Agricultural working machine

Abstract

To provide a farm working machine capable of accurately detecting the state of a working part changeable by an actuator by a sensor in the farm working machine including a working machine attached to a tractor and performing farm working.SOLUTION: The working units 60 and 61 include the changeable working unit 61 capable of changing a part or all of the working unit to the working state and the stored state, and the actuator 32 is the actuator 32 that changes the changeable working unit 61 to the stored state and the working state, the sensor 31 is a sensor 31 for detecting the state of the changeable working unit 61, and the control unit 21 derives the relationship of the state of the changeable working unit 61 with respect to the value of an arbitrary sensor 31 using the values of the sensor 31 acquired at two or more prescribed positions of the changeable working unit 61 changed by the actuator 32, and specifies the state of the changeable working unit 61 from the current value of the sensor 31.SELECTED DRAWING: Figure 11

Description

[Technical Field]

[0001] The present invention relates to agricultural implements, and more particularly to agricultural implements including implements that are attached to tractors to perform agricultural work. [Background technology]

[0002] In conventional farm machinery equipped with a working unit that is attached to a tractor to perform agricultural work, some of the working units can be switched between a working state and a stored state to improve work efficiency and ensure safety during transportation. In such cases, the switchable working unit has a mechanism for operating with an actuator to enable efficient switching. Some of the machines also have a sensor for detecting the operation of the actuator.

[0003] Patent document 1 discloses a ridge forming machine having a mounting frame with an intermediate power transmission section that transmits power from a tractor, a support frame with a rotating means that rotates horizontally around a rotating shaft located approximately in the rear center of the mounting frame, and a ridge forming section that has an input transmission section on the other side of the support frame.The machine discloses a mechanism in which a gear is fixed to the rotating boss of the support frame, a cam that engages with this gear and rotates integrally with an intermediate gear that has a rotating shaft on the mounting frame side, and a potentiometer linked to this cam detects the rotational position of the support frame. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-245350 Summary of the Invention [Problem to be solved by the invention]

[0005] In order to detect the operation of the actuator that can change part or all of the working unit between the working state and the storage state, a sensor must be installed after determining a reference position. However, if the sensor's installation position is misaligned, the sensor will not be able to accurately detect the actuator's position, which will have a negative impact on the control of the actuator. Furthermore, in a configuration in which control is performed by acquiring a reference point, when the actuator stops at a position other than the reference position, assembly errors or individual differences in components may cause the stop position to be over or under.

[0006] Furthermore, Patent Document 1 discloses a mechanism for detecting the rotational position of the support frame, but the same problem as above occurs when a potentiometer is attached.

[0007] In view of the above problems, the present invention aims to provide an agricultural work machine, including a work machine that is attached to a tractor to perform agricultural work, that can accurately detect the state of a working part that can be changed by an actuator using a sensor. [Means for solving the problem]

[0008] In order to achieve the above-mentioned object, one representative agricultural work machine of the present invention comprises a work machine having a working unit that is attached to a tractor to perform agricultural work, an actuator provided on the work machine, a sensor provided on the work machine, and a control unit, wherein the working unit has a changeable working unit that can change part or all of the working unit between a working state and a stored state, the actuator is an actuator that changes the changeable working unit between a stored state and a working state, the sensor is a sensor for detecting the state of the changeable working unit, and the control unit uses the sensor values ​​obtained at two or more specified positions of the changeable working unit that are changed by the actuator to derive the relationship between the state of the changeable working unit and the value of any of the sensors, and identifies the state of the changeable working unit from the current value of the sensor. [Effects of the Invention]

[0009] According to the present invention, in an agricultural work machine including a work machine that is attached to a tractor to perform agricultural work, the state of a work unit that can be changed by an actuator can be accurately detected by a sensor. Problems, configurations, and effects other than those described above will become apparent from the following embodiments. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a block diagram showing an embodiment of an agricultural machine of the present invention. [Figure 2] 1 is a side view showing an example of a first state of a working implement in an agricultural working machine of the present invention. FIG. [Figure 3] 1 is a plan view showing an example of a first state of a working implement in an agricultural working machine of the present invention. FIG. [Figure 4] FIG. 10 is a front view of the agricultural work machine of the present invention, viewed obliquely from above, showing an example of a second state of the work machine. [Figure 5] FIG. 2 is an enlarged perspective view showing an example of a rotation mechanism and a locking mechanism portion of the agricultural work machine of the present invention. [Figure 6] FIG. 4 is an enlarged view of an example of a rotation mechanism and a locking mechanism in the agricultural work machine of the present invention, viewed obliquely from above on the rear side. [Figure 7] FIG. 2 is a diagram showing an example of a communication terminal in the agricultural work machine of the present invention. [Figure 8] 1 is an enlarged view of the front side, seen obliquely from above, showing an example of a first state of a rotation mechanism and a locking mechanism portion of an agricultural work machine according to the present invention. FIG. [Figure 9] FIG. 10 is an enlarged view of the front side, seen obliquely from above, showing an example of a second state of the rotation mechanism and lock mechanism portion of the agricultural work machine of the present invention. [Figure 10] FIG. 10 is an enlarged view of the front side, seen obliquely from above, showing an example of a third state of the rotation mechanism and lock mechanism portion of the agricultural work machine of the present invention. [Figure 11] 10 is an example of a flowchart for setting the agricultural work machine of the present invention. [Figure 12] 4 is an example of a flowchart of operation control in the agricultural work machine of the present invention. [Figure 13] 10 is a diagram showing an example of a display on a display unit of the agricultural work machine of the present invention. DETAILED DESCRIPTION OF THE INVENTION

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

[0012] <Block diagram> Figure 1 is a block diagram showing one embodiment of the agricultural work machine of the present invention. In a configuration including a work implement 2 attached to a tractor 1, a communication terminal 40 can be arranged on the tractor 1 side. In addition, the work implement 2 side is equipped with a control device 20, a sensor 31, and an actuator 32. The work implement 2 has a working unit that performs agricultural work, and the working unit has a changeable working unit that is configured so that part or all of the working unit can be changed between a working state and a stored state. Furthermore, the work implement 2 may be equipped with a locking mechanism that locks the changeable working unit when the changeable working unit is put into a working state or a stored state.

[0013] The control device 20 can calculate the state of the changeable working unit and the lock state of the locking mechanism based on control information from the actuator 32 and information from the sensor 31, and can wirelessly transmit this information to the communication terminal 40. The control device 20 can also transmit control information from the actuator 32 and information from the sensor 31 to the communication terminal 40. The control device 20 also controls the actuator 32 based on an operation signal received wirelessly from the communication terminal 40. Information from the sensor 31 may also be used for control. The control device 20 includes a control unit 21, an input / output unit 22, and a wireless communication unit 23.

