Agricultural working machine

Abstract

To provide an agricultural working machine capable of properly leveling soil by determining the condition of the soil.SOLUTION: An agricultural working machine 1 comprises: a leveling body 5 (51, 56) that is vertically swingable and levels soil by contacting the ground; a pressure-adjusting unit 6 that changes the urging force of the leveling body 56 toward the soil; an imaging device C capable of capturing the condition of the soil after leveling above the leveling body 56; and a control unit 101 that determines the condition of the soil based on image information captured by the imaging device C and controls the pressure-adjusting unit 6 to adjust the urging force of the leveling body 5 (51, 56).SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an agricultural implement, and more particularly to a tiller. [Background technology]

[0002] Agricultural implements are known that till the soil of a field with a tilling section and level it with a soil leveling unit. Particularly when used on muddy soil with a high moisture content, the soil leveling unit can apply appropriate pressure to the soil to achieve a good leveled condition. Patent Document 1 describes a technology in which an apron, which performs part of the function of the soil leveling unit, has a pressure mode that prevents the soil leveling unit from rotating upward, and a non-pressure mode that does not prevent the soil leveling unit from rotating upward. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-170239 Summary of the Invention [Problem to be solved by the invention]

[0004] Because the soil quality within a field may not be uniform, simply switching the pressure mode between pressure and non-pressure, as in the embodiment shown in Patent Document 1, may not be able to respond to gradually changing soil quality. On the other hand, the completion of the land leveling may be determined by visual judgment of the worker who performed the land leveling work or the supervisor who supervises the work. To make this judgment, the worker or supervisor is required to have a certain level of ability to judge the completion state, so an inexperienced worker may not be able to judge the quality of the land leveling state, and may not be able to obtain appropriate results from the land leveling work. [Means for solving the problem]

[0005] This invention is a leveling body that is vertically rotatable and levels the soil by contact with the ground; a pressure adjusting unit that changes the biasing force of the soil leveling body on the soil; a photographing device capable of photographing the state of the soil after the leveling is performed above the leveling body; a control unit that determines the state of the soil based on the photographed information photographed by the photographing device and controls the pressure adjusting unit to adjust the biasing force of the soil leveling body; An agricultural machine characterized by comprising: relates to.

[0006] The present invention further provides: the control unit determines whether or not the undulations are present in the photographing information based on the photographing information, and controls the pressure adjusting unit to eliminate the undulations. An agricultural machine characterized by: relates to.

[0007] The present invention further provides: The control unit determines whether or not there is a step at the boundary between the part to be leveled by the leveling body and the outer side of the leveling body in the width direction based on the photographed information, and controls the pressure adjusting unit to eliminate the step. An agricultural machine characterized by: relates to.

[0008] The present invention further provides: The control unit determines the undulations contained in the photographing information based on the photographing information, and further determines whether there is a step at the boundary between the part to be leveled by the leveling body and the outer side of the leveling body in the width direction, and then controls the pressure adjusting unit by giving priority to eliminating the step. An agricultural machine characterized by: relates to.

[0009] The present invention further provides: The control unit determines the undulations contained in the photographing information based on the photographing information, and when it determines whether or not there is a step at the boundary between the part to be leveled by the leveling body and the outer side of the leveling body in the width direction, it controls the pressure adjusting unit by prioritizing the elimination of the undulations. An agricultural machine characterized by: relates to.

[0010] The present invention further provides: The photographing information includes a part of the leveling section and is information obtained by photographing the soil behind the leveling section. An agricultural machine characterized by: relates to.

[0011] The present invention further provides: The photographed information includes a part outside the leveling portion in the width direction. An agricultural machine characterized by: relates to.

[0012] The present invention further provides: the control unit determines the area of ​​the undulations included in the photographing information, and if it is determined that the area does not satisfy a predetermined area, does not change the current pressure adjustment degree of the pressure adjustment unit. An agricultural machine characterized by: relates to.

[0013] The present invention further provides: a groove forming unit capable of forming a groove by burying at least a portion of the soil in the soil after the soil leveling body has been used; An agricultural machine characterized by comprising: relates to.

[0014] The present invention further provides: the control unit determines the length of the groove included in the photographing information, and controls the pressure adjusting unit so that the length of the groove becomes a preset length. An agricultural machine characterized by: relates to.

[0015] The present invention further provides: the control unit determines the length of the groove included in the photographing information, and if it is determined that the length is less than a preset length, does not change the current pressure adjustment degree of the pressure adjustment unit. An agricultural machine characterized by: relates to.

[0016] The present invention further provides: the pressure adjusting unit is a rod having one end rotatably supported and the other end held by a holding member positioned on the ground leveling unit, and slidable in response to the rotation of the ground leveling body; a first elastic body that biases the ground leveling unit toward the leveled surface; a rotation restricting member provided to cover the rod and allowing the holding member to slide; a regulating body that moves relative to the rod to regulate a position at which the first elastic body abuts; An agricultural machine characterized by comprising: relates to.

[0017] The present invention further provides: a second elastic body that biases the ground leveling unit away from the ground leveling surface; An agricultural machine characterized by comprising: relates to.

[0018] The present invention further provides: The pressure adjusting unit is controlled to eliminate the undulations, but if the leveling surface becomes a step higher than the adjacent soil surface, the soil will move outward relative to the leveling width, so it is determined that there is an undulation on the outside in the width direction from the leveling body, and the leveling pressure is increased by increasing the degree of pressure adjustment to increase the leveling pressure, thereby suppressing the leveling surface and making it the same as the adjacent soil surface, If the leveling surface becomes lower than the adjacent soil surface, the soil will move inward relative to the leveling width, so there will be an undulation in the width direction from the leveling body. By reducing the leveling pressure, the pressure on the leveling surface will be weakened and it will become the same as the adjacent soil surface. An agricultural machine characterized by relates to. [Effects of the Invention]

[0019] According to the present invention, it is possible to provide an agricultural work machine that is capable of properly leveling the ground by determining the condition of the soil. [Brief explanation of the drawings]

[0020] [Figure 1]1 is a side view of an agricultural implement according to a first embodiment of the present invention. [Figure 2] 1 is a plan view of an agricultural work machine according to a first embodiment of the present invention, showing an extended work body in an unfolded state. [Figure 3] 1 is a side view of an agricultural work machine according to a first embodiment of the present invention, showing a pressure adjusting section in a first pressurizing state. FIG. [Figure 4] 1 is a side view of the agricultural work machine according to the first embodiment of the present invention, showing the pressure adjusting section in a third pressurizing (nth pressurizing) state. FIG. [Figure 5] 1 is a block diagram of an agricultural machine according to a first embodiment of the present invention. [Figure 6] FIG. 3 is a control flow diagram of the communication processing unit to the calculation unit of the agricultural work machine according to the first embodiment of the present invention. [Figure 7] FIG. 3 is a flow chart of an operation processing unit of the agricultural work machine according to the first embodiment of the present invention. [Figure 8] FIG. 2 is a working state diagram showing an example of the elevation of the agricultural work machine and the work table according to the first embodiment of the present invention. [Figure 9] 1 is a view of the rear of the agricultural work machine in a working state according to a first embodiment of the present invention. FIG. [Figure 10] FIG. 5 is an enlarged side view of an attitude control unit of an agricultural work machine according to a second embodiment of the present invention. [Figure 11] FIG. 6 is an enlarged side view of a pressure adjusting section of an agricultural work machine according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0021] A first embodiment of the agricultural implement according to the present invention is shown at 1. In this first embodiment, the agricultural implement 1 is a tiller. Reference numeral 11 denotes the central working body of the tillage implement 1, 11L denotes an extended working body on the left side, and 11R denotes an extended working body on the right side. The central working body 11 forms the center of the agricultural implement 1. The extended working body 11L forms the left side of the agricultural implement 1 and is provided to the left of the central working body 11. The extended working body 11R forms the right side of the agricultural implement 1 and is provided to the right of the central working body 11.

