Farm working machine and farm working method

Abstract

To provide a farm working machine and a farm working method capable of forming a proper ridge.SOLUTION: A working unit (C) that is provided at a position offset to a side of a traveling machine body and performs ridge forming work includes a banking portion (H) that supplies soil excavated by an excavating claw H13 disposed on a rotating rotor shaft H16 to a ridge forming location, a ridge forming portion (D) that is disposed behind the banking portion (H) and presses the banking to form a ridge (P), a cylinder that causes the rotor shaft H13 to protrude and retract relative to the ridge, and a sensor J1 that is capable of measuring distances to ridge side surfaces in front of the banking portion (H). The banking part H is provided with a cylinder for relatively projecting and retracting the rotor shaft side J1 with respect to the levee according to the distances measured by the sensor side H13, and the excavation claw side H16 is attached so as to project in the direction of the levee provided in the banking part D, and moves so as to approach the levee side when the levee side surface in the advancing direction of the agricultural implement advancing along the levee is recessed, and separate from the levee side when the levee side surface in the advancing direction is projected.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an agricultural implement and an agricultural work method, and more particularly to an agricultural implement and an agricultural work method for forming ridges. [Background technology]

[0002] Patent Document 1 discloses an agricultural machine for forming ridges. According to this, it has a ridge-forming body that forms a ridge, and an embankment body placed in front of it. The embankment body throws soil rearward by rotating its embankment claws. The embankment body is equipped with an embankment body cover that covers the embankment claws of the embankment body, and another embankment body cover is equipped with an embankment body cover that guides the soil thrown by the embankment body to the ridge-forming body. The embankment body cover has a discharge port that opens toward the ridge-forming body to discharge the thrown soil, and the ridge-forming work is carried out by discharging the thrown soil from the discharge port toward the ridge-forming body. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2011-19490 A Summary of the Invention [Problem to be solved by the invention]

[0004] In ridge formation work, the ridge formation body does not necessarily need the entire amount of soil released by the embankment body. If too much soil is supplied to the ridge formation body, problems such as the new ridge being piled up can occur. If the appropriate amount of soil can be supplied to the ridge formation body, the formation of an appropriate ridge can be expected. The present invention has been made in light of the above-mentioned problems, and aims to provide an agricultural work machine and an agricultural work method that are capable of forming appropriate ridges. [Means for solving the problem]

[0005] This invention is The working unit, which is arranged at an offset position to the side of the traveling body and performs ridge formation work, comprises: an embankment unit that supplies excavated soil to the ridge formation location using digging claws arranged on a rotating rotor shaft; a ridge forming section disposed behind the embankment section and configured to press the embankment to form a ridge; a sensor capable of measuring the distance to the ridge side in front of the embankment, The banking section is provided with a cylinder that causes the rotor shaft to protrude and retract relative to the ridge according to the distance measured by the sensor. An agricultural machine characterized by: relates to.

[0006] This invention is a working section of the agricultural work machine that performs work of forming ridges, a banking section that supplies excavated soil to a portion where the ridges are to be formed; a ridge forming section provided behind the embankment section in the direction of travel; a pre-treatment rotor shaft that is attached to the embankment so as to protrude in the direction of the ridge and moves toward or away from the ridge side; a digging claw attached to the pre-treatment rotor shaft for digging the side surface of the furrow; a sensor capable of measuring the distance to the ridge side in front of the embankment, The banking section is provided with a cylinder that causes the rotor shaft to protrude and retract relative to the ridge according to the distance measured by the sensor. An agricultural machine characterized by: relates to.

[0007] The present invention further provides: The digging claws are The device is attached to the embankment so as to protrude in the direction of the ridge, and when the side of the ridge in the direction of travel of the agricultural machine moving along the ridge is concave, it moves close to the ridge, and when the side of the ridge in the direction of travel of the agricultural machine protrudes, it moves away from the ridge. An agricultural machine characterized by: relates to.

[0008] The present invention further provides: a control unit capable of receiving distance data transmitted from the sensor, The control unit performs a comparative calculation of the distance to the current ridge and the current amount of embankment based on the received distance data, and transmits an operation command according to the comparative calculation to the cylinder. An agricultural machine characterized by: relates to.

[0009] The present invention further provides: The control unit operates the embankment unit after a preset time has elapsed after the comparison operation. An agricultural machine characterized by: relates to.

[0010] The present invention further provides: The sensor measures intermittently at time intervals. An agricultural machine characterized by: relates to.

[0011] This invention is the control unit is configured to be able to acquire information about a traveling speed, and operates the embankment unit after a time corresponding to the traveling speed has elapsed after the comparison calculation. An agricultural machine characterized by: relates to.

[0012] The present invention further provides: The running speed is acquired from a running machine body control unit possessed by the running machine body. An agricultural machine characterized by: relates to.

[0013] The present invention further provides: The running speed is obtained from the ground contact wheel. An agricultural machine characterized by: relates to.

[0014] The present invention further provides: The embankment consists of the first embankment and the second embankment. The second embankment portion provided between the first embankment portion and the ridge forming portion is fixed so as not to be able to relatively emerge or recede in the direction toward the ridge. An agricultural machine characterized by: relates to.

[0015] The present invention further provides: an upper surface rotor shaft provided between the pre-treatment rotor shaft and the ridge forming portion and parallel to the pre-treatment rotor shaft, and digging claws for digging the upper surface of the ridge are attached to the upper surface rotor shaft; The agricultural work machine according to claim 1 or 2, relates to.

[0016] This invention is The working section mounted on the traveling machine body performs ridge formation work, and the embankment section mounted on the working section supplies excavated soil to the ridge formation area using digging claws mounted on the rotating rotor shaft. The ridge forming unit is disposed at the rear of the embankment unit and provided at the working unit, and presses the embankment to form a ridge, a sensor capable of measuring the distance to the ridge side in front of the embankment, The embankment section causes the rotor shaft to appear and disappear relative to the ridge in accordance with the distance measured by the sensor, The digging claw is capable of retracting relatively in a direction toward the ridge with respect to the ridge forming portion. A farming method characterized by: relates to.

[0017] The present invention further provides: The digging claw extends toward the ridge when the ridge side in the direction of travel of the agricultural work machine moving along the ridge is concave, and moves away from the ridge when the ridge side in the direction of travel of the agricultural work machine is convex. A farming method characterized by: relates to.

[0018] This invention is The embankment portion is moved by a cylinder to move the rotor shaft relative to the ridge in accordance with the distance measured by the sensor. A farming method characterized by: relates to. [Effects of the Invention]

[0019] According to the present invention, it is possible to provide an agricultural work machine and an agricultural work method that are capable of forming appropriate ridges. [Brief explanation of the drawings]

