Control system for agricultural work machine

Abstract

To provide a control system for an agricultural work machine capable of performing accurate control including an amount of transported soil in tillage work of a work machine attached to a tractor.SOLUTION: An agricultural work machine includes a rotary work machine 50 attached to a tractor 1 to perform tillage work, a height information acquisition part 31 arranged at the tractor 1 to be able to acquire information of height and a position, a sensor 25 provided in the rotary work machine 50, and a work machine control part 21 provided in the rotary work machine 50, the rotary work machine 50 includes a tillage part 60 for performing tillage work, a tollage part cover 56 for covering an upper side of the tillage part 60, and a ground leveling body 57 located at a rear side of the tillage part 60 and attached rotationally to the tillage part cover 56, and the work machine control part 21 calculates an amount of transported soil being an amount of soil held between the tillage part 60 and the ground leveling body 57 by calculating difference between the height of a ground surface before tillage of the rotary work machine 50 and the height of the ground surface after the tillage by using information from the height position information acquisition part 31 and information from the sensor 25.SELECTED DRAWING: Figure 11

Description

[Technical Field]

[0001] The present invention relates to an agricultural machine control system, and more particularly to an agricultural machine control system capable of controlling a work machine attached to a tractor. [Background technology]

[0002] Agricultural implements attached to tractors can be adjusted to perform appropriate agricultural work by controlling their working height. Especially in tillage work, it is desirable to control the amount of soil and the height of the ground surface after tillage. For example, an automatic device may be used to control the position of the soil leveling unit and tilling part in contact with the ground surface so that they remain constant.

[0003] Patent document 1 also discloses an agricultural work machine having an unevenness detection means arranged ahead of the rotary working unit to detect the height of unevenness in the field, a rotation means for rotating the leveling body, and a rotation control means for controlling the operation of the rotation means based on the detection results detected by the unevenness detection means. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-131173 Summary of the Invention [Problem to be solved by the invention]

[0005] However, when using the above-mentioned automatic device, since the leveling body moves up and down along the unevenness of the ground surface, it can be difficult to control the height of the ground surface of the field at a constant level.

[0006] Furthermore, the configuration disclosed in Patent Document 1 does not take into consideration the amount of soil being transported, and as a result, the rotary tiller may pick up too much soil during operation, causing it to leak out and making it impossible to perform accurate leveling. Furthermore, since leveling is performed based on the height setting of the initial contact point, there is a possibility that soil will continue to be picked up throughout the entire field.

[0007] In view of the above-mentioned problems, the present invention has an object to provide an agricultural implement control system that can contribute to accurate agricultural work, including the amount of soil transported, when a work implement attached to a tractor performs tilling work. [Means for solving the problem]

[0008] In order to achieve the above-mentioned object, one typical agricultural work machine control system of the present invention comprises a rotary work machine that is attached to a tractor to perform tilling work, a height position information acquisition unit that is arranged on the tractor and can acquire height and position information, a sensor provided on the rotary work machine, and a work machine control unit that is provided on the rotary work machine, wherein the rotary work machine comprises a tilling section that performs tilling work, a tilling section cover that covers the upper side of the tilling section, and a leveling body that is located behind the tilling section and rotatably attached to the tilling section cover, and the work machine control unit uses information from the height position information acquisition unit and information from the sensor to calculate the difference between the height of the ground surface before tilling by the rotary work machine and the height of the ground surface after tilling, thereby calculating the soil transport volume, which is the amount of soil to be held between the tilling section and the leveling body. [Effects of the Invention]

[0009] According to the present invention, it is possible to contribute to accurate agricultural work, including the amount of soil to be transported, when a work implement attached to a tractor is used for tilling work. Problems, configurations, and effects other than those described above will become apparent from the following embodiments. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a block diagram of a first embodiment of an agricultural machine control system according to the present invention. [Figure 2]1 is a side view showing a work machine applicable to a first embodiment of the present invention. [Figure 3] 1 is a plan view showing a work machine applicable to a first embodiment of the present invention. [Figure 4] 2 is an enlarged view of a pressure device in a work machine applicable to the first embodiment of the present invention. [Figure 5] 4 shows a flowchart of pressurization control in the first embodiment of the present invention. [Figure 6] FIG. 4 is a block diagram of a second embodiment of the agricultural machine control system of the present invention. [Figure 7] FIG. 10 is a side view showing a work machine applicable to a second embodiment of the present invention. [Figure 8] FIG. 4 is a plan view showing a work machine applicable to a second embodiment of the present invention. [Figure 9] 10 is a flowchart showing pressurization control according to a second embodiment of the present invention. [Figure 10] FIG. 4 is an explanatory diagram showing an example of soil transport amount control of the agricultural machine control system of the present invention. [Figure 11] 4 is a flowchart showing an example of calculation of the amount of soil to be transported by the agricultural machine control system of the present invention. [Figure 12] FIG. 2 is an explanatory diagram showing an example of soil transportation management in the agricultural machine control system of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0011] An embodiment of the present invention will be described.

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

[0013] In a configuration including a work implement 2 attached to a tractor 1, the tractor 1 side is equipped with a tractor control unit 11, a height / position information acquisition unit 31, and a communication terminal 41. The work implement 2 side is equipped with a work implement control unit 21, a pressure device 23, a sensor 25, and a storage device 27.

[0014] The tractor control unit 11 performs processing for controlling the tractor 1, and may be one that is already installed in the tractor 1. The tractor control unit 11 controls the height / position information acquisition unit 31 and transmits information from the height / position information acquisition unit 31 to the work implement control unit 21. The tractor control unit 11 receives a signal from the work implement control unit 21 and can control the lifting device of the tractor 1 based on that signal. This makes it possible to change the height of the work implement 2 relative to the tractor 1. For this reason, the tractor control unit 11 has the function of receiving an external signal for changing the height of the lifting device and controlling the change of the height of the lifting device based on that signal. The tractor control unit 11 is made up of electronic devices and the like required for control, processing, etc.

[0015] The tractor control unit 11 may be housed in a tractor control box provided in the tractor 1. The tractor control box may have a dustproof and waterproof function, and in this case, the tractor control unit 11 is protected.

[0016] The height / position information acquisition unit 31 is a means for acquiring information on the height and horizontal position of the tractor 1. For example, it receives signals from GNSS satellites to acquire information on the current height and the longitude and latitude of the current position on Earth. Specifically, it can be configured to acquire height information and position information using the RTK-GNSS method, or to acquire height information and position information by receiving CLAS positioning signals.

[0017] The RTK-GNSS method will now be described. RTK stands for Real Time Kinematic and is a measurement method known as relative positioning. GNSS stands for Global Navigation Satellite System and refers to a satellite positioning system that receives radio waves from positioning satellites to determine a location on the ground. The RTK-GNSS method simultaneously observes two points, a reference point and an observation point, and enables accurate measurements by processing common errors. The RTK-GNSS method can acquire height information and horizontal position information from the height / position information acquisition unit 31. Height information can be acquired as altitude data, for example. The RTK-GNSS method can acquire three-dimensional position information, for example, X, Y, and Z.

[0018] CLAS stands for Centimeter Level Augmentation Service, and is a centimeter-level positioning augmentation service. By receiving CLAS positioning signals, location and height information can be obtained.

[0019] The communication terminal 41 includes a communication unit 41a, a control unit 41b, an operation unit 41c, and a display unit 41d. The communication terminal 41 may be, for example, a general-purpose portable terminal such as a smartphone or a tablet computer. The communication terminal 41 may include a storage unit, and may be configured to be able to communicate with an external server or the like. The storage unit may have the same functions as the storage device 27 described below.

[0020] The communication unit 41a has a function for communicating with the work machine control unit 21. Communication with the work machine control unit 21 may be performed using wireless communication or wired communication. The communication unit 41a may also be capable of communicating with the tractor control unit 11.