[0014] The control unit 21 detects the state of the alterable working unit and the lock state of the locking mechanism based on control information from the actuator 32 and information from the sensor 31. In particular, the control unit 21 is able to accurately grasp the state of the alterable working unit, etc., through the processing described below, and can control error processing based on this. The control unit 21 also performs processing to control the actuator 32 using operation signals from the communication terminal 40 and information detected by the sensor 31. The control unit 21 is composed of electronic devices necessary for arithmetic processing, such as a CPU (central processing unit) and memory. The control unit 21 also has a storage unit for recording necessary information.

[0015] The input / output unit 22 performs functions such as supplying power to the actuator 32 under the control of the control unit 21. The input / output unit 22 also receives information from the sensor 31 and sends it to the control unit 21.

[0016] The wireless communication unit 23 has a function for wireless communication with the wireless communication unit 43 of the communication terminal 40. The control device 20 and the communication terminal 40 may communicate by wired communication. Alternatively, only the wireless communication unit 23 may be installed in a position where communication is easy.

[0017] The sensor 31 is a sensor installed on the working implement 2 side, and various types of sensors are provided according to the needs of the working implement 2. The sensor 31 is, for example, a potentiometer, a stroke sensor, an acceleration sensor, an angular velocity sensor, an inclination sensor, a geomagnetic sensor, a rotation sensor, a limit switch, etc. This makes it possible to detect the state of the working implement 2 by the actuator 32. In particular, it is a sensor that detects the state of the changeable working unit that moves by the operation of the actuator 32 and the lock state of the locking mechanism. For example, a potentiometer or a stroke sensor is effective means for detecting the position of the working unit that moves by the operation of the actuator 32 and the position of a link that moves in conjunction with the working unit. Movement here includes rotation.

[0018] The actuator 32 is installed on the working implement 2 side. The actuator 32 is an actuator that allows a movable part that is part of the working implement 2 to be moved as needed. The actuator 32 is an actuator that particularly allows a changeable working unit that can be changed between a working state and a stored state to be moved as needed. This improves the workability of agricultural work. Furthermore, the actuator 32 can activate the lock of a locking mechanism. Alternatively, the actuator 32 may be an actuator that acts on other operating devices other than those described above. For example, a cylinder such as a hydraulic cylinder or an electric hydraulic cylinder, or a motor, can be used as the actuator 32.

[0019] The communication terminal 40 includes a display unit 41, an operation unit 42, a wireless communication unit 43, and a processing unit 44. The communication terminal 40 may be a specific remote control device shown in Fig. 7, or may be a general-purpose portable terminal such as a smartphone or a tablet computer. The communication terminal 40 may include a storage unit as needed, and may have an alarm function using sound from a speaker or the like.

[0020] The display unit 41 can be provided with means for displaying necessary information using a display screen such as a liquid crystal display or organic electroluminescence display, an LED (light-emitting diode), a lamp, etc. The display unit 41 can acquire information from the control unit 21 of the control device 20 and display information based on the sensor 31 and information based on the control of the actuator 32. Using this information, the state of the changeable working unit, the lock state of the locking mechanism, etc. can be displayed.

[0021] The operation unit 42 is equipped with operation switches and the like for operation, allowing the worker to perform the necessary operations. For example, these are operations for setting and displaying the state of the changeable working unit, etc. The operation unit 42 also has switches for operating the actuator 32. Various switches such as push button switches can be used as the switches of the operation unit 42. The operation unit 42 may also be configured by adopting a touch panel system for the display screen of the display unit 41.

[0022] The wireless communication unit 43 has a function for wireless communication with the wireless communication unit 23 of the control device 20. Note that the communication terminal 40 and the control device 20 may communicate with each other via wired communication.

[0023] The processing unit 44 performs display processing on the display unit 41, input processing of signals from the operation unit 42, communication processing for the wireless communication unit 43, and other necessary calculation processing, etc. The processing unit 44 is composed of electronic devices, etc. necessary for control, processing, etc.

[0024] <Examples of work equipment> FIG. 2 is a side view showing an example of a first state of the agricultural working machine of the present invention. FIG. 3 is a plan view showing an example of the first state of the agricultural working machine of the present invention. FIG. 4 is a view obliquely from above on the front side showing an example of a second state of the agricultural working machine of the present invention. Here, a foldable tillage working machine 50 is shown as the working machine 2. The tillage working machine 50 is attached to the rear of a tractor 1 to perform tillage work. The left direction in FIG. 2 is the front direction of the tillage working machine 50, and the up-down direction in FIG. 2 is the up-down direction of the tillage working machine 50. The up-down direction in FIG. 3 is the front direction of the tillage working machine 50, and the left-right direction in FIG. 3 is the left-right direction of the tillage working machine 50. Furthermore, the left side of FIG. 4 corresponds to the right side of the tillage working machine 50, and the right side of FIG. 4 corresponds to the left side of the tillage working machine 50.

[0025] The tillage implement 50 comprises a central working unit 60 that is attached to the tractor 1 and serves as the basic working unit, and extension working units 61 that can be positioned on either side of the central working unit 60 to enable extension of the working unit. The extension working units 61 are rotatably attached to the ends of the central working unit 60 and can be folded relative to the central working unit 60. The left side of the central working unit 60 is the left extension working unit 61A, and the right side of the central working unit 60 is the right extension working unit 61B. The central working unit 60 is provided with a mast 51a and left and right lower pins 51b that serve as attachment units 51, and the tillage implement 50 is attached to the rear of the tractor 1 via these.

[0026] 2 and 3 is an expanded state in which the left and right extension working units 61 are extended relative to the central working unit 60, and the extension working units 61 are in a working state. On the other hand, the second state shown in FIG. 4 is a folded state in which the left and right extension working units 61 are folded relative to the central working unit 60, and the extension working units 61 are in a stored state. In this stored state, the extension working units 61 do not perform agricultural work. The extension working unit 61 is a convertible working unit that is configured so that the working unit can be changed between a working state (FIGS. 2 and 3) and a stored state (FIG. 4).

[0027] PTO (Power Take Off) power from the tractor 1 is input via an input shaft 52 located at the front, and a tilling unit 53 equipped with plow tines 53a rotates inside a cover 55 and a first soil leveling unit 56 located behind it, breaking up the soil. The soil surface is then flattened by the first soil leveling unit 56 and a second soil leveling unit 57 located behind it. Plowing is performed in this manner. The cover 55, first soil leveling unit 56, second soil leveling unit 57, and tilling unit 53 are each configured to include both a central working unit 60 and an extension working unit 61.

