mechanism 32R function as means for restricting or releasing the upward and downward rotation of the second left leveling body 30L and the second right leveling body 30R, respectively, in the same manner as the center level control mechanism 32C.

[0044] The left working body 10L and the right working body 10R described above rotate by the action of the rotation cylinder 600 via the working body rotation mechanisms 44a and 44b provided at both ends of the central working body 10C, and assume the above-described storage state or deployment state. In the deployed state, the first central leveling body 28C and the first left leveling body 28L are connected by the first connecting portion 48a, and the first central leveling body 28C and the first right leveling body 28R are connected by the first connecting portion 48b. Further, the second central leveling body 30C and the second left leveling body 30L are connected by the second connecting portion 50a, and the second central leveling body 30C and the second right leveling body 30R are connected by the second connecting portion 50b.

[0045] [1-2. Configuration of the working body rotation mechanism 44] FIG. 3 is a front view of an agricultural working machine (in a state where only the right working body is stored) according to an embodiment of the present invention. In FIG. 3, the right working body 10R is in a stored state, and the left working body 10L is in a deployed state. The configuration of the working body rotation mechanism 44 will be described with reference to FIG. 3. Note that FIG. 3 omits some configurations for the sake of clarity in explaining the configuration of the working body rotation mechanism. Similarly, FIGS. 4 to 6 and 9 to 12 also omit some configurations hereinafter.

[0046] As shown in FIG. 3, the working body rotation mechanism 44b includes a central working body rotation arm 60C, a right working body rotation arm 60R, and a connection rotation mechanism 70. Also, the working body rotation mechanism 44a similarly includes a central working body rotation arm 60C, a left working body rotation arm 60L, and a connection rotation mechanism 70.

[0047] Since the configurations of the working body rotation mechanism 44b and the working body rotation mechanism 44a are the same, in the following description, mainly the configuration of the working body rotation mechanism 44b, that is, the configuration of the central working body 10C and the right working body 10R will be described, and the description of the working body rotation mechanism 44a will be omitted.

[0048] The central working body rotation arm 60C and the right working body rotation arm 60R may be collectively referred to as the working body rotation arm 60. The central working body rotation arm 60C is fixed to the central shield cover 24C. The right working body rotation arm 60R is rotatably connected to the central working body rotation arm 60C by a connection portion 61 and is fixed to the right shield cover 24R. The connection rotation mechanism 70, the details of which will be described later, is a mechanism for rotating the right working body rotation arm 60R with respect to the central working body rotation arm 60C, that is, a mechanism for rotating the right working body 10R with respect to the central working body 10C.

[0049] As will be described in detail later, the connection portion 61 is provided with a sensor 200 (see FIG. 4), and the rotation state of the right working body 10R with respect to the central working body 10C is detected by the sensor 200.

[0050] The central working body 10C is provided with a first locking member 900 extending in the same direction as the extending direction of the connecting portion 61. The first locking member 900 is fixed to the central shield cover 24C.

[0051] The connecting and rotating mechanism 70 includes a contact member 100, a second locking member 400, a rotating connecting member 500, a cylinder 600, and a connecting rod 700.

[0052] A recess is formed at an end portion of the contact member 100 (on the side adjacent to the central working body 10C when the right working body 10R is deployed). In a state where the right working body 10R is deployed, the recess of the contact member 100 abuts against the first locking member 900 of the central working body 10C (see FIGS. 3 and 6), thereby restricting the downward rotation of the right working body 10R. The contact member 100 is fixed to the right shield cover 24R, but its fixing position may be slidable in the left - right direction.

[0053] The second locking member 400 includes a tip portion 410 and the other end portion 415, and is rotatably connected to a connection portion 420 provided on the contact member 100 at a substantially intermediate position between the tip portion 410 and the other end portion 415. The tip portion 410 of the second locking member locks to the first locking member 900 in a state where the right working body 10R is deployed, thereby restricting the rotation of the right working body 10R with respect to the central working body 10C (see FIGS. 3 and 6). The state where the second locking member 400 is locked to the first locking member 900 is referred to as a locked state. On the other hand, a state where the second locking member 400 is not locked to the first locking member 900 or is in a positional relationship where it cannot be locked is referred to as an unlocked state. In the present embodiment, the locked state and the unlocked state are switched by the rotation of the second locking member 400.

[0054] As will be described later, the tip portion 410 of the second locking member 400 is hook-shaped. In the locked state, the tip portion 410 of the second locking member 400 wraps around the first locking member 900 on the opposite side of the portion where the contact member 100 contacts the first locking member 900 (see FIG. 6). Further, a sensor 300 (see FIG. 4) is provided near the first locking member 900 of the central shield cover 24C, and the sensor 300 detects the state of the second locking member 400, that is, whether it is in the locked state or the unlocked state.

[0055] In this embodiment, a configuration in which the second locking member 400 is rotatably connected to the contact member 100 is illustrated, but the configuration is not limited to this. For example, the second locking member 400 may be connected to the contact member 100 so as to slide in the vertical direction.

[0056] The rotation connecting member 500 is rotatably connected to the central working body 10C. Specifically, the rotation connecting member 500 is rotatably connected about a connection portion 591 fixed to the central shield cover 24C. Although the detailed configuration of the rotation connecting member 500 will be described later, the rotation connecting member 500 rotates while contacting a part of the right working body 10R to rotate the right working body 10R. That is, the rotation of the rotation connecting member 500 causes the right working body 10R to rotate with respect to the central working body 10C. The rotation connecting member 500 can also be referred to as a cylinder arm.

[0057] The cylinder 600 is rotatably connected to the central working body 10C, although not shown in the figure. Further, the cylinder 600 is rotatably connected to the rotation connection member 500. The cylinder 600 has a cylinder tube 610 and a piston rod 620. The cylinder tube 610 is rotatably connected to the central working body 10C. The piston rod 620 is rotatably connected to the rotation connection member 500 by a connection portion 640 provided on the rotation connection member 500. By the telescopic movement of the cylinder tube 610 and the piston rod 620, the rotation connection member 500 rotates about the connection portion 591. In other words, the cylinder 600 functions as an actuator that applies power to the rotation connection member 500. And the rotation connection member 500 converts the linear power of the cylinder 600 into rotational power.

