Working method for agricultural work machine

Abstract

To provide a working method for agricultural work that can cooperate with a traveling machine body in order to perform control while determining the post-work state.SOLUTION: An agricultural work machine 21 includes: a furrow forming section 23 that forms furrows in the soil after work as the work machine advances; an imaging device 31 that is disposed to image the furrows; and a control unit capable of mutual communication with a traveling machine body control unit which is provided so as to operate an operating section provided on the traveling machine body on the basis of information about the shape of the furrows imaged by the imaging device 31. A working method for an agricultural work machine includes the steps of: causing the control unit to compare and determine a measured value obtained by measuring the furrow length on the basis of image information from the imaging device 31, with a combined value obtained by adding a preset value being the furrow length of the furrow and a preset allowable value; and issuing a first operation instruction to the traveling machine body 11 when it is determined that the measured value is greater than the combined value.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] This invention relates to a working method of an agricultural working machine.

Background Art

[0002] Regarding a mechanism for operating a lifting device of a traveling body to bring an agricultural working machine attached to the traveling body into an appropriate tilling state for tilling or crushing soil, it is proposed in "Control Device for Cultivator" of Patent Document 1 and "Automatic Control System for Working Machine" of Patent Document 2. Patent Document 1 "Control Device for Cultivator" describes a mechanism for operating a lifting device provided in a traveling body based on detection information obtained by a cover sensor that detects the rotation angle of a rear cover of a rotary tilling device as the height from the ground.

[0003] The mechanism described in Patent Document 2 "Automatic Control System for Working Machine" is to install cameras at other locations where the traveling body and the working machine attached thereto can be viewed from the side and front and rear, and to calculate and measure based on the images obtained by these cameras, thereby raising and lowering the working machine attached to the traveling body.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] Originally, for a working machine that tills or crushes soil, it is desirable to appropriately operate the traveling body according to the state of the field where the work is performed. The operation of the traveling body involves not only the lifting operation of the lifting device to which the working machine is attached, but also a wide variety of operations such as the traveling speed and the PTO rotation speed of the power take-off shaft on the working machine side.

[0006] The mechanism described in Patent Document 1, "Control Device for Cultivator," is as follows: "In the control device 18, when the rotary tillage device 3 is forcibly raised from the tillage depth setting position to the upper limit position by the control operation of the forced lifting control means 18D, the lifting speed control means 18E for adjusting the lifting speed of the rotary tillage device 3 based on the detection information from the cover sensor S3 as shown in FIG. 3 is provided as a control program." (Patent Document 1

[0024] ). Since the cover sensor only operates the lifting device of the traveling machine body, control considering the soil state after tillage and after soil crushing has not been performed.

[0007] The mechanism described in Patent Document 2, "Automatic Control System for Working Machine," is as follows: "At the same time as the above control operation, the wheel sinking amount of the tractor main body 1 and the front-rear pitching posture of the machine body are calculated and measured by analyzing the captured image, and the obtained information is transmitted to the control device 17 as information for compensating the control amount and control speed in executing the above automatic tillage depth control, and is utilized for improving responsiveness and preventing hunting." (Patent Document 2

[0030] ). "An image of the tillage device 2 taken from the rear (see FIG. 5) is analyzed to calculate and measure the absolute inclination angle and relative inclination angle with respect to the ground surface GL in the left-right direction of the tillage device 2, etc." (Patent Document 2

[0032] ). "The imaging device 41 is provided with an analysis unit 44 including an analysis device 42 for analyzing the captured image and a transmission device 43 for wirelessly transmitting the information obtained by the image analysis. On the other hand, the traveling machine body 31 of the excavator B is provided with a receiving device 45 for receiving this wireless information, which is connected to the control device 38, and the position of the excavation point x in the bucket 37 is calculated and measured by analyzing the captured image, and excavation work at a desired depth, horizontal excavation, inclined excavation of a slope, etc. are performed based on the obtained information." (Patent Document 2

[0040] ).