[0020] [Figure 1] 1 is a plan view of an agricultural work machine according to an embodiment of the present invention, with the front side in the traveling direction being the left side in the drawing. [Figure 2] 1 is a side view of an agricultural work machine according to an embodiment of the present invention. [Figure 3] 1 is a front view of an agricultural work machine according to an embodiment of the present invention. [Figure 4] 1 is a partially enlarged cross-sectional view of an agricultural work machine according to an embodiment of the present invention. [Figure 5] 1 is a block diagram of an agricultural machine according to an embodiment of the present invention. [Figure 6] 1 is a partially enlarged plan view of an exposed state in which a bank portion is located in a depression in a ridge at the exit position of the agricultural work machine according to an embodiment of the present invention. FIG. [Figure 7] 1 is a partially enlarged plan view of an agricultural work machine according to an embodiment of the present invention in a retracted position, showing an exposed state in which a bank portion is located on a raised portion of a ridge. FIG. [Figure 8] 1 is a partially enlarged front view of an exposed state of a banking portion at a departure position of the agricultural work machine according to an embodiment of the present invention. FIG. [Figure 9] 1 is a partially enlarged front view of an exposed state of a banking portion of an agricultural working machine according to an embodiment of the present invention when the agricultural working machine is in a retracted position. [Figure 10] 1 is a plan view showing the relationship between an agricultural work machine according to an embodiment of the present invention and an undulating terrain. FIG. [Figure 11] FIG. 5 is a control flow diagram of an agricultural work machine according to a second embodiment of the present invention. [Figure 12] FIG. 10 is a control flow diagram of an agricultural work machine according to a third embodiment of the present invention. [Figure 13] FIG. 10 is a diagram showing an example of an image captured by an imaging device showing the rear view of an agricultural work machine in a working state according to a third embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0021] A first embodiment of the present invention will be described with reference to FIGS. P shown in Figures 6, 7, and 10 is a ridge. P11 is the original ridge before work by agricultural work machine A. P12 is the top surface of the original ridge, and P13 is the first side surface of the original ridge. The first side surface of the original ridge P13 is an inclined surface on the side of the original ridge P11. P14 is the second side surface of the original ridge located at the foot of the first side surface P13 of the original ridge, and P15 is the base of the original ridge located at the foot of the second side surface P14 of the original ridge. These together make up the original ridge P11. P21 is a new ridge formed after work by agricultural implement A. P22 is the top surface of the new ridge, and P23 is the first side of the new ridge, which is the inclined surface on the side of new ridge P21. P24 is the second side of the new ridge. The second side of the new ridge P24 is located at the base of the first side of the new ridge P23. P25 is the base of the new ridge. These elements make up the new ridge P21.

[0022] P31 is an undulating portion that occurs in the original ridge P11 of the ridge P. The undulating portion P31 is a portion that becomes uneven to the left and right in the direction of travel when the agricultural work machine A travels along the ridge P over part of the original ridge P11. The original ridge P11 actually has some parts that have been lost over time and some parts that have risen to the sides due to partial repairs, etc. If we use the traveling machine body B and the ridge forming part D as reference points, there is an undulating part P31 where part of the original ridge P11 is uneven to the left and right in the direction of travel. P32 is a depression formed by a part of the original ridge P11 being depressed in an undulating portion P31 that is uneven to the left and right in the direction of travel when the agricultural work machine A on the ridge P travels along the ridge P. P33 is a raised portion formed by a part of the original ridge P11 swelling out of the undulating portion P31 that is uneven to the left and right in the direction of travel when the agricultural work machine A on the ridge P travels along the ridge P. P41 is the start position of the original ridge P11 where ridge formation work is carried out by the agricultural work machine A. P42 is the end position of the original ridge P11 where ridge formation work by the agricultural work machine A ends.

[0023] Of the ridges P that are composed of an upper surface (original ridge upper surface P12, new ridge upper surface P22) and side surfaces, the side surfaces formed in the embodiment are composed of a planar first side surface (original ridge first side surface P13, new ridge first side surface P23) that is inclined relative to the upper surface and connected to the upper surface, and a planar second side surface (original ridge second side surface P14, new ridge second side surface P24) that is inclined relative to the first side surface and connected to the first side surface and the ridge base. However, the configuration of the side surfaces is not limited to this. The side surfaces may be composed of only the first side surface, or the side surfaces may be curved rather than flat.

[0024] A denotes an agricultural work machine. As shown in FIG. 10, the agricultural work machine A will be described as a ridge forming machine that is attached to a traveling body B consisting of a tractor or the like and forms a ridge P that surrounds the outer frame of a field. As shown in FIG. 1, a working unit C of the agricultural work machine A moves offset laterally relative to the traveling body B to form the ridge P to the side of the traveling body B. The agricultural work machine A comprises a machine casing 11, a body frame 12, an embankment unit H, and a ridge forming unit D.

[0025] The machine frame 11 is provided so as to be connectable to the traveling machine body B via an attachment part 13 located at the front. In this embodiment of the present invention, as shown in Figures 1 to 3 and 10, a quick hitch 14 is interposed between the attachment part 13 and the traveling machine body B. The quick hitch 14 is attached to the lifting part of the traveling machine body B, and the rear side of the quick hitch 14 and the attachment part 13 can be easily attached and detached. An input shaft 15 is disposed in front of the machine frame 11 and is configured to be able to receive rotational power from the traveling machine body B. F is the transmission unit. The rotational power obtained by the input shaft 15 is transmitted to the banking section H and the ridge forming section D via multiple transmission members that make up the transmission unit F. The transmission members include gears, shafts, wrapping transmission members, universal joints, and a case in which these can be stored.

[0026] The machine frame 12 is rotatably connected to the machine casing 11. An output part E of a transmission member is attached to the lower part of the machine frame 12. The output part E is provided so as to be rotatable in the horizontal direction relative to the machine frame 12. In other words, the output shaft E1 of the output part E is rotatable in the horizontal direction, and its direction can be changed.

[0027] The working unit C will now be described. The working unit C is provided on the machine frame 12 so as to be rotatable. The working unit C has an embankment section H and a ridge forming section D. The working unit C forms a new ridge P21 while excavating the original ridge P11, which is the old ridge. The rotatable machine frame 12 and working unit C allow the working unit C to be freely changed between a working position where it is positioned to the side of the traveling body B, and a storage position where it is positioned behind the traveling body B. The working unit C is provided so that it can be positioned at a position offset to the side of the traveling body B, and performs the work of forming a new ridge P21.

[0028] The embankment section H will be explained. The embankment section H is provided in the working section C. The embankment section H is attached to the output part E of the transmission member so as to be freely rotatable up and down on the machine frame 12. The embankment section H has a first embankment section H11 that excavates the side surface of the ridge and a second embankment section H21 that excavates the upper surface P12 of the original ridge. The first embankment section H11 has an embankment section transmission case H12 that transmits the power received from the output section E, and a pre-treatment rotor shaft H13 that receives the power transmitted by the embankment section transmission case H12 and rotates. The pre-treatment rotor shaft H13 is attached so as to protrude from the embankment section transmission case H12 toward the ridge P side.

[0029] The second embankment section H21 is located above the embankment section transmission case H12 on the top surface P12 of the original ridge, and has an upper rotor shaft H22 that is rotated by power received from the output section E. The upper rotor shaft H22 is located above the embankment section transmission case H12 on the top surface of the ridge. The banking section H supplies excavated soil to the area where the ridge P is to be formed by digging claws H16 arranged on the rotating pre-treatment rotor shaft H13 and digging claws H23 arranged on the upper rotor shaft H22. In this embodiment, the position of the first embankment section H11 can be changed vertically relative to the output section E. The embankment section transmission case H12 rotates up and down around the output section E, allowing the position of the pre-treatment rotor shaft H13 to be changed up and down relative to the ridge P. This makes it possible to change the excavation position in the vertical direction relative to the ridge P. Furthermore, as will be described later, the pre-treatment rotor shaft H13 is composed of the first rotor shaft H14 and the second rotor shaft H15, and moves toward or away from the ridge P to excavate the first side P13 and the second side P14 of the main ridge. The second embankment section H21 has a fixed position relative to the output section E, and the upper surface rotor shaft H22 excavates the original ridge upper surface P12 by always maintaining a fixed position relative to the output section E or the original ridge upper surface P12 without moving in a direction toward or away from the ridge P. The upper surface rotor shaft H22 of the second embankment section H21 is located rearward in the direction of travel of the pre-processing rotor shaft H13 of the first embankment section H11 as the agricultural work machine A advances along the ridge P.

[0030] H31 shown in Figure 4 is an operating rod. The operating rod H31 is made of a rod and is attached to the pre-treatment rotor shaft H13 so as to protrude from the bank transmission case H12 toward the ridge P. The operating rod H31 is arranged coaxially with the rotor shaft (first rotor shaft H14, second rotor shaft H15) which is the pre-treatment rotor shaft H13, and is independent so as to be unrelated to the rotation of the rotor shaft, causing the rotor shaft to protrude and retract. The pre-treatment rotor shaft H13, which is a rotor shaft, is made up of a first rotor shaft H14 and a second rotor shaft H15. The first rotor shaft H14 can be rotated by the rotational power transmitted to the output section E via the embankment section transmission case H12, and is provided so as to protrude from the embankment section transmission case H12. The second rotor shaft H15 is connected coaxially to the first rotor shaft H14, can be rotated, and is provided so as to be able to protrude and retract relative to the first rotor shaft H14.