[0058] The connecting rod 700 is rotatably connected to each of a connection portion 425 provided at the other end portion 415 of the second locking member 400 and a connection portion 641 provided on the rotation connection member 500. That is, the connecting rod 700 connects the rotation connection member 500 and the second locking member 400. The connecting rod 700 transmits the power of the cylinder 600 to the second locking member 400, thereby interlocking the operation of the second locking member 400 with the operations of the cylinder 600 and the rotation connection member 500. That is, the locked state and the unlocked state are switched by the operation of the cylinder 600. The connecting rod 700 is a telescopic member. However, the connecting rod 700 does not necessarily have to be telescopic.

[0059] In addition, in this specification, "interlocking" means that when a specific part moves, other parts related to the moved specific part make a predetermined movement (a series of related movements). For example, in this embodiment, when the right working body 10R is deployed, when the right working body 10R rotates by the power of the cylinder 600 and enters the deployed state, the second locking member 400 also rotates and enters the locked state. Thus, the rotation of the right working body 10R and the rotation of the second locking member 400 are a series of related movements, and it is said that the right working body 10R and the second locking member 400 are interlocked. In this case, it is not limited to the movement of the right working body 10R and the movement of the second locking member 400 being performed by the same actuator (cylinder 600). As long as a series of movements are performed such that when the right working body 10R rotates and enters the deployed state, the second locking member 400 also rotates and enters the locked state, it is included in the interlocking in this specification. Even if the rotation of the right working body 10R and the rotation of the second locking member 400 are performed by different actuators respectively, it is said that the right working body 10R and the second locking member 400 are interlocked. Therefore, when storing the right working body 10R, even in a case where first the right extended soil leveling body 36R is rotated to the storage position and then the right working body 10R is rotated to the storage position, it is said that the right extended soil leveling body 36R and the right working body 10R are interlocked.

[0060] In this embodiment, a configuration is exemplified in which the first locking member 900, the rotation connecting member 500, and the cylinder 600 are provided on the central working body 10C, and the second locking member 400 is provided on the right working body 10R. However, the configuration is not limited to this. For example, the rotation connecting member 500 and the cylinder 600, or only the cylinder 600 may be provided on the right working body 10R. In this case, the first locking member 900 and the second locking member 400 may be respectively provided on the central working body 10C and the right working body 10R as in FIG. 3, or the first locking member 900 may be provided on the right working body 10R and the second locking member 400 may be provided on the central working body 10C.

[0061] [1-3. Sensors 200, 300, and rotation connecting member 500 provided on the working body rotation mechanism 44] FIG. 4 is an enlarged view of a connecting portion between a central working body 10C and a right working body 10R in a front view of an agricultural working machine according to an embodiment of the present invention. With reference to FIG. 4, a sensor 200, 300, and a rotation connecting member 500 provided in a working body rotation mechanism 44 will be described. Since the sensor 200, 300, and the rotation connecting member 500 provided in the working body rotation mechanism 44b are the same as those provided in the working body rotation mechanism 44a, in the following description, the configuration of the sensor 200, 300, and the rotation connecting member 500 provided in the working body rotation mechanism 44b will be mainly described. As shown in FIG. 4, the sensor 200 is provided at a connection portion 61 that rotatably connects a right working body rotation arm 60R to a central working body rotation arm 60C, and the sensor 300 is provided near a first locking member 900. The rotation connecting member 500 has a main body portion 510 and an intermittent sliding portion 520. The main body portion 510 is a plate-shaped member. The intermittent sliding portion 520 is a substantially L-shaped through hole provided in the plate-shaped main body portion 510. A continuous sliding portion 530 fixed to the right working body rotation arm 60R is inserted into the intermittent sliding portion 520. When the rotation connecting member 500 rotates, the continuous sliding portion 530 slides on the inner wall of the intermittent sliding portion 520, and the right working body rotation arm 60R rotates about the connection portion 61 as a rotation center, that is, the right working body 10R rotates about the connection portion 61 as a rotation center.

[0062] The sensor 200 detects the state of the movable part. In the present embodiment, the movable part corresponds to the right working body rotation arm 60R, in other words, the right working body 10R. That is, the sensor 200 detects the rotation state of the right working body 10R with respect to the central working body 10C via the right working body rotation arm 60R. As the sensor 200, for example, a rotary sensor (including a rotary switch) or an angle sensor such as a potentiometer is used. The rotation angle of the right working body 10R with respect to the central working body 10C can be detected by a rotary sensor or the like. Based on the detection signal detected by the sensor 200, it is possible to determine whether the right working body 10R is in a stored state or a deployed state. In the above configuration, the right working body 10R may be referred to as a "first movable part", and the sensor 200 may be referred to as a "first sensor".

[0063] Note that, as described above, the rotation of the right working body 10R is interlocked with the linear movement of the piston rod 620 of the cylinder 600 and the rotation of the rotation connection member 500. Therefore, it can be said that the sensor 200 indirectly detects the movement state of the piston rod 620 and the rotation state of the rotation connection member 500 based on the rotation state of the right working body 10R. That is, the movable part whose state is detected by the sensor 200 may be the piston rod 620 or the rotation connection member 500. In the case of the above configuration, the piston rod 620 or the rotation connection member 500 can be referred to as the "first movable part".

[0064] The sensor 300 detects the state of the movable part. In the present embodiment, the movable part corresponds to the second locking member 400. That is, the sensor 300 detects the state of the second locking member 400. In the present embodiment, since the locking state and the unlocked state are switched by the rotation of the second locking member 400, it can be said that the sensor 300 detects the rotation state of the second locking member 400, that is, the locking and unlocking state of the tip 410 of the second locking member 400. As the sensor 300, for example, a proximity sensor is used. When it is detected by the proximity sensor that the tip 410 of the second locking member 400 approaches the sensor 300 (to a predetermined distance), it can be determined that the second locking member 400 is in the locked state. In the above configuration, the second locking member 400 may be referred to as the "second movable part", and the sensor 300 may be referred to as the "second sensor". Note that, as the sensor 300, a switch such as an imaging sensor or a photo interrupter that switches ON / OFF corresponding to whether or not the tip 410 of the second locking member 400 is in the locked state with the first locking member 900 may be used.