[0008] The mechanism described in Patent Document 2 installs a camera at a location where the traveling machine body and the working machine attached thereto can be viewed from the side and front and rear, and calculates and measures based on the image obtained by this camera to raise and lower the working machine attached to the traveling machine body. Although the mechanism described in Patent Document 2 enables more detailed control using a camera than Patent Document 1, the soil conditions after tillage and after soil crushing are not considered, similar to Patent Document 1. The present invention has been made in view of the above problems, and an object thereof is to provide a working method for an agricultural working machine that can cooperate with a traveling machine body in order to perform control while determining the state after work.

Means for Solving the Problems

[0009] This invention is a groove forming part that forms a groove in the soil after work as it progresses, a photographing device provided so as to be able to photograph the groove, an agricultural working machine having a control part capable of communicating with a traveling machine body control part that operably provides an operating part provided in the traveling machine body based on information regarding the shape of the groove photographed by the photographing device, a step of comparing and determining a measured value obtained by the control part measuring the length of the groove based on the image information from the photographing device with a set value that is a preset groove length of the groove and a total value obtained by adding a preset allowable value, a step of giving a first operation instruction to the traveling machine body when it is determined that the measured value is greater than the total value, A working method for an agricultural working machine, characterized by including relates to.

[0010] This invention further a step of determining whether or not the traveling machine body has reached the instruction limit of the first operation after the first operation instruction, A working method for an agricultural working machine, characterized by including relates to.

[0011] This invention further a step of giving a second operation instruction when the traveling machine body has reached the instruction limit of the first operation, A working method for an agricultural working machine, characterized by including relates to.

[0012] This invention further When all of the above operation units reach their operation limits, a step of transmitting a warning instruction; A working method of an agricultural working machine, characterized by including; relates to.

[0013] This invention further provides When it is determined that the measured value is not greater than the total value, a step of comparing and determining between the measured value and another total value obtained by subtracting the allowable value from the set value; A working method of an agricultural working machine, characterized by including; relates to.

[0014] This invention further provides When it is determined that the measured value is smaller than the other total value, a step of giving another first operation instruction to the traveling machine body; A working method of an agricultural working machine, characterized by including; relates to.

[0015] This invention further provides When the traveling machine body reaches the instruction limit of another first operation after the other first operation instruction, a step of giving another second operation instruction; A working method of an agricultural working machine, characterized by including; relates to.

[0016] This invention further provides When all of the above operation units reach their operation limits, a step of transmitting a warning instruction; A working method of an agricultural working machine, characterized by including; relates to.

[0017] This invention A groove forming part that forms grooves in the soil after work as it progresses; An imaging device provided so as to be able to image the groove; Based on information regarding the shape of the groove photographed by the imaging device, it includes a control unit capable of communicating with a traveling machine control unit that operably provides an operation unit provided in the traveling machine body. The control unit compares and determines a measured value obtained by measuring the length of the groove based on the image information from the imaging device with a set value that is a preset groove length of the groove and a combined value obtained by adding a preset allowable value, and gives a first operation instruction to the traveling machine body when it is determined that the measured value is greater than the combined value, characterized by the agricultural working machine, relating to.

[0018] The present invention further provides the control unit determines whether the traveling machine body reaches the instruction limit of the first operation after the first operation instruction, characterized by the agricultural working machine, relating to.

[0019] The present invention further provides when the control unit determines that the traveling machine body reaches the instruction limit of the first operation, the control unit gives a second operation instruction, characterized by the agricultural working machine, relating to.

[0020] The present invention further provides the control unit issues a warning instruction when all the operation units reach the operation limit, characterized by the agricultural working machine including relating to.

[0021] The present invention further provides when the control unit determines that the measured value is not greater than the combined value, the control unit compares and determines the measured value with another combined value obtained by subtracting the allowable value from the set value, characterized by the agricultural working machine, relating to.

[0022] The present invention further provides when the control unit determines that the measured value is smaller than the other combined value, the control unit gives another first operation instruction to the traveling machine body, characterized by the agricultural working machine, relating to.

[0023] The present invention further provides When the control unit issues another second operation instruction if the aircraft reaches the instruction limit of another first operation after the control unit issues the other first operation instruction. An agricultural work machine characterized by including related to.

[0024] This invention further When all the operation units reach the operation limit, the control unit issues a warning instruction. An agricultural work machine characterized by related to.