[0022] The frame 2 has a mounting portion that can be mounted on the traveling body B. Reference numeral 212 denotes a top mast. Reference numeral 213 denotes a lower plate. There are two lower plates 213. Reference numeral 201 denotes a top link pin. The top link pin 201 is provided at the tip of the top mast 212 at the mounting portion. Reference numeral 202 denotes a lower link pin. The lower link pin 202 is provided at the tip of the lower plate 213 at the mounting portion. The tillage implement 1 is attached to the traveling body B by a top link pin 201 provided on the top mast 212 and lower link pins 202 provided on each of two lower plates 213. B1 is a traveling device made up of tires and the like. F is a lifting device.

[0023] Reference numeral 21 denotes an input case which is a transmission part. Driving force is introduced into the input case 21 from the PTO shaft B3 of the traveling machine body B via the input shaft 1. Reference numeral 22 denotes a pipe frame. The pipe frame 22 is a long member, and is attached to the left and right sides of the input case 21 with its longitudinal direction facing left and right. Although not shown, the extension working bodies 11L and 11R can also be provided with side working body pipe frames that are placed at the tip ends of the pipe frame 22. The driving force from the input case 21 is distributed via bevel gears and transmitted to the tip ends of the pipe frame 22 and the side working body pipe frames, respectively. It is also possible to provide a second pipe frame that is provided in parallel to the pipe frame 22. When the second pipe frame is provided, the strength of the frame 2 can be increased.

[0024] Reference numeral 23 denotes a transmission case made up of a chain case. Reference numeral 23A denotes a central working body transmission case. The central working body transmission case 23A is attached to the tip end side of the pipe frame 22. Although not shown, it is also possible to attach side working body transmission cases 23B to the tip end sides of the extended working bodies 11L and 11R, respectively. Support frames 24 are made up of support members. The support frames 24 are located at the leading ends of both the left and right sides of the pipe frame 22 and are connected to the transmission case 23. The folding fulcrum parts 25 are arranged on both the left and right ends of the central working body 11, and the central working body 11 of the tillage implement 1 and the left and right extension working bodies 11L and 11R are respectively rotatably attached to the folding fulcrum parts 25.

[0025] Numeral 3 denotes a tilling unit consisting of a soil-breaking section. The tilling unit 3 is rotatably supported by a support frame 24 of the frame 2 and breaks down the soil. 3L is the left-side extended tilling unit. The extended tilling unit 3L is provided on the left side of the tilling unit 3 and is installed below the extended working body 11L. 3R is the right-side extended tilling unit. The extended tilling unit 3R is provided on the right side of the tilling unit 3 and is installed below the extended working body 11R.

[0026] A rotor shaft 31 is provided on the central working body 11, the extended working body 11L, and the extended working body 11R, and is driven by the driving force from the input case 21. Numeral 32 denotes tillage tines. The tillage tines 32 are provided so as to protrude from the periphery of the rotor shaft 31, and rotate in conjunction with the rotation of the rotor shaft 31 to till the field.

[0027] A cover body 4 is installed so as to cover the upper part of the tilling section 3 of the central working body 11. 4L is a cover body. The cover body 4L is installed so as to cover the upper part of the extended tilling section 3L of the left-side extended working body 11L. 4R is a cover body. The cover body 4R is installed so as to cover the upper part of the extended tilling section 3R of the right-side extended working body 11R.

[0028] Reference numeral 41L denotes a left fulcrum frame. The left fulcrum frame 41L is attached to the folding fulcrum portion 25 on the cover body 4L. The right fulcrum frame 41R is attached to the folding fulcrum portion 25 on the upper side of the cover body 4R. If a side working structure pipe frame is provided, the left supporting point frame 41L and the right supporting point frame 41R can also be provided directly on the side working structure pipe frame.

[0029] Reference numeral 5 denotes a ground leveling unit (ground leveling body). The ground leveling unit 5 is also called a ground leveling body and is made of a plate-like material. The ground leveling body 5 levels the ground evenly. The soil leveling body 5 is positioned behind the tilling unit 3 and is free to rotate up and down. It levels the soil (mud) after tilling by touching the ground. The soil leveling body 5 is positioned behind the tilling unit 3 and at the rear of the cover body 4, and is rotatable around an axis perpendicular to the direction of travel. By bringing the surface facing the tilling unit 3 into contact with the soil, it levels the soil that the tilling unit 3 has crushed in the field. A first ground leveling body 51 is attached to the central working body 11. 5L is the left ground leveling body. 51L is the first left ground leveling body. The left ground leveling body 5L and the first left ground leveling body 51L are attached to the extension work body 11L. 5R is the right ground leveling body. 51R is the first right ground leveling body. The right ground leveling body 5R and the first right ground leveling body 51R are attached to the extension work body 11R.

[0030] 3 and 4, reference numeral 512 denotes a pivot point for the first soil leveling body 51. The pivot point 512 attaches the soil leveling unit (soil leveling body) 5 to the tillage implement 1 so that the soil leveling unit 5 can pivot about an axis perpendicular to the direction of travel behind the tilling unit 3. Reference numeral 513 denotes a holding plate. Reference numeral 53 denotes a holding member. The holding member 53 is held rotatably about a rotation axis parallel to the rotation fulcrum 512 by holding plates 513, which are two plate-like members erected from the ground leveling unit (ground leveling body) 5. The holding member 53 has an insertion hole 532 perpendicular to its own rotation axis, and a rod main body 61, which will be described later, is inserted into this insertion hole 532.

[0031] 3 and 4 denotes a protrusion 531. The protrusion 531 protrudes from the holding member 53 in a lateral direction parallel to the rotation fulcrum 512, and is engaged with a first elongated hole 641 provided in the rotation restricting member 64, which will be described later. Reference numeral 56 denotes a second ground leveling body. Reference numeral 57 denotes a rotation fulcrum of the second ground leveling body 56. The second ground leveling body 56 rotates relative to the first ground leveling body 51 around the rotation fulcrum 57. The left second ground leveling body 56L is attached to the left first ground leveling body 51L of the extension working body 11L, and is rotatable about a rotation fulcrum 57. The right second ground leveling body 56R is attached to the right first ground leveling body 51R of the extension working body 11R. The pivot point 57 is a pivot axis parallel to the width direction of the second leveling body 56, the left second leveling body 56L, and the right second leveling body 56R, and allows the second leveling body 56, the left second leveling body 56L, and the right second leveling body 56R to rotate up and down around this pivot point 57. The central first ground leveling unit, namely, ground leveling body 51, the left first ground leveling unit, namely, ground leveling body 51L, and the right first ground leveling unit, namely, ground leveling body 51R, rotate up and down in conjunction with each other. The central second ground leveling body 56, the left second ground leveling body 56L, and the right second ground leveling body 56R rotate up and down in conjunction with each other. Even if the ground leveling body 5 has extension bodies 11L, 11R on the left and right and has a foldable structure, the central ground leveling body 5, the left ground leveling body 5L, and the right ground leveling body 5R rotate up and down in conjunction with each other, thereby enabling the leveling of a wide range of soil.

[0032] The pressure adjusting section will now be described. Reference numeral 6 denotes a pressure adjusting unit. The pressure adjusting unit 6 biases the ground leveling unit (ground leveling body 5) in the rotation direction. The pressure adjusting unit 6 has a rod main body 61, a first elastic body 62, a second elastic body 63, a rotation restricting member 64, a restricting body 65, a switching arm 66, a return elastic body 68, and an actuator 67. 3 and 4, reference numeral 611 denotes the rotation fulcrum of the rod. One end of the rod rotation fulcrum 611 is provided near the frame 2 of the rotation restricting member 64, and supports the rod main body 61 so that it can rotate freely in the same direction as the ground leveling unit (ground leveling body) 5. Reference numeral 612 denotes a pin provided at the tip of the rod main body 61. Reference numeral 613 denotes a pin provided at the base of the rod main body. Reference numeral 614 denotes a screw adjustment portion, which is provided near the rotation fulcrum 611 and adjusts the length of the adjustment portion 615.