[0065] As described above, the second locking member 400 rotates in conjunction with the linear movement of the piston rod 620, the rotation of the rotation connecting member 500, and the rotation of the right working body 10R. That is, it can be said that the second locking member 400 (second movable part) interlocks with the operation of at least one of the piston rod 620, the right working body 10R, and the rotation connecting member 500 (first movable part). The working machine 10 performs one process based on the outputs of both the sensor 200 (first sensor) and the sensor 300 (second sensor). In the following description, performing a process based on the outputs of both of the above two sensors does not mean performing individual processes based on the outputs of each of the two sensors, but rather means performing one process based on the two signals output from the two sensors. In other words, it means performing a process of obtaining one determination result based on the two signals output from the two sensors. The details of the process based on the outputs of these two sensors will be described later.

[0066] In the above configuration, the central working body 10C may be referred to as the "first working part", and the right working body 10R may be referred to as the "second working part". The cylinder 600 may be referred to as the "power part", and the rotation connecting member 500 may be referred to as the "first movable part". In this case, the above configuration can be expressed as follows. The cylinder 600 (power part) generates rotational power for the right working body 10R (second working part). The rotation connecting member 500 (first movable part) is connected to the cylinder 600 (power part). The right working body 10R (second working part) rotates along with the movement of the rotation connecting member 500 (first movable part) that has received power from the cylinder 600 (power part).

[0067] Note that, although details will be described later, the present invention is not limited to a configuration in which a rotary sensor or the like is used as the sensor 200, a configuration in which the rotary sensor or the like is provided at the connection part 61, a configuration in which a proximity sensor is used as the sensor 300, and a configuration in which the proximity sensor is provided so as to detect the tip part 410 of the second locking member 400. For example, among the above-described plurality of configurations, at least any one of them may be a configuration different from the above.

[0068] [1-4. Operation of the working body rotation mechanism 44] The operation of the working body rotation mechanism 44 will be described with reference to FIGS. 4 to 6. Since the operation of the working body rotation mechanism 44 is the same for the working body rotation mechanism 44b and the working body rotation mechanism 44a, the operation of the working body rotation mechanism 44b will be described here. FIGS. 4 to 6 are enlarged views of the connecting portion between the central working body 10C and the right working body 10R in a front view of the agricultural working machine according to an embodiment of the present invention.

[0069] FIG. 4 is a view showing a state immediately before the right working body 10R in the stored state starts to rotate counterclockwise (in the R1 direction) when viewed from the front of the working machine 10. In the stored state, the right working body 10R is located above the central working body 10C. The cylinder 600 in FIG. 4 is in the most contracted state. In this state, a force that attempts to rotate the right working body 10R clockwise (in the R2 direction) due to its own weight acts on the right working body 10R. Therefore, when the cylinder 600 extends, the rotation connecting member 500 rotates in the R1 direction with the connecting portion 591 as the rotation center, and as it rotates, the intermittent sliding portion 520 provided on the rotation connecting member 500 pushes the continuous sliding portion 530, causing the right working body 10R to rotate in the R1 direction with the connecting portion 61 as the rotation center. Therefore, immediately before the right working body 10R starts to rotate in the R1 direction, the continuous sliding portion 530 is in contact with the inner wall on the left side (the right side when viewing FIG. 4 with the numbers upright) of the intermittent sliding portion 520.

[0070] While the right working body 10R is rotating in the R1 direction with a force acting to rotate it in the R2 direction due to its own weight, the continuous sliding portion 530 slides upward (so as to climb the inner wall on the left side of the intermittent sliding portion 520). On the other hand, when the right working body 10R further rotates in the R1 direction with the connecting portion 61 as the rotation center and the center of gravity of the right working body 10R exceeds its fulcrum, and the force acting on the right working body 10R due to its own weight switches from the R2 direction to the R1 direction, the right working body 10R rotates in the R1 direction with a force acting to rotate it in the R1 direction due to its own weight. While the right working body 10R is rotating in the R1 direction in this state, the continuous sliding portion 530 slides downward (so as to descend the inner wall on the right side (left side when viewing FIG. 4 with the numbers upright) of the intermittent sliding portion 520). Then, the right working body 10R reaches the state shown in FIG. 5.

[0071] In the state shown in FIG. 5, the second locking member 400 is not yet locked to the first locking member 900. Between the state of FIG. 4 and the state of FIG. 5, while the continuous sliding portion 530 slides on the intermittent sliding portion 520, it moves in the direction of the arrow within the first region 521 of the intermittent sliding portion 520. And in the state of FIG. 5, the continuous sliding portion 530 reaches near the substantially L-shaped bent portion.

[0072] From the state shown in FIG. 5, as the cylinder 600 further extends, the rotation connecting member 500 further rotates in the R1 direction with the connecting portion 591 as the rotation center, reaching the state shown in FIG. 6. Between the state of FIG. 5 and the state of FIG. 6, with the rotation of the rotation connecting member 500 in the R1 direction with the connecting portion 591 as the rotation center, the right working body 10R further rotates in the R1 direction with the connecting portion 61 as the rotation center, and the continuous sliding portion 530 moves upward in the second region 522 of the intermittent sliding portion 520, so that the other end portion 415 of the second locking member 400 connected to the connecting rod 700 is pushed by the connecting rod 700, and the second locking member 400 rotates in the R1 direction with the connecting portion 420 as the rotation center. By this operation, the second locking member 400 changes from the unlocked state to the locked state.

[0073] In the states shown in FIGS. 4 to 6, the sensor 200 detects the rotation angle of the right working body 10R with respect to the central working body 10C. When the right working body 10R is deployed from the stored state to the deployed state and the detection signal detected by the sensor 200 indicates that the right working body 10R has rotated by a predetermined angle or more, it is determined that the right working body 10R is in the deployed state. For example, when the sensor 200 is configured as a potentiometer, the processing unit 810 described later determines that the right working body 10R is in the deployed state when the output voltage of the potentiometer exceeds a predetermined value. The information processing device 80 described later determines that the right working body 10R is in the deployed state when the right working body 10R has rotated to the state shown in FIG. 6, but it may also be determined that the state of FIG. 5 is the deployed state.

[0074] When the second locking member 400 is in the locked state, the tip 410 of the second locking member 400 is positioned near the sensor 300. When the distance between the tip 410 of the second locking member 400 and the sensor 300 becomes short and the detection signal detected by the sensor 300 indicates that the distance between the tip 410 of the second locking member 400 and the sensor 300 has become equal to or less than a predetermined value, the information processing device 80 described later determines that the second locking member 400 is in the locked state.