[0021] The control unit 41b performs communication processing of the communication unit 41a, input processing of signals from the operation unit 41c, display processing on the display unit 41d, necessary calculation processing, etc. The control unit 41b is composed of electronic devices etc. necessary for control, processing, etc.

[0022] The operation unit 41c is provided with operation switches and the like for operation, allowing the operator to perform the necessary operations. The operation unit 41c may be configured integrally with the display unit 41d. For example, the display unit 41d and the operation unit 41c may be configured integrally, with the display screen being a touch panel, for easier operation.

[0023] The display unit 41d can be equipped with a means for displaying necessary information using a display screen such as an LCD, organic EL, or LED. The display unit 41d can acquire information from the tractor control unit 11 and the work implement control unit 21 and display that information. For example, the display unit 41d can display height and position information acquired by the height / position information acquisition unit 31, or information received by the height / position information acquisition unit 31. Furthermore, the display unit 41d can also display the ground surface height of the target field, the state of the ground surface height after work, the current amount of soil being transported, the pressurizing state of the pressurizing device 23, etc.

[0024] The work implement control unit 21 acquires information (position information and height information) from the height / position information acquisition unit 31. Then, the work implement control unit 21 performs pressure control and calculates the amount of soil to be transported, as described below, based on the acquired information, information from the sensor 25, and the relationship between the height and angle of the tractor and work implement. The work implement control unit 21 is made up of electronic devices and the like required for control, processing, etc.

[0025] The work machine control unit 21 may be housed in a work machine control box provided in the work machine 2. The work machine control box may have dustproof and waterproof functions, in which case it protects the work machine control unit 21. In this case, the storage device 27 and the sensor 25 may be disposed in the work machine control box.

[0026] The information from the height / position information acquisition unit 31 may be acquired by the work implement control unit 21 via the tractor control unit 11 as shown in Figure 1, or the work implement control unit 21 may acquire the information directly from the height / position information acquisition unit 31. In this case, the work implement control unit 21 and the height / position information acquisition unit 31 may be connected by wire to exchange information, or may be exchanged by wireless communication.

[0027] The pressure applying device 23 is a device that can adjust the height of the ground surface of the field after tillage by applying pressure to the soil leveling body of the work implement 2. The pressure applying device 23 is equipped with a mechanism that can adjust the pressure applying force under the control of the work implement control unit 21.

[0028] The sensor 25 includes a first sensor 25a for detecting the relative height of the work implement 2 with respect to the tractor 1, and a second sensor 25b for detecting the height of the tip of the soil leveling body with respect to the work implement 2 main body.

[0029] Examples of the first sensor 25a include an inclination sensor, an acceleration sensor, a distance sensor (e.g., millimeter-wave radar, ultrasonic sensor, electromagnetic wave sensor, etc.), a laser sensor, a camera, a potentiometer, and a position sensor. An inclination sensor or an acceleration sensor can detect the tilt angle of the work implement 2 in the fore-and-aft direction, and detect the relative height of the work implement 2 with respect to the tractor 1 from the relationship between the detected value and the height and angle of the work implement 2 with respect to the tractor 1. A distance sensor such as millimeter-wave radar can detect the relative height of the work implement 2 with respect to the tractor 1 from the relative distance in the height direction between the tractor 1 and the work implement 2. A laser sensor can detect the relative height of the work implement 2 with respect to the tractor 1 by installing a laser emitter and a light receiver between the tractor 1 and the work implement 2. A camera can calculate the relative distance between the tractor and the work implement (relative deviation in the height direction) through image processing, and detect the relative height of the work implement 2 with respect to the tractor 1. Furthermore, if a potentiometer is used, the relative height of the work implement 2 to the tractor 1 can be detected by detecting the angle of the connection between the tractor 1 and the work implement 2. This can also be done using a position sensor provided in the tractor 1. Alternatively, a height information acquisition unit can be provided in the work implement 2, and the relative height of the work implement 2 to the tractor 1 can be detected from this. These sensors described above can also be used in combination.

[0030] Examples of the second sensor 25b include a potentiometer, an inclination sensor, etc. These sensors detect the rotation angle of the soil leveling body relative to the work implement 2 body, allowing the work implement control unit 21 to calculate the height of the bottom end of the soil leveling body. Additionally, the second sensor 25b may be linked to a sensor such as a potentiometer provided on the tractor 1 side by a mechanism using a wire or the like to detect the rotation angle of the soil leveling body relative to the work implement 2 body, etc.

[0031] The storage device 27 acquires various information from the work implement control unit 21, stores and retains the information, and outputs the stored information to the work implement control unit 21. The storage device 27 can be configured with suitable storage devices such as semiconductor memory (ROM, RAM, flash memory), magnetic memory, HDD (Hard Disk Drive), and SSD (Solid State Drive). The storage device 27 may also be a removable storage medium (e.g., an SD memory card or USB flash memory). The storage device 27 may also have a communication function and be configured to be able to send and receive data to and from a storage device located in a different location via communication such as the Internet. In this case, the storage device located in a different location may be a server or the like. When a storage device located in a different location is included, information may be sent and received directly from the work implement control unit 21 via wireless communication, or information may be sent and received via wireless communication via a communication terminal 41 or the like. Examples of information stored in the storage device 27 include the ground surface height of the target field, the state of the ground surface height after work, the amount of soil being moved, the pressurization state of the pressurization device 23, and the relationship between the height and angle of the tractor and the work implement. The storage device 27 may be integrated with the work implement control unit 21. Alternatively, the storage device 27 may be provided on the tractor 1 side.

[0032] (Working machine applicable to the first embodiment) Fig. 2 is a side view showing a working machine applicable to the first embodiment of the present invention. Fig. 3 is a plan view showing a working machine applicable to the first embodiment of the present invention. Fig. 4 is an enlarged view of a pressure device in a working machine applicable to the first embodiment of the present invention. 2 and 3 show an embodiment in which a rotary work implement 50 is used as the work implement 2 attached to a tractor 1. In the following description, the traveling direction of the rotary work implement 50 is assumed to be the forward direction. The left direction in FIG. 2 is the forward direction of the rotary work implement 50, and the up and down direction in FIG. 2 is the up and down direction of the rotary work implement 50. The left and right direction in FIG. 3 is the lateral direction (left and right direction) of the rotary work implement 50, and the up and down direction in FIG. 3 is the front and back direction of the rotary work implement 50. Also, FIG. 2 shows a simplified illustration of the tractor 1, and FIG. 3 omits the illustration of the tractor 1.

[0033] PTO (Power Take Off) power output from the tractor 1 is input to an input shaft 55 via a joint (not shown) and transmitted to a tilling unit 60 located below the tilling unit cover 56. The tilling unit 60 performs tilling work by rotating a tilling shaft having multiple tilling tines 62 (only one is shown in FIG. 2). The upper side of the tilling unit 60 is covered by the tilling unit cover 56, and a soil leveling unit 57 is provided on the rear side of the tilling unit 60. The soil leveling unit 57 is attached to the rear side of the tilling unit cover 56 via multiple hinges 53 so as to be rotatable around a pivot point whose central axis is in the horizontal direction. This allows the lower end 57a of the soil leveling unit 57, on the side opposite the side to which the tilling unit cover 56 is attached, to move up and down. Here, the height of the lower end portion 57a ​​of the soil leveling body 57 is the height of the ground surface 82 after the tilling work.