[0033] The other end, i.e., the tip end, of the rod body 61 is held by a holding member 53 provided on the ground leveling section (ground leveling body) 5 so as to be slidable in the axial direction of the rod body 61. The holding member 53 slides in the axial direction of the rod body 61 as the first ground leveling body 51, the left first ground leveling body 51L, and the right first ground leveling body 51R rotate up and down. In the embodiment, the rod body 61 is shown as a round bar-shaped member, but a cylindrical member may also be used, and the cross-sectional shape is not limited to being round.

[0034] Reference numeral 62 denotes a first elastic body. The first elastic body 62 is wound around the rod main body 61 coaxially with the rod main body 61 and is positioned between the rod's pivot point 611 and the retaining member 53. The first elastic body 62 can urge the first soil leveling body 51, or the left first soil leveling body 51L, or the right first soil leveling body 51R, toward the tilling unit 3. By urging the first soil leveling body 51 to rotate toward the tilling unit 3, the pressing force of the first soil leveling body 51 against the leveled surface D (D1) is increased, thereby improving soil leveling performance. The same applies to the left first soil leveling body 51L and the right first soil leveling body 51R.

[0035] Reference numeral 65 denotes a regulating body. The regulating body 65 is provided slidably in the axial direction of the rod main body 61, and is provided between the rotation fulcrum 611 of the rod and the first elastic body 62. By abutting the regulating body 65 against one end of the first elastic body 62 on the rotation fulcrum 611 side of the rod, the expansion and contraction of the first elastic body 62 is restricted. By moving the regulating body 65 relative to the rod main body 61, the position at which the expansion and contraction of the first elastic body 62 is restricted can be changed. The first elastic body 62 is placed between the regulating body 65 and the holding member 53. The regulating body 65 is operated by a switching arm 66. When the switching arm 66 is fixed, the first elastic body 62 biases the holding member 53 in the tip direction of the other end of the rod main body 61 opposite the rod rotation fulcrum 611 side, i.e., the tip side.

[0036] The first elastic body 62 urges the ground leveling unit (ground leveling body) 5 to approach the ground D (D1) by moving the holding member 53 toward the tip of the rod main body 61. The regulating body 65 has a protruding portion 651 in a direction perpendicular to the rod main body 61, and by connecting this protruding portion 651 to a switching arm 66, the regulating position of the regulating body 65 can be changed. The regulating position of the regulating body 65 and the detailed structure of the switching arm 66 will be described later.

[0037] A second elastic body 63 is provided coaxially with the rod main body 61 and wound around the rod main body 61 at the other end, i.e., the tip end, of the rod main body 61, which is opposite the rod rotation fulcrum 611 side of the rod main body 61 from the holding member 53. A pin 612 is a locking member and is provided so as to protrude from the other end of the rod main body 61, which is the end opposite to the rotation fulcrum 611 of the rod of the rod main body 61.

[0038] As shown in the figure, the pin 612 prevents the second elastic body 63 from moving further toward the tip of the rod main body 61 at the tip side of the rod main body 61. Therefore, the second elastic body 63 biases the holding member 53 toward the end side of the rotation fulcrum 611 of the rod. The second elastic body 63 biases the holding member 53 to move in the direction of the rotation fulcrum 611 of the rod, thereby biasing the ground leveling section (ground leveling body) 5 away from the leveling surface D (D1).

[0039] The second elastic body 63 urges the ground leveling body 5 upward when the ground leveling body 5 rotates upward from the lowest position in the rotation direction. This has the effect of allowing the ground leveling body 5 to rotate upward quickly without sticking into the field surface when the ground leveling body 5 touches the ground surface in a muddy state. In this first embodiment, the first elastic body 62 and the second elastic body 63 are each provided coaxially with the rod main body 61. Therefore, it is possible to install both the first elastic body 62, which urges the ground leveling unit (ground leveling body) 5 to approach the ground leveling surface D (D1) by moving the holding member 53 toward the other end of the rod main body 61, and the second elastic body 63, which urges the ground leveling unit (ground leveling body) 5 to move away from the ground leveling surface D (D1) by moving the holding member 53 toward the rotation fulcrum 611 of the rod, in a limited space.

[0040] Reference numeral 64 denotes a rotation restricting member. The rotation restricting member 64 restricts the rotation range of the ground leveling body 5 via the holding member 53 and the holding plate 513. The rotation restricting member 64 is U-shaped in cross section with an open bottom so as to cover the rod main body 61 (not shown), and is located on the outside of the working body, that is, above the cover body 4 and the ground leveling body 5. This prevents foreign matter such as soil and impurities from adhering to the rod main body 61, and eliminates deviations in the rotation restricting position of the ground leveling body 5. The rotation restricting member 64 is supported at one end by a rod rotation fulcrum 611 so as to be rotatable in the same direction as the ground leveling unit (ground leveling body) 5 near the frame 2. In addition, the rotation restricting member 64 is fixed to the base end of the rod main body 61 by a pin 613, so that it can rotate around the rotation fulcrum 611 together with the adjustment unit 615 and the rod main body 61. Although the rotation restricting member 64 has been described as being provided on the rotation fulcrum 611 via the adjustment portion 615, this adjustment portion 615 may be omitted. In this case, a pin 613 is inserted into the rotation fulcrum 611 so as to pass through the rotation restricting member 64 and the front end side of the rod main body 61, and the rotation restricting member 64 and the rod main body 61 are directly supported by the rotation fulcrum 611 so as to be freely rotatable.

[0041] Reference numeral 641 denotes a first elongated hole portion. Reference numeral 642 denotes a second elongated hole portion. The first elongated hole portion 641 and the second elongated hole portion 642 are provided in two positions, one at the front and one at the back of the side portion of the rotation restricting member 64. The second elongated hole portion 642 is provided near one end of the rotation restricting member 64 that is closer to the rotation fulcrum 611 of the rod that is rotatably supported near the frame 2, and the first elongated hole portion 641 is provided near the tip end, which is the other end of the rotation restricting member 64, of the second elongated hole portion 642. The restricting body 65 slides on the rod main body 61 with the protruding portion 651 aligned with the elongated hole of the second elongated hole portion 642. The protruding portion 651 and the second elongated hole portion 642 allow the restricting body 65 to slide on the rod main body 61 without rotating around the axis of the rod main body 61.

[0042] The first elongated hole portion 641 and the second elongated hole portion 642 are elongated in the axial direction of the rod main body 61 and are provided parallel to the rod main body 61 . The diameter of the first elongated hole 641 is larger than the diameter of the second elongated hole 642, depending on the diameters of the protruding portion 651 and the protruding portion 531. The rotation of the ground leveling unit (ground leveling body) 5 is restricted by the protruding portion 531 abutting against the end of the first elongated hole 641. In particular, downward rotation is restricted by the weight of the ground leveling unit (ground leveling body) 5 acting on the end of the first elongated hole 641. At this time, in order to reduce the surface pressure at the time of contact, it is necessary to increase the contact area between the first elongated hole 641 and the protruding portion 531. For this reason, the diameter of the first elongated hole 641 is made larger.

[0043] The holding member 53 has the protruding portion 531 that slides on the rod main body 61 along the elongated hole of the first elongated hole portion 641 . The first elongated hole 641 on the rear side (free end side) guides the protrusions 531 that protrude like pins from both the left and right ends of the holding member 53. As the rod main body 61 slides as the ground leveling body 5 (first ground leveling body) rotates up and down, the protrusions 531 move along the inner periphery of the first elongated hole 641. The protrusions 531 and the first elongated hole 641 allow the first ground leveling body 51, or the left first ground leveling body 51L, or the right first ground leveling body 51R, to rotate within the range of the first elongated hole 641. The protrusions 651 protrude from both the left and right ends of the regulating body 65 in a pin-like shape.

