Agricultural working machine

Abstract

To automatically adjust a pressurizing mechanism of an agricultural working machine according to the resistance of soil before working, and to achieve uniform ground leveling work.SOLUTION: An agricultural work machine comprising: a tilling rotor; a land-grading portion located behind the tilling rotor; a pressing portion configured to press the land-grading portion against a field; and a sensor located in front of the tilling rotor and configured to detect a resistance of soil, wherein the pressing portion is configured to adjust a force to be applied to the land-grading portion in accordance with a detection value of the sensor.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an agricultural implement, and more particularly to an agricultural implement equipped with a sensor that detects soil resistance. [Background technology]

[0002] Agricultural implements that cultivate fields are configured to cultivate the field using a tillage rotor equipped with multiple tillage tines, and then level the field using soil leveling members positioned behind the tillage rotor. While field leveling can be achieved using the weight of the soil leveling members, some agricultural implements are equipped with a pressure mechanism that presses the soil leveling members against the field to improve leveling and soil crushing. Furthermore, some agricultural implements are equipped with a means for detecting the height, gradient, undulation, and unevenness of the field and controlling the pressure mechanism accordingly.

[0003] For example, Patent Document 1 discloses an agricultural implement in which a pressure mechanism with a coil spring inserted into a rod is installed between a shield cover and a ground leveling member (apron), and the coil spring exerts a reaction force against the upward rotation of the ground leveling member.A sensor that detects the height of unevenness in the field is located in front of the tillage rotor, and the angle of inclination of the apron is adjusted based on the value detected by the sensor to level the unevenness of the field surface. [Prior art documents] [Patent documents]

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

[0005] Although the agricultural implement described in Patent Document 1 can control whether or not to activate the pressure mechanism, i.e., whether or not to apply pressure to the ground leveling member, the only way to adjust the amount of pressure (pressure) is for the operator to manually change the position of the pin that abuts against the coil spring.

[0006] An object of one embodiment of the present invention is to automatically adjust the pressure mechanism of an agricultural work machine based on the resistance of the soil before work, thereby enabling uniform ground leveling work to be achieved. [Means for solving the problem]

[0007] In one embodiment of the present invention, an agricultural working machine comprises a tilling rotor, a leveling unit located behind the tilling rotor, a pressure unit that acts to press the leveling unit against the field, and a sensor located in front of the tilling rotor that detects the resistance of the soil, and the pressure unit is adjustable so that the force applied to the leveling unit varies depending on the detection value of the sensor.

[0008] The agricultural work machine may further include a control unit that controls the pressure applying unit based on the detected value and changes the force that the pressure applying unit applies to the ground leveling unit.

[0009] The control unit may control the pressure applying unit by referring to a reference table that associates the detected value with a signal that controls the pressure applying unit.

[0010] The reference tables may include a first reference table that associates the detected value with a soil condition, and a second reference table that associates the soil condition with a signal that controls the pressurizing unit.

[0011] The force applied by the pressurizing unit to the ground leveling unit may be greater when the soil resistance is high than when the soil resistance is low. [Effects of the Invention]

[0012] According to one embodiment of the present invention, the pressure mechanism of the agricultural work machine can be automatically adjusted based on the resistance of the soil, making it possible to achieve uniform ground leveling work. [Brief explanation of the drawings]

[0013] [Figure 1] 1A and 1B are schematic diagrams showing the configuration of an agricultural implement in a first embodiment, in which (A) is a top view of the agricultural implement, and (B) is a rear view of the agricultural implement. [Figure 2] 1 is a side cross-sectional view showing the configuration of a central working section of an agricultural work machine according to an embodiment of the present invention. FIG. [Figure 3] FIG. 2 is a diagram showing a planar structure of an apron pressure unit of an agricultural work machine according to an embodiment of the present invention. [Figure 4] FIG. 2 is a side cross-sectional view showing the configuration of the left working section of the agricultural work machine according to one embodiment of the present invention. [Figure 5] FIG. 2 is a block diagram showing the configuration of a soil data acquisition unit in one embodiment of the present invention. [Figure 6] FIG. 2 is a block diagram showing the configuration of a control box according to an embodiment of the present invention. [Figure 7] FIG. 10 is an enlarged view showing the configuration of a detection unit of an agricultural work machine according to another embodiment of the present invention. [Figure 8] FIG. 10 is a side view showing the configuration of a detection unit of an agricultural work machine according to another embodiment of the present invention. [Figure 9] FIG. 10 is a top view showing the configuration of a detection unit of an agricultural work machine according to another embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0014] The agricultural work machine of the present invention will be described below with reference to the drawings. However, the agricultural work machine of the present invention can be embodied in many different forms, and should not be construed as being limited to the description of the examples shown below. In the drawings referred to in this embodiment, identical parts or parts having similar functions are designated with the same reference numerals or with an alphabetical character following the same reference numerals, and repeated description thereof will be omitted. For example, if the agricultural work machine of the present invention is composed of three working units, a central working unit, a left working unit, and a right working unit, the letters "C," "L," and "R" may be added after the numbers to indicate that the parts are included in the respective working units.

[0015] In this specification, "up" refers to a direction vertically away from the field, "down" refers to a direction vertically approaching the field, "front" refers to the direction in which the traveling body is located relative to the work machine, and "rear" refers to a direction 180° opposite from the front, "left" refers to the left when facing the direction in which the traveling body is located relative to the work machine (when the work machine is viewed from behind), and "right" refers to a direction 180° opposite from the left.

[0016] First Embodiment [Configuration of agricultural work machine 100] The general configuration of an agricultural work machine 100 according to a first embodiment will be described below with reference to Figures 1 and 2. In this embodiment, a folding tiller is used as an example of the agricultural work machine 100, but the agricultural work machine is not limited to this example. It does not have to be folding, and the present invention can also be applied to other agricultural work machines, such as rotary tillers.