Effect of the Invention

[0025] An object of the present invention is to provide a working method and an agricultural work machine of an agricultural work machine capable of cooperating with an aircraft while judging a state after work for control.

Brief Explanation of Drawings

[0026]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Modes for Carrying Out the Invention

[0027] In the first embodiment of the present invention illustrated in FIGS. 1 to 6, 11 is an aircraft and 21 is an agricultural work machine. The aircraft 11 is a tractor in this embodiment. 12 is a traveling device. The traveling device 12 is a tire of a tractor in this embodiment. 13 is the PTO shaft. The PTO shaft 13 outputs driving force from the traveling body 11 to the agricultural working machine 21. 14 is the lifting device. The lifting device 14 connects the traveling body 11 and the agricultural working machine 21 and raises and lowers the agricultural working machine 21.

[0028] The agricultural working machine 21 is mounted on the traveling body 11 to perform operations. In the first embodiment of the present invention, the agricultural working machine 21 performs a harrowing operation which is a tilling and soil crushing operation. The soil after the harrowing operation becomes muddy by being stirred with moisture. 22 is the land preparation body. The land preparation body 22 is provided on the agricultural working machine 21 to prepare the field.

[0029] 23 is the groove forming part. The agricultural working machine 21 is provided such that at least a part of the rear part of the agricultural working machine 21 can be buried in the soil and the groove forming part 23 is provided at the buried location. Therefore, the groove forming part 23 can form a groove 41 in the soil after crushing the soil as the agricultural working machine 21 advances. The groove forming part 23 has a quadrangular pyramid shape with the bottom at the top as shown in FIGS. 2 and 3. The field is tilled, and then the groove forming part 23 forms the groove 41 so as to scratch the soil on which the land preparation is completed. The groove forming part 23 in the embodiment has a quadrangular pyramid shape with the apex at the bottom and is provided at the grounding part of the land preparation body 22 which is the land preparation part provided in the agricultural working machine 21.

[0030] The soil after the harrowing operation becomes muddy by being stirred with moisture, and the soil is the soil after the harrowing operation and is in a muddy state containing a large amount of moisture. Therefore, the groove 41 is blocked so that the rear side returns to the original state as time passes after the groove is formed, with respect to the front side in the traveling direction formed by the groove forming part 23.

[0031] When the groove 41 is short, that is, when the groove 41 disappears early, it means that the crushing of the soil is not sufficient. The moisture that was not mixed with the soil fills the groove 41 early, making the groove 41 appear shorter. When the groove 41 becomes short, for example, when the depth of the agricultural working machine 21 is insufficient, only the surface layer becomes muddy, the moisture in the uncrushed soil part below rises, and this moisture fills the groove 41. Or, even if the depth is good, if the traveling speed of the agricultural working machine 21 at a certain point is too fast or the PTO rotation speed of the PTO shaft 13 is too low, the soil will not be sufficiently crushed and will not reach an appropriate muddy state. For this reason, moisture rises to the soil surface layer and fills the groove 41.

[0032] On the other hand, when the groove 41 is long, that is, when the disappearance of the groove 41 is too slow, if the crushing of the soil progresses excessively, the stirring of the soil and moisture will be excessive, and this will occur when the viscosity of the mud after tillage increases. In this state, there is also little moisture for filling the groove 41 formed in the topsoil of the mud, and since the mud itself has a high clay content, it takes time to fill the groove 41. Therefore, the apparent groove 41 becomes long.

[0033] When the length of the groove 41 becomes long, for example, when the agricultural working machine 21 sinks excessively deep and stirs and crushes from the surface layer to a deep position, the mixing of the mud progresses too much and the viscosity increases. Or, in addition to the depth of the agricultural working machine 21, if the traveling speed of the agricultural working machine 21 is too slow or the PTO rotation speed of the PTO shaft 13 is too fast, the crushing of the soil and the mixing with moisture will progress too much and will not reach an appropriate muddy state. For this reason, due to the too-high viscosity of the soil after the operation, it takes time for the groove 41 to be filled, and as a result, the apparent length of the groove 41 becomes long.

[0034] By setting the difference from the reference state on the traveling machine body 11 side as an allowable value that is the indication limit, it becomes possible to adjust the operation condition of the operation part of the traveling machine body 11.