[0031] 3 and subsequent drawings, H32 is a cylinder. The cylinder H32 moves the second rotor shaft H15, which is a rotor shaft, in the direction toward the ridge P by moving the operating rod H31, which is a rod, in and out. H33 is a connector that connects the rod H31 and the cylinder H32 and changes the direction of movement of the cylinder H32.

[0032] The ridge forming section D will be explained. The ridge forming section D is provided in the working section C. The ridge forming section D is positioned behind the embankment section H, and forms the ridge P by pressing the soil supplied from the embankment section. The ridge forming section D is attached to the machine frame 12 so as to be located behind the embankment section H. The ridge forming section D is also connected to the output section E. The ridge forming section D has a ridge forming section transmission case D1 that transmits the power received from the output section E, and a forming disc section G that receives the power transmitted by the ridge forming section transmission case D1 and rotates. The forming disc section G has a side forming section G1 that is formed in an approximately truncated cone shape or an unfolded umbrella shape to form the ridge side section, and an upper surface forming section G2 that is cylindrical and formed continuously from the top of the side forming section G1, to form the ridge top surface. D2 is a ground contact wheel. The ground contact wheel D2 is a wheel that comes into contact with the field surface and is provided adjacent to the ridge forming section transmission case D1.

[0033] In this embodiment of the present invention, the ridge forming section transmission case D1 is adjacent to the embankment section transmission case H12 and connected to the output section E. The rotational power obtained from the output shaft E1 of the output section E is transmitted within the ridge forming section transmission case D1 to rotate the forming disc section G. As the forming disc section G rotates, it presses the soil piled up by the embankment section H against the original ridge section P11 to form a new ridge P21.

[0034] The digging claws H16 attached to the pre-treatment rotor shaft H13 and the digging claws H23 attached to the upper rotor shaft H22 will be described. A plurality of excavation claws H16 and H23 are attached to the pre-treatment rotor shaft H13 and the upper rotor shaft H22, respectively, and the excavation claws H16 and H23 also rotate as the rotor shafts rotate. The digging claws H16 are provided so as to be able to appear and disappear relatively in the direction toward the ridge P with respect to the ridge forming portion D. The digging claws H16 provided on the second rotor shaft H15 are provided so as to be able to appear and disappear in the ridge forming portion D while the new ridge P21 is being formed. The pre-treatment rotor shaft H13 excavates and crushes the sides of the original ridge P11, namely the first side P13 and second side P14, and the base P15 of the original ridge, and supplies and piles up the softened soil to the sides of the original ridge behind the pre-treatment rotor shaft H13. The upper rotor shaft H22 excavates and crushes the original ridge top P12, and supplies and piles up the softened soil again to the top of the original ridge P11 behind the upper rotor shaft H22.

[0035] As shown in Fig. 4, a plurality of excavation claws H16 are attached to the second rotor shaft H15. The second rotor shaft H15 is provided so as to be movable in the axial direction relative to the first rotor shaft H14 and is capable of receiving the rotational power of the first rotor shaft H14. The upper rotor shaft H22 does not have any digging claws H23 except for the portion that excavates the original ridge upper surface P12. The digging claws H23 only excavate the original ridge upper surface P12 and supply the excavated soil to the upper surface forming section G2. Therefore, they do not interfere with the soil being blown from the first banking section H11 to the side forming section G1 of the ridge forming section D.

[0036] In this embodiment of the present invention, the digging claws H23 attached to the upper rotor shaft H22 have a fixed positional relationship in the left-right direction relative to the direction of travel, and are not arranged to be able to move in and out relatively to the ridge forming section D in the direction toward the ridge P. Therefore, the upper surface rotor shaft H22 is fixed without moving in the direction of approaching or moving away from the ridge P, and always excavates the upper surface P12 of the original ridge. H17 is a cover body that covers the upper side of the pre-treatment rotor shaft H13 and the upper rotor shaft H22 and stores the banking section H, as shown in FIG.

[0037] The rotor shaft of the banking section H is provided so as to be able to move in and out toward the ridge P, and the pre-treatment rotor shaft H13 is also able to move in and out. In the description, the pre-treatment rotor shaft H13 may be simply referred to as the rotor shaft. The pre-treatment rotor shaft H13, which protrudes from the embankment transmission case H12 toward the ridge P side, is composed of a first rotor shaft H14 and a second rotor shaft H15. The first rotor shaft H14 protrudes from the embankment transmission case H12 toward the ridge P side and is driven to rotate by the rotational power transmitted from the output shaft E1. The second rotor shaft H15 is attached to the tip of the first rotor shaft H14.

[0038] The second rotor shaft H15 of the pre-treatment rotor shaft H13 can extend and retract in the rotor axial direction toward the ridge P. When viewed from the direction of travel, the second rotor shaft H15 is arranged so that its position can be changed relative to the ridge forming section D and the forming disk section G that constitutes the ridge forming section D. The pre-treatment rotor shaft H13 is attached so as to protrude in the direction of the ridge P formed in the embankment H, and moves toward or away from the ridge side surfaces (first ridge side surface P13 and second ridge side surface P14).

[0039] Although the first rotor shaft H14 and the second rotor shaft H15 are fitted together using a spline H141, a configuration other than that shown in the embodiment may be used as long as the second rotor shaft H15 is axially slidable relative to the first rotor shaft H14 and rotational power can be transmitted. Also, a protective cover may be provided to cover the fitting portion.

[0040] As shown in Fig. 4, a through hole H142 is formed in the axial center of the first rotor shaft H14, and a rod-shaped operating rod H31 passes through this through hole H142. The operating rod H31 is formed longer than the first rotor shaft H14, and both ends thereof protrude from the ends of the first rotor shaft H14. One side of the operating rod H31, which is on the second rotor shaft H15 side, is located inside the second rotor shaft H15, which is formed in a long cylindrical shape. The operating rod H31 is arranged so as to be able to slide inside the first rotor shaft H14 but not rotate relative to the rotating first rotor shaft H14.

[0041] An engagement portion H143 is provided on one side of the operating rod H31. The engagement portion H143 engages with a protrusion H144 that extends from the outer periphery of the second rotor shaft H15 toward the axial center. When the engagement portion H143 moves in or out of the axial direction of the first rotor shaft H14, the protrusion H144 engaging with the engagement portion H143 causes the second rotor shaft H15 to similarly move in or out of the axial direction of the first rotor shaft H14. The engagement portion H143 has a recess formed along the circumferential direction, and is shaped so that the protrusion H144 fits comfortably in the engagement portion H143, so that the rotation of the protrusion H144, which rotates integrally with the rotation of the second rotor shaft H15, is not hindered.

[0042] By extending or retracting relative to the first rotor shaft H14, the operating rod H31 can also extend or retract the second rotor shaft H15 in conjunction with the operating rod H31 via the engaging portion H143 and the protruding portion H144. The protruding portion H144 can move relatively within the recessed groove of the engaging portion H143 while the rotor shaft is rotating. In other words, the operating rod H31 is arranged so as not to interfere with the rotation of the first rotor shaft H14 and the second rotor shaft H15. Therefore, even while the rotor shaft consisting of the first rotor shaft H14 and the second rotor shaft H15 is rotating, the engaging portion H143 can extend or retract without the operating rod H31 rotating.