[0075] The second locking member 400 (second movable part) can restrict the rotation of the right working body 10R (second working part) with respect to the central working body 10C (first working part) in a state where the right working body 10R (second working part) is rotated and deployed.

[0076] [1-5. Information Processing of the Working Machine 10] FIG. 7 is a functional block diagram showing the functional configuration of an agricultural working machine according to an embodiment of the present invention. The functional block diagram shown in FIG. 7 shows the functions of the information processing device 80 provided in the control box 11. In FIG. 7, the functions of the information processing device 80 related to the processing based on the detection signals from the two sensors 200 and 300 are shown. Note that various control programs for realizing various functions are installed in the information processing device 80, and the information processing device 80 also has functions other than the functions shown in FIG. 7.

[0077] As shown in FIG. 7, the information processing apparatus 80 includes a processing unit 810, an operation instruction unit 820, and a notification instruction unit 830. The processing unit 810 receives the outputs (detection signals) of the sensors 200 and 300. The processing unit 810 performs processing based on the outputs of both the sensors 200 and 300. That is, the processing unit 810 does not perform individual processing (for example, in a specific state, when the output of the sensor 200 does not indicate a predetermined state, specifically, a warning light for notifying that the lateral working body is not deployed, and when the output of the sensor 300 does not indicate a predetermined state, specifically, a warning light for notifying that the second locking member is not in a locked state, and controls them individually), but performs one processing based on the two outputs of the sensors 200 and 300. Note that the detection signals of the sensors 200 and 300 may be transmitted to the processing unit 810 either wirelessly or wired.

[0078] When the working machine 10 is controlled to a predetermined state, the processing unit 810 performs different processing depending on whether the output of the sensor 200 indicates that the first movable part is in a predetermined state and the output of the sensor 300 indicates that the second movable part is in a predetermined state, and whether either one of the output of the sensor 200 and the output of the sensor 300 indicates that the movable part (the right working body 10R, the second locking member 400) is not in a predetermined state.

[0079] The processing unit 810 includes a look-up table LUT. In the look-up table LUT, the processing content of the processing unit 810 corresponding to each case is defined, where only one of the outputs of the sensors 200 and 300 indicates that the movable part is not in a predetermined state, and the output of the sensor 200 indicates that the first movable part is in a predetermined state and the output of the sensor 300 indicates that the second movable part is in a predetermined state. However, the processing content of the processing unit 810 is not limited to the above configuration. For example, the processing unit 810 may determine the processing content by performing specific arithmetic processing on the outputs of the sensors 200 and 300 respectively.

[0080] When the working machine 10 is controlled to a predetermined state, it means a case where it is presumed that the right working body 10R is in a deployed state, and it means a case where it is presumed that the right working body 10R is in a deployed state based on other members or sensors different from the sensors 200 and 300. For example, when a certain time has elapsed after the operation instruction unit 820 described later transmits a control instruction (control signal) for starting the deployment operation of the right working body 10R to the actuator 840, the information processing device 80 presumes that the right working body 10R is in a deployed state. As described above, even though it is presumed that the working machine 10 has been controlled to a predetermined state, when the output of the sensor 200 does not indicate that the first movable part is in a predetermined state, or the output of the sensor 300 does not indicate that the second movable body is in a predetermined state, the information processing device 80 determines that the state of the working machine 10 is abnormal.

[0081] Based on the output of the processing unit 810, the operation instruction unit 820 sends an instruction to cause the actuator 840 of the working machine 10 to perform an operation for controlling the first movable part to a predetermined state. Based on the output of the processing unit 810, the notification instruction unit 830 sends an instruction to cause the notification means 850 of the working machine 10 to perform notification. In the present embodiment, the actuator 840 is the cylinder 600. However, the actuator 840 may be any one of the drive motor unit 34La of the left extended land leveling body rotation mechanism 34L, the power units of the apron control mechanisms 31a and 31b, and the power unit of the center leveling control mechanism 32C. When the actuator 840 corresponds to the drive motor unit 34La, for example, the sensor 200 is an angle sensor that detects the rotation angle of the rotation arm 34Lb driven by the drive motor unit 34La, and the sensor 300 may be a sensor capable of detecting that the left extended land leveling body 36L is in a deployed state.

[0082] The notification means 850 may be, for example, any one of a warning light, a display (display device), or a speaker, or a combination thereof. Note that the notification means is not limited to the notification means 850 of the working machine 10, and may be provided on the traveling body, or may be provided on a communication terminal (such as a smartphone, a tablet, or a personal computer) of an operator who operates the traveling body. In the former case, a signal is sent wired or wirelessly from the notification instruction unit 830 to the control means of the traveling body or to the notification means (warning light, display (display device), speaker, etc.) of the traveling body. When the signal is sent to the control means of the traveling body, the control means of the traveling body controls the notification means provided on the traveling body based on the signal. Also, when the signal is sent to the notification means of the traveling body, the notification means of the traveling body is controlled by the signal, and predetermined notification information based on the signal is notified by the notification means of the traveling body. Further, when the communication terminal of the operator serves as the notification means, a signal is sent wirelessly from the notification instruction unit 830 to the communication terminal of the operator, and the notification information is notified by the communication terminal of the operator. Furthermore, a signal may be sent wired or wirelessly from the notification instruction unit 830 to the control means of the traveling body, and the control means of the traveling body may control the communication terminal of the operator wired or wirelessly.

[0083] FIG. 8 is a flowchart showing the processing of the processing unit 810 of the agricultural working machine according to an embodiment of the present invention. Using FIG. 8, the processing of the processing unit 810 when the right working body 10R shifts from the stored state to the deployed state will be described. Note that a program for controlling each part of the information processing device 80 to execute a series of processes shown in FIG. 8 is also stored in the information processing device 80.