[0035] That is, as the allowable value is increased, the operation of the operating part of the traveling body 11 becomes insensitive, and even if there is a difference in the length of the groove 41 determined by photographing with the photographing device 31, the operating part of the traveling body 11 does not immediately operate. On the contrary, as the allowable value is decreased, the operation of the operating part of the traveling body 11 becomes sensitive, and when there is a difference in the length of the groove 41 determined by photographing with the photographing device 31 compared to the case where the allowable value is increased, the operating part of the traveling body 11 immediately operates.

[0036] 31 is a photographing device. In this embodiment, the photographing device 31 consists of a camera. The photographing device 31 is provided at the rear upper part of the agricultural working machine 21. The photographing device 31 can photograph the groove 41 and the soil after the operation. The photographing device 31 is provided on the agricultural working machine 21 so as to be able to photograph at least the rear part of the agricultural working machine 21 and the entire groove 41. In order to photograph including the rear part of the agricultural working machine 21, the length of the groove 41 can be photographed with respect to the rear part of the agricultural working machine 21, that is, the soil leveling body 22 in the case of the first embodiment as a comparison target. Therefore, in the determination of the length of the photographed groove 41, the rear part of the agricultural working machine 21 can be used as a reference, so that the determination of the groove length can be easily made. There is no limitation on the installation location of the photographing device 31. Also, the photographing direction for moving the groove 41 only needs to be able to photograph the groove 41, so it does not necessarily have to be directly from above, and it may be projected obliquely. Further, the photographing device 31 can appropriately measure the groove length 42 of the groove 41 by the processing of the control unit (arithmetic unit) even if the photographed image is distorted, such as an omnidirectional camera or an ultra-wide-angle camera. 32 is the photographing range of the photographing device 31.

[0037] The photographing device 31 photographs the groove length 42 from the front of the groove 41 formed by the formed groove forming part 23 to the rear where the groove 41 is blocked and to the disappearing part of the groove 41. Since the groove 41 is photographed from above the groove forming section 23 from the rear side, the photographing device 31 can be arranged close to the agricultural working machine 21. The photographing range of the photographing device 31 is set to photograph at least the range where the width of the groove 41 is visually close and the range where the difference in width from the disappearing side behind the groove 41 can be recognized. Also, it is desirable to photograph at least the entire groove 41 of one groove 41. When the groove 41 is photographed by the photographing device 31 from in front of the wide groove 41, it becomes easier to accurately grasp the position of the end portion of the groove 41. Further, the end portion of the groove 41 on the rear side in the traveling direction is more likely to be clearly recognized as having disappeared due to the perspective that can be caused by the photographing of the photographing device 31. That is, the groove 41 that gradually disappears toward the rear side in the traveling direction can be clearly recognized at a shorter distance in the photographed image by means of perspective.

[0038] The soil is the soil after the tilling operation and is in a muddy state containing a large amount of moisture. Therefore, the rear side of the groove 41 formed by the groove forming section 23 is blocked so as to return to the original state as time passes after the groove is formed, as compared with the front side in the traveling direction of the groove 41. Therefore, when photographing along the direction of the groove 41, an image that can recognize the difference in the longitudinal length and the left-right width from the groove formation start portion to the disappearing portion of the groove 41 can be clearly photographed.

[0039] A block diagram showing the information transmission relationship illustrated in FIG. 5 will be described. The operation unit, alarm device, display device, first operation unit, second operation unit, ··· n - 1th operation unit, and nth operation unit provided in the traveling machine body 11 are connected to the traveling machine body control unit (control unit). Specific examples of the operation unit include the first operation unit = the lifting device 14 (three-point link) of the traveling machine body 11, the second operation unit = the PTO device composed of the PTO shaft 13 of the traveling machine body 11, the third operation unit = the traveling device 12 of the traveling machine body 11, and the like.

[0040] The traveling machine body control unit (control unit) is provided with a communication processing unit and an operation instruction unit. The communication processing unit processes the information input from the operation unit, the warning device, the display device, the first operation unit, the second operation unit, ··· the n-1th operation unit, and the nth operation unit, and transmits it to the work machine control unit (control unit) provided in the agricultural work machine 21. The operation instruction unit outputs an operation instruction consisting of the content that the traveling machine body 11 side should operate, received from the work machine control unit (control unit) by communication, to the warning device, the display device, the first operation unit, the second operation unit, ··· the n-1th operation unit, and the nth operation unit. The traveling machine body control unit (control unit) communicates and connects with the work machine control unit (control unit).