[0017] Fig. 1 is a diagram showing the configuration of an agricultural work machine 100 in a first embodiment. Specifically, Fig. 1(A) is a top view of the agricultural work machine 100, and Fig. 1(B) is a rear view of the agricultural work machine 100. 2 is a side cross-sectional view showing the configuration of a central working unit 10C of an agricultural work machine 100 in the first embodiment. The agricultural work machine 100 of this embodiment has a connecting unit 11 for connecting the traveling machine body and the agricultural work machine 100, a working unit 10 that has a tillage rotor and acts on the field, power transmission means that transmits power from the traveling machine body to the working unit 10, an apron pressurizing unit 45 that applies a pressure to an apron 22 (described below) of the working unit 10 and presses the apron 22 against the field, a detection unit 10D that detects soil resistance, and a control box 18 that controls the operation of the agricultural work machine 100.

[0018] The connecting portion 11 is a portion that is connected to a three-point link mechanism (not shown) provided on the traveling machine body. Specifically, the connecting portion 11 in this embodiment includes a top link connecting portion (top mast) 12, a lower link connecting portion (lower link pin) 14, and an input shaft (not shown). The input shaft is a shaft that receives power from a PTO shaft (not shown) of the traveling machine body and transmits the power to a power transmission means. Note that the top link connecting portion 12 and the lower link connecting portion 14 may be connected to the three-point link mechanism of the traveling machine body via an auto hitch arm (not shown).

[0019] The working unit 10 consists of a central working unit 10C, a left working unit 10L, and a right working unit 10R. The central working unit 10C is located in the center of the agricultural work machine 100. The left working unit 10L and the right working unit 10R are connected to both the left and right ends of the central working unit 10C so that they can rotate up and down relative to the central working unit 10C. The agricultural work machine 100 can be folded onto the central working unit 10C by rotating the left working unit 10L and the right working unit 10R upward, and can be unfolded by rotating them downward. By folding both the left working unit 10L and the right working unit 10R onto the central working unit 10C (storage state), the width that the agricultural work machine 100 can cultivate (i.e., the tilling width) in the left-right direction of the agricultural work machine 100. Furthermore, the tilling width of the agricultural work machine 100 can be maximized by deploying the left working unit 10L, the right working unit 10R, and the central working unit 10C side by side (deployed state). The tilling width of the agricultural work machine 100 can also be adjusted by folding either the left working unit 10L or the right working unit 10R over the central working unit 10C (semi-deployed state). Typically, the agricultural work machine 100 is stored when not in use, and is deployed when used in a field. However, the present invention is not limited to this, and the agricultural work machine 100 may be used in the stored state or semi-deployed state depending on the area of ​​the field, usage conditions, etc.

[0020] The central working unit 10C will now be described. The central working unit 10C comprises a support frame 16, a central shield cover 20C, a tiller rotor 21C (see Figure 2), a central apron 22C, and a central leveler 24C. The support frame 16 extends in the left-right direction and functions as the main frame of the central working unit 10C. A gear box 17, which is a power transmission means, is disposed in the center of the support frame 16, and a shaft (not shown), which is part of the power transmission means, is disposed inside the support frame 16. The top mast 12 and lower link connection part 14 are fixed to the support frame 16.

[0021] As shown in Figures 1 and 2, the central shield cover 20C is fixed to the support frame 16. The central shield cover 20C is provided along the support frame 16 and is positioned so as to cover the top of the tillage rotor 21C. The central apron 22C is a ground leveling member attached to the rear end of the central shield cover 20C so as to be rotatable in the vertical direction around a shaft 23 as a fulcrum. The central leveler 24C is a ground leveling member attached to the central apron 22C so as to be rotatable in the vertical direction.

[0022] As shown in Fig. 2, the tillage rotor 21C is disposed in front of the central apron 22C and below the central shield cover 20C. Below the central shield cover 20C, a flange or a holder is attached to a claw shaft 21Ca that extends in the left-right direction and is rotatably supported. It has a configuration in which a plurality of tillage tines 21Cb are attached using the same.

[0023] Power from the input shaft is transmitted to the tine shaft 21Ca via a power transmission means, causing the tine shaft 21Ca to rotate. This causes the multiple tillage tines 21Cb to rotate and till the field. During this process, the soil broken up by the tillage tines 21Cb hits the inner wall of the central shield cover 20C, where it is further broken down, and then falls back down to the field. In other words, the central shield cover 20C has both the function of preventing the scattering of soil kicked up by the tillage rotor 21C and the function of crushing the soil. Furthermore, during tillage of the field, the central apron 22C serves as a cover that returns mud and soil scattered by the rotation of the tillage rotor 21C of the central working unit 10C back to the field, and also serves as a role for being pressed against the field to perform ground leveling work. The central leveler 24C acts on the field leveled by the central apron 22C and has the role of assisting the leveling work.

[0024] In addition to these components, the central working unit 10C is also provided with a transmission frame (chain case) that transmits power transmitted via the shafts in the support frame 16 to the claw shafts.

[0025] Next, the left working unit 10L will be described. The left working unit 10L is equipped with a left shield cover 20L, a tiller rotor 21L (see FIG. 4) disposed below the left shield cover 20L, a left apron 22L, a left leveler 24L, and a left extension leveler 26L. The roles of the left shield cover 20L, left apron 22L, and left leveler 24L are similar to those of the corresponding elements in the central working unit 10C described above, and therefore will not be described here. A detection unit 10D is fixed onto the left shield cover 20L, and the detailed structure of the detection unit 10D will be described later.

[0026] Like the tillage rotor 21C, the tillage rotor 21L has a rotatably supported tine shaft 21La and multiple tillage tines 21Lb fixed to the tine shaft 21La via a flange or holder. Power transmitted from the input shaft via a power transmission means rotates the tine shaft 21La, causing the multiple tillage tines 21Lb to perform tilling operations. The left extension leveler 26L extends from the end of the left working unit 10L toward the left of the agricultural work machine 100 and is responsible for leveling the area outside the left working unit 10L. The left extension leveler 26L is rotatably connected to the left leveler 24L and is configured to be foldable toward the left leveler 24L.