[0084] When the processing unit 810 detects that an operator has performed a predetermined operation on a remote controller or a communication terminal (for example, an operation instructing the deployment of the working body) or that a predetermined signal (for example, a signal instructing the deployment of the working body) has been output from the traveling body, the processing unit 810 transmits a signal to extend the actuator (cylinder 600) to the operation instruction unit 820 and starts a series of processes in the flowchart shown in FIG. 8. Based on the output of the processing unit 810, when the operation instruction unit 820 transmits a signal to the cylinder 600, that is, when the cylinder 600 receives the signal from the operation instruction unit 820, its extension operation is started. When the rotation of the right working body 10R starts, first, "control state estimation" is performed (step S901). In S901, as described above, it is determined whether a certain period of time has elapsed after the start of the deployment (rotation) operation of the right working body 10R. If, in S901, a certain period of time has not elapsed after the start of the deployment (rotation) operation of the right working body 10R, it is estimated that the right working body 10R is not controlled in the deployed state ("during operation" in S901), and the determination in S901 is made again. On the other hand, if, in S901, a certain period of time has elapsed after the start of the deployment (rotation) operation of the right working body 10R, it is estimated that the right working body 10R has been controlled in the deployed state ("completed" in S901), and the process proceeds to the next step S902.

[0085] Following "completed" in S901, "first sensor determination" is performed (S902). In S902, it is determined whether the output of the sensor 200 is in a state indicating that the right working body 10R has rotated to the deployed state. If, in S902, the output of the sensor 200 is in a state indicating that the right working body 10R has rotated to the deployed state ("OK" in S902), the process proceeds to the next step S903. On the other hand, if, in S902, the output of the sensor 200 is not in a state indicating that the right working body 10R has rotated to the deployed state ("NG" in S902), the process proceeds to the next step S904.

[0086] Following "OK" in S902, "Second Sensor Judgment" is performed (S903). In S903, it is determined whether the output of sensor 300 indicates a state where the second locking member 400 is in a locked state. If the output of sensor 300 in S903 indicates a state where the second locking member 400 is in a locked state ( "OK" in S903), the process proceeds to the next step S908. In step S908, a signal is sent to the operation instruction unit 820 to stop the extension operation of the actuator (cylinder 600), and this flowchart ends. On the other hand, if the output of sensor 300 in S903 does not indicate a state where the second locking member 400 is in a locked state ( "NG" in S903), a signal is sent to the notification instruction unit 830 to cause the notification means 850 to issue a notification of an abnormality (abnormality notification) (step S905), and the process proceeds to the next S908. Note that the notification of an abnormality may simply be a notification that an abnormality has occurred, or it may be a notification of which of the sensors 200 and 300 has an abnormality.

[0087] Following "NG" in S902, "Second Sensor Judgment" is performed (S904). Similar to S903 in S904, it is determined whether the output of sensor 300 indicates a state where the second locking member 400 is in a locked state. If the output of sensor 300 in S904 indicates a state where the second locking member 400 is in a locked state ( "OK" in S904), the process proceeds to S905. On the other hand, if the output of sensor 300 in S904 does not indicate a state where the second locking member 400 is in a locked state ( "NG" in S904), the process proceeds to the next step S906.

[0088] Following "NG" in S904, "Retry count determination" is performed (S906). In S906, it is determined whether the retry count from the start to the present of the flowchart shown in FIG. 8 has reached a predetermined number of times. If the retry count has reached the predetermined number of times in S906 ("NG" in S906), the process proceeds to S905. On the other hand, if the retry count has not reached the predetermined number of times in S906 ("OK" in S906), the retry count is incremented, and a signal for driving the actuator (cylinder 600) to rotate the right working body 10R to the stored state and then rotate the right working body 10R back to the deployed state again is sent to the operation instruction unit 820 (step S907), and the determination in S901 is performed again. In the example of FIG. 8, a flowchart in which an abnormality notification is made is illustrated, but instead of the abnormality notification, the extension operation of the cylinder 600 may be stopped. Further, the retry count determination in S906 may be performed when "NG" in S902 and / or "OK" in S904, and an abnormality notification may be made when "NG" in S906.

[0089] As described above, when the two movable parts (the right working body 10R and the second locking member 400) of the information processing apparatus 80 are controlled to be in the deployed state and the locked state, the output of the sensor 200 indicates that the right working body 10R has rotated to the deployed state, and the output of the sensor 300 indicates that the second locking member 400 is in the locked state, and when the output of the sensor 200 does not indicate that the right working body 10R has rotated to the deployed state, or the output of the sensor 300 does not indicate that the second locking member 400 is in the locked state, different processes are performed. Note that the two movable parts are not limited to the above combination, and other combinations of members that interlock with each other may be used. With the above configuration, the state of the actuator and the movable parts interlocking therewith can be correctly grasped. Also, the different processes are not limited to the above configuration. For example, when the output of the first sensor indicates that the right working body 10R has rotated to the deployed state and the output of the second sensor indicates that the second locking member 400 is in the locked state, the extension operation of the cylinder 600 is stopped. When the output of the first sensor does not indicate that the right working body 10R has rotated to the deployed state, or the output of the second sensor does not indicate that the second locking member 400 is in the locked state, a retry is performed. When the number of retries reaches a predetermined number, the extension operation of the cylinder 600 may be stopped and an abnormality notification may be issued.

[0090] In addition, in this embodiment, although a configuration is exemplified in which it is determined whether or not a certain period of time has elapsed after the start of the deployment (rotation) operation of the right working body 10R in S901, the present invention is not limited to this configuration. For example, based on the rotation angle detected by the sensor 200, it is also possible to determine whether or not the right working body 10R has rotated to the deployed state. In that case, instead of repeating the step of S902, the steps of S901 and S904 can be omitted. Further, when the right working body 10R is in the deployed state and the cylinder 600 stops extending (due to an overload being applied to the cylinder 600), the determination in S901 can also be made based on the presence or absence of the lock current generated. Further, for example, when an angle sensor including a rotary sensor is used as the sensor 200, when it is estimated that the right working body 10R is in the deployed state based on the output of the angle sensor or the like, the information processing device 80 may determine that the working machine 10 has been controlled to a predetermined state.