[0028] The left and right opening / closing cylinders 62 (left opening / closing cylinder 62A, right opening / closing cylinder 62B) are connected to the left and right pivoting mechanisms 70 (left pivoting mechanism 70A, right pivoting mechanism 70B) and the central working unit 60. Specifically, the left opening / closing cylinder 62A is connected to the central working unit 60 and the left pivoting mechanism 70A. The right opening / closing cylinder 62B is connected to the central working unit 60 and the right pivoting mechanism 70B. When the cylinders of the left and right opening / closing cylinders 62 contract, the left and right pivoting mechanisms 70 are actuated, respectively, to fold the extension working units 61 on both sides inward relative to the central working unit 60, thereby shortening the overall width of the tillage implement 50. When the left and right opening / closing cylinders 62 extend, the extension working units 61 can be deployed. The opening / closing cylinders 62 correspond to the actuator 32 in FIG. 1 and are actuators for actuating the extension working unit 61 to switch between a working state and a retracted state.

[0029] The tillage implement 50 may also be equipped with an extended soil leveling body drive device 65 that opens and closes the extended soil leveling bodies 59 at both ends, a second soil leveling body drive device 66 that switches the first soil leveling body 56 and the second soil leveling body 57 between a soil pulling state and a soil leveling state, and a pressure device 67 that energizes the first soil leveling body 56 and the second soil leveling body 57. Here, the extended soil leveling body drive device 65 (motor), the second soil leveling body drive device 66 (motor), and the pressure device 67 (motor) can be applied as the actuator 32.

[0030] The left and right extension leveling body drive devices 65 rotate the internal motors to rotate the left and right extension leveling bodies 59 around the rotation shafts 59a via the arms 651 and wires 652. This allows the extension leveling bodies 59 provided at both end portions of the second leveling body 57 to be selected to be extended outward or folded inward. Figures 2 and 3 show the extension leveling bodies 59 folded inward.

[0031] The second leveling body drive device 66 rotates the internal motor to rotate the second leveling body 57 via the second leveling body link means 661 and fix it at the bottom. This makes it possible to select whether the first leveling body 56 and the second leveling body 57 are in a soil-pulling state where rotation is restricted, or in a normal leveling state (plowing work state) where rotation is not restricted.

[0032] The pressurizing device 67 can select between a biased (pressurized) state and a non-biased (non-pressurized) state via a biasing means 671 such as a gas spring by rotating an internal motor. This makes it possible to select whether or not to bias the first soil leveling body 56 and the second soil leveling body 57 with the pressurizing device 67 relative to the field scene.

[0033] 2 and 3, the tillage implement 50 is provided with locking mechanisms 80 (left locking mechanism 80A, right locking mechanism 80B) on the left and right sides that lock (fix) the left and right extension working units 61 to the central working unit 60. Specifically, the tillage implement 50 is provided with a left locking mechanism 80A that locks the left extension working unit 61A to the central working unit 60, and a right locking mechanism 80B that locks the right extension working unit 61B to the central working unit 60. These locking mechanisms 80 are linked to the opening / closing cylinder 62 and the turning mechanism 70, with the left locking mechanism 80A linking with the left opening / closing cylinder 62A and the left turning mechanism 70A, and the right locking mechanism 80B linking with the right opening / closing cylinder 62B and the right turning mechanism 70B.

[0034] The control box 63 is provided above the cover 55 located above the tilling section 53 of the central working section 60. In FIG. 3, the control box 63 is fixed to the front of the frame 58 provided above the cover 55. The control device 20 shown in FIG. 1 is stored inside the control box 63. The control box 63 can have dustproof and waterproof functions. The sensor cover 64 covers the sensor 31 shown in FIG. 1, and is provided near the left and right rotating mechanisms 70 together with the sensor 31.

[0035] <Configuration example of rotation mechanism and lock mechanism> Figure 5 is an enlarged perspective view showing an example of the rotation mechanism and locking mechanism in an agricultural work machine of the present invention. Figure 6 is an enlarged view of an example of the rotation mechanism and locking mechanism in an agricultural work machine of the present invention, seen obliquely from above on the rear side. Figures 5 and 6 show the left rotation mechanism 70A and left locking mechanism 80A in the unfolded state of the tillage work machine 50. The inside is the side toward the center in the left-right direction, and the outside is the side away from the center in the left-right direction. Each fulcrum in Figures 5 and 6 is basically a fulcrum with the axial direction in the front-high, rear-low (front side is high, rear side is low) direction.

[0036] The left and right rotation mechanisms 70 each include a link arm 71, link plates 72, 72', a rotation fulcrum shaft 73, a rotation fulcrum fixing portion 74, a guide roller 75, and a guide shaft 76. The left and right rotation mechanisms 70 are mechanisms that enable the left and right extension working units 61 to rotate relative to the central working unit 60, and are provided near the outer end of the central working unit 60 and the inner end of the extension working units 61.

[0037] The pivot fixing part 74 includes a central working unit side fixing part 74a that is fixed near the outer end of the upper part on the central working unit 60 side, and an extension working unit side fixing part 74b that is fixed near the inner end of the upper part of the extension working unit 61. The central working unit side fixing part 74a and the extension working unit side fixing part 74b are connected by a pivot shaft 73 whose axial direction is in the front-high / rear-low direction, which makes the central working unit side fixing part 74a and the extension working unit side fixing part 74b pivotable relative to each other, and the central working unit 60 and the extension working unit 61 are pivotably connected.

[0038] The link arm 71 includes a first fulcrum 71a, a second fulcrum 71b, a first fulcrum-side plate 71c, a second fulcrum-side plate 71d, and a connecting member 71e. The first fulcrum 71a is a fulcrum rotatably connected to one end of the opening / closing cylinder 62 and is provided on the two first fulcrum-side plates 71c. The second fulcrum 71b is a fulcrum rotatably connected to the central working unit 60 and is provided on the two second fulcrum-side plates 71d provided parallel to each other in the front and rear. The second fulcrum 71b is provided near the outer end of the central working unit 60. Furthermore, when the tillage implement 50 is in the unfolded state, a plate side surface 71f is formed on the underside of the second fulcrum-side plate 71d, which can abut against the guide roller 75. When the tillage implement 50 is in the unfolded state, the first fulcrum 71a is positioned higher than the second fulcrum 71b and the pivot fulcrum fixing portion 74. The two second fulcrum side plates 71d are spaced apart from each other by a distance greater than the width of the rotation fulcrum fixing portion 74 in the front-rear direction, and are connected to the first fulcrum side plate 71c via a connecting member 71e.

[0039] The link plates 72, 72' are respectively provided in the front-rear direction. The front link plate 72 is a plate-shaped member having a first connection portion 72a, a first fulcrum 72b, and an elongated hole 72c. The rear link plate 72' is a plate-shaped member having a first connection portion 72a and an elongated hole 72c. The rear link plate 72' differs from the front link plate 72 in that it does not have a first fulcrum 72b. The first connection portions 72a of the link plates 72, 72' are rotatably connected to a fulcrum provided on the second fulcrum side plate 71d of the link arm 71. The link plates 72, 72' are respectively connected to the front and rear second fulcrum side plates 71d. When the tillage implement 50 is in an unfolded state, the first connection portion 72a of the link plate 72 is provided near the upper part, and the first fulcrum 72b is provided near the lower part. The first fulcrum 72b is rotatably connected to one end of the rod connecting portion 81. Between the first connecting portion 72a and the first fulcrum 72b, an elongated hole 72c is provided, the longitudinal direction of which is the up-down direction when the tillage implement 50 is in the unfolded state. The function of the elongated hole 72c will be described later.