[0044] The second elongated hole 642 on the front side guides protrusions 651 that protrude like pins from both the left and right ends of the regulating body 65. The regulating body 65, which is slidable in the axial direction relative to the rod main body 61, is freely movable within the range of the second elongated hole 642. In addition, the protrusions 65 and the second elongated hole 642 prevent the regulating body 65 from rotating around the rod axis. The second elongated hole portion 642, which allows the regulating body 65 to slide along the elongated hole, and the first elongated hole portion 641, which allows the holding member 53 to slide along the elongated hole, are provided separately in the longitudinal direction of the rotation restricting member 64, and the second elongated hole portion 642 is provided at one end of the rod main body 61, which is the side of the rod's rotation fulcrum 611, and the first elongated hole portion 641 is provided at the other end, i.e., the tip side, of the rod main body 61, thereby enabling smooth operation of the switching arm 66, which will be described later, and the holding member 53.

[0045] As shown in Figures 3 and 4, one end of the rod body 61 is rotatable near the frame 22 or on the cover body 4, so that the rod body 61 can be laid down (in a horizontal position). The rod body 61, the tip which is the free end of the rod body 61, does not go in and out in the vertical direction due to the rotation of the ground leveling body 5, so there is no inconvenience such as the rod body 61 interfering with the extension working bodies 11L, 11R even when they are in the folded state.

[0046] Furthermore, by providing the rotation fulcrum 611 of the rod body 61 on the pipe frame 22 side rather than the cover body 4, the fulcrum position does not fluctuate due to deformation of the cover body 4 caused by work, and the rotation restriction position on the lower side of the leveling body 5 is stabilized. As shown in Figures 3 and 4, one end of the rod body 61 in the embodiment is rotatably mounted on a member that protrudes downward from the frame 22, but there are no restrictions on the mounting position as long as the rod body 61 can rotate in conjunction with the rotation of the soil leveling body 5. The rotation fulcrum 611 only needs to be located above and forward of the rotation fulcrum 512, and the rotation fulcrum 611 can also be located above the tilling section 3 or above the cover body 4, and does not necessarily have to be located on the frame 2. For example, the rigidity and strength of the cover body 4 can be improved, and one end of the rod body 61 can be rotatably mounted on the cover body 4 that covers the tilling section 3.

[0047] The rod body 61 slides in the axial direction of the rod body 61 within the insertion hole 532 provided in the holding member 53. That is, the holding member 53 slides in the axial direction of the rod body 61 as the ground leveling body 5 (first ground leveling body 51, 51L, 51R) rotates up and down.

[0048] In an embodiment of the present invention, a rod main body 61, a first elastic body 62, and a second elastic body 63 are installed above the ground leveling body 5 to restrict the rotation of the rod main body 61 and thereby restrict the up and down movement of the ground leveling body 5. The first elastic body 62 biases the soil leveling unit (soil leveling body) 5 toward the leveled surface D (D1), while the second elastic body 63 biases the soil leveling unit (soil leveling body) 5 away from the leveled surface D (D1). Therefore, when the soil leveling body 5 rotates so that the holding member 53 moves from one end to the other end (i.e., the tip end), or vice versa, the biasing direction can be smoothly switched. Therefore, the pressing force applied to the leveled surface D (D1) by the rotation of the soil leveling body 5 can be changed according to the rotation angle. By providing a rotation restriction member 64 above the soil leveling body 5, on the side opposite the tilling unit 3 of the soil leveling body 5, debris on the leveled surface D (D1) does not clog the soil leveling body 5, and stable rotation restriction of the soil leveling body 5 can be achieved. Furthermore, the rotation restriction member 64 restricts the vertical rotation of the ground leveling body 5, so stable rotation restriction can be achieved by the rotation restriction member 64 alone, without relying on the rod main body 61, the first elastic body 62, and the second elastic body 63.

[0049] The regulating body 65, which is slidable on the rod main body 61, can be adjusted by fixing only the first elastic body 62, which presses the leveling body 5, at any position. A switching arm 66 is provided rotatably on both sides of the rotation restricting member 64 so as to straddle the rotation restricting member 64, in order to move the restricting body 65 in the axial direction of the rod main body 61.

[0050] A rotation fulcrum part 661 is a rotation fulcrum shaft about which the switching arm 66 rotates, allowing the switching arm 66 to rotate freely in the front-rear direction. By rotating the switching arm 66 relative to the rotation restricting member 64, the protruding portion 651 is guided, and the restricting body 65 located on the rod main body 61 can be moved.

[0051] 3, the return elastic body 68 is attached to the periphery of the rotation fulcrum portion 661, and biases the restriction body 65, which can come into contact with the first elastic body, toward the other end side of the rod main body 61, i.e., the tip side. The return elastic body 68 biases the switching arm 66 in a direction that strengthens the biasing force of the first elastic body 62, and moves the regulating body 65 together with the first elastic body 62 toward the other end, i.e., the tip, of the rod main body 61. By providing the switching arm 66, the operator can more easily move the regulating body 65 which is operated by a link mechanism.

[0052] The return elastic body 68 biases the first elastic body 62 in a direction to compress it (a direction to store elastic force) by the rotation of the switching arm 66. The return elastic body 68 is set to be weaker than the first elastic body 62, so that abnormal noise and wear of the first elastic body 62 and the regulating body 65 are suppressed, while the biasing action of the first elastic body 62 on the leveling plate is not hindered.

[0053] In an embodiment of the present invention, the pressure adjusting unit 6 is provided on each of the central working body 11 and the extended working bodies 11L, 11R of the foldable tillage implement, or may be provided only on the central working body 11, or only on each of the left and right extended working bodies 11L, 11R. It is also possible to install it on a tillage implement 1 that does not have a folding mechanism. Furthermore, although the illustrated pressure adjusting units 6 are provided in three locations, there is no limit to the number. The pressure adjusting units 6 can be appropriately changed in shape and location to suit the shape and specifications of the agricultural implement.

[0054] As the switching arm 66 rotates, the regulating body 65 slides in the axial direction of the rod main body 61. The second elongated hole portion 642 limits the range of movement of the regulating body 65, and when the rotation of the switching arm 66 is stopped, the movement of the regulating body 65 relative to the rod main body 61 stops. Therefore, by changing the rotation position of the switching arm 66, the biasing force of the first elastic body 62 sandwiched between the regulating body 65 and the holding member 53 against the ground leveling body 5 can be changed.

[0055] The switching arm 66 is rotatable by a rotation fulcrum portion 661 that is rotatable on the rotation restricting member 64. An actuator 67, which will be described later, is attached to the upper end of the switching arm 66, and an elongated hole portion 663 into which the protrusion portion 651 of the restricting body 65 is inserted is provided at the lower end. By rotating the switching arm 66, the elongated hole portion 663 can move the left and right protrusion portions 651 of the restricting body 65 in the axial direction of the rod main body 61 while being guided by the second elongated hole portion 642.

[0056] As shown in FIG. 1, the leveling body 5 comprises a first leveling body 51 and a second leveling body 56, which are rotatable relative to each other up and down. The rotation of the first leveling body 51 and the second leveling body 56 can be fixed and released by the posture control unit 7. In the rotation-fixed state, as shown in FIG. 2, the first leveling body 51 and the second leveling body 56 reach the lower end of the rotation direction and are fixed so that they cannot rotate. In the rotation-released state, the first leveling body 51 and the second leveling body 56 are rotatable in the up and down direction. The posture control unit 7 has a first link 71 that rotates up and down on the first leveling body 51, a second link 72 that connects the rear end of the first link 71 to the upper part of the second leveling body 56, and a swing arm 712 that can fix and release the rotation of the first link 71.