[0034] As shown in FIG. 2, the rotary implement 50 is mounted on the rear of the tractor 1. The mounting portion 51 has a mast 51a and a lower arm 51b, which are attached to the top link 15 and lower link 16 on the tractor 1 side. The top link 15 is located higher than the lower link 16. When the tractor control unit 11 controls the up and down movement of the lower link 16, the lower link 16 rotates around a fulcrum on the tractor 1 side, and the top link 15 also rotates around another fulcrum on the tractor 1 side. This allows the rotary implement 50 to be moved up and down. The link mechanism of the top link 15 and the lower link 16 constitutes a lifting device for the tractor 1. The link mechanism of the top link 15 and the lower link 16 is configured so that the rotary implement 50 tilts forward as it is raised. This is also true for other types of implements. One top link 15 is provided near the center of the tractor 1 in the left-right direction, and two lower links 16 are provided on the left and right sides of the tractor 1.

[0035] The sensors 25 are installed in suitable locations on the rotary working machine 50. In particular, the first sensor 25a and the second sensor 25b are installed in suitable locations according to their intended use.

[0036] For example, if the first sensor 25a detects the tilt angle of the rotary work implement 50 body toward the front, the work implement control unit 21 can calculate the height of the rotary work implement 50 relative to the tractor 1. At this time, by recording information on the height relative to the tilt angle in the work implement control unit 21 or the storage device 27, an accurate height can be calculated. For this reason, the first sensor 25a is preferably attached to a part of the rotary work implement 50 body that is fixed to the mounting part 51 (a part whose angle and position do not change independently of the mounting part 51). For example, this may be the mast 51a, the frame 52, the tillage section cover 56, or the like.

[0037] The second sensor 25b is a sensor that can detect the angle of the soil leveling body 57 relative to the main body of the rotary work machine 50, such as the tillage section cover 56. For this reason, the second sensor 25b is installed, for example, in a position where it can detect the angle of the soil leveling body 57 relative to the tillage section cover 56, or a position where it can detect the angle of the soil leveling body 57 relative to the horizontal. This makes it possible to detect the height of the lower end 57a of the soil leveling body 57 relative to the main body of the rotary work machine 50, such as the tillage section cover 56. At this time, by recording information about the height of the lower end 57a relative to the angle of the soil leveling body 57 in the work machine control unit 21 or the storage device 27, it becomes possible to calculate the accurate height of the lower end 57a relative to the tillage section cover 56.

[0038] The work machine control unit 21 and the storage device 27 are installed in an appropriate location on the rotary work machine 50. For example, they may be fixed to the frame 52, the mast 51a, the tillage unit cover 56, or the like, above the tillage unit 60. The work machine control unit 21 and the storage device 27 may also be provided in the same location.

[0039] 2, the height / position information acquisition unit 31 is installed on the roof 17 above the driver's seat of the tractor 1. This allows the height / position information acquisition unit 31 to be placed in a high position, thereby increasing the reception sensitivity.

[0040] The pressure applying device 70 comprises a cylinder 71, a biasing body 72, and a shaft 73. The pressure applying device 70 is attached between pivot points 70a and 70b. The pivot point 70a is provided on the main body of the rotary work machine 50, and in Figures 2 and 3, it is provided on the frame 52 attached to the upper part of the tilling section cover 56. The pivot point 70b is rotatably secured to the soil leveling body 57, and in Figures 2, 3, and 4, it is provided via an attachment member 58 fixed to the soil leveling body 57. The pressure applying device 70 here corresponds to the pressure applying device 23 in Figure 1.

[0041] The cylinder 71 is a cylinder that can be extended and retracted under the control of the work machine control unit 21. When the cylinder 71 extends, the biasing force of the biasing body 72 is increased, and the pressure applied by the pressure device 70 can be increased. On the other hand, when the cylinder 71 contracts, the biasing force of the biasing body 72 is decreased, and the pressure applied by the pressure device 70 can be decreased. The cylinder 71 can be, for example, an electric hydraulic cylinder, an electric cylinder, a hydraulic cylinder, or the like.

[0042] The biasing body 72 is provided coaxially with the cylinder 71 at the tip side of the cylinder 71, and applies a biasing force between the rotation fulcrum 70a and the rotation fulcrum 70b. In Figures 2, 3, and 4, a coil spring is used as the biasing body 72, and a biasing force is applied in a direction that moves the rotation fulcrum 70a and the rotation fulcrum 70b apart as the coil spring is compressed.

[0043] The shaft 73 is provided coaxially with the biasing body 72 and the cylinder 71, and is a member that guides the pressure device 70 so that it acts in the axial direction of the cylinder 71. In Figures 2, 3, and 4, the shaft 73 is a rod-shaped member that is provided along the axial direction near the center of the coil spring that is the biasing body 72. One end of the shaft 73 is attached to the tip 71a of the cylinder 71, and the other end is inserted through the rotation fulcrum 70b.

[0044] Although a single pressure device 70 can perform its function, providing multiple pressure devices along the lateral direction can increase the uniformity of pressure applied to the leveling body 57. For example, two or more pressure devices may be used. In Figure 3, four pressure devices 70 are provided along the lateral direction of the leveling body 57.

[0045] (Flowchart of pressurization control in the first embodiment) 5 is a flowchart of the pressurization control according to the first embodiment of the present invention. The processing here can be performed by the work machine control unit 21.

[0046] First, in step S101, absolute height information of the tractor is acquired. The height information is information on absolute height, and is, for example, information on altitude, acquired from the height / position information acquisition unit 31. Furthermore, since the height / position information acquisition unit 31 is installed on the tractor 1, the acquired height information is absolute height information of the tractor 1.

[0047] Next, in step S102, the relative height of the work implement body with respect to the tractor is detected. Here, the work implement body is the part that is fixed to the mounting part of the work implement 2 (the part whose angle and position do not change independently). In other words, the relative height of the work implement 2 (rotary work implement 50) body with respect to the tractor 1 is detected. Here, as described above, this can be calculated using information from sensors 25, particularly information from first sensor 25a, and the relationship between the heights and angles of the tractor and the work implement. Additionally, information on the height of the work implement 2 (for example, information on height control of the lifting device of the tractor 1) may be obtained from the tractor control unit 11 and used for calculation.

[0048] Next, in step S103, the height of the tip of the soil leveling body relative to the work machine body is detected. In the case of Figures 2 and 3, this detection involves detecting the height of the lower end 57a of the soil leveling body 57 relative to the rotary work machine 50 body. As described above, this can be calculated using information from the sensors 25, particularly information from the second sensor 25b. For example, this can be calculated by detecting the angle of the soil leveling body 57 relative to the rotary work machine 50 body. In this case, the height of the lower end 57a corresponding to the angle of the soil leveling body 57 relative to the rotary work machine 50 body can be stored in advance in the work machine control unit 21, storage device 27, etc., and used. Note that this relationship between height and angle can be stored in advance, or can be input by the worker (for example, by inputting using the operation unit 41c of the communication terminal 41).

[0049] Next, in step S104, the absolute height of the current soil leveling body tip is calculated. The absolute height of the soil leveling body tip of the work implement 2 can be calculated using the information from steps S101 to S103. That is, the absolute height of the current soil leveling body tip can be calculated using information on the absolute height of the tractor 1, information on the relative height of the work implement 2 body to the tractor 1, and information on the height of the soil leveling body tip to the work implement 2 body. In the case of Figures 2 and 3, this is the absolute height of the bottom end 57a of the soil leveling body 57 of the rotary work implement 50. The absolute height is information on height relative to the same external reference, such as altitude information.

[0050] Next, in step S105, the target height is compared with the height of the tip of the soil leveling tool. Here, the target height is the target absolute height of the ground surface after tillage work. The target height can be stored in the storage device 27 or input via the operation unit 41c of the communication terminal 41. Alternatively, the target height can be calculated by measuring the ground surface height of the field before tillage by traveling over the entire field before tillage work using the height / position information acquisition unit 31 or the like, and then calculating the target height based on that measurement (for example, a height based on the average ground surface height of the entire field before tillage, taking into account the distance to the bottom of the tractor tires). Alternatively, the target height can be calculated based on data from other work performed in the same field or 3D mapping data with existing height information. Meanwhile, the height of the tip of the soil leveling tool is the absolute height of the tip of the soil leveling tool calculated in step S104. These values ​​can be compared to determine the difference in absolute heights.