[0040] The guide shaft 76 is fixed near the inner end of the upper portion of the extension working unit 61. The guide shaft 76 is disposed parallel to the pivot shaft 73 and is disposed laterally outward of the pivot shaft 73. As shown in FIGS. 5 and 6 , the guide shaft 76 is fixed to the extension working unit-side fixed portion 74b. Cylindrical guide rollers 75 are provided near both front-rear ends of the guide shaft 76. The guide rollers 75 are rotatably connected to the guide shaft 76. Note that the material of the guide rollers 75 is not limited, and bearings or other bearing components can also be used. Each guide roller 75 is configured to abut against the plate side surface 71f of the link arm 71. The guide shaft 76 also has a small-diameter portion 76a, which is located further toward the end than the portion where the guide rollers 75 are provided. The elongated holes 72c of the link plates 72 and 72′ are located in this portion. That is, the link plates 72 and 72′ are provided at both front-rear ends of the guide shaft 76. Furthermore, by making the plate side surface 71f of the link arm 71 contact the guide roller 75 instead of directly contacting the guide shaft 76, the guide roller 75 wears out, and can be easily replaced when worn out.

[0041] The left and right locking mechanisms 80 each include a rod connecting portion 81, a rod 82, a biasing body 83, a hook 84, a fixing portion 85, and a hook engaging portion 86. The left and right locking mechanisms 80 are mechanisms that lock the left and right extension working units 61 to the central working unit 60, and are provided near the outer end of the central working unit 60 and the inner end of the extension working unit 61. When the tillage implement 50 is in the unfolded state, the locking mechanisms 80 are provided at a lower height than the pivoting mechanism 70. The left and right locking mechanisms 80 are linked to the left and right pivoting mechanisms 70, respectively.

[0042] One end of the rod connecting portion 81 is rotatably connected to the first fulcrum 72b of the link plate 72, and the other end is connected to the rod 82. The rod connecting portion 81 is configured so that the rod 82 can slide inside in the longitudinal direction of the rod connecting portion 81. One end of the rod 82 is connected to the rod connecting portion 81, and the other end is rotatably connected to the first fulcrum 84b of the hook 84. The rod 82 is a rod-shaped member, and for example, a round bar or a round pipe can be used. The biasing body 83 is arranged inside the rod connecting portion 81 so as to bias the rod 82 toward the first fulcrum 84b of the hook 84 relative to the rod connecting portion 81. The biasing body 83 can be formed of an elastic body such as a coil spring. With this configuration, the distance between the first fulcrum 72b of the link plate 72 and the first fulcrum 84b of the hook 84 can be changed when the rod connecting portion 81 and the rod 82 are connected. The shorter this distance, the stronger the biasing force of the biasing body 83. When the tillage implement 50 is in the unfolded state, the first fulcrum 72b of the link plate 72 is on the upper side, and the first fulcrum 84b of the hook 84 is on the lower side.

[0043] The hook 84 is a plate-shaped member having a first connecting portion 84a, a first fulcrum 84b, and a recess 84c. The first connecting portion 84a is rotatably connected to a fulcrum of a fixed portion 85 fixed to the extension working unit 61, with the axial direction extending in the front-high / rear-low direction. The first fulcrum 84b is a fulcrum located closer to the recess 84c than the first connecting portion 84a and with the axial direction extending in the front-high / rear-low direction. The recess 84c is a portion that engages with the engaging member 86a of the hook engaging portion 86 and becomes a recess that opens downward in the locked state. The hook 84 is rotatably connected to the front inner end of the extension working unit 61 via the fixed portion 85 at the first connecting portion 84a, and one end of the rod 82 is rotatably connected to the first fulcrum 84b.

[0044] The hook engaging portion 86 is equipped with an engaging member 86a. The engaging member 86a can be a round bar or round pipe member with its axial direction in the front-high / rear-low direction. The hook engaging portion 86 is fixed to the central working unit 60, and the recess 84c of the hook 84 engages with the engaging member 86a to enter a locked state.

[0045] The potentiometer 90, which corresponds to the sensor 31, is a sensor that detects the angle and amount of rotation of the link arm 71 around the second fulcrum 71b as its central axis. The potentiometer 90 includes a sensor arm 90a and a detection unit 90c, and is connected to a sensor pin 90b. The sensor arm 90a is configured to rotate around the rotation center line of the second fulcrum 71b of the link arm 71. The sensor pin 90b is fixed to the link arm 71 (second fulcrum side plate 71d) at a predetermined distance from the rotation center of the sensor arm 90a, and the sensor pin 90b rotates the sensor arm 90a as the link arm 71 rotates. The detection unit 90c is a detection unit that can detect the angle and amount of rotation of the sensor arm 90a.

[0046] <Example of a communication terminal> 7 is a diagram showing an example of a communication terminal in an agricultural work machine of the present invention, showing a remote control device 100 as an example of communication terminal 40 in FIG.

[0047] 1, and includes push button switches 101a to 101q. Also, at the center of the top of switch 101, a display unit 102 corresponding to display unit 41 in FIG.

[0048] Switch 101a is a power switch for remote control device 100. Switch 101b is a switch for switching the display content of display unit 102. Switch 101c is a mode changeover switch. Switch 101d is a switch for setting. Switch 101k is a switch for confirming selected content, etc. When setting, switches 101e, 101f, 101i, and 101j can be used as switches for selecting options displayed on display unit 102.

[0049] Switch 101e is a switch that opens the extension working unit 61. Pressing this switch activates the opening / closing cylinders 62 on both sides, opening both extension working units 61 to the deployed state as shown in FIG. 3. If switch 101e is pressed within a predetermined time after pressing switch 101g, or before pressing switch 101g and performing a release operation to release the operation, only the left opening / closing cylinder 62A is activated, and the left extension working unit 61A is opened. If switch 101e is pressed within a predetermined time after pressing switch 101h, or before pressing switch 101h and performing a release operation to release the operation, only the right opening / closing cylinder 62B is activated, and the right extension working unit 61B is opened.

[0050] Switch 101f is a switch that closes the extension working unit 61. Pressing this switch activates the opening / closing cylinders 62 on both sides, and the extension working units 61 on both sides are closed and folded as shown in FIG. 4. If switch 101f is pressed within a predetermined time after pressing switch 101g, or before pressing switch 101g and performing a release operation to release the operation, only the left opening / closing cylinder 62A is activated, and the left extension working unit 61A is closed. If switch 101f is pressed within a predetermined time after pressing switch 101h, or before pressing switch 101h and performing a release operation to release the operation, only the right opening / closing cylinder 62B is activated, and the right extension working unit 61B is closed.