[0057] The pressure adjusting unit 6 further includes an actuator 67. In the first embodiment, the actuator 67 is configured as a cylinder with a rod consisting of a retractable rod body 61. The base end of the cylinder is fixed at a desired position on the tilling unit 3 forward of the soil leveling unit 5, and the other end, i.e., the tip of the rod body 61, is connected to a switching arm. Driving the cylinder to extend and retract rotates the switching arm, causing the regulating body 65 to move relatively along the rod body 61. Because the regulating body 65 is movable on the rod body 61 by the actuator 67, the repulsive force of the first elastic body 62 sandwiched between the regulating body 65 and the retaining member can be adjusted. Therefore, the downward biasing force of the soil leveling unit 5 can be adjusted by changing the position of the regulating body 65. This biasing force is sometimes referred to as pressure adjustment. The retractable position of the rod of the actuator 67 can be maintained unless a control command is issued, so the position of the regulating body 65 is maintained and the degree of pressure adjustment by the first elastic body 62 can be maintained.

[0058] The pressurization (pressure adjustment) of the ground leveling body 5 will be described. For example, as shown in Figure 4, when it is determined that the running resistance is high, it may be due to the following: the soil is hard or sticky, the moisture content is low, there are many clods, there are large clods, the running speed is high, etc. In this case, the leveling body 5 is forced to rise upward, and the pressure on the soil is weak, so a satisfactory leveling finish may not be obtained. For this reason, it is necessary to apply pressure so as to urge the leveling body 5 downward. Conversely, examples of conditions that indicate low rolling resistance include soft soil or low stickiness, high moisture content, no soil clods (small soil clods) or small soil clods, and slow running speed. In this case, the leveling body 5 is subject to a force that tries to sink downward, and if it is pressurized too much, it will try to dig into the soil, which may result in a satisfactory leveling finish. For this reason, it is necessary to pressurize or depressurize the leveling body 5 to weaken the force that urges it downward. For this reason, the pressure adjustment unit 6 is provided to ensure that the leveling body 5 is properly grounded. Furthermore, the pressurization (pressure adjustment) of the ground leveling body 5 will be described later.

[0059] In addition to the above-described form, a motor having a rotating shaft may be used as the actuator 67. In this case, the rotation of the output shaft of the motor may be connected to rotate the switching arm, thereby moving the regulating body 65. Also, a screw may be used to convert the rotation of the motor into the extension and retraction movement of the rod main body 61.

[0060] The imaging device C will now be described. The photographing device C consists of a camera and is mounted on the agricultural work machine 1 so as to be able to photograph at least the rear, including the rear section of the agricultural work machine 1. When installing, it is sufficient that the angle of view covers the entire width of the rear section of the agricultural work machine 1, and in this embodiment it is described as being located above the second leveling body 56, which is the leveling body 5, and in the center in the width direction of the machine body. In this embodiment, the photographing device C is described as being fixed to the pipe frame 22, but there is no limitation on where it is fixed. As long as the above-mentioned angle of view is ensured, it may be fixed to, for example, the cover body 4 or the top mast 212. C1 is the photographing range. Images photographed by the photographing device C are sent to the control unit 101.

[0061] In order to facilitate understanding in the illustrations, the image information will be described as having no distortion in the captured angle of view, but image information with a distorted image can also be used, as typified by the use of a wide-angle lens or a fisheye lens in the image capture device C. Image information includes not only still images but also moving images. Image information is sometimes referred to as captured information. Furthermore, the number of camera devices C that are placed on the ground of the agricultural work machine 1 is not necessarily limited to one, and multiple camera devices can be installed in the width direction of the machine body. In this case, the angle of view of each camera device C can be adjusted so that each camera device C divides the entire width of the ground leveled by the second ground leveling body 56.

[0062] The control unit 101 will now be described. As described above, as shown in FIG. 5, the control unit 101 includes a communication processing unit 102, a calculation unit 103, and an operation processing unit 104, and is disposed at an arbitrary position on the agricultural work machine 1. The communication processing unit 102 receives image information captured by the image capturing device C.

[0063] The calculation unit 103 performs analysis based on the received image information, calculates the amount of undulation, which is the state of the soil, and derives undulation amount data. In this explanation, undulation refers to unevenness in the leveled ground D (D1), traces E1 left by the traveling body B, sinkholes and piles of earth due to insufficient leveling, etc., as shown in Figure 9, which is a rear view of the agricultural work machine according to the first embodiment of the present invention in a working state. The calculation of the undulation amount by the calculation unit 103 can include filtering processing to remove noise and distortion from the image, trimming processing to extract only the necessary area, processing to adjust the brightness and color of the image information, processing to emphasize the outline of the photographed object, and processing to extract the area of ​​the object. Through calculations by the calculation unit 103, the undulation amount that is the undulation area that is the object included in the image information is calculated, and undulation amount data is calculated.

[0064] The undulation amount data indicates the area of ​​the undulations relative to the soil surface after leveling by the second leveling unit 56, which is the leveling unit 5. Furthermore, a limiting process may be performed on the undulations contained in the obtained image information, so that only undulation amounts within a preset range are processed as undulation amount data. For example, only the area behind the area where the leveling unit 5 has passed can be subject to calculation, or only the area near the boundary between the area where the leveling unit 5 has passed and the area outside in the width direction can be subject to calculation. Furthermore, the area including both the area behind the area where the leveling unit 5 has passed and the area near the boundary between the area outside in the width direction can be subject to calculation. The calculation mode for switching between these calculation objects is provided as a first mode, a second mode, and a third mode, and by providing a switchable mode between these modes, the complexity of the calculation process is reduced.

[0065] The determination of undulations by the calculation unit 103 will be described. The types of undulations are as described above, but an example of how they are determined in the calculation will be explained below. For example, if there is a trace E1 of the traveling machine body B on the soil after leveling, the trace E1 is determined to be clearly different from the rest of the leveled soil because it is recessed relative to the other leveled areas, and the area of ​​this part is determined to be undulating in the calculations. If the area is large, the pressure adjustment unit 6 is controlled to increase the biasing force. In other words, if the undulating area is large, the degree of pressure adjustment is increased, and the ground leveling pressure is increased to level the ground, thereby leveling the trace E1 with the leveling body 5. Conversely, if there is no undulating area or the area is smaller than the set area, the current degree of pressure adjustment is not changed and the current situation is maintained.

[0066] As another example, referring to Figure 9 showing an example of image information, we will explain the case where there is a leveled surface D1 immediately after work has been performed, and an adjacent surface D2, which is another leveled surface adjacent to this leveled surface D1. Plowing or plowing work may involve going back and forth within the field. As a result, a step E2 (an outer step E2A, an inner step E2B) may occur on the adjacent surface D2, which is another leveled surface. In other words, a step E2 occurs at the boundary between the part leveled by the leveling body 5 and the outside of the leveling body 5 in the width direction. When it is determined that this step E2 exists, the pressure adjustment unit 6 is controlled to eliminate the step E2, which is an undulation. In addition, in FIG. 9, the multiple thin lines drawn are auxiliary lines indicating depth and do not appear on the actual soil surface, and are not included in the actual photographic information of the field.

[0067] Further details will be provided. If the leveling surface D1 becomes a step E2A that is higher than the adjacent soil surface D2, the soil will move to the outer adjacent surface D2, which is lower in relation to the leveling width, and it can be determined that there is an undulation on the widthwise outer side of the leveling body 5. In this case, the leveling surface D1 is pressed down by increasing the degree of pressure adjustment so as to increase the leveling pressure of the leveling body 5, so that it becomes the same as the adjacent soil surface D2. Conversely, if the leveling surface D1 becomes a step E2B that is lower than the adjacent soil surface D2, the soil will move inward relative to the leveling width, and it can be determined that there is an undulation on the inside in the width direction from the leveling body 5. In this case, the degree of pressure adjustment is reduced to weaken the leveling pressure of the leveling body 5, thereby weakening the pressure on the leveling surface D1 and making it the same as the adjacent soil surface D2.