[0091] As described above, in this embodiment, the rotation angle of the right working body 10R or the left working body 10L with respect to the central working body 10C, that is, the operation of the cylinder 600 (actuator) is detected by the sensor 200, and based on the output of the sensor 300, the state of the second locking member 400 interlocked with the movement of the right working body 10R and the left working body 10L, that is, whether or not the second locking member 400 is in the locked state is detected. Then, by making a determination based on the detection results of the sensor 200 and the sensor 300, the state of the working machine 10 can be determined more accurately. If only the sensor 200 is provided in the working machine 10, it is impossible to determine whether or not the right working body 10R and the left working body 10L are in the locked state when the right working body 10R and the left working body 10L are deployed. On the other hand, if only the sensor 300 is provided in the working machine 10, even if it is possible to determine whether or not the second locking member 400 is in the locked state when the right working body 10R and the left working body 10L are stored, the positions of the right working body 10R and the left working body 10L cannot be grasped, and it is impossible to determine whether or not the right working body 10R and the left working body 10L are housed in the predetermined storage positions.

[0092] In addition, when the traveling body performs automatic driving and the tilling work is carried out by unmanned automatic operation, if the working machine 10 of the present embodiment is applied, the traveling body can grasp the state of the working machine 10 more accurately. For example, in the working machine 10, when deploying the right working body 10R or the left working body 10L, stones, mud, etc. caught by the second locking member 400 may become obstacles and the second locking member 400 may not rotate to the locked state. In order to avoid traveling or continuing work in such a state, the traveling body needs to grasp such an abnormality. According to the working machine 10 according to the present embodiment, since the two sensors 200 and 300 can detect the abnormality, the state of the working machine 10 can be accurately grasped, and it is possible to suppress traveling, power transmission from the traveling body to the working machine, or work being performed when the second locking member 400 is not in the locked state. In addition, when the tilling work is carried out by unmanned automatic driving, triggered by the information processing device 80 (processing unit 810) of the working machine 10 receiving a predetermined signal from the control means of the traveling body, the information processing device 80 transmits a control signal for deploying the right working body 10R or the left working body 10L to the cylinder 600 (actuator), and starts executing the series of processes in FIG. 8.

[0093] Also, for example, when the traveling body automatically drives the tilling work unmanned, if the outputs of the two sensors 200 and 300 of the working machine 10 both indicate a predetermined state, that is, when both the first sensor determination in S902 and the second sensor determination in S903 are determined as "OK", the traveling body performs the tilling work. However, if at least one of the two sensors 200 and 300 does not indicate a predetermined state, that is, when either the first sensor determination in S902 or the second sensor determination in S903 is determined as "NG", the traveling body may be controlled not to travel, transmit power to the working machine, or perform work.

[0094] Also, when at least one of the outputs of the two sensors 200 and 300 indicates that it is not in a predetermined state, an abnormality may be notified to the operator. When the work machine 10 makes the above determination, the work machine 10 may notify the abnormality to a remote controller provided on the work machine 10 or the user's communication terminal. The work machine 10 may send a signal indicating that an abnormality has occurred to the control unit of the traveling body, and based on this signal, the traveling body may notify the abnormality via a monitor provided on the traveling body or the user's communication terminal or the like.

[0095] In addition, when the traveling body and the work machine 10 are traveling on a public road, the traveling body and the work machine 10 are controlled to enable traveling on the public road only when the output of the sensor 200 indicates a state where the right working body 10R is in a stored state and the output of the sensor 300 indicates a state where the second locking member 400 is in an unlocked state. In other states, the traveling on the public road may be controlled to be impossible. Also, when working in a field, the traveling of the traveling body and the operation of the work machine 10 may be controlled to be possible only when the output of the sensor 200 indicates a state where the right working body 10R is in a deployed state and the output of the sensor 300 indicates a state where the second locking member 400 is in a locked state.

[0096] In this embodiment, a configuration in which the sensor 200 and the sensor 300 are used in combination is exemplified, but the present invention is not limited to this configuration. For example, a configuration in which the sensor 200 is not provided and only the sensor 300 is provided may be used.

[0097] In addition, in the present embodiment, a series of processes shown in FIG. 8 were performed by the information processing device 80 (processing unit 810) provided in the control box 11 of the working machine 10, but the present invention is not limited to this. If a program for determining the state of the working machine 10 by executing a series of processes shown in FIG. 8 (or at least a part thereof) is installed in the control means (information processing device) of the traveling body, the control means of the traveling body can execute a series of processes shown in FIG. 8 (at least a part thereof) based on the signal transmitted from the working machine 10 to determine the state of the working machine 10. For example, the working machine 10 may transmit the detection signals of the sensors 200 and 300 wirelessly or by wire to the control means of the traveling body, and the control means of the traveling body may perform the first sensor determination and the second sensor determination to determine the state of the working machine 10. In this case, the control state determination may be performed by the working machine 10 or by the control means of the traveling body. When the control means of the traveling body performs the determination, the processing unit 810 of the working machine 10 transmits a signal to notify the control means of the traveling body that a signal for extending the actuator (cylinder 600) has been transmitted to the operation instruction unit 820.

[0098] By installing a program for determining the state of the working machine 10 in the operator's communication terminal (such as a smartphone, tablet, personal computer, etc.), it is also possible to execute at least a part of the series of processes shown in FIG. 8 on the operator's communication terminal. In this case, when it is determined that at least one of the outputs of the two sensors 200 and 300 is not in a predetermined state, that is, when either the first sensor determination in S902 or the second sensor determination in S903 is determined to be "NG", an abnormality notification may be displayed on the display device (display) provided in the communication terminal.

[0099] Furthermore, in the present embodiment, when the processing unit 810 detects that an operator has performed a predetermined operation (for example, an operation instructing the deployment of the working body) on the remote controller or the communication terminal, or that a predetermined signal (for example, a signal instructing the deployment of the working body) has been output from the traveling body, a series of processes in the flowchart shown in FIG. 8 are started. However, the present invention is not limited to this example. When the actuator 840 is a hydraulic cylinder provided in the working machine 10 and the traveling body directly operates the hydraulic cylinder, when the processing unit 810 detects that the traveling body has operated the hydraulic cylinder, a series of processes in the flowchart shown in FIG. 8 may be started. In this configuration, the operation instruction unit 820 outputs an operation instruction to the control means of the traveling body, the hydraulic cylinder, or an actuator that controls the external hydraulic pressure of the traveling body that operates the hydraulic cylinder. Further, when the traveling body directly operates the hydraulic cylinder, the information processing device 80 may be provided on the traveling body. In this configuration, the information processing device 80 may receive the outputs of the sensors 200 and 300 provided in the working machine 10 wirelessly or by wire.