[0051] Switch 101i is a switch for turning on the pressure of the pressure device 67. Switch 101j is a switch for turning off the pressure of the pressure device 67. Switch 101l is a switch for opening the left extension ground leveling body 59 using the left extension ground leveling body drive device 65. Switch 101m is a switch for closing the left extension ground leveling body 59 using the left extension ground leveling body drive device 65. Switch 101n is a switch for opening the right extension ground leveling body 59 using the right extension ground leveling body drive device 65. Switch 101o is a switch for closing the right extension ground leveling body 59 using the right extension ground leveling body drive device 65. Switch 101p is a switch for putting the first ground leveling body 56 and the second ground leveling body 57 into a ground leveling state using the second ground leveling body drive device 66. The switch 101q is a switch that causes the second ground leveling body driving device 66 to put the first ground leveling body 56 and the second ground leveling body 57 into a soil pulling state.

[0052] The display unit 102 can be an LCD screen or an organic EL screen. The display unit 102 can display the status of each of the left and right extension working units 61, as well as operation completion indications, error indications, caution and warning indications, and operation guide indications. The status of the extension working units 61 can be a stored state, a working (deployed) state, or any state between these. Furthermore, it can also display whether the locking mechanism 80 is in a locked state. In addition, the display unit 102 can display various information related to operations, settings, and the tillage working implement 50 (work implement 2).

[0053] The remote control device 100 may also have an audio notification function using a speaker or the like. This allows for notification by buzzer sound or voice. In this case, the sound may be emitted in conjunction with the display on the display unit 102. For example, an audio notification may be emitted when the retracting or deploying operation of the extension working unit 61 is completed or when an error occurs.

[0054] <Actions of the rotation mechanism and locking mechanism> Fig. 8 is an enlarged view of the front side, seen obliquely from above, showing an example of a first state of the turning mechanism and locking mechanism portion of the agricultural working machine of the present invention. Fig. 9 is an enlarged view of the front side, seen obliquely from above, showing an example of a second state of the turning mechanism and locking mechanism portion of the agricultural working machine of the present invention. Fig. 10 is an enlarged view of the front side, seen obliquely from above, showing an example of a third state of the turning mechanism and locking mechanism portion of the agricultural working machine of the present invention. The potentiometer 90 is not shown in Figs. 8 to 10. Although Figs. 8 to 10 show the connection portion between the central working unit 60 and the left extension working unit 61A, the connection portion between the central working unit 60 and the right extension working unit 61B is configured symmetrically and in the same way.

[0055] The first state in Figure 8 is the folded state (storage state) shown in Figure 4. The second state in Figure 9 is a state in which the extended working unit 61 is in the unfolded state but the locking mechanism 80 is unlocked (a state between the storage state and the working state). The third state in Figure 10 is the unfolded state (working state) in which the locking mechanism 80 shown in Figure 3 is locked, allowing agricultural work to be performed with the extended working unit 61.

[0056] In the first state shown in Figure 8, the left extension working unit 61A is positioned above the central working unit 60, upside down compared to when it is in operation. In this state, the left opening / closing cylinder 62A is in its most retracted state. Therefore, the first fulcrum 71a of the link arm 71 is closest to the lateral center of the central working unit 60. Furthermore, the hook 84 is positioned above the pivot shaft 73 and does not perform any function.

[0057] When the left opening / closing cylinder 62A is extended from the first state shown in FIG. 8, the rotation mechanism 70 is activated. Specifically, the link arm 71 begins to rotate clockwise in FIG. 8 around the second fulcrum 71b of the central working unit-side fixed part 74a. Then, the plate side surface 71f of the link arm 71, which is on the upper side in FIG. 8, comes into contact with the guide roller 75 and begins to push against the guide roller 75. At this time, the guide roller 75 moves along the shape of the plate side surface 71f while rotating around the guide shaft 76. As the plate side surface 71f of the link arm 71 presses against the guide roller 75, the guide shaft 76, which is fixed to the left extension working unit 61A, also rotates clockwise. Then, the left extension working unit 61A begins to rotate clockwise around the rotation fulcrum shaft 73. This state continues until the center of gravity of the left extension working unit 61A reaches the outer side of the rotation fulcrum shaft 73 in the vertical direction (to the right in FIG. 8).

[0058] As the left opening-closing cylinder 62A continues to extend, the center of gravity of the left extension working unit 61A moves outward from the vertical axis of the pivot shaft 73, causing the left extension working unit 61A to attempt to rotate downward due to its own weight. As a result, the guide shaft 76 attempts to rotate clockwise about the pivot shaft 73 in response to the rotation of the left extension working unit 61A due to its own weight, and the guide roller 75 attempts to move away from the plate side surface 71f of the link arm 71. At this time, the small-diameter portion 76a of the guide shaft 76 moves within the elongated hole 72c of the link plates 72, 72', but stops moving when it abuts against the end of the elongated hole 72c near the first pivot 72b. However, because the left opening-closing cylinder 62A continues to extend, the elongated hole 72c of the link plates 72, 72' continues to move along with the rotation of the link arm 71, causing the left extension working unit 61A to continue rotating.

[0059] As the left extension working unit 61A continues to rotate, the fixing recess 85a of the left extension working unit 61A comes into contact with the engaging member 86a of the central working unit 60. This state is shown in Figure 9. That is, the second state in Figure 9 is a state in which the left extension working unit 61A has finished rotating and moved to a position where it can perform work, but the locking mechanism 80 is not yet locked. At this time, the small diameter portion 76a of the guide shaft 76 remains in contact with the end of the elongated hole 72c of the link plates 72, 72' on the first fulcrum 72b side.

[0060] When the left opening / closing cylinder 62A is further extended from the second state shown in Figure 9, the link arm 71 continues to rotate clockwise in Figure 9 around the second fulcrum 71b of the central working unit fixed part 74a. At this time, the left extension working unit 61A itself does not rotate any further, so the position of the guide shaft 76 does not move. Therefore, only the link plates 72, 72' move downward. This is because the elongated holes 72c of the link plates 72, 72' provide a degree of freedom, allowing the first connecting parts 72a of the link plates 72, 72' to move closer to the small-diameter part 76a of the guide shaft 76.

[0061] As the link plate 72 moves downward, the rod connecting portion 81 and the rod 82 also move downward, pushing the first fulcrum 84b of the hook 84 downward. Accordingly, the hook 84 rotates counterclockwise around the first connecting portion 84a and approaches the engaging member 86a of the hook engaging portion 86. The recess 84c of the hook 84 then engages with the engaging member 86a of the hook engaging portion 86. Further extending the left opening / closing cylinder 62A from this state lowers the link plate 72, but the position of the first fulcrum 84b of the hook 84 remains unchanged. This brings the first connecting portion 72a of the link plate 72 and the first fulcrum 84b of the hook 84 closer together, increasing the biasing force of the biasing body 83 (e.g., the elastic force of a spring). This strengthens the engagement of the hook 84 with the hook engaging portion 86. This state, in which the locking mechanism 80 is locked, corresponds to the third state shown in FIG. 10 .