[0068] There may be cases where the aforementioned travel mark E1 and the step E2 near the boundary of the leveled surface D (D1) are present at the same time. In this case, the pressure adjusting unit 6 can be controlled to operate with priority given to eliminating the travel mark E1, or the pressure adjusting unit 6 can be controlled with priority given to eliminating the step E2 near the boundary of the leveled surface D (D1).

[0069] Of course, it is also possible to control the pressure adjusting unit 6 specially for the travel trace E1, or specially for the step portion. The priority and specialization of the calculation process can be set as calculation modes on the operation unit, and can be determined by the operator's operation.

[0070] The operation processing unit 104 will now be described. The operation processing unit 104 determines the operation of the pressure adjustment unit 6, which adjusts the biasing force of the soil leveling body 5, based on the value of the undulation amount data obtained by the calculation unit 103. Based on the calculation results, the operation processing unit 104 sends an operation signal, which is an operation instruction to the pressure adjustment unit 6, thereby operating an actuator 67 that operates the pressure adjustment unit 6. The pressure adjustment unit 6 adjusts the biasing force to the soil leveling body 5 so that it is linked to the size of the undulating area obtained by the control unit 101 from the image information, allowing appropriate soil leveling work to be performed.

[0071] The control unit 101 will now be described. As shown in the block diagram of Figure 5, the control unit 101 is placed at any position on the agricultural work machine 1. A preferred location for placing the control unit 101 is a location where there is little scattering of mud and where communication with the traveling machine body is easy, for example, above the cover body 4. Even more preferably, it is above the pipe frame 22 or in the vicinity of the pipe frame 22. Although not shown, in this embodiment, it is provided around the input case 21 and above the front side of the pipe frame 22, which is the most preferred location. 5, the control unit 101 is provided with a communication processing unit 102, a calculation unit 103, an operation processing unit 104, and a storage unit 105. The control unit 101 is also connected to the storage unit 105 and an alarm device 112 provided in the agricultural work machine, and is able to operate the control unit 101 and obtain information. The control unit 101 is provided with the communication processing unit 102 and an operation instruction unit. The communication processing unit 102 provided in the control unit 101 can process information input from the memory unit 105, alarm device 112, and display device 113 provided in the traveling body B, and transmit the information to the control unit 101 shown in Figure 5 provided in the agricultural work machine 1, which is an agricultural work machine.

[0072] The operation processing unit 104 can issue an operation command to the actuator 67 based on the determination result obtained by the calculation unit 103 .

[0073] In the embodiment of the present invention, the alarm device 112 is simply shown as sounding or not, but other specific examples include a buzzer sound including a changing tone, and a voice guide consisting of words. Regarding the implementation, there is no limitation on the notification format as long as the worker can correctly recognize the sound by hearing it. In this embodiment, the display device 113 is described as displaying information in color, but it may also be displayed in graphics or language, and there is no limitation on the display format as long as the operator can correctly visually recognize it. The display device 113 and the warning device 112 may be arranged or operable on at least one of the traveling machine body B side or the agricultural work machine 1 side.

[0074] The illustration of FIG. 8, which shows the working state of the working machine according to the first embodiment of the present invention, will be described with reference to the drawings. The heading, actuator position, and pressure adjustment degree are detected. The heading consists of 1, 2, 3...n-1, n. The detected quantity X consists of X(1), X(2), X(3), X(1)···X(n-1), and X(n).

[0075] The actuator position includes a first position, a second position, a third position, . . . , an (n-1)th position, and an nth position, depending on the position of extension / contraction of the actuator 67. The pressure adjustment degree consists of a first pressure increase, a second pressure increase, a third pressure increase, an (n-1)th pressure increase, and an nth pressure increase. The pressure applied by the leveling body 5 to press the soil includes a first pressure in which the leveling body does not apply pressure or applies a small pressure, a second pressure in which the leveling body 5 applies a medium pressure with a biasing force intermediate between the first and third pressures, and a third pressure in which the leveling body 5 applies a maximum adjustment force to the side pressing the soil.

[0076] The control of the pressure adjusting unit 6 will now be described in detail. As illustrated in Figure 8, In the first position, the leveling body 5 is in the position where the regulating force exerted in the direction pressing the soil is the smallest, and the pressure regulating unit 6 is in the first pressurization. In the embodiment, the first pressurization operates the actuator 67 to the first position and adjusts the pressure regulating unit 6 when it is determined that the undulations contained in the image information are small. In the embodiment, the first pressurization is a state in which appropriate leveling results are obtained without pressurizing the leveling body 5. Furthermore, the first pressurization is a state in which no force is exerted by the first elastic body, so that when a worker lifts the leveling body 5 for maintenance, etc., it can be done easily.

[0077] In the second position, the leveling body 5 is in a position where the regulating force exerted in the direction of pressing the soil is intermediate, and the pressure regulating unit 6 is in the second pressurization. In the embodiment, the second pressurization is performed when the undulations contained in the image information are determined to be intermediate, by operating the actuator 67 to the second position and adjusting the pressure regulating unit 6. In the embodiment, the second pressurization adjusts the pressure regulating unit 6 so that the leveling body 5 is pressed with an intermediate force between the first pressurization and the third pressurization described below.

[0078] In the third position, the leveling body 5 is at the position where the regulating force exerted in the direction pressing the soil is at its maximum, and the pressure regulating unit 6 is at the third pressure. In the embodiment, the third pressure is applied when it is determined that the undulations contained in the image information are large, by operating the actuator 67 to the third position and adjusting the pressure regulating unit 6. In the embodiment, the third pressure is applied because the leveled state after leveling has many undulations, and the pressure regulating unit 6 is adjusted to reduce the undulations and obtain appropriate leveling results. In other words, the leveling body 5 is pressurized so as to press the soil to the maximum extent.

[0079] In the first embodiment, the pressure applied to the ground leveling body 5 is set to three levels, from the first pressure to the third pressure, by adjusting the first position to the third position. However, the levels may be further subdivided so that the first position to the nth position correspond to each level, such as the first pressure to the nth pressure, or there may be no levels. The finer the levels, the more accurate the pressure adjustment. In other words, it is sufficient to set the pressure adjustment in conjunction with the regulating position of the regulating body 65 and the magnitude of the undulation amount data, which is data indicating the proportion of the undulating area included in the result calculated based on the image information.

[0080] Although the actuator 67 has been described as extending and retracting to be located at the first position, second position, and third position, when the rotation angle of the motor is used, the respective extension and retraction positions may be replaced with the first rotation angle, the second rotation angle, and the third rotation angle to move the regulating body 65. Furthermore, in addition to moving the regulating body 65 using the extension and retraction position or rotation angle of the actuator 67, a method of moving the regulating body 65 depending on the operating time of the actuator 67 may also be used.

[0081] A modified example will now be described. In the first embodiment, the description was given assuming that there is no regulating body 65 for adjusting the biasing force of the second elastic body. However, the regulating body 65 may be provided to adjust the biasing force of the second elastic body. The regulating body 65, located on the rear side of the rod main body 61, is the second regulating body, and the force urging the ground leveling body 5 upward when the ground leveling body 5 rotates upward from the lowest position in the rotation direction can be adjusted. Specifically, the second elastic body is positioned between the holding member and the movably provided second regulating body, so it may be positioned so as to be interlocked with the actuator 67 and the switching arm. Alternatively, a second actuator 67 and a second switching arm dedicated to the second regulating body may be provided, and the regulating body 65 and the second regulating body may be individually adjustable. By adjusting the position of the second regulating body using the second switching arm B, the ground leveling body 5 can be biased to rotate upward, that is, the ground leveling body 5 can be biased in the direction of reducing pressure.