[0027] The right working unit 10R includes a right shield cover 20R, a tillage rotor (not shown) disposed below the right shield cover 20R, a right apron 22R, a right leveler 24R, and a right extension leveler 26R. The configuration of the right working unit 10R is similar to the corresponding elements of the left working unit 10L described above, and therefore a description thereof will be omitted here.

[0028] The left working unit 10L and the right working unit 10R described above are rotated up and down by working unit rotation mechanisms (not shown) provided at both ends of the central working unit 10C. This causes the agricultural work machine 100 to transition to the aforementioned stored state, deployed state, or semi-deployed state. In the deployed state, the central working unit 10C and the left working unit 10L, and the central working unit 10C and the right working unit 10R, are physically connected by connecting means (not shown), respectively. In other words, when the agricultural work machine 100 is in the deployed state, the central apron 22C is connected to the left apron 22L and the right apron 22R and acts on the field as a unit. Similarly, in the semi-deployed state, the central apron 22C is connected to the left apron 22L or the right apron 22R and acts on the field as a unit.

[0029] In this way, when each working unit is deployed and connected, the individual elements of each working unit (for example, tillage rotor, apron, leveler, etc.) act on the field in unison with the elements of the other working units. Therefore, in this specification, the terms "tillage rotor," "apron," "leveler," etc., include both cases where they refer to an individual element and cases where they refer to an assembly of multiple elements. In particular, the assembly of individual aprons (ground leveling components) that each work unit has, or the assembly of aprons and levelers, is sometimes called the "ground leveling unit."

[0030] Next, the power transmission means will be described. The power transmission means includes a gearbox 17 connected to the input shaft, a shaft (not shown) disposed within the support frame 16 and connected to the gearbox 17, and a transmission frame (not shown) that transmits power from the shaft to the tine shafts. The gearbox 17 has the function of changing the speed of the power transmitted from the input shaft (not shown). The power received by the input shaft from the traveling machine body is transmitted via the power transmission means to each tine shaft of the working section (tine shaft 21Ca, tine shaft 21La, tine shaft 21Ra), and becomes the power source for tilling by the tillage tines (tine 21Cb, tine 21Lb, tine 21Rb).

[0031] Next, the apron pressure units 45 will be described. A pair (two) of apron pressure units 45 are provided on the left and right sides of the central working unit 10C. The apron pressure units 45 function to suppress upward rotation of the central apron 22C. In the unfolded state, the central apron 22C is connected to the left apron 22L and the right apron 22R, and therefore the apron pressure units 45 suppress upward rotation of the entire apron 22, including the left apron 22L and the right apron 22R, via the central apron 22C. However, the apron pressure units 45 do not completely suppress rotation of the apron 22, but rather act to press the apron 22 against the field using the force of an elastic member (a coil spring in this embodiment). In other words, when the apron 22 rotates upward from a certain position, the apron pressure unit 45 generates an elastic force to push the central apron 22C back toward the field.

[0032] [Configuration of apron pressure section] 3 is a diagram showing the planar structure of the apron pressure unit 45. As shown in FIGS. 2 and 3, each apron pressure unit 45 includes an electric motor 201, a positioning gear 202, a support arm 203, a rod 204, and a coil spring 205. The positioning gear 202 and the support arm 203 share a common shaft 301 and are rotatably supported by a bracket 211 provided on the central shield cover 20C. The positioning gear 202 rotates about the shaft 301 by the power of the electric motor 201. Specifically, the teeth of a pinion gear 201a of the electric motor 201 mesh with the teeth of the positioning gear 202, transmitting the power of the electric motor 201 to the positioning gear 202.

[0033] As shown in Fig. 3, the support arm 203 is composed of two plate-like members arranged opposite each other, and the positioning gear 202 is arranged between the two plate-like members. The positioning gear 202 is provided with a pin 202a that protrudes in the left-right direction. The length of the pin 202a is longer than the distance between the two plate-like members that make up the support arm 203. Therefore, when the positioning gear 202 rotates rearward (clockwise in Fig. 2), the pin 202a comes into contact with the sides of the two plate-like members.

[0034] The rod 204 is bridged between the rear end of the support arm 203 (the end farther from the shaft 301) and a bracket 212 provided on the central apron 22C. The rear end of the support arm 203 and the upper end of the rod 204 are connected to be rotatable around the shaft 302. The vicinity of the lower end of the rod 204 is supported by a support member 213 provided on the bracket 212. The support member 213 supports the rod 204 so that it can slide in the longitudinal direction and rotate around the shaft 303.

[0035] Coil spring 205 is attached to rod 204. A ring-shaped fixing member 204a is provided on the upper part of rod 204, and the upper end of coil spring 205 is welded to fixing member 204a. The lower end of coil spring 205 is not fixed to rod 204, but abuts against support member 213, and therefore does not extend below support member 213. It is configured not to do so.

[0036] In the apron pressurizing unit 45 having the above-described structure, when the positioning gear 202 rotates rearward, the support arm 203 is pushed by the pin 202a and rotates downward. As the support arm 203 rotates downward, the rod 204 moves downward while sliding relative to the support member 213. When the distance between the fixed member 204a and the support member 213 decreases due to the movement of the rod 204, the coil spring 205 is compressed between the fixed member 204a and the support member 213. As a result, the reaction force of the compressed coil spring 205 acts to press the central apron 22C against the field.