[0051] However, since the height information acquired in step S101 is height information at the position of the tractor 1, it is advisable to make a correction to align the position with the tip of the soil leveling tool of the work implement 2. This correction can be made using information on the direction of the tractor 1 and the distance between the tractor 1 and the work implement 2 (the tip of the soil leveling tool), or by using the time taken from the speed of the tractor 1 for the tip of the soil leveling tool of the work implement 2 to pass the position of the tractor 1. In these cases, the direction and speed of the tractor 1 can be determined using information from the sensor 25, or the height / position information acquisition unit 31 can be used. Information from the tractor control unit 11 can also be used. The distance between the tractor 1 and the work implement 2 (the tip of the soil leveling tool) can be stored in advance in the work implement control unit 21 or the storage device 27, and accurate correction can be made using information from the sensor 25.

[0052] Next, in step S106, the pressure of the pressure device is controlled based on the comparison result. Here, based on the comparison result in step S105, the pressure device 23 is controlled under the control of the work implement control unit 21. Specifically, the pressure device 23 is controlled so that the absolute height of the tip of the soil leveling body of the work implement 2 becomes the target height.

[0053] The control of step S106 will be described using the rotary work machine 50 shown in Figures 2 and 3. If the absolute height of the lower end 57a of the soil leveling body 57 of the rotary work machine 50 is higher than the target height, the cylinder 71 of the pressure device 70 is extended, and the biasing force of the biasing body 72 is increased. This increases the downward pushing force of the lower end 57a of the soil leveling body 57, causing the lower end 57a to move downward, thereby lowering the height of the ground surface 82 after tillage. On the other hand, if the absolute height of the lower end 57a of the soil leveling body 57 of the rotary work machine 50 is lower than the target height, the cylinder 71 of the pressure device 70 is retracted, and the biasing force of the biasing body 72 is reduced. This decreases the downward pushing force of the lower end 57a of the soil leveling body 57, causing the lower end 57a to move upward, thereby raising the height of the ground surface 82 after tillage. This makes it possible to raise the ground surface 82 after tillage to the target height.

[0054] Next, in step S107, it is determined whether or not to terminate the pressurization control. Here, it is determined that the pressurization control has been terminated, for example, when an operation signal to terminate the pressurization control is input by operating the operation unit 41c of the communication terminal 41, or when the work implement control unit 21 determines that the work implement 2 has finished its agricultural work. The work implement 2 can be determined to have finished its agricultural work when it is determined that its regular movements for agricultural work have ended, when a predetermined amount of time has passed since the work implement 2 was raised to a predetermined height, or when the PTO rotation has stopped. Regular movements for agricultural work can be detected by calculating the movement of the work implement based on information such as the direction of travel, posture, and speed acquired from the sensor 25 and the tractor control unit 11. Whether or not the work implement 2 has been raised to a predetermined height or higher can be detected based on information related to the relative height from the first sensor 25a and the tractor control unit 11. Whether or not the PTO rotation has stopped can be detected based on PTO rotation information from the tractor control unit 11. If the pressurization control is not to be terminated, the process returns to step S101, and the pressurization control continues. If the pressurization control is to be terminated, the process ends.

[0055] <Second embodiment> (Block diagram of the second embodiment) 6 is a block diagram of a second embodiment of the agricultural machine control system of the present invention. In the second embodiment, differences from the first embodiment will be mainly described, and the same parts will be assigned the same reference numerals, and explanations of parts that are not particularly described will be omitted.

[0056] In a configuration including a work implement 2 attached to a tractor 1, the tractor 1 side is equipped with a tractor control unit 11' and a communication terminal 41. The work implement 2 side is equipped with a work implement control unit 21', a pressure device 23, a sensor 25', a storage device 27, and a height / position information acquisition unit 31'.

[0057] The second embodiment differs from the first embodiment in that a height / position information acquisition unit 31' is provided on the work implement 2 side instead of the height / position information acquisition unit 31 in Fig. 1. A tractor control unit 11' and a work implement control unit 21' perform the processing and control associated with the tractor control unit 11 and the work implement control unit 21 in Fig. 1. In addition, a sensor 25' is applied that is a partially modified version of the sensor 25 in Fig. 1.

[0058] The tractor control unit 11' is similar to the tractor control unit 11 in FIG. 1, but receives signals from a work implement control unit 21' instead of the work implement control unit 21 in FIG.

[0059] The height / position information acquisition unit 31' is a means for acquiring height information and horizontal position information of the main body of the work machine 2. The function of acquiring height and position is the same as that of the height / position information acquisition unit 31 in FIG.

[0060] The communication terminal 41 is the same as in Fig. 1. The communication terminal 41 is capable of communicating with the work implement control unit 21' and can display information from the work implement control unit 21' on the display unit 41d. The communication terminal 41 is also capable of communicating with the tractor control unit 11' and may display information from the tractor control unit 11'.

[0061] The work implement control unit 21' acquires information (position information and height information) from the height / position information acquisition unit 31'. Then, based on the acquired information and information from the sensor 25', the work implement control unit 21' performs pressure control and calculates the amount of soil to be transported, as will be described later. The work implement control unit 21' is made up of electronic devices and the like required for control, processing, and the like. The work implement control unit 21' may be stored in a work implement control box provided in the work implement 2, similar to the work implement control unit 21 in FIG. 1.

[0062] The configuration of the pressure applying device 23 is the same as that shown in Fig. 1. The pressure applying device 23 is provided with a mechanism that can adjust the pressure applying force under the control of the work machine control unit 21'.

[0063] The sensor 25' includes a first sensor 25a' for detecting the pre-plowing height relative to the work implement 2 body, and a second sensor 25b for detecting the height of the tip of the soil leveling body relative to the work implement 2 body.

[0064] The first sensor 25a' is a sensor for detecting the height of the ground surface before tillage. For example, a sensor (e.g., a potentiometer, position sensor, etc.) that detects the height of a gauge wheel (described later), or a distance sensor (e.g., a millimeter-wave radar, ultrasonic sensor, electromagnetic wave sensor) that detects the height of the ground surface before tillage from the work implement 2 main body can be used. Furthermore, a sensor (inclination sensor, acceleration sensor) that detects the angle of the work implement 2 main body can also be used. The height of the ground surface before tillage is preferably the height of the ground surface immediately ahead of the work implement 2, for example, the ground surface between the tractor 1 and the work implement 2.

[0065] The second sensor 25b is the same as in Fig. 1. The height of the lower end of the soil leveling body can be calculated by the work machine control unit 21'.

[0066] The configuration of the storage device 27 is the same as that of FIG. 1, and it acquires various information from the work machine control unit 21', stores and holds that information, and outputs the stored information to the work machine control unit 21'.

[0067] (Work machine applicable to the second embodiment) FIG. 7 is a side view showing a work machine applicable to the second embodiment of the present invention. FIG. 8 is a plan view showing a work machine applicable to the second embodiment of the present invention. FIGS. 7 and 8 show an embodiment in which a rotary work machine 50' is used as the work machine 2 attached to a tractor 1. In the following description, the traveling direction of the rotary work machine 50' is assumed to be the forward direction. The left direction in FIG. 7 is the forward direction of the rotary work machine 50', and the up and down direction in FIG. 7 is the up and down direction of the rotary work machine 50'. The left and right direction in FIG. 8 is the lateral direction (left and right direction) of the rotary work machine 50', and the up and down direction in FIG. 8 is the fore and aft direction of the rotary work machine 50'. The tractor 1 is not shown in FIGS. 7 and 8.