[0043] The extension and retraction of the operating rod H31 is controlled by a cylinder H32. The cylinder H32 is positioned adjacent to the embankment transmission case H12 so that the extension and retraction direction of the cylinder rod faces the front-to-rear direction. The other end of the operating rod H31 is connected to the end of the cylinder rod by a connecting fitting H33. The connecting fitting H33 is an L-shaped member that converts the operating direction of the cylinder H32 into the direction in which the operating rod H31 is extended and retracted. In this embodiment of the present invention, when the cylinder H32 extends, the second rotor shaft H15 moves away from the ridge side (first ridge side P13, second ridge side P14), and when the cylinder H32 contracts, the second rotor shaft H15 moves toward the ridge side. The cylinder H32 operates when a control unit M1 (not shown) receives an operation signal when the operating unit M3 is operated, and the control unit M1 sends an operation signal to the cylinder H32 based on the operation signal. In the embodiment, the control unit M1 is provided on the machine frame 11, but there is no limitation to this location as long as it can communicate with the traveling machine body B, the operation unit M3, and the display device M4. It may also be provided attached to the quick hitch 14. The calculation contents can also be displayed on the display device M4.

[0044] By driving the cylinder H32 to extend and retract, the operating rod H31 can be moved in and out even while the rotor shaft is rotating. In other words, the rotating rotor shaft can be moved in and out from the banking section transmission case H12 in a direction toward or away from the ridge P. The entire digging claw H16 can be moved in and out relative to the ridge P even when the digging claw H16 is digging, or when soil is being supplied to the ridge forming section D, or when the ridge forming section D is forming a ridge. In addition, it is possible to change only the digging position of the pre-treatment rotor shaft H13 without rotating the machine frame 12. Furthermore, it is possible to change the digging position of the rotor shaft by rotating the machine frame 12 without changing the position of the ridge forming section D. The rotor shaft can be moved in and out relative to the ridge forming section D in a direction toward or away from the ridge P.

[0045] As the rotor shaft moves in and out in a direction toward or away from the ridge P, the excavation claws H16 move and change the excavation position. Because the excavation claws H16 move in and out relative to the ridge forming section D, the amount of soil dumped from the excavation claws H16 onto the ridge forming section D can be adjusted. In other words, the amount of soil supplied to the ridge forming section D can be adjusted. Because the appropriate amount of soil is supplied to the ridge forming section D, the ridge forming section D can form an appropriate ridge P. Because the pre-treatment rotor shaft H13 moves in and out according to the undulations of the original ridge P11, the relative position between the ridge and the pre-treatment rotor shaft H13 does not change. As a result, the amount of excavation of the original ridge P11 by the rotor shaft does not change. However, because the excavation position of the pre-treatment rotor shaft H13 changes relative to the forming disc section G, the amount of excavated soil moving from the pre-treatment rotor shaft H13 toward the side forming section G1 of the forming disc section G can be adjusted. In other words, the amount of soil heading toward the forming disk unit G can be adjusted without the need for guide plates or other components between the rotor shaft (pretreatment rotor shaft H13) and the forming disk unit G. Because the configuration supplies the soil directly from the rotor shaft to the forming disk unit G, it is possible to reduce the dynamic load caused by the excavated soil being dragged by the guide plates or by the excavated soil remaining between the guide plates and the rotor shaft. Furthermore, even if the embankment unit and cover body H17 are simplified by providing unnecessary components such as the guide plates, the appropriate amount of excavated soil can be supplied to the forming disk unit G.

[0046] The effects of the invention will be explained in accordance with the work, with reference to Figure 13. To facilitate understanding, the ridge P will be explained as being formed in a straight line, and the traveling machine body B will also move straight along the ridge P. In addition, the original ridge P11 will be explained as being almost straight, but the side of the original ridge P11 in the middle part will be explained as having a portion that protrudes toward the traveling machine body B side and a portion that is sunken away from the traveling machine body B side. The traveling machine body B moves straight from the start position P41 to the end position P42. In other words, the relative position of the ridge forming unit D to the traveling machine body B does not change unless the machine body frame 12 is rotated to change its position. Therefore, when the traveling machine body B moves straight from the start position P41 to the end position P42, the ridge forming unit D also moves straight. In the explanation, the start position P41 refers to the vicinity of the front side of the embankment section H in the direction of travel, and the end position P42 refers to the vicinity of the front side of the embankment section H in the direction of travel after ridge forming work has been performed as the traveling machine body B moves.

[0047] The pre-processing rotor shaft H13 and the upper surface rotor shaft H22 of the embankment section H excavate the original ridge P11 and supply the excavated soil again. However, if the rotor shaft of the embankment section H cannot move relative to the ridge formation section D, the amount of soil excavated in the undulating section P31 will change, but the same amount of soil will be supplied again, so even after the new ridge P21 is formed, the undulating section P31 may not reappear or the strength of the ridge P may not be ensured.

[0048] Using the example, let us consider a case where a part of the original ridge P11 approaches a bulging raised portion P33 on the side of the undulating portion P31 closer to the traveling machine body B than the assumed formation line. As the traveling machine body B progresses, when the raised portion P33 is recognized ahead of the direction of travel of the pre-processing rotor shaft H13, the operating unit M3 is operated to operate the cylinder H32, moving the second rotor shaft H15 in a direction away from the ridge P and moving the rotor shaft to a retracted position. The second rotor shaft H15 and digging claws H16 are attached so as to protrude in the direction of the ridge created in the embankment section H, and when the side of the ridge in the direction of travel of the agricultural work machine A (first side of the original ridge P13, second side of the original ridge P14) protrudes, or when this is recognized, the second rotor shaft H15 and digging claws H16 are moved away from the ridge side.

[0049] The second rotor shaft H15, which is in the retracted position, can be moved in accordance with the raised portion P33 to reduce the amount of excavation of the original ridge P11. Because the entire digging claw H16 moves in a direction away from the ridge P relative to the ridge forming portion D, some of the soil at the original ridge P11 and the base of the original ridge P11 excavated by the digging claw H16 moves to the back of the forming disk portion G without being supplied between the forming disk portion G and the original ridge P11. This prevents all of the soil at the base and base of the original ridge P11, where the raised portion P33 originally was, from moving again to the forming disk portion G, thereby preventing the re-formation of the raised portion P33.

[0050] In plan view, some of the soil that moves to the rear side of the forming disc G, i.e., from the side forming part G1 of the forming disc G toward the traveling body B, lands by the digging claws H16 so that it is scattered to the left and right of the direction of travel, preventing the formation of an unnecessary bank on the field. As a result, there is no interference with traveling on the new ridge foot P25 of the field after ridge painting work, and there is no interference with subsequent work processes such as tilling the field near the new ridge foot P25.

[0051] Using an embodiment of the present invention, it is assumed that the traveling vehicle B approaches a sunken portion P32 where part of the original ridge P11 has collapsed on the side of the undulating portion P31 away from the assumed formation line. As the traveling body B progresses, when the depression P32 is recognized ahead of the direction of travel from the pre-processing rotor shaft H13, the operating unit M3 is operated to operate the cylinder H32, moving the second rotor shaft H15 in a direction approaching the ridge P and moving the rotor shaft to the exit position. It is attached so as to protrude in the direction of the ridge created in the embankment, and when the side of the ridge in the direction of travel of the agricultural implement moving along the ridge (first side of the original ridge P13, second side of the original ridge P14) is concave, or when it is recognized as such, the second rotor shaft H15 and digging claws H16 move closer to the ridge side.

[0052] The second rotor shaft H15, which is in the exit position, can be moved to align with the depression P32, thereby increasing the amount of excavation of the original ridge P11. Because the entire excavation claw H16 moves toward the ridge P relative to the ridge forming section D, almost all of the soil from the original ridge P11 and its base excavated by the excavation claw H16 is supplied between the forming disk section G and the original ridge P11. Therefore, by moving all of the soil from the original ridge P11 and its base, where the depression P32 originally existed, to the forming disk section G, the soil that was originally lacking in the depression P32 is supplied, and a new ridge P21 is formed. Because soil can be supplied sufficiently to the depression P32, even when the forming disk section G passes through the intended formation line, it can firmly press against the new ridge P21, ensuring the strength of the ridge P.