[0037] As described above, the compression amount of the coil spring 205 can be adjusted by controlling the rotation angle of the support arm 203 using the electric motor 201. Here, if the compression amount of the coil spring 205 is ΔL and the spring constant is k, the force (F) that the coil spring 205 applies to the central apron 22C is expressed as F = k ΔL. That is, the apron pressurizing unit 45 of this embodiment can adjust the force (F) that the coil spring 205 applies to the central apron 22C by controlling the rotation angle of the support arm 203. In this embodiment, a potentiometer is provided to detect the rotation angle of the support arm 203, and the rotation angle of the support arm 203 is controlled based on data detected by the soil data acquisition unit 130. However, the present invention is not limited to this, and the rotation angle of the support arm 203 can also be controlled using a signal detected by another sensor.

[0038] Although this embodiment illustrates an example in which two apron pressure units 45 are provided, the present invention is not limited to this example, and the number of apron pressure units 45 may be one or three or more. The force applied to the apron 22 by the apron pressure units 45 is the total force of the apron pressure units 45. Therefore, increasing the number of apron pressure units 45 reduces the load per apron pressure unit 45, thereby reducing the load on each electric motor 201 (FIG. 2). Furthermore, this embodiment illustrates an example in which the apron pressure unit 45 is provided only on the central working unit 10C, but the present invention is not limited to this example, and apron pressure units 45 may also be provided on the left working unit 10L and the right working unit 10R. In this case, the force applied to the entire ground leveling unit in the deployed state is the total force of all the apron pressure units 45. In the stowed state, the apron pressure units 45 provided on the left working unit 10L and the right working unit 10R do not function. In the semi-deployed state, the apron pressure unit 45 of either the left working unit 10L or the right working unit 10R functions together with the apron pressure unit 45 of the central working unit 10C. Therefore, by dispersing the positions of the apron pressure units 45, the force of the apron pressure units 45 can be applied evenly to the ground leveling unit being used.

[0039] [Detection unit configuration] FIG. 4 is a side cross-sectional view showing the configuration of the left working unit 10L of the agricultural work machine 100 in the first embodiment. As shown in FIG. 4, the detection unit 10D includes a holding member 110, a probe 120, and a soil data acquisition unit 130. In this embodiment, the holding member 110 of the detection unit 10D is fixed on the left shield cover 20L and has a holding unit main body 110a that protrudes forward of the tillage rotor 21L and a probe holding portion 110b that extends downward from the front end of the holding unit main body 110a and holds the probe 120. Note that in this embodiment, the holding member 110 is fixed on the left shield cover 20L, but its fixing position is not limited to this example. The holding member 110 may also be fixed on the right shield cover 20R or the center shield cover 20C. The holding member 110 should protrude forward of the tillage rotor 21R or the tillage rotor 21C and not interfere with other members of the agricultural work machine 100, the field, or kicked up soil.

[0040] One end (upper arm) of the probe 120 is attached to the lower end of the probe holding portion 110b with a bolt. The probe 120 is made up of an elastic rod-shaped member, and is a torsion coil spring with an arm angle of approximately 180°.

[0041] The upper arm of probe 120 is shorter than the other (lower) arm. A fixing portion is provided on the upper arm of probe 120 for fixing to probe holding portion 110b. When the fixing portion is fixed to probe holding portion 110b, probe 120 is positioned so that the central axis of the coil is approximately parallel to claw axis 21La. Then, probe 120 is attached at an angle with respect to the vertical direction in a side view so that the coil is located near probe holding portion 110b and the tip of the lower arm of probe 120 is located further rearward as it moves downward.

[0042] The lower arm of the probe 120 has a gently curved shape that is convex downward. The lower arm of the probe 120 is adjusted so that at least its tip can be inserted into the soil of the field to a predetermined depth. The probe 120 preferably has a length that allows the lower arm of the probe 120 to bend due to the resistance of the soil. Here, the soil resistance refers to a force that acts in a direction that hinders the movement of the probe 120, that is, a force that the probe 120 receives from the soil that resists the movement of the probe 120 (in the direction opposite to the movement direction of the probe 120). Furthermore, as shown in FIG. 4, the lower arm of the probe 120 is preferably positioned below the tine shaft 21La in a side view, and preferably above the lowest end of the rotation trajectory of the tiller tine 21Lb.

[0043] When the agricultural work machine 100 moves forward during tilling work, the tip of the lower arm of the probe 120 moves through the soil with the tip positioned below the surface of the field. At this time, the probe 120 encounters resistance from the soil as it moves, and elastically deforms upward in the opposite direction to the movement of the agricultural work machine 100. If the soil condition of the field is coarse, for example, with many clods of soil remaining, the resistance from the soil is large and the probe 120 deforms significantly. On the other hand, if the soil condition of the field is fine, the resistance from the soil is smaller than when the soil condition is coarse, and the deformation of the probe 120 is small.

[0044] The probe 120 is a component for detecting resistance from the soil due to differences in the soil conditions of the field before work (before tillage). The configuration is not limited to that of this embodiment, as long as it can detect resistance from the soil due to differences in the soil conditions of the field. For example, in this embodiment, the probe 120 is fixed at an angle to the vertical direction so that the lower side is located further rearward than the upper side in a side view. However, this fixation is not limited to this, and the probe 120 can also be fixed so that it is approximately vertical. Also, in this embodiment, the probe 120 is shown as being formed of a torsion coil spring, but it may be formed of a leaf spring instead of a torsion coil spring. In other words, any component may be used as long as the component of the probe deforms due to resistance from the soil and resistance can be detected based on the amount of deformation.

[0045] The soil data acquisition unit 130 has a strain gauge and has the function of detecting deformation of the probe 120 due to the resistance of the soil. The strain gauge of the soil data acquisition unit 130 is placed on the front side of the probe 120, which is made up of a torsion coil spring, in a position corresponding to the position of the coil part. This position on the front side of the probe 120 and corresponding to the coil part is a position on the probe 120 where elastic deformation is likely to occur, and by placing the soil data acquisition unit 130 in this position, it is possible to accurately detect elastic deformation of the probe 120 due to the resistance of the soil. The strain gauge fixed to the probe 120 has a resistor that expands and contracts as the probe 120 deforms, and the electrical resistance changes. This change in electrical resistance is measured and converted into the amount of deformation of the probe 120.