[0041] The work machine control unit (control unit) is provided with a communication processing unit, an arithmetic unit, an operation processing unit, and a storage unit. The communication processing unit of the work machine control unit (control unit) processes the information input from the traveling machine body control unit (control unit) so that they can communicate with each other. The arithmetic unit calculates and measures the groove length 42 of the groove 41 by image analysis processing, and outputs a certain acquired value. Further, the arithmetic unit performs a comparison operation between the output acquired value and the sum value of the set value, which is the reference value of the groove length 42 of the groove 41 set in advance and the allowable value set in advance. The operation processing unit performs a selection process of an operation for giving an operation command defined in advance to the traveling machine body 11. The storage unit stores the calculation result in the arithmetic unit. The work machine control unit (control unit) is connected to the operation unit, the warning device, the display device, and the imaging device (camera) 31 provided in the agricultural work machine 21.

[0042] The traveling machine body control unit illustrated in FIG. 5 is installed near the driver's seat of the traveling machine body and is provided so as to be communicable with the work machine control unit (control unit) provided in the agricultural work machine 21. The information about the groove 41 photographed by the imaging device 31 is transmitted to the arithmetic unit provided in the work machine control unit. When the arithmetic unit provided in the work machine control unit (control unit) shown in FIG. 5 acquires the imaging information captured by the imaging device 31, and based on the imaging information, the groove length 42 of the groove 41 is calculated and measured by image analysis processing, and an acquisition value, which is the value of the groove length 42 of the groove 41 included in the imaging information, is output.

[0043] Based on the operation result obtained by the arithmetic unit, the work machine control unit (control unit) can perform a selection process of an operation for giving a predetermined operation command to the traveling body 11, and is provided with an operation processing unit shown in FIG. 5 that can transmit an operation signal based on the selection process to the traveling body 11. Based on the operation result obtained by the arithmetic unit, a selection process of an operation for giving a predetermined operation command to the traveling body 11 is performed, the operation signal based on the selection process is processed by the communication processing unit, and transmitted to the traveling body 11.

[0044] Furthermore, the arithmetic unit performs a comparison operation between the output acquisition value and the sum value of the set value, which is the reference value of the groove length 42 of the groove 41 set in advance, and the allowable value set in advance. The arithmetic unit performs a comparison operation between the acquisition value and the sum value of the set value, which is the value of the length of the groove 41 determined in advance, and the allowable value, which is the value of the allowable length determined in advance.

[0045] Based on the result of the comparison operation by the operation processing unit of the control unit, an operation signal, which is an operation instruction, is transmitted to the traveling body 11 side. The operation signal transmitted from the control unit of the agricultural work machine 21 can be received by the control device of the traveling body 11, and various operation units can be operated based on the operation signal. There is no limitation on the operation unit of the traveling body 11 to be operated by the operation signal. The number of operation units is 1 to n.

[0046] The traveling body 11 that has received the operation signal by the control unit can operate the first operation unit, the second operation unit, and the third operation unit provided in the traveling body 11 based on the operation signal, and controls the agricultural work machine 21 by operating them. Specific examples of the operating unit include the first operating unit = the lifting device 14 (three-point link) of the traveling body 11, the second operating unit = the PTO device composed of the PTO shaft 13 of the traveling body 11, the third operating unit = the traveling device 12 of the traveling body 11, and the like. The traveling speed is increased or decreased by the traveling device 12. When applied to the flowchart shown in FIG. 6, the first A1 operation is to raise the lifting device 14, the first B1 operation is to lower the lifting device 14, the second A2 operation is to increase the speed of the traveling device 12, the second B2 operation is to decelerate the traveling device 12, the third A3 operation is to decrease the PTO rotation speed of the PTO shaft 13, the third B3 operation is to increase the PTO rotation speed of the PTO shaft 13, and the like.