[0062] On the other hand, when the left opening-closing cylinder 62A is retracted from the state shown in FIG. 10, the operation is reversed from that described above. When the left opening-closing cylinder 62A is retracted from the state shown in FIG. 10, the link arm 71 rotates counterclockwise about the second fulcrum 71b, moving the link plate 72 upward. This disengages the hook 84 from the hook engaging portion 86, resulting in the state shown in FIG. 9. When the left opening-closing cylinder 62A is further retracted from the state shown in FIG. 9, the small-diameter portion 76a of the guide shaft 76 abuts against the end of the elongated hole 72c of the link plates 72, 72' on the first fulcrum 72b side. When the left opening-closing cylinder 62A is retracted while maintaining this abutment state, the guide shaft 76 rotates counterclockwise about the pivot shaft 73, causing the left extension working unit 61A to rotate counterclockwise about the pivot shaft 73 so as to lift it. Then, when the center of gravity of the left extension working unit 61A becomes more inward than the vertical direction of the rotation fulcrum shaft 73, the left extension working unit 61A will attempt to rotate downward due to its own weight. This will cause the guide roller 75 to abut against the plate side surface 71f of the link arm 71. If the left opening / closing cylinder 62A is retracted in this state, the left extension working unit 61A will continue to rotate counterclockwise in response to the rotation of the link arm 71, resulting in the state shown in Figure 8.

[0063] <Settings flowchart> Figure 11 is an example of a flowchart for setting up an agricultural work machine according to the present invention. The processing here can be performed by the operator using operation unit 42 of communication terminal 40. Specifically, this can be performed using switch 101 of remote control device 100 in Figure 7. The processing here can also be performed by control unit 21 of control device 20. A potentiometer is described here, which corresponds to potentiometer 90 in Figure 5.

[0064] First, in step S101, the potentiometer is fixed. This can be done by attaching and fixing the potentiometer 90 to the tillage implement 50. Since the value of the potentiometer 90 is measured at a specified position as described below, the fixation does not need to be strictly aligned with a standard.

[0065] Next, in step S102, it is determined whether or not the setting mode is selected. If the setting mode is not selected, step S102 is continued until the setting mode is selected. If the setting mode is selected, the process proceeds to step S103. The setting mode can be selected here by, for example, pressing switch 101d on remote control device 100 shown in FIG. 7.

[0066] Next, in step S103, the cylinder is retracted to its minimum length. Here, the operator operates the open / close cylinder 62 to its minimum length (the shortest length possible in terms of the structure of the tillage implement 50 (work implement 2)). Specifically, this is the state shown in FIGS. 4 and 8. The open / close cylinder 62 can be operated, for example, by pressing the switch 101f on the remote control device 100 shown in FIG. 7. The operator may visually confirm that the cylinder is in the state shown in FIG. 4 or 8 to determine whether the cylinder has been retracted to its maximum length. Furthermore, the cylinder may be automatically determined to be at its minimum length. For example, when the open / close cylinder 62 is moved in the retracting direction, it can be determined that the current value of the open / close cylinder 62 has increased by a predetermined value or more (or the voltage value has decreased by a predetermined value or more). This indicates that the open / close cylinder 62 can no longer move and is under load. This determination can be made by the control unit 21 or the like.

[0067] In step S104, the current value of the potentiometer is read. That is, the value of the potentiometer 90 when the opening / closing cylinder 62 is fully retracted (first specified position) is read. This reading may be performed by an operator. For example, when the operator confirms that the opening / closing cylinder 62 is fully retracted, the value of the potentiometer 90 at that time can be recorded by pressing the switch 101k of the remote control device 100 shown in FIG. 7. This reading may also be performed automatically. For example, when it is determined that the opening / closing cylinder 62 is fully retracted as described above based on the current value (or voltage value) of the opening / closing cylinder 62, the value of the potentiometer 90 at that time is read.

[0068] Next, in step S105, the current value is set as the stored value. That is, the value of potentiometer 90 read in step S104 is set as the stored value. This setting can be performed automatically by control unit 21.

[0069] Next, in step S106, the cylinder is fully extended. Here, the operator operates the open / close cylinder 62 to fully extend it (the longest state in terms of the structure of the tillage implement 50 (work implement 2)). Specifically, this is the state shown in FIGS. 3, 5, and 10, in which the locking mechanism 80 is locked. The open / close cylinder 62 can be operated, for example, by pressing the switch 101e on the remote control device 100 shown in FIG. 7. Whether the cylinder has been fully extended may be determined by the operator visually confirming that the state shown in FIGS. 3, 5, and 10 is being reached. At this time, the operator confirms that the locking mechanism 80 is locked. Furthermore, the fully extended state of the cylinder may be automatically identified. For example, when the open / close cylinder 62 is moved in the extension direction, it can be determined that the open / close cylinder 62 has been fully extended if the current value of the open / close cylinder 62 increases by a predetermined value or more (or the voltage value decreases by a predetermined value or more). This indicates that the open / close cylinder 62 cannot move any further and a load is applied. This determination can be made by the control unit 21 or the like.

[0070] In step S107, the current value of the potentiometer is read. That is, the value of the potentiometer 90 when the opening / closing cylinder 62 is fully extended (when it is in the second specified position) is read. This reading may be performed by an operator. For example, when the operator confirms that the opening / closing cylinder 62 is fully extended, the value of the potentiometer 90 at that time can be recorded by pressing the switch 101k of the remote control device 100 in FIG. 7. Furthermore, this reading may be performed automatically. For example, when it is determined that the opening / closing cylinder 62 has been fully extended based on the current value (or voltage value) of the opening / closing cylinder 62 as described above, the value of the potentiometer 90 at that time is read.

[0071] Next, in step S108, the current value is set as the deployed state. That is, the value of potentiometer 90 read in step S107 is set as the value of the deployed state (working state). This setting can be performed automatically by control unit 21.

[0072] Next, in step S109, the relationship between the sensor value and the angle of the extension working unit, etc., is derived from the two values. That is, two values ​​are used: the value of the potentiometer 90 when the opening / closing cylinder 62 is fully retracted, which was read in step S104, and the value of the potentiometer 90 when the opening / closing cylinder 62 is fully extended, which was read in step S107. From these two values, the rotation angle of the extension working unit 61 relative to the value of the potentiometer 90 and the lock state of the locking mechanism 80 can be derived. That is, by deriving the ratio between the two values ​​of the current potentiometer 90, the state of the rotation angle of the extension working unit 61 and the state of the locking mechanism 80 can be detected. This makes it possible to detect whether the extension working unit 61 is in the retracted state, the working state, or a state between the retracted state and the working state.