[0053] Even when the rotor shaft is in the retracted or extended position, the original ridge P11 is excavated in a stepped manner. Then, the soil supplied with the adjusted amount climbs up onto the side of the ridge formed in the stepped shape and is pressed down again by the forming disk portion G. As a result, where there was originally a raised portion P33, the amount of soil supplied can be reduced to prevent the occurrence of a raised portion P33 again, forming a new ridge P21, and where there was originally a sunken portion P32, the amount of soil supplied can be increased to supply sufficient soil to the sunken portion P32 and form a strong new ridge P21.

[0054] When the traveling vehicle B is operated by a worker, the operator only needs to move it along a predetermined line from the work start point P41 to the work end point P42, so there is no need to move the working unit C offset relative to the traveling vehicle B. It is also possible to utilize the automatic straight-line movement function of the traveling vehicle B. In this case, the burden on the worker of operating the traveling vehicle B is reduced, allowing him to concentrate on monitoring the undulations of the ridge P and operating the cylinder H32.

[0055] The rotor shaft's projection and retraction position is set so that it can be moved even during ridge formation work. The amount of soil supplied to the ridge formation section D can be adjusted while proceeding, so ridge formation work does not have to be interrupted. Moreover, since there is no need to adjust the ridge formation section D, there is no need for extra adjustment work, so work can be done efficiently and an appropriate ridge P can be formed.

[0056] In the embodiment of this invention, the excavation marks created by the pre-processing rotor shaft H13 are shown to form a stepped shape with horizontal and vertical surfaces on the base ridge P11, but this is not necessarily limited to the shape shown. By changing the orientation of the rotor shaft, the length of the excavation claws H16, the arrangement of the excavation claws H16, and the shape of the excavation claws H16, it is possible to excavate in an arc-shaped or curved shape, or to excavate parallel to the inclined side surfaces of the base ridge P11 or at an angle relative to the inclined surfaces. Furthermore, even if the shape is stepped, it does not necessarily have to be horizontal and vertical as seen from the front. These surfaces may be configured to be inclined relative to each other, or may be configured to be curved. Furthermore, the stepped portion may be formed by combining linear and curved portions. In addition to the stepped or curved shape, linear excavation may also be performed.

[0057] In the description of the embodiments of this invention, the ridge P is described as extending linearly in the direction of travel, but this is not limited to this, and it is also possible to accommodate ridges P that are curved or bent to the left or right of the direction of travel.

[0058] In an embodiment of the present invention, the digging claws H16 attached to the pre-processing rotor shaft H13 move in and out, whereas the digging claws H23 attached to the upper rotor shaft H22 are not provided so as to be able to move in and out relative to the ridge forming section D in the direction toward the ridge P. They are fixed. In the embodiment, the digging claws H16 of the pre-processing rotor shaft H13 move in and out to accommodate the undulations on the left and right sides of the original ridge side surface, which are the original ridge first side surface P13 and the original ridge second side surface P14, in the direction of travel. In this embodiment, the position of the upper rotor shaft H22 relative to the forming disc portion G is fixed, so the amount of excavated soil directed toward the forming disc portion G cannot be adjusted.

[0059] The upper rotor shaft H22 does not have any excavation claws H23 other than the width corresponding to the width of the original ridge upper surface P12. Therefore, it does not interfere with the soil being blown from the first banking section H11 to the ridge forming section D. However, by making the upper surface rotor shaft H22 retractable, it is also possible to change the amount of soil that flows from the digging claws H23 toward the forming disk section G, particularly the upper surface forming section G2. When the upper surface rotor shaft H22 is retracted, the undulating portion P31 of the original ridge P11 does not necessarily have to be an undulation relative to the sides of the original ridge first side surface P13 and the original ridge second side surface P14, and the upper surface rotor shaft H22 may be retracted to correspond to the up-and-down undulation of the original ridge upper surface P12. In this case, the digging claws H23 provided on the upper surface rotor shaft H22 can also be provided to accommodate a width wider than the width of the original ridge upper surface P12.

[0060] For example, if the original ridge top surface P12 is raised upward, the upper surface rotor shaft H22 is set to the recessed position to prevent all of the excavated soil from flowing toward the upper surface forming unit G2, thereby changing the amount of soil on the upper surface. As a result, the upper surface forming unit G2 has an appropriate amount of pre-formation soil, and the new ridge top surface P22 can be formed without rising. Conversely, if the original ridge top surface P12 is sunken downward, the upper surface rotor shaft H22 can be set to the extended position to allow all of the excavated soil to flow toward the upper surface forming unit G2, thereby placing the appropriate amount of soil in front of the upper surface forming unit G2. As a result, the upper surface forming unit G2 can supply only the appropriate amount of pre-formation soil, and the new ridge top surface P22 can be formed without collapsing.

[0061] The pre-treatment rotor shaft H13 is attached so as to protrude in the direction of the ridge to be created in the embankment, and is shown as moving toward or away from the ridge side surfaces (first ridge side surface P13, second ridge side surface P14), but the upper rotor shaft H22 may only move in and out, or it is sufficient if the pre-treatment rotor shaft H13 and the upper rotor shaft H22 can move. It is sufficient if the embankment H can move relatively in a direction approaching or moving away from the ridge P relative to the ridge forming section D, and more preferably, it is sufficient if the digging claws H16 provided on the rotor shaft can move relatively in a direction approaching or moving away from the ridge P relative to the ridge forming section D. In the embodiment described, the rotor shaft, which is the pre-treatment rotor shaft H13, moves in and out.

[0062] In the embodiment of the present invention, the excavation marks excavated by the upper surface rotor shaft H22 are shown to be horizontally linear or parallel to the outer periphery of the upper surface forming part G2, but they do not have to be horizontal or parallel to the outer periphery of the upper surface forming part G2. For example, they may be inclined to the left and right in the direction of travel, or the excavation marks may be formed in a curved or uneven shape, and the excavation marks can be freely formed depending on the shape and specifications of the agricultural work machine A.

[0063] In the illustration, the axial direction of the pre-processing rotor shaft H13, which is the rotor shaft, is oriented left and right, perpendicular to the direction of travel, so that the excavation position can be changed. However, it is sufficient if the excavation position of the embankment section H can be changed without changing the relative positions of the original ridge P11, new ridge P21, ridge forming section D, machine frame 11, and traveling body B. In other words, there is no limitation on the orientation of the rotor shaft, as long as the excavation position can be changed. In other words, it is sufficient if the emergence and retraction positions of the excavation claws of the embankment section H can be changed relative to the ridge forming section D.

[0064] For example, even if the rotor shaft is positioned in a forward-backward direction parallel to the direction of travel or in a direction inclined relative to the forward-backward direction, it is sufficient that the rotor shaft can be moved in a direction approaching or moving away from the ridge P. Furthermore, the rotor shafts do not necessarily have to be parallel to each other. By moving the digging claws H16 of the embankment section H to change the digging position, the amount of soil supplied to the ridge forming section D can be adjusted, and an appropriate ridge P can be formed.

[0065] The embankment section H, which has the pre-treatment rotor shaft H13 and the upper surface rotor shaft H22, moves in and out relative to the ridge forming section D, making it possible to adjust the excavated soil that flows directly from the rotor shaft of the embankment section H toward the ridge forming section D. It is also possible to fix the positions of the pre-treatment rotor shaft H13 and the upper surface rotor shaft H21 relative to the embankment section transmission case H12, and configure the forming disc section G to be able to move in and out freely relative to the ridge forming section transmission case D1. In this case, the position of the embankment section can be changed by adjusting the rotational position of the machine frame 12, and by moving the forming disc section G in and out relative to the ridge forming section transmission case D1, it is possible to properly form a new ridge P21 without any undulations.