[0100] [2. Second Embodiment] The working machine 10 according to the second embodiment will be described with reference to FIG. 9. The working machine 10 according to the second embodiment is similar to the working machine 10 according to the first embodiment, but the two are different in that a sensor 210 for detecting the expansion and contraction state of the cylinder 600 is provided instead of the sensor 200 for detecting the rotation angle of the right working body 10R with respect to the central working body 10C. In the following description, the description of the same configuration as that of the working machine 10 according to the first embodiment will be omitted, and mainly the differences therefrom will be described.

[0101] [2-1. Sensor 210 Provided in Cylinder 600] FIG. 9 is an enlarged view of the connection portion between the central working body and the lateral working body in a front view of an agricultural working machine according to an embodiment of the present invention. As shown in FIG. 9, the sensor 210 is fixed to the end of the cylinder tube 610 and the end of the piston rod 620.

[0102] The sensor 210 expands and contracts together with the cylinder 600 and detects the expansion and contraction state of the cylinder 600. By detecting the expansion and contraction state of the cylinder 600, the rotation angle of the right working body 10R with respect to the central working body 10C can be calculated. By using the information related to the rotation angle calculated instead of the output of the sensor 200 according to the first embodiment, the same processing as in the first embodiment can be performed.

[0103] In this embodiment, a configuration in which the sensor 210 and the sensor 300 are used in combination is illustrated, but the configuration is not limited thereto. For example, a configuration in which the sensor 210 is not provided and only the sensor 300 is provided may be used.

[0104] [3. Third Embodiment] The working machine 10 according to the third embodiment will be described with reference to FIG. 10. The working machine 10 according to the third embodiment is similar to the working machine 10 according to the first embodiment, but is different in that a sensor 220 for detecting the rotation angle of the continuous sliding portion 530 provided on the right working body 10R is provided instead of the sensor 200 for detecting the rotation angle of the right working body 10R with respect to the central working body 10C. In the following description, the description of the same configuration as that of the working machine 10 according to the first embodiment will be omitted, and mainly the differences therefrom will be described.

[0105] [3-1. Sensor 220 Provided on Continuous Sliding Portion 530] FIG. 10 is an enlarged view of a connecting portion between a central working body and a lateral working body in a front view of an agricultural working machine according to an embodiment of the present invention. As shown in FIG. 10, the sensor 220 detects the rotation angle of the continuous sliding portion 530. As the sensor 220, for example, a rotary sensor or a potentiometer is used. By detecting the rotation angle of the continuous sliding portion 530, the rotation angle of the right working body 10R with respect to the central working body 10C can be calculated. By using the information related to the rotation angle calculated instead of the output of the sensor 200 according to the first embodiment, the same processing as in the first embodiment can be performed.

[0106] In this embodiment, a configuration in which the sensor 220 and the sensor 300 are used in combination is illustrated, but the configuration is not limited to this. For example, a configuration in which the sensor 220 is not provided and only the sensor 300 is provided may be used.

[0107] [4. Fourth Embodiment] The working machine 10 according to the fourth embodiment will be described with reference to FIG. 11. The working machine 10 according to the fourth embodiment is similar to the working machine 10 according to the first embodiment, but instead of the sensor 300 provided near the first locking member 900, a sensor 310 for detecting the rotation angle of the second locking member 400 with respect to the connecting portion 420 is provided at the connecting portion 420, and the two are different in this respect. In the following description, the description of the same configuration as that of the working machine 10 according to the first embodiment will be omitted, and mainly the differences from it will be described.

[0108] [4-1. Sensor 310 Provided at Connecting Portion 420] FIG. 11 is an enlarged view of a connecting portion between a central working body and a side working body in a front view of an agricultural working machine according to an embodiment of the present invention. As shown in FIG. 11, the sensor 310 detects the rotation angle of the second locking member 400 with respect to the connecting portion 420. As the sensor 310, for example, a rotary sensor or a potentiometer is used. By detecting the rotation angle of the second locking member 400, it is possible to determine whether the second locking member 400 is in a locked state or an unlocked state. By using the output of the sensor 310 instead of the output of the sensor 300 according to the first embodiment, the same processing as in the first embodiment can be performed. Although the configuration in which the sensor 310 is provided at the connecting portion 420 has been illustrated, the sensor 310 may be provided on the second locking member 400 to detect the rotation angle of the connecting portion 420 with respect to the second locking member 400.

[0109] In this embodiment, a configuration in which the sensor 200 and the sensor 310 are used in combination is illustrated, but the configuration is not limited to this. For example, a configuration in which the sensor 200 is not provided and only the sensor 310 is provided may be used.

[0110] [5. Fifth Embodiment] With reference to FIG. 12, the working machine 10 according to the fifth embodiment will be described. The working machine 10 according to the fifth embodiment is similar to the working machine 10 according to the first embodiment, but differs in that instead of the sensor 300 detecting the distance from the tip 410 of the second locking member 400, the sensor 320 detects the distance from the protruding portion 430 provided on the second locking member 400. In the following description, the description of the same configuration as that of the working machine 10 according to the first embodiment will be omitted, and mainly the differences therebetween will be described.

[0111] [5-1. Sensor 320 provided on the right side shield cover 24R] FIG. 12 is an enlarged view of the connecting portion between the central working body and the side working body in a view of the agricultural working machine according to an embodiment of the present invention as seen from the front. As shown in FIG. 12, the second locking member 400 is provided with a protruding portion 430 so as to overlap the connecting portion 420. The sensor 320 is provided at a position where it can detect the protruding portion 430 when the second locking member 400 is in the locked state, but does not detect the connecting portion 420 of the right side shield cover 24R. The protruding portion 430 rotates together with the second locking member 400. When the second locking member 400 is in the locked state, the protruding portion 430 is detected by the sensor 320. On the other hand, when the second locking member 400 is in the unlocked state, the protruding portion 430 is not detected by the sensor 320. That is, based on the output of the sensor 320, it is possible to determine whether the second locking member 400 is in the locked state or the unlocked state. By using the output of the sensor 320 instead of the output of the sensor 300 according to the first embodiment, the same processing as in the first embodiment can be performed.