[0046] The soil data acquisition unit 130 only needs to be able to detect the deformation of the probe 120, and the position of the strain gauge is not particularly limited to the above, but it is preferable to place the strain gauge in a position where it does not directly act on (contact with) the soil. This can prevent erroneous detections and damage to elements (such as a sensor module) included in the soil data acquisition unit 130 due to the effects of the strain gauge. In addition, in this embodiment, a strain gauge is used as a means for detecting deformation of the probe 120, but the present invention is not limited to this example, and instead of the strain gauge, an acceleration sensor, a gyro sensor, a magnetic sensor, a potentiometer, or the like may be used.

[0047] 5 is a block diagram showing the control configuration of agricultural work machine 100 according to one embodiment of the present invention. Agricultural work machine 100 includes a sensor unit 31, a control unit 32, a storage unit 33, a communication unit 34, and a power supply unit 35. However, this is not limiting, and agricultural work machine 100 may include other elements, or some elements may be omitted.

[0048] The sensor unit 31 of this embodiment includes a strain gauge and detects deformation of the probe 120 due to soil resistance. The control unit 32 has the function of controlling each element of the agricultural work machine 100 by executing a program read from the storage unit 33. For example, a microcomputer including a CPU can be used as the control unit 32. The control unit 32 can, for example, instruct the sensor unit 31 to perform sensing and instruct the communication unit 34 to send and receive data. Furthermore, the control unit 32 can monitor the remaining charge of the power supply unit 35 and, as necessary, instruct the power supply unit 35 to start charging or switch to sleep mode. However, these controls are merely examples, and the control unit 32 can also execute other controls. For example, information processing such as arithmetic on the sensing data acquired by the sensor unit 31 may be performed.

[0049] The storage unit 33 can store programs for various controls executed by the control unit 32, store data acquired by the sensor unit 31, and the like.

[0050] The communication unit 34 has a function of transmitting sensing data acquired by the sensor unit 31 and the like to the control box 18. As the communication unit 34, for example, a wireless communication module capable of short-range wireless communication such as Bluetooth (registered trademark) can be used. Note that the communication unit 34 is not only capable of outputting data but also capable of inputting data from the outside.

[0051] The power supply unit 35 functions as a power source for operating each element of the soil data acquisition unit 130. The power supply unit 35 may be a battery or a rechargeable battery. When a rechargeable battery is used as the power supply unit 35, the power supply unit 35 may have a power supply circuit for wireless power supply. For example, the power supply circuit may have an antenna for receiving a high-frequency signal and a rectifier circuit for generating power based on the received high-frequency signal.

[0052] [Control box configuration] Next, we will explain the control box 18. Fig. 6 is a block diagram showing the configuration of the control box 18 in one embodiment of the present invention. The control box 18 controls the agricultural work machine 100 by controlling each means of the agricultural work machine 100, and as shown in Fig. 6, includes a control unit 41, a storage unit 42, and a communication unit 43.

[0053] The control unit 41 is, for example, a microcomputer including a CPU. The control unit 41 controls each means of the agricultural work machine 100 by executing programs read from the storage unit 42. The control unit 41 also performs signal processing such as processing of operation signals transmitted from a remote controller (including both wired and wireless controllers) not shown and processing of sensor signals transmitted from various sensors. The control unit 41 controls various actuators (motors, electric cylinders, etc.) to perform drive control such as control of the pressure application operation to the ground leveling portion by the apron pressure unit 45, control of the rotational operation of the tilling rotor, and control of the deployment operation of the left apron 22L and the right apron 22R.

[0054] The memory unit 42 is, for example, a non-volatile memory. The memory unit 42 can store programs for various controls executed by the control unit 41 and data related to the processes executed by the control unit 41. The memory unit 42 stores a determination program 51 that causes the control unit 41 to execute a process for determining the soil condition of the field and for controlling the drive of the actuator of the agricultural work machine 100. The memory unit 42 also stores a first reference table 52 used in the process for determining the soil condition and a second reference table 53 used in the process for determining the drive control of the actuator. Here, the soil condition refers to the size of the soil mass or the density of the soil. The first reference table 52 is a table that associates the deformation amount of the probe 120 acquired from the soil data acquisition unit 130 with the soil condition, and the second reference table 53 is a table that associates the soil condition with the rotation angle of the support arm 203.

[0055] The communication unit 43 is a communication module for wired or wireless communication, and has the function of transmitting a control signal (e.g., a control signal for a drive unit) generated by the control unit 41 to a drive unit such as an actuator, and receiving an instruction signal (e.g., a remote control signal) from outside. For example, data acquired by the soil data acquisition unit 130 is transmitted to the control unit 41 via the communication unit 43. The communication unit 43 may be equipped with a communication module that enables short-range wireless communication or a communication module that enables wireless communication according to a communication standard such as Wi-Fi. In other words, the communication unit 43 may have the function of controlling communication with an information processing device such as a server connected to a network, a mobile terminal (e.g., a smartphone or a tablet terminal), or an information terminal mounted on the traveling vehicle body.

[0056] [Drive control method] Here, we will explain the control of the apron pressurizing unit 45 executed by the control box 18 (control unit 41) based on the detection results from the soil data acquisition unit 130. The agricultural work machine 100 of this embodiment tills the soil with the tilling rotor 21 of the working unit 10, and then levels the tilled soil with the apron 22 and leveler 24 to level the field. The leveled state of the field after work changes depending on the pressure of the apron 22 on the field. When the pressure of the apron 22 on the field increases, the soil is leveled in a finely crushed state compared to when the pressure of the apron 22 on the field is small. Therefore, in the agricultural work machine 100 of this embodiment, the control unit 41 controls the drive of the electric motor 201 of the apron pressurizing unit 45 based on the deformation amount of the probe 120 of the detection unit 10D, so that the leveled state of the field after work can be adjusted appropriately.