[0068] Here, the following mainly describes the differences between the rotary working machine 50' shown in Figures 7 and 8 and the rotary working machine 50 shown in Figures 2 and 3, with the same reference numerals being used for the same parts and the same explanations being omitted for parts that are not particularly explained. The rotary working machine 50' in Figures 7 and 8 is different from the rotary working machine 50 shown in Figures 2 and 3 in that a height / position information acquisition unit 31' is attached via an arm 92 or the like and a gauge wheel mechanism 100 is added.

[0069] The height / position information acquisition unit 31' is installed at or near the highest position of the rotary work implement 50' via an arm 92 that extends in the vertical direction. In this case, the height / position information acquisition unit 31' may be placed at the same height as the roof of the tractor 1 or higher than the roof to improve reception sensitivity. The lower end of the arm 92 is fixed to the frame 52 via a fixing member 91. The height / position information acquisition unit 31' is fixed to the upper end of the arm 92.

[0070] The gauge wheel mechanism 100 includes a gauge wheel 101, an adjustment arm 102, a fixing portion 103, a handle 104, and an auxiliary spring 105. The gauge wheel mechanism 100 is provided in front of the tilling portion 60.

[0071] The gauge wheel 101 is a cylindrical member whose rotation axis is in the horizontal direction, and is rotatably attached to an adjustment arm 102. The gauge wheel 101 is provided on the front side of the tilling unit 60, and comes into contact with the ground in front of the tilling unit 60. In the case of Figure 7, the gauge wheel 101 is provided so that it rolls on the uncultivated ground 81 in front of the tilling unit 60 as the rotary work machine 50' moves forward, and the lower end of the gauge wheel 101 forms a contact point 101a with the uncultivated ground 81.

[0072] The adjustment arm 102 is an arm that extends in the height direction and is fixed to a fixed part 103. A gauge wheel 101 is attached to the lower end of the adjustment arm 102, and a handle 104 is provided at the upper end. The fixed position of the adjustment arm 102 in the vertical direction relative to the fixed part 103 can be changed. For example, multiple holes 102a can be formed in the adjustment arm 102 along the vertical direction, and a pin can be inserted into any of the holes 102a to fix the adjustment arm to the fixed part 103. This makes it possible to change the height of the gauge wheel 101.

[0073] The fixed part 103 is fixed to the main body of the rotary work machine 50'. Specifically, the fixed part 103 is fixed to the strength frame 65 provided on the front side of the tilling part cover 56.

[0074] The handle 104 is a handle that the operator can grasp when adjusting the height of the gauge wheel 101. The auxiliary spring 105 is a coil spring that biases the adjustment arm 102 upward to make it easier for the operator to adjust the height of the gauge wheel 101.

[0075] The sensors 25' are installed in suitable locations on the rotary working machine 50'. In particular, the first sensor 25a' and the second sensor 25b are installed in suitable locations depending on the application.

[0076] The first sensor 25a' may be, for example, a sensor that detects the height of the height / position information acquisition unit 31' relative to the ground contact point 101a of the gauge wheel 101. This makes it possible to acquire information on the absolute height of the untouched ground 81 from the height information of the height / position information acquisition unit 31'. For example, a sensor (potentiometer, position sensor, etc.) that detects the fixed position of the adjustment arm 102 relative to the fixed part 103 may be used. Alternatively, the height of the rotary work implement 50' body relative to the untouched ground 81 in front of the tilling unit 60 may be detected. For example, a distance sensor (e.g., millimeter-wave radar, ultrasonic sensor, electromagnetic wave sensor, etc.) may be provided on the tilling unit cover 56 or the reinforcing frame 65. This makes it possible to acquire information on the absolute height of the untouched ground 81 from the height information of the height / position information acquisition unit 31'. Furthermore, to accurately obtain the height of the height / position information obtaining unit 31' relative to the uncultivated ground 81, a sensor (for example, an inclination sensor, an acceleration sensor, etc.) that detects the angle of the rotary work implement 50' main body may be additionally used. This makes it possible to correct differences in height due to deviations in the angle of the arm 92. The rotary work implement 50' main body is the same as the rotary work implement 50 main body already described. The worker may input and set information about the height of the gauge wheel 101 (for example, the position of the hole 102a used for fixing) using the operation unit 41c of the communication terminal 41, etc. In this case, the first sensor 25a' is not necessary.

[0077] The second sensor 25b is similar to that described with reference to FIGS.

[0078] The work implement control unit 21' and the storage device 27 are installed in an appropriate location on the rotary work implement 50'. For example, they may be fixed to the frame 52, the mast 51a, the tillage unit cover 56, or the like, above the tillage unit 60. The work implement control unit 21' and the storage device 27 may also be provided in the same location.

[0079] The pressure device 70 is provided in the rotary working machine 50' of FIGS. 7 and 8 as well as in the rotary working machine 50 of FIGS.

[0080] (Flowchart of pressurization control in the second embodiment) 9 is a flowchart showing the pressurization control according to the second embodiment of the present invention. The processing here can be performed by the work machine control unit 21'.

[0081] First, in step S201, absolute height information of the work implement body is acquired. Here, the work implement 2 body is the rotary work implement 50' body in Figures 7 and 8. The height information is information about absolute height, and is acquired from the height / position information acquisition unit 31'. The height information is information in the height direction, such as information about altitude. Furthermore, since the height / position information acquisition unit 31' is installed in the work implement 2 body, the acquired height information can be acquired as absolute height information of the work implement 2.

[0082] Next, in step S202, the relative height of the ground surface to be tilled relative to the work implement body is detected. As described above, this calculation can be performed using information from the sensors 25′, particularly information from the first sensor 25a′. In the case of FIGS. 7 and 8, this involves detecting the relative height of the rotary work implement 50′ body relative to the untilled ground 81 located in front of the tilling unit 60 of the rotary work implement 50′. Alternatively, the relative height of the height / position information acquisition unit 31′ relative to the untilled ground 81 may be detected. Alternatively, the relative height of the height / position information acquisition unit 31′ relative to the untilled ground 81 (ground contact point 101a of the gauge wheel 101) may be calculated simply by inputting the height information of the gauge wheel 101 using the operation unit 41c of the communication terminal 41. In this case, information on the relative height of the ground contact point 101a of the gauge wheel 101 and the height / position information acquisition unit 31′ for each height position of the gauge wheel 101 may be stored in advance in the work implement control unit 21′, the storage device 27, etc.

[0083] Next, in step S203, the height of the tip of the soil leveling body relative to the work machine body is detected. This detection is the same as S103 in Figure 5. In Figures 7 and 8, the height of the bottom end 57a of the soil leveling body 57 relative to the body of the rotary work machine 50' is detected. Here, as described above, this can be calculated using information from sensor 25', particularly information from the second sensor 25b.

[0084] Next, in step S204, the absolute height of the current soil leveling body tip is calculated. The absolute height of the soil leveling body tip of the work implement 2 can be calculated using the information from steps S201 to S203. In other words, the absolute height of the current soil leveling body tip can be calculated by using information on the absolute height of the work implement 2 main body and information on the height of the soil leveling body tip relative to the work implement 2 main body. In the case of Figures 7 and 8, this is the absolute height of the lower end 57a of the soil leveling body 57 of the rotary work implement 50'.

[0085] Next, in step S205, the target height is compared with the height of the end of the soil leveling body. Here, the target height is the same as the target height explained in S105 of Fig. 5. Meanwhile, the height of the end of the soil leveling body is the absolute height of the end of the soil leveling body calculated in step S204. By comparing these, the difference in absolute height can be found.