[0047] The control unit can receive the current states of the first operating unit, the second operating unit, and the third operating unit as traveling body information and can transmit the same as traveling body information. The control unit is configured to determine whether or not to transmit an operation signal based on the traveling body information.

[0048] A comparison operation is performed on the sum of the set value, which is the reference value of the groove length 42 of the groove 41 from the front of the groove 41 of the groove forming portion to the rear where the groove 41 is blocked, and the preset allowable value, which are set in advance. As a result, when the groove 41 is short, that is, when the groove 41 disappears early, the operation processing unit gives an operation instruction to the traveling body 11 side, which consists of the content for the traveling body 11 to operate so as to eliminate the shortening of the groove when the groove 41 is short.

[0049] Specific examples of the operating unit, which is the target of the operation instruction consisting of the content for the traveling machine to operate so as to eliminate the shortening of the groove when the groove 41 is short, include the first operating unit = the lifting device 14 (three-point link) of the traveling body 11, the second operating unit = the PTO device composed of the PTO shaft 13 of the traveling body 11, the third operating unit = the traveling device 12 of the traveling body 11, and the like. The traveling speed is increased or decreased by the traveling device 12. When applied to the flow chart, the first A1 operation raises the lifting device 14, the first B1 operation lowers the lifting device 14, the second A2 operation increases the speed of the traveling device 12, the second B2 operation decelerates the traveling device 12, the third A3 operation decreases the PTO rotation speed of the PTO shaft 13, and the third B3 operation increases the PTO rotation speed of the PTO shaft 13. By selecting these operations, the operation to eliminate the elongation of the groove is performed.

[0050] That is, in order to solve the problem that the pulverization of the soil is insufficient when the groove 41 is short, that is, the groove 41 disappears early, by the lifting operation of the lifting device to which the working machine is attached, the pulverization of the soil by the agricultural working machine 21 is made sufficient to form a muddy state below the surface layer, the depth of the agricultural working machine 21 is further increased, or the speed of the agricultural working machine 21 is decreased, and the PTO rotation speed of the PTO shaft 13 is increased to obtain an appropriate muddy state. Adjust the depth, length, etc. of the groove to be created to perform appropriate ridging work.

[0051] On the other hand, a comparison operation is performed between the total value of the set value, which is the reference value of the groove length 42 of the groove 41 from the front of the groove 41 in the groove forming portion to the rear where the groove 41 is blocked, and the preset allowable value, which are preset and formed. As a result, when the groove 41 is long, that is, when the disappearance of the groove 41 is too slow, an operation instruction is given to the traveling machine body 11 side so that the traveling machine operates to eliminate the elongation of the groove when the groove 41 is long.

[0052] Specific examples of the operation part, which is the target of the operation instruction consisting of the content in which the traveling machine should operate to eliminate the elongation of the groove when the groove 41 is long, include the first operation part = the lifting device 14 (three-point link) of the traveling machine body 11, the second operation part = the PTO device consisting of the PTO shaft 13 of the traveling machine body 11, the third operation part = the traveling device 12 of the traveling machine body 11, and the like. The traveling speed is increased or decreased by the traveling device 12. When applied to the flow chart, the first A1 operation raises the lifting device 14, the first B1 operation lowers the lifting device 14, the second A2 operation increases the speed of the traveling device 12, the second B2 operation decelerates the traveling device 12, the third A3 operation decreases the PTO rotation speed of the PTO shaft 13, and the third B3 operation increases the PTO rotation speed of the PTO shaft 13. By selecting these operations, the operation to eliminate the elongation of the groove is performed. Adjust the depth, length, etc. of the groove to be created to perform appropriate raking work.