[0057] As described above, the probe 120 elastically deforms due to the resistance it receives from the soil when the agricultural work machine 100 moves forward to perform tillage work. The resistance it receives from the soil changes depending on the soil condition of the field, i.e., the size and density of the soil mass before work, and the amount of deformation of the probe 120 changes accordingly. In this embodiment, the amount of deformation of the probe 120 caused by the movement of the agricultural work machine 100 is acquired based on the detection results of the soil data acquisition unit 130 (strain gauge), and the control box 18 (specifically, the control unit 41) determines the soil condition based on this data. Then, based on the determined soil condition, the control unit 41 controls the drive of the electric motor 201 of the apron pressurizing unit 45 and adjusts the rotation angle of the support arm 203, thereby executing a series of processes. Note that this series of processes is performed by the control unit 41 reading and executing a determination program 51 stored in the memory unit 42.

[0058] The control unit 41 receives the deformation amount of the probe 120 as an input and classifies the deformation amount of the probe 120 into one of a plurality of soil conditions that have been previously labeled, thereby determining the soil condition. The labeling may be, for example, three levels or more. In this case, the finer the labeling, the more detailed the soil condition can be determined, but the accuracy decreases accordingly, so it is desirable to perform labeling appropriately according to the application.

[0059] When the determination program 51 is executed, the control unit 41 acquires data from the soil data acquisition unit 130 (strain gauge). The data is transmitted to the control unit 41 via the communication unit 43 of the control box 18.

[0060] The control unit 41 of the control box 18 determines the soil condition based on the data acquired by the soil data acquisition unit 130. Specifically, the control unit 41 applies a pre-prepared machine learning algorithm to the acquired data to classify the input data into one of multiple labels. The control unit 41 then outputs the soil condition based on the label obtained as a result of the classification. For example, if the resistance from the soil is large and the deformation amount of the probe 120 acquired by the soil data acquisition unit 130 is large, the soil condition is classified as a "large" label indicating that the soil mass is coarse (large) and / or dense. If the resistance from the soil is small and the deformation amount of the probe 120 acquired by the soil data acquisition unit 130 is small, the soil condition is classified as a "small" label indicating that the soil mass is fine (small) and / or dense. In this embodiment, a first reference table 52 that associates labels with soil conditions is stored in advance in the storage unit 42, and the soil condition is output by referring to the first reference table 52 using the determined label as input.

[0061] Furthermore, the control unit 41 may determine drive control of the electric motor 201 based on the determined soil condition. Specifically, a second reference table 53 that associates soil conditions (labels) with rotation angles of the support arm 203 may be stored in advance in the storage unit 42. The control unit 41 may input the determined soil condition and refer to the second reference table 53 to output a control signal to the electric motor 201 (actuator) of the apron pressurizing unit 45. For example, if the label indicating the determined soil condition is "large," which indicates that the soil mass is coarse (large) and / or dense, the control unit 41 drives the electric motor 201 of the apron pressurizing unit 45 based on the second reference table 53 so that the rotation angle of the support arm 203 becomes a predetermined angle corresponding to the soil condition of "large." As a result, a force is applied to the apron 22 to press it downward against the field with a predetermined pressure. When the determined soil condition label is "small," indicating that the soil clods are fine (small) and / or have a low density, the electric motor 201 of the apron pressurizing unit 45 is driven based on the second lookup table 53 so that the rotation angle of the support arm 203 becomes a predetermined angle corresponding to the soil condition label "large" or "small." In this embodiment, the soil condition label is "large," i.e., the soil condition is coarse (large) and / or dense, and the second lookup table 53 associates the soil condition with the rotation angle of the support arm 203 so that the apron pressurizing unit 45 applies a greater pressure to the apron 22 when the soil condition label is "large," i.e., when the soil condition is coarse (large) and / or has a high density, compared to when the label is "small," i.e., when the soil condition is fine (small) and / or has a low density. Therefore, the compression amount of the coil spring 205 when the label "large" is input is greater than the compression amount of the coil spring 205 when the label "small" is input.

[0062] As described above, the agricultural work machine 100 of this embodiment is controlled so that the force that the apron pressure unit 45 applies to the ground leveling unit varies depending on the soil condition (before work). In other words, the agricultural work machine 100 of this embodiment can automatically control each drive unit of the agricultural work machine based on the soil condition (before work). Therefore, whatever the soil condition, each drive unit of the agricultural work machine is drive-controlled according to the soil condition. This makes it possible to carry out ground leveling work according to the soil condition.

[0063] In this embodiment, an example of controlling the drive of the apron pressurizing unit 45 (electric motor 201) has been described as a method for realizing ground leveling work according to the soil condition, but the present invention is not limited to this example. For example, a configuration may be adopted in which the rotation speed of the tilling rotor 21 is changed according to the soil condition. Also, a label according to the soil condition may be displayed on a remote control or a mobile terminal, and the user may be able to easily check the soil condition. The state of the agricultural work machine 100 may be notified to the user. In this case, the user may adjust the pressure by operating a remote control or the like based on the displayed label. In addition, the speed of the traveling machine body to which the agricultural work machine 100 is attached can also be adjusted based on the displayed label.

[0064] In this embodiment, an example has been described in which the drive unit (electric motor 201) of the agricultural work machine is automatically controlled based on the condition of the soil, but the results of the process of determining the soil condition may be sent to an external information processing device (for example, a server, a mobile terminal, an information terminal mounted on the traveling machine body, etc.). By sending the results of the process of determining the soil condition to an external information processing device, it becomes possible to further control the drive units of other work machines.