[0073] For example, if the value of the potentiometer 90 when the opening / closing cylinder 62 is fully retracted as read in step S104 is A, the value of the potentiometer 90 when the opening / closing cylinder 62 is fully extended as read in step S107 is B, and the value of any potentiometer 90 is C, the percentage D (%) of the value of the potentiometer 90 from the stored state to the working state can be calculated using the following formula. D=(C―A) / (BA)×100 (Formula 1) This indicates the extent to which the open / close cylinder 62 is in the extension / contraction state between the retracted state and the working state. By determining the state of the extension working unit 61 relative to this ratio, the current state can be known. Specifically, depending on the ratio D from the current value of the potentiometer 90, it is possible to determine in advance from design drawings, etc., what the rotation angle of the extension working unit 61 will be, whether the locking mechanism 80 has reached the start state (Figure 9), etc. This makes it possible to accurately grasp the current state from the current value C of the potentiometer 90.

[0074] <Operation control flowchart> Fig. 12 is an example of a flowchart for operational control in the agricultural work machine of the present invention. Fig. 12 explains the control when the extension working unit 61 changes from the stored state to the deployed state. For this processing, the operator can operate the operation unit 42 of the communication terminal 40. Specifically, this can be performed using the switch 101 of the remote control device 100 in Fig. 7. Furthermore, this processing can be performed by the control unit 21 of the control device 20. Furthermore, the sensor here corresponds to the sensor 31 in Fig. 1, and corresponds to the potentiometer 90 in Figs. 5 and 6.

[0075] First, in step S201, the "Open" button is pressed, which corresponds to pressing switch 101e in the case of remote control device 100 of FIG.

[0076] Next, in step S202, the current value of the sensor is acquired as an initial value. If it is the control unit 21 of the control device 20, information that switch 101e of the remote control device 100 has been pressed is acquired, and the value of potentiometer 90 at that time is read. The value of potentiometer 90 read here is stored in a memory unit or the like of the control unit 21 as the initial value.

[0077] Next, in step S203, the current sensor value is acquired. Here, the current sensor value at this time point is acquired. If it is the control unit 21 of the control device 20, the current value of the potentiometer 90 is read. The value of the potentiometer 90 read here is stored in a memory unit or the like of the control unit 21 as the current value.

[0078] Next, in step S204, it is determined whether the current sensor value is within a set range. If it is within the set range, the process proceeds to step S205. If it is not within the set range, the process proceeds to step S208. Here, the current sensor value is the current value acquired in step S203. The set range is the range between the value of the potentiometer 90 when the opening / closing cylinder 62 is fully retracted, acquired in step S104 of FIG. 11, and the value of the potentiometer 90 when the opening / closing cylinder 62 is fully extended, acquired in step S106 of FIG. 11. At this time, the value of the potentiometer 90 when the opening / closing cylinder 62 is fully extended and the range immediately surrounding it are excluded. In other words, if the current value can be determined to be in the deployed state (working state), it is determined to be outside the set range. The excluded range may be, for example, a range within 1%, further within 3%, or further within 5% in the direction in which the opening / closing cylinder 62 is fully extended.

[0079] In step S208, a termination operation is performed, and the process ends. That is, if the control unit 21 of the control device 20 determines that the unfolded state (working state) has been reached, it normally terminates the operation of the opening / closing cylinder 62. This completes the operation from the storage state to the working state. Information at this time may be sent to the communication terminal 40 (remote control device 100), and the display unit 41 of the communication terminal 40 (display unit 102 of the remote control device 100) may display that the operation to the working state has been normally completed, or an audible alert may be issued in conjunction with this. Furthermore, if the opening / closing cylinder 62 is hydraulic (electric hydraulic), a pushing operation may be performed as a termination operation to raise the hydraulic pressure to a predetermined level or higher when the hydraulic pressure falls outside the set range. The pushing operation additionally operates the opening / closing cylinder 62 to maintain a high hydraulic pressure, thereby preventing the cylinder from returning due to a reaction force.

[0080] In step S205, it is determined whether |current value-initial value| is equal to or greater than a first threshold. That is, it is determined whether the absolute value of the value obtained by subtracting the initial value obtained in step S202 from the current value obtained in step S203 is equal to or greater than a predetermined first threshold. If the absolute value of "current value-initial value" is equal to or greater than the first threshold, the process proceeds to step S206; if the absolute value of "current value-initial value" is not equal to or greater than the first threshold, the process proceeds to step S209.

[0081] In step S209, it is determined whether the process has been repeated a specified number of times or more. The number of times the process has been repeated here is the number of times it has been determined in step S205 that the absolute value of "current value - initial value" is not greater than the first threshold. If the process has been repeated a specified number of times or more, the process proceeds to step S210; if it has not been repeated a specified number of times or more, the process proceeds to step S207.

[0082] Steps S205 and S209 are intended to allow time for other operating devices to operate in preparation for pressing the "Open" button and starting the opening / closing cylinder 62. A program for operating the other operating devices can be run separately and controlled by the control unit 21 of the control device 20. In other words, even if the opening / closing cylinder 62 does not start moving immediately after pressing the "Open" button, the process is not terminated. The first threshold and the specified number of times are set in advance. The first threshold may be set to a value that determines that the opening / closing cylinder 62 has started moving. The specified number of times corresponds to the predetermined time required for looping and repeating the process via step S207 (described later). In other words, the allowable time can be estimated in advance as "the processing time for each loop multiplied by the specified number of times." If the opening / closing cylinder 62 starts moving by more than the predetermined amount of time, or more than the initial value, the process proceeds to step S206. If the opening / closing cylinder 62 does not start moving within the specified allowable time, it is determined that some abnormality has occurred and the process is stopped, and error processing is performed in step S210.

[0083] The other operating devices are devices other than the opening / closing cylinder 62 that operates the extended working unit 61, which is a changeable working unit. Examples of the other operating devices include the extended leveling body drive device 65, the second leveling body drive device 66, and the pressure device 67. These devices must be kept in a state appropriate for operating the extended working unit 61. For example, the extended leveling body drive device 65 may be used to close the extended leveling body 59, the second leveling body drive device 66 may be used to keep the first leveling body 56 and the second leveling body 57 in a leveled state, or the pressure device 67 may be used to keep the pressure off.

[0084] In step S206, it is determined whether |current value-previous value| is equal to or greater than a second threshold. That is, it is determined whether the absolute value of the current value acquired in step S203 minus the previous value acquired in step S207 is equal to or greater than a predetermined second threshold. If the absolute value of "current value-previous value" is equal to or greater than the second threshold, the process proceeds to step S207; if the absolute value of "current value-previous value" is not equal to or greater than the second threshold, the process proceeds to step S210. Note that, in the first time, it is assumed that it is determined in step S205 that |current value-initial value| is not equal to or greater than the first threshold, and the previous value is stored in step S207 via step S209.