[0086] Next, in step S206, the pressure applied by the pressure device is controlled based on the comparison result. Here, the pressure device 23 is controlled under the control of the work implement control unit 21' based on the comparison result in step S205. The processing content here is the same as step S106 in Figure 5, and specifically can be similarly applied to the rotary work implement 50' in Figures 7 and 8.

[0087] Next, in step S207, it is determined whether or not to end the pressurization control. The processing content here is the same as that of step S107 in Fig. 5. If the pressurization control is not to be ended, the process returns to step S201 and the pressurization control continues. If the pressurization control is to be ended, the process ends.

[0088] <Regarding soil volume control> (An example of soil transport volume control) FIG. 10 is an explanatory diagram showing an example of soil transport volume control by the agricultural machine control system of the present invention. This operation is applicable to both the first and second embodiments described above. FIG. 10 shows the rotary work implements 50, 50' moving forward in the order (a), (b), and (c), and only the elements necessary for explanation are shown. Pivot point P is a pivot point that allows the soil leveling body 57 to rotate relative to the tillage section cover 56 shown in FIGS. 3 and 8.

[0089] The volume of soil being carried is shown as volumes 85a, 85b, and 85c in Figures 10(a) to 10(c). In other words, the volume of soil being carried is the volume of soil being held by the rotary work implement 50, 50', which is the work implement 2. Specifically, it is the volume of soil being held (accumulated) between the tilling section 60 and the soil leveling body 57 of the rotary work implement 50, 50' after tilling by the tilling section 60.

[0090] The state in Figure 10(a) shows a state in which tilling work is being carried out with the lower end 57a of the soil leveling body 57 coinciding with the target height A. At this time, the amount of soil 85a carried held between the tilling unit 60 and the soil leveling body 57 is not very large. However, at the position in Figure 10(a), the uncultivated ground 81 is higher than the target height A, so the amount of soil carried 85a is tending to increase.

[0091] The state shown in Figure 10(b) is one in which the volume of soil being transported 85b has increased, so the cylinder 71 of the pressure device 70 has been retracted to reduce the pressure on the soil-leveling body 57. This reduces the rotational force of the soil-leveling body 57 around the rotational fulcrum P, reducing the downward force of the lower end 57a. At this time, the reaction force from the ground causes the lower end 57a to rise by an amount T relative to the target height A. This increases the amount of soil discharged rearward by the volume of soil being transported 85b, making it possible to reduce the volume of soil being transported 85b itself.

[0092] The state in Figure 10(c) is one in which the volume of soil transported 85c has decreased, so the cylinder 71 of the pressure device 70 has been extended to increase the pressure on the soil leveling body 57. This increases the rotational force of the soil leveling body 57 about the rotational fulcrum P, strengthening the downward force of the lower end 57a. At this time, the lower end 57a resists the reaction force from the ground and returns to the target height A. Furthermore, in the state in Figure 10(b) above, the lower end 57a of the soil leveling body 57 has been raised by an amount T relative to the target height A, so that a section B that is higher by an amount T than the target height A is formed in part of the ground surface 82 after the tilling work.

[0093] In this way, the amount of soil to be transported can be adjusted using the pressure device 70.

[0094] (Flowchart for calculating the amount of soil transported) 11 is a flowchart showing an example of soil transport volume calculation in the agricultural work machine control system of the present invention. This process is applicable to both the first and second embodiments described above, and can be performed by work machine control unit 21 or work machine control unit 21'.

[0095] First, in step S301, position information is acquired. The position information here is horizontal position information, such as latitude and longitude. This position information can be acquired by the height / position information acquisition units 31, 31'. To calculate the position information, information on the travel distance calculated from the speed and time of the tractor 1 obtained from the tractor control units 11, 11' or sensors 25, 25' may be additionally used.

[0096] Next, in step S302, a specific point is determined. Here, the specific point is a horizontal position where heights are compared to calculate the amount of soil to be transported. The specific point can be determined from the position information acquired in step S301.

[0097] Next, in step S303, the absolute height of the ground surface before tillage at the specific point is detected. Here, in the first embodiment, the height of the ground contact surface of the tractor 1 at the specific point (in FIG. 2, the lower end 18a of the rear tire 18 of the tractor 1) is calculated from information from the height / position information acquisition unit 31. In the second embodiment, the height of the ground surface before tillage in front of the work implement 2 at the specific point (in FIG. 7, the ground contact point 101a of the gauge wheel 101) is calculated from information from the height / position information acquisition unit 31' and the first sensor 25a'.

[0098] Next, in step S304, the absolute height of the tip of the soil grading body at the specific point is obtained. Here, in the first embodiment, information on the absolute height of the tip of the soil grading body at the specific point calculated in step S104 of Fig. 5 can be used. In the second embodiment, information on the absolute height of the tip of the soil grading body at the specific point calculated in step S204 of Fig. 9 can be used.

[0099] Next, in step S305, the pre-plowing height at a specific point is compared with the height of the soil leveling body tip. Here, the results of steps S303 and S304 can be used to compare the two heights.

[0100] Next, in step S306, the increase or decrease in the amount of soil transported per unit distance is calculated. Here, the increase or decrease in the amount of soil transported per unit distance can be calculated using the following formula 1. Increase or decrease in soil transport volume per unit distance = Unit distance × (height before tillage at a specific point – height of the top of the soil leveling tool at a specific point) (Equation 1) The "unit distance" is a predetermined minimum distance for the above calculation. The "unit distance" may be calculated for each predetermined distance, or may be the distance traveled at a predetermined time interval. In this formula, if the leveling tool tip height at a specific point is higher than the height before tillage, the value will be negative, and the amount of soil transported will decrease. Also, if the leveling tool tip height at a specific point is lower than the height before tillage, the value will be positive, and the amount of soil transported will increase.

[0101] Next, in step S307, the current volume of transported soil is calculated. Here, the current volume of transported soil can be calculated by taking into account the increase or decrease in the volume of transported soil per unit distance calculated in step S306 to the total volume of transported soil calculated before step S306.

[0102] Next, in step S308, it is determined whether the soil volume is within the appropriate range. If the soil volume is within the predetermined appropriate range, the process proceeds to step S310. If it is not within the appropriate range, the process proceeds to step S309, where the target height is adjusted and then the process proceeds to step S310. Steps S308 and S309 indicate that the pressure control is used based on the result of the soil volume calculation in step S307. For example, if the current soil volume is too large, soil may leak from the sides, resulting in an uneven ground surface after tillage. For this reason, if the soil volume exceeds the upper limit for determining that the soil volume is too large, the target height can be temporarily or entirely increased, as described in Figures 5 and 9, to weaken the biasing force of the pressure device 70. On the other hand, if the current soil volume is too small, there may not be enough soil, resulting in depressions and an uneven ground surface after tillage. Therefore, when the amount of soil being transported falls below the lower limit value at which it is determined that the amount of soil being transported is small, the target height can be temporarily or entirely lowered as explained in Figures 5 and 9, and control can be performed to increase the biasing force of the pressure device 70. These controls can be performed automatically by the work machine control units 21, 21'.

[0103] Next, in step S310, it is determined whether or not to terminate the soil transport volume calculation. Here, it is determined that the soil transport volume calculation has terminated, for example, when an operation signal to terminate the soil transport volume calculation process is input by operating the operation unit 41c of the communication terminal 41, or when the work implement 2 is raised above a predetermined height. Note that if the work implement 2 resumes work, the soil transport volume calculation may be resumed from step S301. Whether or not the work implement 2 has started (resumed) work can be determined when the work implement 2 is lowered below a predetermined height, for example. If the soil transport volume calculation is not to be terminated, the process returns to step S301 and the soil transport volume calculation continues. If the soil transport volume calculation is to be terminated, the process ends. In the first embodiment, whether the work implement 2 has been raised above a predetermined height or whether it has been lowered below the predetermined height can be detected by information relating to the relative height of the work implement 2 from the sensor 25 (first sensor 25a) and the tractor control unit 11, and in the second embodiment, by height information from the height / position information acquisition unit 31' and information relating to the relative height of the work implement 2 from the tractor control unit 11'.