[0066] In the embodiment, the protrusion H144 is configured by the tip of a bolt fastened to the second rotor shaft H15, but it is not limited to a bolt. There is no limitation on the shape or configuration as long as it exhibits the above-mentioned effects.

[0067] A second embodiment having a sensor J1 and a cylinder H32 will be described. The second embodiment of the present invention includes a sensor J1 and a cylinder H32 in addition to the configuration of the first embodiment already described. The sensor J1 can measure the distance to the ridge sides (the first ridge side P13 and the second ridge side P14) in front of the embankment H. The second embodiment has the same aircraft configuration as the embodiment of this invention already described as the first embodiment, but adds a sensor J1 capable of measuring distance, making it possible to automatically move the pre-processing rotor shaft H13 according to the measurement results. The cylinder H32 moves the rotor shaft H13 relative to the ridge P in accordance with the distance measured by the sensor J1.

[0068] The cylinder H32 is attached so as to protrude in the direction of the ridge P provided in the embankment H, and moves close to the ridge when the side of the ridge in the direction of travel of the agricultural implement moving along the ridge P (first side of the original ridge P13, second side of the original ridge P14) is concave, and moves away from the ridge when the side of the ridge in the direction of travel protrudes. An upper surface rotor shaft H22 is provided parallel to the pre-treatment rotor shaft H13 between the pre-treatment rotor shaft H13 and the ridge forming section H. The upper surface rotor shaft H22 is fitted with digging claws H23 for digging the upper surface P12 of the original ridge.

[0069] In the second embodiment, the sensor J1 is placed near the pre-treatment rotor shaft H13. The sensor J1 is capable of measuring the distance between the sensor J1 and the ridge side (first ridge side P13 and second ridge side P14). In this embodiment, the stay J2 is placed from the front end of the banking section transmission case H12 toward the front in the direction of travel of the agricultural implement A, and the sensor J1 is installed at the front end of the stay J2 to measure the middle of the ridge side. That is, the sensor J1 measures the distance to the original ridge P11 in front of the pre-treatment rotor shaft H13, thereby measuring the relative distance to the original ridge P11 based on the formation section including the embankment section transmission case H12 and the formation disc. The sensor J1 will be described as being an ultrasonic sensor J1, but the type is not limited to this. A photoelectric sensor, a laser sensor, a radar sensor, or a LiDAR (Light Detection and Ranging) sensor may also be used.

[0070] In the first embodiment, when the raised portion P33 is recognized ahead of the pre-processing rotor shaft H13 in the direction of travel as the traveling body B progresses, the operating unit M3 is operated to operate the cylinder H32, moving the second rotor shaft H15 away from the ridge P and moving the rotor shaft to a retracted position.In the configuration of this second embodiment, however, the sensor J1 measures the distance to the original ridge P11, and the pre-processing rotor shaft H13 can be moved in or out according to the distance measured by the control unit M1. The sensor J1 is connected to the control unit M1. The sensor J1 transmits the measured distance data to the control unit M1. Based on the received distance data, the control unit M1 can recognize the distance between the sensor J1 and the ridge P. The control unit M1 is configured to recognize the protrusion amount of the cylinder H32, and therefore can obtain the protrusion amount of the pre-treatment rotor shaft H13.

[0071] The control unit M1 determines the amount of movement of the cylinder H32 by comparing the current distance to the ridge P obtained from the sensor J1 with the current amount of projection and retraction of the pre-processing rotor shaft H13 so that they match a predetermined value. After the amount of movement is determined, it sends an operation command to the cylinder H32. Upon receiving the operation command, the cylinder H32 operates according to the amount of movement in accordance with the operation command, resulting in the projection and retraction of the pre-processing rotor shaft H13.

[0072] The control procedure of the second embodiment will be described with reference to FIG. (1) First, the sensor J1 measures the distance to the original ridge P11, and the control unit M1 receives the measurement data. (2) Based on the received data, the control unit M1 compares the distance to the main ridge P11 with the current amount of projection and recession of the pre-treatment rotor shaft H13. (3) Based on the result of the comparison calculation, the control unit M1 determines the amount of movement of the pre-processing rotor shaft H13. (4) The control unit M1 determines the extension / contraction amount of the cylinder H32 based on the movement amount of the pre-processing rotor shaft H13, and transmits an operation command according to the determined extension / contraction amount to the cylinder H32.

[0073] As a result of transmitting the operation command, the cylinder H32 that received the operation command operates in accordance with the command, and the pre-processing rotor shaft H13 moves in and out. The control unit M1 repeats the above controls (1) to (4), thereby sequentially moving the pre-processing rotor shaft H13 in and out. The control unit M1 calculates and sends an operation command based on the distance to the ridge P measured by the sensor J1, so the pre-treatment rotor shaft H13 moves in and out automatically without operator operation. This reduces the burden on the operator, improves work efficiency, and makes it possible to form an appropriate new ridge P21.

[0074] Modifications and the like will now be explained in more detail. Although the sensor J1 is shown to be constantly measuring and the control unit M1 performs calculations based on the measurement signals received to cause the pre-processing rotor shaft H13 to appear and disappear, it is also possible to perform comparison calculations using results of measurements taken intermittently at set time intervals. If the time interval is set to a wide range, it is possible to reduce the calculation load on the control unit M1, and if the time interval is set to a narrow range, it is possible to move the pre-processing rotor shaft H13 appear and disappear with increased accuracy.

[0075] Considering that it takes time for the pre-processing rotor shaft H13 to reach the position measured by the actual sensor J1, it is also possible to send an operation command to the cylinder H32 after a preset time has elapsed after the movement amount of the cylinder H32 has been determined. After the preset time has elapsed, the pre-processing rotor shaft H13 will perform its movement operation.

[0076] In addition to simply setting the time, the travelling body B may receive information on the travelling speed from the travelling body control unit M2, and calculate the time it takes for the pre-processing rotor shaft H13 to reach the undulating section based on the travelling speed, and after this time has elapsed, operate the cylinder H32 by the calculated movement amount to move the pre-processing rotor shaft H13 in and out. The traveling speed can also be acquired independently of the traveling machine body control unit M2.

[0077] L1 is a positioning device. The control unit M1 can obtain the traveling speed by connecting to a positioning device L1 provided in the agricultural work machine that can acquire satellite positioning information. The control unit M1 receives information on the traveling speed from the positioning device L1 and calculates the time it takes for the pre-treatment rotor shaft H13 to reach the undulating section based on the traveling speed, and may operate the cylinder H32 by the calculated movement amount after this time has elapsed. In the embodiment, the positioning device L1 is provided close to the control unit M1, but its location is not limited as long as it is in a position where it can receive positioning radio waves. It may be provided in the embankment section H or the ridge forming section D in addition to the machine frame 11. It may also be provided in the quick hitch 14.

[0078] There are no limitations on the satellite positioning method, and any positioning method using satellites and base stations may be used, such as the GNSS method including the GPS method, the RTK method, the RTK-GNSS method, etc. Furthermore, it is also possible to use an inertial measurement unit in combination. The running speed can also be obtained without using the positioning device L1. In this case, this is possible by providing a ground contact wheel D2 that can roll on the ground. In this example, the ground contact wheel D2 is installed adjacent to the ridge forming unit transmission case D1. An encoder (not shown) that can detect the rotation state of the ground contact wheel D2 is connected to the ground contact wheel D2, and the control unit M1 can obtain the running speed by performing calculations based on the rotation signal from the encoder. The control unit M1 operates the pre-processing rotor shaft H13 based on the running speed obtained from the rotation of the ground contact wheel D2. The shape of the ground contact ring D2 in the example is a truncated cone shape that is a trapezoid in a plan view, but there is no limitation on the shape including the cross section as long as it can roll on the ground when in contact with the ground.