[0065] The soil condition is also related to the physical properties of the soil and the type of soil group. Here, the physical properties of the soil refer to the physical properties of the soil, including soil hardness (soil hardness, i.e., density), ease of tillage (tillability), degree of drainage (drainage ability), water retention (water retention), soil weight, and air permeability (breathability). It is also possible to associate the soil physical properties and the type of soil group in the second reference table 53, so that pressure control can be performed taking into account the soil physical properties and the type of soil group. For example, it is possible to associate the type of soil group, a label indicating the soil condition, and the rotation angle of the support arm 203, and change the pressure control (the magnitude of pressure) when the label is "high" depending on the type of soil group. In this case, the type of soil group may be input directly by the user or obtained from an external information processing device.

[0066] In this embodiment, the control unit 41 determines the soil condition based on the data acquired by the soil data acquisition unit 130 using the first reference table 52 and the second reference table 53, and then controls the drive of the apron pressurizing unit 45 (electric motor 201) according to the determined soil condition. However, this is not limited to this. For example, instead of the first reference table 52 and the second reference table 53, a third reference table that associates the data acquired by the soil data acquisition unit 130 with the rotation angle of the support arm 203 may be stored in the memory unit 42. After acquiring data from the soil data acquisition unit 130, the control unit 41 may control the drive of the apron pressurizing unit 45 (electric motor 201) based on the third reference table. Furthermore, in this embodiment, a machine learning algorithm is used to determine the label indicating the soil condition. However, it is also possible to determine the label using a reference table that directly associates the data value acquired from the soil data acquisition unit 130 with the label.

[0067] Second Embodiment In this embodiment, the configurations of the detection unit 10Da and the soil data acquisition unit 130a are different from those of the above-described embodiment. The other configurations are the same as those of the detection unit 10D according to the first embodiment. Here, the description of the same parts as those in the first embodiment will be omitted, and only the parts that differ from the configuration of the detection unit 10D according to the first embodiment will be described.

[0068] [Detection unit configuration] Figure 7 is an enlarged view showing the configuration of the detection unit 10Da. As shown in Figure 7, the detection unit 10Da includes a holding member 110a, a probe 120a, and a soil data acquisition unit 130a. In this embodiment, the holding member 110a of the detection unit 10Da is fixed onto the left shield cover 20L and protrudes forward of the tillage rotor 21L.

[0069] One end of the probe 120a is fixed to the tip of the holding member 110a via the soil data acquisition unit 130a. The probe 120a is a rigid rod-shaped member. The holding member 110a holds the probe 120a in the direction opposite to the movement direction of the agricultural work machine 100 and rotatably around the axis 132a of the soil data acquisition unit 130a. By arranging the probe 120a in this way, it can rotate efficiently when it encounters resistance from the soil in the direction opposite to the movement direction of the agricultural work machine 100. In addition, the probe 120a is designed to be able to rotate efficiently when it encounters resistance from the soil in the direction opposite to the movement direction of the agricultural work machine 100. The probe 120a may be fixed to the holding member 110a via, for example, a torsion coil spring so that it returns to its original position when it is displaced. In this embodiment, an example in which the probe 120a has rigidity is shown, but the present invention is not limited to this example, and the probe 120a may have elasticity as long as it is rotatable about the axis 132a of the soil data acquisition unit 130a.

[0070] The other end of the probe 120a, opposite to the one end, is positioned below the one end and is in contact with the soil. The length and position of the other end of the probe 120a are the same as those of the probe 120 in the first embodiment, and therefore will not be described here. A portion of the other end of the probe 120a moves through the soil as the agricultural work machine 100 moves. As the portion of the other end of the probe 120a moves through the soil, the probe 120a encounters resistance from the soil in the direction opposite to the movement of the agricultural work machine 100. The probe 120a rotates in the direction opposite to the movement of the agricultural work machine 100 due to the resistance from the soil.

[0071] In this embodiment, the soil data acquiring unit 130a detects the displacement (rotation) of the probe 120a due to the resistance of the soil. The soil data acquiring unit 130a is fixed to the tip of the holding member 110a. The soil data acquiring unit 130a has a rotatable shaft 132a arranged approximately parallel to the claw shaft 21La. One end of the probe 120a is fixed to the shaft 132a of the soil data acquiring unit 130a. The shaft 132a rotates in accordance with the displacement (rotation) of the probe 120a. The soil data acquiring unit 130a detects the rotation of the shaft 132a. However, this example is not limiting, and the soil data acquiring unit 130a may be fixed to any position as long as it can detect the displacement of the probe 120a. For example, the soil data acquiring unit 130a may be fixed to one end of the probe 120a, and the tip of the holding member 110a may be fixed to the shaft 132a. The soil data acquisition unit 130a is preferably placed at a position where it can detect the displacement of the probe 120a more efficiently and does not directly affect the soil.

[0072] [Soil data acquisition section configuration] The soil data acquiring unit 130a of this embodiment has the same configuration as the soil data acquiring unit 130 of the first embodiment, except for the sensor unit (not shown). Explanations of the same parts as in the first embodiment will be omitted, and only parts that differ from the configuration of the soil data acquiring unit 130 of the first embodiment will be described here.

[0073] The sensor unit 31a of this embodiment detects the displacement of the probe 120a due to the resistance of the soil. Specifically, the sensor unit 31a includes an angle sensor. A shaft 132a fixed to the probe 120a rotates in accordance with the displacement of the probe 120a. This rotation angle is measured and converted into the amount of displacement of the probe 120a. Although the sensor unit 31a of this embodiment includes an angle sensor, this is not limiting, and the sensor unit 31a may also include, for example, an acceleration sensor, a gyro sensor, a magnetic sensor, a potentiometer, etc. In this case, the holding member 110a may directly hold the probe 120a in a rotatable manner without using the soil data acquisition unit 130a, or the soil data acquisition unit 130a may be fixed to the probe 120a.