[0082] The control content will be explained with reference to the flow diagram of the communication processing unit 102 to the calculation unit 103 shown in FIG. First, when the pressurization mode is set to the automatic pressurization mode, the communication processing unit 102 acquires image information from the photographing device C (S11).

[0083] The calculation unit 103 calculates undulation information from the acquired image information (S12).

[0084] The amount of undulation is calculated from the obtained undulation information (S13). At this time, if the operation unit is in a state where the calculation mode for specifying the area to be calculated can be selected from the first, second, and third modes and has been switched to one of these modes, the specified calculation process is performed to calculate the amount of undulation.

[0085] In order to use the amount of undulation in calculations in the motion processing unit 104, undulation amount data is derived (S14), and the process ends.

[0086] The operation processing unit 104 will be described with reference to FIG. 7, which explains the control flow and the operation processing unit. When the automatic pressurization mode is entered, the operation processing unit 104 starts controlling the automatic pressurization of the pressure adjusting unit 6 .

[0087] The motion processing unit 104 receives the undulation amount data from the calculation unit 103 (S21).

[0088] The undulation state is determined from the undulation amount data (S22), that is, the size of the undulating area is determined.

[0089] The operation processing unit 104 determines the operation that the actuator 67 should perform based on the running resistance value or the judgment result, and transmits an operation signal to the actuator 67. The actuator 67 operates in accordance with the operation signal, and adjusts the ground leveling body 5 to the specified adjustment pressure (S23, S24, S25).

[0090] For example, if the undulation state is determined to be the first undulation state, that is, if the proportion of undulation is small, the actuator 67 of the pressure adjustment unit 6 is controlled to be driven to the first position, and the first pressure is applied, which does not apply pressure to the leveling body 5 (S23). If the undulation state is determined to be the second undulation state, that is, if the degree of undulation is medium, the actuator 67 of the pressure adjusting unit 6 is controlled to be driven to the second position, and a medium second pressure is applied to the ground leveling body 5 (S24). If the undulation state is determined to be the third undulation state, that is, if the proportion of undulation is high, the actuator 67 of the pressure adjustment unit 6 is controlled to be driven to the third position, and the third pressure, which is the maximum pressure, is applied to the leveling body 5 (S25).

[0091] A waiting time is provided (S26) after the actuator 67 operates in response to an operation command from the operation processing unit 104. The waiting time is a preset time, and serves to prevent chattering, which is a phenomenon that causes the actuator 67 to operate unnecessarily continuously.

[0092] Then, it is determined whether the automatic pressurization mode is being continued (S27). If the automatic pressurization mode is being continued, the control is repeated, and if the automatic pressurization mode is not being continued, the control is ended.

[0093] Other explanations will be given. In the control flow introduced in the first embodiment, the pressure adjusting unit 6 is operated based on the results of three stages, from the first undulation state to the third undulation state, but the stages may be further subdivided or there may be no stages. In this case, pressure adjustment control based on image information can be made more detailed, making it possible to adjust the pressure of the finished soil with greater precision.

[0094] To achieve highly accurate pressure regulation, it is also possible to use table reference as shown in FIG. 8 instead of using the branching method of the control procedure as in step S22. In this case, the first to n-th undulation states are subdivided, and the actuator 67 is assigned a corresponding operation to operate the pressure regulator. Furthermore, based on this information, an alarm may be issued by the alarm device 112, a display may be provided by the display device 113, or a signal may be transmitted by the control unit 101 to a part other than the pressure regulator 6 or to the outside of the agricultural work machine 1. By using table reference, it is also possible to control the pressure regulator by combining additional conditions in addition to the conditions based on the image information. As examples of conditions, the traveling speed and traveling resistance may be acquired from other control units and sensors provided in the traveling machine body or the agricultural work machine 1 and combined with these to control the pressure regulator 6.

[0095] Furthermore, pressure adjusting units 6 may be provided at multiple locations, and pressure adjustment control is achieved by having control unit 101 simultaneously control actuators 67 provided at each location.

[0096] A second embodiment will be described below, as shown in FIGS. 1 to 9, the switching arm 66 is configured to be directly operated by the actuator 67. However, as shown in Fig. 11 in the second embodiment, the switching arm 66 may be rotated indirectly via a linking member 671 between the switching arm 66 and the actuator 67. Specifically, the switching arm 66 of the pressure adjustment unit 6 can be rotated by the actuator 67 of the attitude control unit 7.

[0097] A guide portion 713 is provided at the bottom of the first link 71, and an abutment portion 712A at the top of a swing arm 712 that is rotatable in the front-rear direction above the leveling body 5 can abut against the guide portion 713. The guide portion 713 has a hook-shaped rear side, and has a restriction range 713B where the abutting portion 712A enters the hook-shaped portion to fix or restrict the up and down rotation of the first link 71, and a restriction release range 713A above the abutting portion 712A where the fixation is released to allow rotation of the first link 71. In the case of the embodiment, the restriction range 713B is provided on the rear end side of the first link 71, and the restriction release range 713A is provided on the rotation fulcrum side of the first link 71.

[0098] When the contact portion 712A is located in the restricted range 713B, the first link 71 is prevented from rotating, and therefore the second leveling body 56 is prevented from rotating about the first leveling body 51 side as a fulcrum via the second link 72. The first leveling body 51, which is connected to the cover body and the second leveling body 56, is also prevented from rotating up and down.

[0099] When the contact portion 712A is located in the restriction release range 713A, the first link 71 is only prevented from rotating downward, and its upward rotation is not restricted. When in the restriction release range 713A, the ground leveling body 5 can level the ground. The first ground leveling body 51 and the second ground leveling body 56 are free to rotate up and down above the position where the first link 71 and the contact portion 712A contact, so they can move up and down to level the ground, following the surface D (D1).

[0100] The restriction release range 713A is also a posture maintaining section in which the posture of the first link 71 does not change no matter where in the restriction release range 713A the abutting portion 712A abuts. The posture maintaining section is formed in an arc, and the center of this arc coincides with the pivot point 714 of the swing arm 712. In other words, as long as the abutting portion 712A is located in the posture maintaining section, the posture of the first link 71 does not change, and as a result, the lower end of the second leveling body 56 does not fluctuate in the downward pivot direction. An actuator 67 is used to move the abutting portion 712A, that is, to swing the swing arm 712. The actuator 67 will be described as a cylinder.

[0101] The actuator 67 is provided so that the contact portion 712A can move at least within the restriction release range 713A, and more preferably so that the contact portion 712A can move between the restriction release range 713A and the restriction range 713B. The swing arm 712 and the switching arm 66 are connected by a linking member 671 formed of a wire, a link member, or the like. When the contact portion 712A is located within the restriction release range 713A, the position of the lower end of the rotating side of the ground leveling body 5 does not change even if the swing arm 712 is moved by the actuator 67, and the swing of the swing arm 712 can be linked to the switching arm 66 via an operation arm 715, which will be described later.

[0102] In this embodiment, the linking member 671 is connected to the swing arm 712 via an operating arm 715. The operating arm 715 is configured to move in conjunction with the rotation of the swing arm 712 when the swing arm 712 is positioned in the restriction release range 713A, within the rotation range of the swing arm 712 which rotates from the restriction range 713B to the restriction release range 713A. 716 is a rotation fulcrum of the operating arm 715. 716A is an engaging portion, and 716B is an engagement receiving portion. The engaging portion 716A is a protruding portion provided on the swing arm 712, and the engagement receiving portion 716B is provided on one side of the operating arm 715. The operating arm 715 rotates by engaging the engaging portion 716A with the engagement receiving portion 716B only when the swing arm 712 is positioned in the restriction release range 713A. The linking member 671 is connected to the other side of the operating arm 715. Therefore, the restricting body 65 can move in conjunction with the swing arm 712 only when the swing arm 712 is positioned in the restriction release range 713A of the first link 71.