[0053] That is, in order to solve the problem that the groove 41 is long, that is, the disappearance of the groove 41 is too slow, the pulverization of the soil progresses excessively, and the stirring of the soil and moisture is excessive, resulting in high viscosity of the mud after tillage. By the lifting operation of the lifting device to which the working machine is attached, the pulverization of the soil by the agricultural working machine 21 is prevented from progressing excessively, the stirring of the soil and moisture is prevented from being excessive, and the high viscosity of the mud after tillage is avoided. By the agricultural working machine 21, stirring and pulverizing the soil from the surface layer to a deep position, prevent the mixing of the mud from progressing too much. Increase the speed of the agricultural working machine 21 so that it is not too slow, and since the PTO rotation speed of the PTO shaft 13 is too fast, the pulverization of the soil and the mixing with moisture progress too much and do not reach an appropriate mud state. Slow down the PTO rotation speed of the PTO shaft 13. Based on these illustrations and descriptions, regarding the lifting device, traveling device, and PTO rotation speed, when the groove is short and when the groove is long, the following relationships hold for the first B1 operation descent, the second B2 operation deceleration, the third B3 operation acceleration, and the first A1 operation ascent, the second A2 operation acceleration, and the third A3 operation deceleration. [Table 1]

[0054] Explain the flowchart shown in FIG. 6. In FIG. 6, Ls is a set value and a is an allowable value. When starting, at S1, acquire image information. Next, at S2, determine the groove 41 by image processing. Next, at S3, measure the length of the groove 41 and obtain a measured value L. Next, at S4, determine whether L > Ls + a?. If YES, proceed to S5. At S5, give an instruction for the first A1 operation to the traveling body 11. At S6, determine whether the traveling body 11 has reached the instruction limit of the first A1 operation. If YES, proceed to S7. At S7, stop the instruction for the first A1 operation, and then give an instruction for the second A2 operation. Next, in S8, the instruction for the (n-1)th A operation is stopped, and then the instruction for the nth A operation is given. Next, in S9, it is determined whether the traveling body 11 has reached the instruction limit for the A operation. If YES, proceed to S10. In S10, a warning instruction is issued and the process returns to the start.

[0055] In S4, it is determined whether L > Ls + a. If NO, proceed to S11. In S11, it is determined whether L < Ls - a. If YES, proceed to S12. In S12, an instruction for the first B1 operation is given to the traveling body 11. Next, in S13, it is determined whether the traveling body 11 has reached the instruction limit for the B1 operation. If YES, proceed to S14. In S14, the instruction for the B1 operation is stopped, and then the instruction for the B2 operation is given. Next, in S15, the instruction for the (n-1)th B operation is stopped, and then the instruction for the nth B operation is given. Next, in S16, it is determined whether the traveling body 11 has reached the instruction limit for the Bn operation. If YES, proceed to S17. In S17, a warning instruction is issued and the process returns to the start.

[0056] In S6, if NO, proceed to S18. In S18, the instructions for the first to nth A operations and the instructions for the first to nth B operations are stopped, and the process returns to the start. In S9, if NO, proceed to S18. In S18, the instructions for the first to nth A operations and the instructions for the first to nth B operations are stopped, and the process returns to the start. In S13, if NO, the instructions for the first to nth A operations and the instructions for the first to nth B operations are stopped, and the process returns to the start.

[0057] In S16, if NO, proceed to S18. In S18, the instructions for the first to nth A operations and the instructions for the first to nth B operations are stopped, and the process returns to the start. In S11, it is determined whether L < Ls - a. If NO, proceed to S19. In S19, the instructions for the first to nth A operations and the instructions for the first to nth B operations are stopped, and the process returns to the start.

[0058] An alarm device capable of notifying by sound and a display device enabling visual recognition may be provided on at least one of the traveling aircraft 11 or the agricultural work machine 21. When conditions are met such that all the operating parts where the traveling aircraft 11 can operate reach their operating limits, a warning instruction is transmitted, and it is possible to issue a warning to the operator by the alarm device and the display device.

[0059] The grooves 41 photographed or formed by the photographing device 31 may be one or more. The greater the number of grooves 41, the higher the reliability of the detected grooves 41, so an improvement in the accuracy of tillage depth control can be expected. The degree of narrowing of the groove 41 may be measured. For example, the start part of the groove formation part of the groove 41 may be compared with, for example, the 10 mm part from the start part of the groove formation part of the groove 41, and the 10 mm part from the start part of the groove formation part of the groove 41 and the 20 mm part from the start part of the groove formation part of the groove 41. Measure the length of the groove 41 by image processing. The area of the groove formation part may be obtained based on the color intensity of the images of the groove formation part and the non-groove formation part, or the difference in reflected light.