[0104] 11 can be displayed on the display unit 41d of the communication terminal 41. The worker can check the current soil transport volume by viewing the numerical values, graphs, diagrams, etc. displayed on the display unit 41d.

[0105] (An example of soil transportation management) Figure 12 is an explanatory diagram showing an example of soil transportation management by the agricultural machine control system of the present invention. Figure 12 uses the rotary work machine 50 described in Figures 2 and 3 as an example. Figure 12 shows the rotary work machine 50 moving forward in the order (a), (b), and (c) as the tractor 1 moves forward.

[0106] In Figure 12, points P1, P2, P3, and P4 are shown in this order in the direction of travel. The distance S between these adjacent points is the same, and this distance S is the unit distance, which is the shortest distance between measurements.

[0107] In the state shown in Figure 12(a), the lower end 18a of the tire 18 of the tractor 1 has reached point P2. Also, the lower end 57a of the soil leveling body 57 of the rotary work implement 50 has reached point P1. In the state shown in Figure 12(b), the lower end 18a of the tire 18 of the tractor 1 has reached point P3. Also, the lower end 57a of the soil leveling body 57 of the rotary work implement 50 has reached point P2. In the state shown in Figure 12(c), the lower end 18a of the tire 18 of the tractor 1 has reached point P4. Also, the lower end 57a of the soil leveling body 57 of the rotary work implement 50 has reached point P3.

[0108] Here, taking point P2 as the specific point described in FIG. 11, the calculation of the soil hauling volume will be described. In step S302 of FIG. 11, point P2 is determined as the specific point. Then, in step S303 of FIG. 11, the ground surface height before tillage at point P2 is detected. Here, in the state of FIG. 12(a), since the lower end 18a of the tire 18 of the tractor 1 has reached point P2, the height of the lower end 18a of the tire 18 can be calculated from the information of the height and position information acquisition unit 31 and used as the ground surface height H1 before tillage. And in step S304 of FIG. 11, the absolute height of the tip of the soil preparation body at point P2 is obtained. Here, in the state of FIG. 12(b), since the lower end 57a of the soil preparation body 57 of the rotary working machine 50 has reached point P2, the absolute height H2 of the lower end 57a of the soil preparation body 57 at this time is obtained. In step S305 of FIG. 11, the heights H1 and H2 at point P2 are compared, and in step S306 of FIG. 11, the increase or decrease in the soil hauling volume per unit distance is calculated. The calculation at this time can be calculated by S×(H1 - H2).

[0109] By performing the same process at points P3 and P4, it becomes possible to calculate the increase or decrease in the soil hauling volume per unit distance. Also, in FIG. 12, at point P2, the cylinder 71 of the pressurizing device 70 is contracted to weaken the pressure, and the target height is set to H3 which is higher than H2. By this, it becomes possible to reduce the soil hauling volume. Also, in FIG. 12, an example is shown where the ground surface height H1' before tillage at point P3 is lower than the ground surface height H1 before tillage at point P2. In this case, the increase or decrease in the soil hauling volume at point P3 is S×(H1' - H3). Since H1' < H3, this results in a negative value and the result is a reduction in the soil hauling volume. Note that in FIG. 12, the unit distance is shown as the distance that coincides with the distance between the lower end portion 18a of the tire 18 of the tractor 1 and the lower end portion 57a of the soil preparation body 57 of the rotary working machine 50, but it is not limited to this.

[0110] <Effect> The above-described embodiments make it possible to accurately control the pressure device so that the height of the ground surface 82 after tillage reaches a target height. In the first embodiment, the height / position information acquisition unit 31 can be provided in an appropriate position (e.g., a high position) on the tractor 1, thereby increasing the reception sensitivity of height and position signals and enabling more accurate height detection. The height of the lower end of the soil leveling body of the work implement 2 can then be acquired using the sensor 25. In the second embodiment, the height / position information acquisition unit 31' can be provided in an appropriate position (especially a high position) on the work implement 2, enabling more accurate height detection regardless of the tractor 1. The height of the lower end of the soil leveling body of the work implement 2 can then be acquired using the sensor 25'.

[0111] In this embodiment, the amount of soil to be transported can also be calculated. This prevents soil leakage during tilling work by the work implement 2 due to an excessive amount of soil being transported. It also prevents depressions in the field due to an excessive amount of soil being transported. This control can also be performed automatically using a pressure device. Furthermore, a target height can be determined taking the amount of soil to be transported into consideration, enabling more accurate tilling work. The worker can also check the amount of soil to be transported on the display 41d of the communication terminal 41 and reflect this in the farm work.

[0112] As described above, the embodiments of the present invention have been described, but the present invention is not limited to the above-described embodiments and includes various modifications other than those described above. For example, the present invention is not limited to those having all of the configurations provided in the above-described embodiments. Furthermore, it is also possible to delete part of the configuration of a certain embodiment or replace it with another configuration.

[0113] For example, the control shown in FIG. 5 of the first embodiment and the control shown in FIG. 9 of the second embodiment can bring the ground surface to a target height after tilling. However, when the rotary work implement 50, 50' (work implement 2) starts to till, soil may accumulate in the uncultivated areas, resulting in an insufficient amount of soil in the tilled area, causing depressions. For this reason, control may be performed to increase the pressure applied by the pressure device 70 only at the start of tilling. For example, the pressure applied by the pressure device 70 may be increased for a predetermined period of time when the start of rotation of the tilling unit 60 of the rotary work implement 50, 50' is detected.

[0114] Although the height / position information acquisition units 31, 31' have been described as receiving signals from GNSS satellites, they may also be configured to use a laser to acquire height information in other ways. For example, the working height of a work implement may be acquired based on the height of a laser beam emitted horizontally from a laser transmitter placed outside the field.

[0115] Furthermore, in the case of the pressure control shown in FIGS. 5 and 9, the height / position information acquisition unit 31 does not need to have the function of acquiring position information, and may only have the function of acquiring height information.

[0116] Furthermore, the pressure device 23 is exemplified as the pressure device 70 having the cylinder 71, but is not limited to this and other controllable means such as a motor unit and a cam may be used.

[0117] 7 and 8, the gauge wheel mechanism 100 is shown as a mechanism for manually changing the height of the gauge wheel 101, but the present invention is not limited to this and may be a mechanism for automatically changing the height of the gauge wheel 101 using an actuator or the like. In this case, it is possible to adjust the height of the gauge wheel during tilling work and control the tilling depth.

[0118] Furthermore, the tractor 1 shown is a tractor equipped with tires 18, but it is also applicable to a crawler type tractor.

[0119] Furthermore, by storing height information of the ground surface 82 after tilling work in association with the position information acquired from the height / position information acquisition units 31, 31', it is possible to store the information in the memory device 27 or the memory unit of the communication terminal 41 as map data showing the height information of the field after work.

[0120] This specification also includes the disclosure of the following aspects. (Aspect 1) The present invention comprises a rotary work implement attached to a tractor for tilling work, a height position information acquisition unit disposed on the tractor and capable of acquiring height and position information, a sensor provided on the rotary work implement, and a work implement control unit provided on the rotary work implement, The rotary working machine includes a tilling section that performs tilling work, a tilling section cover that covers the upper side of the tilling section, and a ground leveling body that is located behind the tilling section and rotatably attached to the tilling section cover, The agricultural work machine control system is characterized in that the work machine control unit uses information from the height position information acquisition unit and information from the sensor to calculate the difference in ground surface height before and after tilling by the rotary work machine, thereby calculating the soil transport volume, which is the amount of soil to be held between the tilling unit and the leveling body.