[0112] In this embodiment, a configuration in which the sensor 200 and the sensor 320 are used in combination is illustrated, but the present invention is not limited to this configuration. For example, a configuration in which the sensor 200 is not provided and only the sensor 320 is provided may be used.

[0113] [6. Sixth Embodiment] In the first to fifth embodiments, a configuration in which the state of the right working body 10R with respect to the central working body 10C, or the state of the member connecting the cylinder 600 and the second locking member 400, and the state of the second locking member 400 are detected by sensors has been exemplified. However, the present invention can be applied to members other than those described above.

[0114] For example, by providing sensors for detecting the respective states of the apron control mechanisms 31a and 31b and other members interlocked therewith, the state of the pressurizing mechanism related to apron control can be correctly grasped. Similarly, by providing sensors for detecting the respective states of the central lever control mechanism 32C and other members interlocked therewith, the state of the pressurizing mechanism related to lever control can be correctly grasped.

[0115] Further, in the left extended soil leveling body rotation mechanism 34L, by providing sensors for detecting the respective states of the drive motor unit 34La and the left extended soil leveling body 36L interlocked therewith, the state of the extended soil leveling body can be correctly grasped.

[0116] Also, in the first to fifth embodiments, a weeding machine has been exemplified as the working machine 10, but the above sensors may be provided for other working machines. For example, the above sensors may be provided for agricultural working machines such as a ridging machine and a lawn mower.

[0117] Also, in the first to fifth embodiments, a configuration in which the state of the right working body 10R with respect to the central working body 10C is detected using the sensors 200, 210, or 220 has been exemplified. However, the present invention is not limited to this configuration. For example, instead of these sensors, a configuration in which the locked current of the drive unit that drives the cylinder 600 is detected may be used to detect the state of the right working body 10R with respect to the central working body 10C. In this case, the same processing as in the first to fifth embodiments may be performed using the locked current and the outputs of the sensors 300, 310, or 320 capable of determining the state of the second locking member 400.

[0118] As described above, the present invention has been explained with reference to the drawings. However, the present invention is not limited to the above-described embodiments, and can be appropriately modified without departing from the gist of the present invention. For example, based on the agricultural working machine and the information processing apparatus of the present embodiment, those in which those skilled in the art have appropriately added, deleted, or changed the design of the components are also included in the scope of the present invention as long as they have the gist of the present invention. Furthermore, the above-described embodiments can be appropriately combined as long as there is no contradiction, and technical matters common to each embodiment are included in each embodiment even without explicit description.

[0119] In addition, even if there are other operational effects different from those brought about by the aspects of the above-described embodiments, those that are obvious from the description of this specification or can be easily predicted by those skilled in the art are naturally understood to be brought about by the present invention.

Description of Reference Numerals

[0120] 10: Working machine, 10C: Central working body, 10L: Left working body, 10R: Right working body, 11: Control box, 12: Top mast, 14: Lower link connection part, 16: Input shaft, 18: Support frame, 20C, 20L, 20R: Transmission frame, 22: Gear box, 24C: Central shield cover, 24L: Left shield cover, 24R: Right shield cover, 26L: Working rotor, 26La: Rotation shaft, 26Lb: Working claw, 28C: First central soil leveling body, 28L: First left soil leveling body, 28R: First right soil leveling body, 30C: Second central soil leveling body, 30L: Second left soil leveling body, 30R: Second right soil leveling body, 31a, 31b: Apron control mechanism, 32C: Central lever control mechanism, 32L: Left lever control mechanism, 32R: Right lever control mechanism, 34L: Left extended soil leveling body rotation mechanism, 34La: Drive motor part, 34Lb: Rotation arm, 34Lc: Connecting wire, 34R: Right extended soil leveling body rotation mechanism, 36L: Left extended soil leveling body, 36R: Right extended soil leveling body, 38L, 38R: Extended soil leveling body connection part, 40Ca: Central soil gathering plate, 40L: Left soil gathering plate, 40R: Right soil gathering plate, 44a, 44b: Working body rotation mechanism, 48a, 48b: First connecting part, 50a, 50b: Second connecting part, 60: Working body rotation arm, 60C: Central working body rotation arm, 60R: Right working body rotation arm, 61: Connection part, 70: Connecting rotation mechanism, 80: Information processing device, 100: Contact member, 200, 210, 220, 300, 310, 320: Sensor, 400: Second locking member, 410: Tip part, 420: Connection part, 430: Protrusion part, 500: Rotation connecting member, 510: Body part, 520: Intermittent sliding part, 530: Continuous sliding part, 591: Connection part, 600: Cylinder, 610: Cylinder tube, 620: Piston rod, 640, 641: Connection part, 700: Connecting rod, 810: Processing part, 820: Operation instruction part, 830: Notification instruction part, 840: Actuator, 850: Notification means, 900: First locking member

Claims

1. a first movable part, a second movable part interlocking with the first movable part, a first sensor for detecting the state of the first movable part, a second sensor for detecting the state of the second movable part, and a processing unit that performs processing based on the outputs of both the first sensor and the second sensor, an agricultural working machine.

2. The agricultural working machine according to claim 1, further comprising a connecting part that connects the first movable part and the second movable part and transmits the force generated by the movement of the first movable part to the second movable part to interlock the second movable part with the first movable part.

3. When the processing unit controls the first movable part and the second movable part to a predetermined state, the processing unit performs different processing depending on whether both the output of the first sensor and the output of the second sensor indicate that they have been controlled to the predetermined state, and whether either one of the output of the first sensor and the output of the second sensor does not indicate that it has been controlled to the predetermined state. The agricultural working machine according to claim 1.

4. a first working part, and a second working part that rotates with respect to the first working part, and the second movable part restricts the rotation of the second working part with respect to the first working part in a state where the second working part has rotated. The agricultural working machine according to claim 1.

5. further comprising a power unit that generates rotational power of the second working part, the first movable part is connected to the power unit, and the second working part rotates along with the movement of the first movable part that has received power from the power unit. The agricultural working machine according to claim 4.

6. The processing unit performs one process based on the outputs of both the first sensor and the second sensor. The agricultural working machine according to claim 1.

7. receiving the outputs of a first sensor for detecting the state of a first movable part of an agricultural working machine and a second sensor for detecting the state of a second movable part interlocking with the first movable part, an information processing device that performs processing based on the outputs of both the first sensor and the second sensor.

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