[0074] [Drive control method] The amount of displacement (rotation) of the probe 120a that accompanies the movement of the agricultural work machine 100 varies depending on the condition of the soil. Specifically, the resistance value of the soil varies depending on the size and density of the soil mass before work, and the amount of displacement of the probe 120a also varies. Therefore, in this embodiment, the amount of displacement of the probe 120a that accompanies the movement of the agricultural work machine 100 is acquired, and the soil condition is determined based on this data. In this embodiment, the control method for the drive unit is the same as in the first embodiment, except that the control unit 41 of the control box 18 determines the soil condition based on data acquired by the soil data acquisition unit 130a, and therefore repeated explanation will be omitted.

[0075] Third Embodiment The detection unit 10D of the first embodiment is shown configured to be fixed onto the left shield cover 20L of the agricultural work machine 100 and protrude forward of the tillage rotor 21L. The detection unit 10Db of this embodiment is shown as being fixed to an auto hitch arm 200, which is a member for connecting the traveling machine body (tractor) and the agricultural work machine 100. Other than the position of the detection unit 10Db, the configuration of the detection unit 10D of the first embodiment is the same. Explanations of the same things as in the first embodiment will be omitted, and only differences from the configuration of the detection unit 10D of the first embodiment will be described here.

[0076] 8 and 9 are side and top views showing the configuration of the detection unit 10D of the agricultural work machine 100. In FIGS. 8 and 9, the autohitch arm frame 210 and lever connecting the lower link 230L and the top link are partially omitted. As shown in FIGS. 8 and 9, the detection unit 10Db of this embodiment is fixed to the autohitch arm 200. The holding member 110b of the detection unit 10Db is fixed to the autohitch arm frame 210 connecting the left and right lower links 230L and 230R and protrudes forward of the lower link 230L. However, this is not a limitation, and the holding member 110b may be fixed to either the right lower link 230R or the left lower link 230L. It is sufficient that the holding member 110b protrudes forward of the left and right lower links 230L and 230R and does not interfere with other components of the autohitch arm 200, the connected agricultural work machine, kicked-up soil, etc.

[0077] (Variation 1) In the first embodiment, an example has been shown in which the apron pressurizing unit 45 rotates the positioning gear 202 using the electric motor 201 to bring the pin 202a into contact with the support arm 203, thereby rotating the support arm 203 and applying pressure to the ground leveling portion. However, the configuration of the apron pressurizing unit 45 is not limited to this example.

[0078] For example, instead of a configuration in which the positioning gear 202 is rotated by the rotational motion of the electric motor 201, a configuration in which the linear motion of an actuator such as an electric cylinder or a hydraulic cylinder is converted into the rotational motion of a rotating member having a pin 202a may be used. Specifically, for example, a substantially triangular plate-like member is used as the positioning member, and one vertex of the plate-like member is connected to the shaft 301. Then, of the remaining two vertices, the pin 202a is provided at one, and the rod end of the actuator is connected to the other. This makes it possible to convert the extension / contraction motion of the rod of the actuator into the rotational motion of the positioning member about the shaft 301. Furthermore, instead of an actuator such as an electric cylinder or a hydraulic cylinder, it is also possible to obtain linear motion by combining an electric motor with a ball screw.

[0079] Furthermore, in the apron pressure unit 45 of the first embodiment, when the ground leveling unit rotates upward, the forward rotation (counterclockwise rotation) of the support arm 203 and the positioning gear 202 is prevented by the electric motor 201. However, this is not the only example, and it is also possible to prevent the rotation of the positioning gear 202, for example, by pressing a member that functions as a brake pad against the positioning gear 202.

[0080] Although the present invention has been described above with reference to the drawings, the present invention is not limited to the above-described embodiments (including variations) and can be modified as appropriate without departing from the spirit of the present invention. For example, even if a person skilled in the art appropriately adds, deletes, or modifies components based on the embodiments, such modifications are included within the scope of the present invention as long as they incorporate the gist of the present invention. Furthermore, the above-described embodiments can be appropriately combined as long as there are no mutual contradictions, and technical matters common to the embodiments are included in each embodiment even if not explicitly stated.

[0081] Other effects and advantages different from those brought about by the aspects of the above-described embodiments are also included if they are obvious from the description in this specification or can be easily predicted by a person skilled in the art. This is naturally understood to be brought about by the present invention. [Explanation of symbols]

[0082] 10C...central working unit, 10L...left side working unit, 10R...right side working unit, 12...top mast, 14...lower link connection part, 16...support frame, 17...gear box, 18...control box, 20C...central shield cover, 20L...left side shield cover, 20R...right side shield cover, 21C, 21L, 21R...tillage rotor, 21Ca, 21La...tooth shaft, 21Cb...tillage tine, 22C...central apron, 22L...left side apron, 22R...right side apron, 23...shaft, 24C...central leveler, 24L...left side leveler, 24R...right side leveler, 26L...left side extension leveler, 26R...right side extension leveler, 31, 31a...sensor unit, 32...control unit, 33...memory unit, 34...communication unit, 35 ...power supply unit, 41...control unit, 42...storage unit, 43...communication unit, 45...apron pressure unit, 51...determination program, 52...first reference table, 53...second reference table, 100...agricultural implement, 110...holding member, 110a...holding member, 110b...holding member, 120, 120a...probe, 130...soil data acquisition unit, 130a...soil data acquisition unit, 132a...shaft, 200...auto hitch arm, 201...electric motor, 201a...pinion gear, 202...gear, 202a...pin, 203...support arm, 204...rod, 204a...fixing member, 205...coil spring, 206...potentiometer, 211, 212...bracket, 213...support member, 301-303...shaft

Claims

[Claim 1] The tilling machine comprises a tilling rotor, a ground leveling unit located behind the tilling rotor, a pressure unit that acts to press the ground leveling unit against the field, and a sensor located in front of the tilling rotor that detects soil resistance; The pressure applying unit is adjustable so that the force applied to the ground leveling unit varies depending on the detection value of the sensor.

Images