[0079] A third embodiment having an image capturing device K1 capable of capturing images of the ridge side surfaces (first ridge side surface P13 and second ridge side surface P14) will be described with reference to the captured image shown in FIG. The photographing device K1 is placed above the banking portion H and is capable of photographing the side of the ridge. The photographing device K1 is placed above the banking portion H and is capable of photographing the side of the ridge in the direction of travel. The control unit M1 sends an operation command to the cylinder H32 in accordance with the amount of undulation calculated based on the image information obtained by the image capturing device K1. The control unit M1 sends an operation command to a cylinder H32 that moves the pre-treatment rotor shaft H13, which is a rotor shaft, relative to the ridge P in accordance with the amount of undulation calculated based on the imaging information obtained by the imaging device K1. In the first embodiment, when the protruding portion P33 is recognized ahead of the pre-processing rotor shaft H13 in the direction of travel as the traveling body B progresses, the operating unit M3 is operated to operate the cylinder H32, moving the second rotor shaft H15 in a direction away from the ridge P and moving the rotor shaft to a retracted position. In the configuration of this third embodiment, this is performed by the control unit M1, the photographing device K1, and the cylinder H32.

[0080] The embodiments of this invention have the same machine configuration as the first and second embodiments already described, but with the addition of a camera K1 capable of acquiring image or video information. The acquired information is used by the control unit M1 to determine the unevenness of the base ridge P11, and the pre-processing rotor shaft H13 can be automatically moved based on the determination results. In the second embodiment, which uses the sensor J1 and the cylinder H32, the undulations of the ridge P are measured using a distance sensor, and the pre-processing rotor shaft H13 is extended and retracted based on these undulations. In this third embodiment, the undulations of the base ridge P11 are determined based on the acquired image, and the pre-processing rotor shaft H13 is extended and retracted.

[0081] To facilitate understanding, the ridge P, including the main ridge P11, will be described as being substantially linear with some undulating portions along the way. The traveling vehicle will also be described as moving linearly along the substantially linear ridge P, ignoring the undulating portions.

[0082] In the third embodiment, an imaging device K1 consisting of a camera capable of acquiring information in the form of still or video images is placed above the working unit. The imaging device K1 is preferably fixed so that its relative position with respect to the ridge forming unit D does not change, and in this embodiment, it is fixed on the ridge forming unit transmission case D1.

[0083] The photographing range of the photographing device K1 is preferably a range that includes at least the original ridge P11 ahead in the direction of travel and a portion of the cover body H17 placed on the rotor shaft H13. Photographs can be taken that allow the relative positional relationship between the working unit C and the ridge P to be grasped. Furthermore, since the photographing device K1 is positioned so that its relative position with the ridge forming unit D does not change, photographs can be taken without changing its positional relationship with the cover body H17 even if the offset position of the working unit C is changed or adjusted. When work begins, the starting position is the original ridge P11, located immediately in front of the cover body H17.

[0084] In addition to the imaging range shown in this embodiment, a camera K1 capable of capturing an even wider range including the entire surroundings may be used. In this case, the original ridge P11 ahead in the direction of travel and the new ridge P21 behind in the direction of travel can be simultaneously photographed. The control unit M1 receives image or video information acquired by the photographing device K1 as imaging information. The control unit M1 performs calculations based on the acquired imaging information and determines the amount of movement to move the cylinder H32. Then, based on the amount of movement, it sends an operation command to the cylinder H32, causing the pre-processing rotor shaft H13 to move in and out.

[0085] When the control unit M1 acquires information in the form of still images, it is sufficient if it can sequentially receive still images taken at predetermined time intervals, that is, stop-motion still images. The following is a more detailed explanation. The control unit M1 performs edge detection calculations using the acquired image information and arranges the detected edge coordinates of the original ridge P11 on a two-dimensional coordinate system. The edge coordinates are arranged to include at least the edge coordinates of the corner between the original ridge top surface P12 and the adjacent ridge side surface. In this embodiment, the edge coordinates of the ridge side surface consisting of the original ridge first side surface P13 and the original ridge second side surface P14 are detected by detecting the edge Q1 at the corner between the original ridge top surface P12 and the original ridge first side surface P13, the edge Q2 consisting of the original ridge first side surface P13 and the original ridge second side surface P14, and the edge Q3 consisting of the original ridge second side surface P14 and the original ridge base P15, and arranging the respective coordinates. In addition, various filtering processes may be performed during the edge detection process to improve the accuracy of coordinate detection.

[0086] The coordinate-arranged edges are arranged in a manner that is approximately the same as the edges that make up the actual original ridge P11. Therefore, if there is an undulating portion P31 on the side of the original ridge P11, the edge coordinates are arranged to imitate this. In this embodiment, the undulating portion P31 is expressed by the coordinate arrangement as shown by the solid line in Figure 13. Note that the edge coordinates may be expressed by a set of acquired point clouds, or may be expressed by line segments approximated from the point clouds. The coordinate arrangement obtained from the image information reaches a point where the edge of the original ridge P11 cannot be recognized, or where the coordinate position to be arranged converges or is close to convergence in calculations. This position is recognized as the end point in calculations. In this embodiment, the end point is the position where the coordinate arrangement of edge Q1 at the corner between the original ridge top surface P12 and the original ridge first side surface P13, the coordinate arrangement of edge Q2 at the corner between the original ridge first side surface P13 and the original ridge second side surface P14, and the coordinate arrangement of edge Q3 at the corner between the original ridge second side surface P14 and the original ridge bottom portion P15 converge or a position close to the convergence point. The start position is a position immediately before the cover body H17, and the coordinate position of edge Q1 at the corner between the original ridge top surface P12 and the original ridge first side surface P13 is recognized as the start position P41.

[0087] After determining the start and end positions, the control unit M1 generates modified edge lines Q1C, Q2C, and Q3C, which are lines connecting the start and end positions on the coordinate system. The undulating portion P31 is recognized as being uneven relative to the modified edge lines Q1C, Q2C, and Q3C. In other words, in two-dimensional coordinate representation, the protruding portion P33 of the undulating portion P31 on the side of the ridge is represented as bulging toward the traveling vehicle body relative to the modified edge lines Q1C, Q2C, and Q3C, while the depressed portion P32 is represented as being depressed away from the traveling vehicle body B relative to the modified edge lines Q1C, Q2C, and Q3C. By using the modified edge lines Q1C, Q2C, and Q3C as references, the control unit M1 can recognize the undulating portion P31, including the protruding portion P33 and depressed portion P32.

[0088] The control unit M1 calculates the amount of undulation, which indicates the amount of deviation of the undulating portion immediately preceding the cover body in the direction of travel, based on the correction edge lines Q1C, Q2C, and Q3C. Then, based on the calculation results, it determines the amount of projection and retraction of the pre-treatment rotor shaft H13 corresponding to the calculated amount of undulation. Then, it sends an operation command to the cylinder H32 so that the cylinder H32 operates by an amount corresponding to the projection and retraction amount, and the cylinder H32 operates. As a result, the pre-treatment rotor shaft H13 extends and retracts in accordance with the undulation, thereby adjusting the amount of soil heading toward the forming disk unit G and enabling the formation of an appropriate new ridge P21.

[0089] In this embodiment, the camera K1 is used to determine the amount of undulation of the base ridge P11, and the pre-treatment rotor shaft H13 can be moved in and out. The control flow in the control unit M1 is as follows, as shown in Figure 12. (1) Receive imaging information from the imaging device K1. (2) Based on the received imaging information, undulation information is generated. That is, corrected edge lines Q1C, Q2C, and Q3C are generated from the obtained edge coordinates, and undulation information of the original ridge P11 is generated based on the corrected edge lines Q1C, Q2C, and Q3C. (3) From the undulation information, the amount of undulation of the side surface P16 of the original ridge near the front of the cover body H17 is calculated. (4) The amount of movement of the pre-treatment rotor shaft H13 is determined from the obtained amount of undulation. (5) Pre-processing: The extension / contraction amount of the cylinder H32 is determined based on the movement amount of the rotor shaft H13, and an operation command according to the determined extension / contraction amount is sent to the cylinder H32. By repeating the above controls (1) to (5), the pre-treatment rotor shaft H13 moves in and out in accordance with the undulations.