[0121] (Aspect 2) The present invention comprises a rotary work implement that is attached to a tractor and performs tilling work, a height position information acquisition unit that is disposed on the rotary work implement and is capable of acquiring height and position information, a sensor that is provided on the rotary work implement, and a work implement control unit that is provided on the rotary work implement, The rotary working machine includes a tilling section that performs tilling work, a tilling section cover that covers the upper side of the tilling section, and a ground leveling body that is located behind the tilling section and rotatably attached to the tilling section cover, The agricultural work machine control system is characterized in that the work machine control unit uses information from the height position information acquisition unit and information from the sensor to calculate the difference in ground surface height before and after tilling by the rotary work machine, thereby calculating the soil transport volume, which is the amount of soil to be held between the tilling unit and the leveling body.

[0122] (Aspect 3) In the agricultural machine control system according to aspect 1, the sensor includes a first sensor and a second sensor; the first sensor is a sensor for detecting a height of the rotary work implement relative to the tractor, 10. A control system for an agricultural machine, wherein the second sensor is a sensor that detects a rotation angle of the soil leveling body.

[0123] (Aspect 4) In the agricultural machine control system according to aspect 3, A control system for agricultural machinery, characterized in that the height of the ground surface before tillage by the rotary working machine is calculated using information from the height position information acquisition unit, and the height of the ground surface after tillage by the rotary working machine is calculated by calculating the height of the lower end of the leveling body using information from the height position information acquisition unit, the first sensor, and the second sensor, and the height of the lower end of the leveling body is set as the height of the ground surface after tillage.

[0124] (Aspect 5) In the agricultural machine control system according to aspect 2, the sensor includes a first sensor and a second sensor; the first sensor is a sensor for detecting the height of the ground surface before tillage relative to the rotary working machine, 10. A control system for an agricultural machine, wherein the second sensor is a sensor that detects a rotation angle of the soil leveling body.

[0125] (Aspect 6) In the agricultural machine control system according to aspect 5, A control system for agricultural machinery, characterized in that the height of the ground surface before tillage by the rotary working machine is calculated using information from the height position information acquisition unit and the first sensor, and the height of the ground surface after tillage by the rotary working machine is calculated by calculating the height of the lower end of the leveling body using information from the height position information acquisition unit and the second sensor, and the height of the lower end of the leveling body is set as the height of the ground surface after tillage.

[0126] (Aspect 7) In the agricultural machine control system according to any one of aspects 1 to 6, The rotary working machine is provided with a pressure device capable of changing the force with which the lower end of the ground leveling body is urged downward, The agricultural work machine control system is characterized in that the work machine control unit uses information from the height position information acquisition unit and information from the sensor to control the force of the pressure device so that the height of the ground surface after tilling by the rotary work machine reaches a target height.

[0127] (Aspect 8) In the agricultural machine control system according to any one of aspects 1 to 7, The rotary working machine is provided with a pressure device capable of changing the force with which the lower end of the ground leveling body is urged downward, The agricultural work machine control system is characterized in that the work machine control unit weakens the force of the pressure applying device when the calculated amount of soil being transported exceeds a predetermined upper limit value, and strengthens the force of the pressure applying device when the calculated amount of soil being transported falls below a predetermined lower limit value. [Explanation of symbols]

[0128] 1 Tractor 2 Work equipment 11, 11' Tractor control unit 18 Tires 18a Lower end 21, 21' Work machine control unit 23 Pressure device 25, 25' sensor 25a, 25a' First sensor 25b Second Sensor 27 Storage device 31, 31' Height and position information acquisition section 41 Communication terminal 50, 50' rotary implement 51 Mounting part 56 Tillage section cover 57 Earth leveling body 57a Lower end 60 Cultivation Department 70 Pressure Device 71 cylinders 81 Uncultivated land 82 Ground surface after tillage 85a, 85b, 85c soil transport volume 100 gauge wheel mechanism 101 Gauge Wheel

Claims

1. The present invention comprises a rotary work implement attached to a tractor for tilling work, a height position information acquisition unit disposed on the tractor and capable of acquiring height and position information, a sensor provided on the rotary work implement, and a work implement control unit provided on the rotary work implement, The rotary working machine includes a tilling section that performs tilling work, a tilling section cover that covers the upper side of the tilling section, and a ground leveling body that is located behind the tilling section and rotatably attached to the tilling section cover, The agricultural work machine control system is characterized in that the work machine control unit uses information from the height position information acquisition unit and information from the sensor to calculate the difference in ground surface height before and after tilling by the rotary work machine, thereby calculating the soil transport volume, which is the amount of soil to be held between the tilling unit and the leveling body.

2. The present invention comprises a rotary work implement that is attached to a tractor and performs tilling work, a height position information acquisition unit that is disposed on the rotary work implement and is capable of acquiring height and position information, a sensor that is provided on the rotary work implement, and a work implement control unit that is provided on the rotary work implement, The rotary working machine includes a tilling section that performs tilling work, a tilling section cover that covers the upper side of the tilling section, and a ground leveling body that is located behind the tilling section and rotatably attached to the tilling section cover, The agricultural work machine control system is characterized in that the work machine control unit uses information from the height position information acquisition unit and information from the sensor to calculate the difference in ground surface height before and after tilling by the rotary work machine, thereby calculating the soil transport volume, which is the amount of soil to be held between the tilling unit and the leveling body.

3. 2. The agricultural machine control system according to claim 1, the sensor includes a first sensor and a second sensor; the first sensor is a sensor for detecting a height of the rotary work implement relative to the tractor, 2. A control system for an agricultural machine, wherein the second sensor is a sensor that detects a rotation angle of the soil leveling body.

4. 4. The agricultural machine control system according to claim 3, A control system for agricultural machinery, characterized in that the height of the ground surface before tillage by the rotary working machine is calculated using information from the height position information acquisition unit, and the height of the ground surface after tillage by the rotary working machine is calculated by calculating the height of the lower end of the leveling body using information from the height position information acquisition unit, the first sensor, and the second sensor, and the height of the lower end of the leveling body is set as the height of the ground surface after tillage.

5. 3. The agricultural machine control system according to claim 2, the sensor includes a first sensor and a second sensor; the first sensor is a sensor for detecting the height of the ground surface before tillage relative to the rotary working machine, 2. A control system for an agricultural machine, wherein the second sensor is a sensor that detects a rotation angle of the soil leveling body.

6. 6. The agricultural machine control system according to claim 5, A control system for agricultural machinery, characterized in that the height of the ground surface before tilling by the rotary working machine is calculated using information from the height position information acquisition unit and the first sensor, and the height of the ground surface after tilling by the rotary working machine is calculated by calculating the height of the lower end of the leveling body using information from the height position information acquisition unit and the second sensor, and the height of the lower end of the leveling body is set as the height of the ground surface after tilling.

7. 3. The agricultural machine control system according to claim 1, The rotary working machine is provided with a pressure device capable of changing the force with which the lower end of the ground leveling body is urged downward, The agricultural work machine control system is characterized in that the work machine control unit uses information from the height position information acquisition unit and information from the sensor to control the force of the pressure device so that the height of the ground surface after tilling by the rotary work machine reaches a target height.

8. 3. The agricultural machine control system according to claim 1, The rotary working machine is provided with a pressure device capable of changing the force with which the lower end of the ground leveling body is urged downward, The agricultural work machine control system is characterized in that the work machine control unit weakens the force of the pressure applying device when the calculated amount of soil being transported exceeds a predetermined upper limit value, and strengthens the force of the pressure applying device when the calculated amount of soil being transported falls below a predetermined lower limit value.

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