[0060] Based on FIG. 7, the second embodiment will be described. The groove forming part 23 tills the soil, and then forms the groove 41 so as to scratch the soil after leveling. Therefore, as long as the groove forming part 23 can form the groove 41, in the second embodiment, as shown in FIG. 7, a part of a rod-shaped member extending rearward and downward from the frame is buried in the soil after work to form the groove 41. That is, in the second embodiment, the groove forming part 23 is provided in an L-shape in front view separately from the leveling body 22, vertically rearward from the upper part of the leveling body 22, and straddling the leveling body 22.

Explanation of symbols

[0061] 11 Traveling aircraft 21 Agricultural work machine 22 Leveling body 23 Groove forming part 31 Photographing device 32 Photographing range 41 grooves

Claims

1. A groove forming unit that forms a groove in the soil after work as it progresses, An imaging device provided so as to be able to image the groove, An agricultural work machine having a control unit capable of communicating with a traveling machine body control unit that operably provides an operating unit provided in the traveling machine body based on information regarding the shape of the groove imaged by the imaging device, A step of comparing and determining a measured value obtained by the control unit measuring the length of the groove based on the image information from the imaging device with a set value that is a preset groove length of the groove and a combined value obtained by adding a preset allowable value, A step of giving a first operation instruction to the traveling machine body when it is determined that the measured value is greater than the combined value, An agricultural work machine working method characterized by including this.

2. A step of determining whether or not the traveling machine body has reached the instruction limit of the first operation after the first operation instruction, An agricultural work machine working method according to claim 1, characterized by including this.

3. A step of giving a second operation instruction when the traveling machine body has reached the instruction limit of the first operation, An agricultural work machine working method according to claim 2, characterized by including this.

4. A step of issuing a warning instruction when all the operating units reach the operation limit, An agricultural work machine working method according to claim 3, characterized by including this.

5. A step of comparing and determining a measured value with another combined value obtained by subtracting the allowable value from the measured value and the set value when it is determined that the measured value is not greater than the combined value, An agricultural work machine working method according to claim 1, characterized by including this.

6. A step of giving another first operation instruction to the traveling machine body when it is determined that the measured value is smaller than the other combined value, An agricultural work machine working method according to claim 5, characterized by including this.

7. A step of giving another second operation instruction when the traveling machine body has reached the instruction limit of another first operation after the other first operation instruction, An agricultural work machine working method according to claim 6, characterized by including this.

8. A step of issuing a warning instruction when all the operating units reach the operation limit, An agricultural work machine working method according to claim 7, characterized by including this.

9. A groove forming unit that forms a groove in the soil after work as it progresses, An imaging device provided so as to be able to image the groove, Equipped with a control unit capable of communicating with a traveling machine body control unit that operably provides an operating unit provided in the traveling machine body based on information regarding the shape of the groove imaged by the imaging device, The control unit compares and determines a measured value obtained by measuring the length of the groove based on the image information from the imaging device, a set value that is a preset groove length of the groove, and a combined value obtained by adding a preset allowable value, and gives a first operation instruction to the traveling machine body when it is determined that the measured value is greater than the combined value. The agricultural working machine is characterized by this.

10. After the first operation instruction, the control unit determines whether the traveling machine body has reached the instruction limit of the first operation. The agricultural working machine according to claim 9, characterized by this.

11. When the traveling machine body has reached the instruction limit of the first operation, the control unit gives a second operation instruction. The agricultural working machine according to claim 10, characterized by this.

12. When all the operation units reach the operation limit, the control unit issues a warning instruction. The agricultural working machine according to claim 11, characterized by including this.

13. When it is determined that the measured value is not greater than the combined value, the control unit compares and determines a different combined value obtained by subtracting the allowable value from the measured value and the set value. The agricultural working machine according to claim 9, characterized by this.

14. When it is determined that the measured value is smaller than the different combined value, the control unit gives another first operation instruction to the traveling machine body. The agricultural working machine according to claim 13, characterized by this.

15. After the another first operation instruction, when the traveling machine body has reached the instruction limit of the another first operation, the control unit gives another second operation instruction. The agricultural working machine according to claim 14, characterized by including this.

16. When all the operation units reach the operation limit, the control unit issues a warning instruction. The agricultural working machine according to claim 15, characterized by this.

Images