[0090] As a result, the cylinder H32 that receives the operation command operates in accordance with the command, causing the pre-treatment rotor shaft H13 to extend and retract. In this embodiment, the pre-treatment rotor shaft H13 is shown to extend and retract when the base ridge P11 is undulating in the left-right direction. However, it is also possible to accommodate a case where the base ridge P11 is undulating in the up-down direction. As shown in the first embodiment, the first embankment section H11 and the embankment section transmission case H12, which have the pre-treatment rotor shaft H13, can rotate up and down around the output section E. In other words, the pre-treatment rotor shaft H13 is movable up and down. The embankment section transmission case H12 is driven using a cylinder (not shown), allowing the pre-treatment rotor shaft H13 to move up and down relative to the ridge P. The photographing range is set to face in a direction intersecting the traveling direction, and another photographing device (not shown) that photographs the up-down undulations is added to the photographing device K1 to recognize the up-down undulations. By doing so, the first embankment section H11 and the embankment section transmission case H12, which have the pre-treatment rotor shaft H13, can be moved up and down in response to the up and down undulations. Also, by communicating with the traveling machine body control unit M2, it is possible to move the lifting section of the traveling machine body B, to which the mounting section 13 is attached, up and down to perform coordinated operations. In this case, not only the first embankment section H11 and the embankment section transmission case H12 but also the entire working unit C moves up and down, which is effective when the up and down movement of the embankment section transmission case H12 alone cannot respond to the up and down undulations of the base ridge P11.

[0091] The undulation of the ridge P is determined from the acquired image, so even if the original ridge P11 itself is covered with coverings such as grass, the undulation of the ridge P can be determined along with the coverings. In other words, even if the ridge P is not necessarily exposed, it is possible to estimate and determine the undulation of the ridge P and extend and retract the pre-treatment rotor shaft H13 according to the undulation. In addition, the control unit M1 automatically performs the extending and retracting operation of the pre-processing rotor shaft H13 while the traveling body B is moving forward, so the operator does not have to perform the extending and retracting operation of the pre-processing rotor shaft H13, thereby improving work efficiency.

[0092] As in the second embodiment, since there is a difference in distance in the front-to-back direction between the position of the undulating portion P31 actually used for calculation in the imaging device K1 and the position of the pre-processing rotor axis H13, it is also possible to transmit the signal toward the cylinder H32 after a preset time difference has elapsed. In this embodiment, the end position P42 is the convergence point of edges Q1, Q2, and Q3 formed by the ridge side surface obtained from the image information, but any position along the way from the start position P41 to the actual end position P42 may also be used as the provisional end position. In this case, the provisional end position is sequentially updated as the traveling body B progresses. In this way, even if the control unit M1 cannot recognize the actual end position, the pre-processing rotor shaft H13 can be moved appropriately to correspond to the undulations of the base ridge P11.

[0093] The imaging information obtained by the imaging device K1 can be displayed as a real-time image on the display device M4. In this case, the edge coordinates of the ridge side, the corrected edge lines Q1C, Q2C, Q3C, the end position P42, and the start position P41, or parts of these, can be superimposed on the real-time image. Furthermore, when the end position P41 is displayed on the display device M4, it is also possible to manually change the end position to any position using the operation unit M3. In the third embodiment, the explanation is given for the case where the present invention is adapted to a linear ridge P, but it is also possible to adapt the present invention to a ridge P that is formed in a bent or curved shape. In this case, the objective can be achieved by generating the corrected edge lines Q1C, Q2C, and Q3C to correspond to the bent or curved shape, and by moving the pre-treatment rotor shaft H13 in and out depending on the result of determining the undulations of the ridge P. [Explanation of symbols]

[0094] A Agricultural machinery B. Running body C Working section D Ridge forming part H Embankment H13 rotor shaft H16 Drilling Claw H32 cylinder J1 Sensor K1 Imaging Device M1 control section P ridge

Claims

1. The working unit, which is arranged at an offset position to the side of the traveling body and performs ridge formation work, comprises: an embankment unit that supplies excavated soil to the ridge formation location using digging claws arranged on a rotating rotor shaft; a ridge forming section disposed behind the embankment section and configured to press the embankment to form a ridge; a sensor capable of measuring the distance to the ridge side in front of the embankment, The banking section is provided with a cylinder that moves the rotor shaft relative to the ridge in accordance with the distance measured by the sensor. Agricultural machinery characterized by:

2. a working section of the agricultural work machine that performs work of forming ridges, a banking section that supplies excavated soil to a portion where the ridges are to be formed; a ridge forming section provided behind the embankment section in the direction of travel; a pre-treatment rotor shaft that is attached to the embankment so as to protrude in the direction of the ridge and moves toward or away from the ridge side; a digging claw attached to the pre-treatment rotor shaft for digging the side surface of the furrow; a sensor capable of measuring the distance to the ridge side in front of the embankment, The banking section is provided with a cylinder that causes the rotor shaft to protrude and retract relative to the ridge according to the distance measured by the sensor. Agricultural machinery characterized by:

3. The digging claws are The device is attached to the embankment so as to protrude in the direction of the ridge, and when the side of the ridge in the direction of travel of the agricultural machine moving along the ridge is concave, it moves close to the ridge, and when the side of the ridge in the direction of travel of the agricultural machine protrudes, it moves away from the ridge.

3. The agricultural work machine according to claim 1 or 2.

4. a control unit capable of receiving distance data transmitted from the sensor, The control unit performs a comparative calculation of the distance to the current ridge and the current amount of embankment based on the received distance data, and transmits an operation command according to the comparative calculation to the cylinder.

4. The agricultural implement according to claim 3.

5. The control unit operates the embankment unit after a preset time has elapsed after the comparison operation.

5. The agricultural implement according to claim 4.

6. The sensor measures intermittently at time intervals.

3. The agricultural work machine according to claim 1 or 2.

7. the control unit is configured to be able to acquire information about a traveling speed, and operates the embankment unit after a time corresponding to the traveling speed has elapsed after the comparison calculation.

5. The agricultural implement according to claim 4.

8. The running speed is acquired from a running machine body control unit possessed by the running machine body.

8. The agricultural implement according to claim 7.

9. The running speed is obtained from the ground contact wheel.

8. The agricultural implement according to claim 7.

10. The embankment consists of a first embankment and a second embankment, The second embankment portion provided between the first embankment portion and the ridge forming portion is fixed so as not to be able to relatively protrude and retract in a direction toward the ridge.

3. The agricultural machine according to claim 1 or 2.

11. an upper surface rotor shaft provided between the pre-treatment rotor shaft and the ridge forming portion and parallel to the pre-treatment rotor shaft, and digging claws for digging the upper surface of the ridge are attached to the upper surface rotor shaft; 3. The agricultural machine according to claim 1 or 2.

12. The working section mounted on the traveling machine body performs ridge formation work, and the embankment section mounted on the working section supplies excavated soil to the ridge formation area using digging claws mounted on the rotating rotor shaft. The ridge forming unit is disposed at the rear of the embankment unit and provided at the working unit, and presses the embankment to form a ridge, a sensor capable of measuring the distance to the ridge side in front of the embankment, The embankment section causes the rotor shaft to appear and disappear relative to the ridge in accordance with the distance measured by the sensor, The digging claw is capable of retracting relatively in a direction toward the ridge with respect to the ridge forming portion. A method of agricultural work characterized by:

13. The digging claw extends toward the ridge when the ridge side in the direction of travel of the agricultural work machine moving along the ridge is concave, and moves away from the ridge when the ridge side in the direction of travel of the agricultural work machine is convex.

13. The agricultural work method according to claim 12.

14. The embankment portion is moved by a cylinder to move the rotor shaft relative to the ridge in accordance with the distance measured by the sensor. The agricultural work method according to claim 12 or 13.

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