[0103] In the second embodiment, the swing arm 712 and the switching arm 66 are configured to interlock when the abutment portion 712A is positioned in the restriction release range 713A. Therefore, the actuator 67, which switches between a state in which the rotation of the ground leveling body 5 is locked and a state in which the rotation is unlocked, can also be used to change the pressure applied by the pressure adjustment unit 6. The vehicle body can be simplified by using a common drive member for both restricting the rotation of the ground leveling body 5 and adjusting the pressure applied to the ground leveling body 5. In the above description, the attitude control unit 7 is located in the center of the vehicle body and is interlocked with the pressure adjustment units 6 located on the left and right sides of the vehicle body. However, the position of the attitude control unit 7 is not limited to one location. It is also possible to locate the attitude control unit 7 in multiple locations on the vehicle body and interlock with the other pressure adjustment units 6. Furthermore, one attitude control unit 7 may be interlocked with one pressure adjustment unit 6, or one attitude control unit 7 may be interlocked with multiple pressure adjustment units 6. The interlocking mode between the attitude control unit 7 and the pressure adjustment units 6 can be modified as appropriate.

[0104] A third embodiment will now be described. In the first embodiment, the pressure adjusting unit 6 is controlled by photographing the finished leveling and performing calculations, but in the third embodiment, a groove E is intentionally formed and the pressure adjusting unit 6 is controlled by determining the length of the groove E.

[0105] The groove forming unit 561 that forms the groove E is positioned on the underside of the soil leveling body 5, in this embodiment the second soil leveling body 56, or behind the soil leveling body 5, and is positioned so that at least a portion of it is buried in the soil. When soil leveling work is performed as the groove forming unit 561 advances, it moves in a manner that scratches the soil after leveling, so that a groove E can be formed in the soil after leveling.

[0106] The control unit 101 (calculation unit 103) performs calculations by regarding the groove E formed from the image information as an undulation. Since the groove forming unit 561 progresses while being buried to a certain depth, the amount of undulation obtained from the image information is calculated as the length of the groove E.

[0107] In the third embodiment, the pressure adjustment of the soil leveling body is set so that if the amount of undulation is determined to be large, the degree of pressure adjustment is reduced. This takes advantage of the fact that when the third embodiment is used for plowing a paddy field, as the pressure from the soil leveling body decreases, the water rises to the surface and furrows E disappear, and conversely, as the pressure from the soil leveling body increases, the water is pushed away by the pressure of the soil leveling body, and furrows E remain for a while. In other words, the relationship between the amount of undulation and the degree of pressure adjustment shown in the first embodiment is controlled to be the opposite.

[0108] If the operation processing unit 104 of the control unit 101 determines that the groove E does not reach the preset length, it controls the pressure adjusting unit 6 so as not to change the current degree of pressure adjustment, and controls the pressure adjusting unit 6 so that the length of the groove E reaches the preset length. In this way, an appropriate force can be applied to the soil leveling body 5, and a good soil leveling result can be obtained.

[0109] As explained above, the control unit 101 can also output the undulation amount data obtained by the calculation unit 103 from the control unit 101 to outside the agricultural work machine 1. The output undulation amount data can also be sent to other devices, such as the traveling machine body B, and used as other operation signals. Furthermore, although the image capture device C has been described as being fixed to the agricultural work machine 1, the image capture device C does not necessarily have to be fixed to the agricultural work machine 1. For example, the image capture device C can be mounted on an air vehicle, such as a drone, and can fly in a manner that follows the agricultural work machine 1 so as to capture a specified image capture range C1. In this case, image information can be transmitted wirelessly or via a cable from the image capture device C to the control unit 101, and calculations can be performed based on the image information received by the control unit 101. Although the image capture device C has been described as being mounted on a foldable agricultural work machine 1, it can be applied to agricultural work machines that can level ground, regardless of whether they are foldable or not. [Explanation of symbols]

[0110] 1 Generation raking machine (agricultural machine) 5 Earth leveling body 51 1st land leveling body 56 Second leveling body 6 Pressure Regulating Section 101 Control section C. Imaging device

Claims

1. a leveling body that is vertically rotatable and levels the soil by contact with the ground; a pressure adjusting unit that changes the biasing force of the soil leveling body on the soil; a photographing device capable of photographing the state of the soil after the leveling is performed above the leveling body; a control unit that determines the state of the soil based on the photographed information photographed by the photographing device and controls the pressure adjusting unit to adjust the biasing force of the soil leveling body; An agricultural machine characterized by comprising:

2. the control unit determines whether or not the undulations are present in the photographing information based on the photographing information, and controls the pressure adjusting unit to eliminate the undulations.

2. The agricultural implement according to claim 1.

3. The control unit determines whether or not there is a step at the boundary between the part to be leveled by the leveling body and the outer side of the leveling body in the width direction based on the photographed information, and controls the pressure adjusting unit to eliminate the step.

2. The agricultural implement according to claim 1.

4. The control unit determines the undulations contained in the photographing information based on the photographing information, and further determines whether there is a step at the boundary between the part to be leveled by the leveling body and the outer side of the leveling body in the width direction, and then controls the pressure adjusting unit by giving priority to eliminating the step.

2. The agricultural implement according to claim 1.

5. The control unit determines the undulations contained in the photographing information based on the photographing information, and when it determines whether or not there is a step at the boundary between the part to be leveled by the leveling body and the outer side of the leveling body in the width direction, it controls the pressure adjusting unit by prioritizing the elimination of the undulations.

2. The agricultural implement according to claim 1.

6. The photographing information includes a part of the leveling section and is information obtained by photographing the soil behind the leveling section.

2. The agricultural implement according to claim 1.

7. The photographed information includes a part outside the leveling portion in the width direction.

2. The agricultural implement according to claim 1.

8. the control unit determines the area of ​​the undulations included in the photographing information, and if it is determined that the area does not satisfy a predetermined area, does not change the current pressure adjustment degree of the pressure adjustment unit.

8. The agricultural machine according to claim 1, wherein the first and second axes are parallel to each other.

9. a groove forming unit capable of forming a groove by burying at least a portion of the soil in the soil after the soil leveling body has been used; 2. The agricultural work machine according to claim 1, further comprising:

10. the control unit determines the length of the groove included in the photographing information, and controls the pressure adjusting unit so that the length of the groove becomes a preset length.

10. The agricultural implement according to claim 9.

11. the control unit determines the length of the groove included in the photographing information, and if it is determined that the length is less than a preset length, does not change the current pressure adjustment degree of the pressure adjustment unit.

10. The agricultural implement according to claim 9.

12. the pressure adjusting unit is a rod having one end rotatably supported and the other end held by a holding member positioned on the ground leveling unit, and slidable in response to the rotation of the ground leveling body; a first elastic body that biases the ground leveling section toward the leveled surface; a rotation restricting member provided to cover the rod and allowing the holding member to slide; a regulating body that moves relative to the rod to regulate a position at which the first elastic body abuts; 2. The agricultural work machine according to claim 1, further comprising:

13. a second elastic body that biases the ground leveling section away from the ground leveling surface; 13. The agricultural work machine according to claim 12, further comprising:

14. The pressure adjusting unit is controlled to eliminate the undulations, but if the leveling surface becomes a step higher than the adjacent soil surface, the soil will move outward relative to the leveling width, so it is determined that there is an undulation on the outside in the width direction from the leveling body, and the leveling pressure is increased by increasing the degree of pressure adjustment to increase the leveling pressure, thereby suppressing the leveling surface and making it the same as the adjacent soil surface, If the leveling surface becomes lower than the adjacent soil surface, the soil will move inward relative to the leveling width, so there will be an undulation in the width direction from the leveling body. By reducing the leveling pressure, the pressure on the leveling surface will be weakened and it will become the same as the adjacent soil surface.

4. The agricultural work machine according to claim 2 or 3, wherein:

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