[0085] Step S206 corresponds to measuring the speed of the extension / contraction of the opening / closing cylinder 62 or the rotation of the link arm 71 and determining whether the speed is equal to or greater than a predetermined value. That is, if the change in the value of the potentiometer 90 linked to the opening / closing cylinder 62 per predetermined time is not equal to or greater than a predetermined value due to some cause (e.g., an object being caught or a malfunction) after the opening / closing cylinder 62 starts moving, an error is determined to have occurred, and error processing is performed in step S210. If the change in the value of the potentiometer 90 linked to the opening / closing cylinder 62 per predetermined time is equal to or greater than a predetermined value, the operation is determined to be normal, and the process proceeds to step S207. The second threshold value can be preset based on this expected speed. The change in the predetermined time can be calculated by (|current value - previous value|) / time interval for acquiring the current value. The time interval for acquiring the current value is the processing time for each loop via step S207 (described later) and corresponds to the time interval for acquiring the current value in step S203. This time interval can be preset at equal intervals.

[0086] In step S210, error processing is performed and the process ends. The error processing may be performed, for example, by displaying an error on the display unit 41 of the communication terminal 40 (the display unit 102 of the remote control device 100) and an audible notification in conjunction with the error display. For example, information that the open / close cylinder 62 is not operating normally may be displayed on the display unit 41 or may be notified by voice.

[0087] In step S207, the current value of the sensor is stored as the previous value. Here, the current value acquired in step S203 is stored as the previous value in the storage unit or the like of the control unit 21. After step S207, the process returns to step S203.

[0088] <Display example> Figure 13 shows an example of the display on the display unit of the agricultural work machine of the present invention. The display here is an example of the display unit 400, which corresponds to the display unit 41 of the communication terminal 40. The display here may be displayed on the display unit 102 of the remote control device 100, for example, or on the display screen of a smartphone or tablet computer. The display here may also be displayed based on the information from the processing in Figures 11 and 12 described above.

[0089] Figure 13 shows examples of the display of the above-mentioned tillage implement 50. Figure 13(a) shows the display when in the stored state, Figure 13(c) shows the display when in the unfolded state, and Figure 13(b) shows the display when in the process of changing from the stored state to the unfolded state.

[0090] The upper part of the display unit 400 displays a battery indicator 401 showing the remaining battery power, a communication status indicator 402 showing the communication status, and an operation mode indicator 403. When the operation mode indicator 403 is set to "AUTO," it indicates that, for example, when the switch for opening the extension working unit 61 is pressed, the opening / closing cylinder 62 automatically operates to the deployed state. When the operation mode indicator 403 is set to "NORMAL," it indicates that, for example, the opening / closing cylinder 62 operates to the deployed state only while the switch for opening the extension working unit 61 is pressed.

[0091] 13(a) shows the working machine status display 410 as a picture or diagram, with the extended working unit display 412 overlapping the central working unit display 411. This schematically shows the stored state of the tillage working machine 50.

[0092] FIG. 13(b) shows the work machine status display 420 in a picture or diagram, showing the extended work unit display 421 tilted diagonally relative to the central work unit display 411. Furthermore, the extended work unit display 421 flashes to make it easier for the worker to notice. Furthermore, an arrow display 423 indicating the direction of movement (rotation) is displayed near the extended work unit display 421. The direction of movement is clearly displayed. Furthermore, an explanation display 425 is displayed above the central work unit display 411, displaying the words "both open" to explain the current state of change. These clearly indicate that the extended work unit 61 is changing from the stored state to the deployed state.

[0093] 13(b), the extension working unit display 421 may be displayed as a constant tilted state, or may be displayed as an animation in which the angle actually changes. The change in the extension working unit display 421 may be displayed in accordance with the actual change in angle of the extension working unit 61. Information about the angle of the extension working unit 61 can be obtained from the relationship between the value of the potentiometer 90 and the rotation angle of the extension working unit 61 calculated in step S109 of FIG. 11 and the actual state obtained in step S203 of FIG. 12.

[0094] FIG. 13(c) shows the work implement status display 430 as a picture or diagram, with the extended work unit display 431 displayed outward relative to the central work unit display 411. This provides a schematic representation of the deployed state of the tillage implement 50. Additionally, an explanatory display 435 is displayed above the central work unit display 411. The explanatory display 435 displays the word "Complete" in a square, explaining that the change has been completed. Additionally, an extended leveling body display 431a is displayed at each outer end of the extended work unit display 431. While FIG. 13(c) shows the extended leveling body 59 in a closed state, if the extended leveling body 59 is actually opened outward, this state may be represented by a diagram or picture of the extended leveling body display 431a being opened outward.

[0095] <Effects> The above-described embodiment allows for accurate detection of the state of an actuator, such as an open / close cylinder, and an adjustable working unit, such as an extension working unit, whose position is moved by its operation, by obtaining actual values ​​for two or more reference positions of a sensor, such as a potentiometer. This eliminates the possibility of the actuator stopping at an excessive or insufficient position due to assembly errors or individual differences in components. In other words, installation is possible without the need for time-consuming, delicate alignment during manufacturing. Furthermore, by deriving the relationship between the state of the adjustable working unit and any sensor value, it is possible to calculate the state of the adjustable working unit (such as the rotation angle or the locking state of the locking mechanism) from the current sensor value. Furthermore, this information can be displayed and notified to the operator. For example, the operating state, storage state, and intermediate state can be displayed. Furthermore, when an abnormal stop occurs midway or normal operation ends, it is possible to determine whether the locking mechanism is locked or not, and notify the operator. Furthermore, accurate operation control of an adjustable working unit, such as an extension working unit, and appropriate error handling when the unit does not operate normally are possible. Control and determination can also be performed taking into account the operation of other operating devices.

[0096] As described above, the embodiments of the present invention have been described, but the present invention is not limited to the above-described embodiments and includes various modifications other than those described above. For example, the present invention is not limited to those having all of the configurations provided in the above-described embodiments. Furthermore, it is also possible to delete part of the configuration of a certain embodiment or replace it with another configuration.

[0097] For example, although the plow farming implement 50 has been described as an example in Figures 2 to 10, the present invention is not limited to this, and the present invention can also be applied to implements in which part or all of the working unit is attached to a tractor that can be changed between a working state and a stored state. Specifically, a mower in which the working unit that performs mowing work can be changed between an offset working state and a stored working state by an actuator can be applied. In addition, the present invention can also be applied to a ridge coating machine that can perform return work. In this case, the present invention can be applied between a forward working position (working state) and a stored position (stored state) of the working unit of the ridge coating machine, or between the stored position (stored state) of the working unit of the ridge coating machine and a reverse working position (working state) that allows return work, or both. In these cases, all working units are changeable working units.

[0098] 5 and 6, a potentiometer 90 that detects the rotation of the link arm 71 is shown as the sensor 31. While this allows for accurate detection, other sensors may also be used. For example, a stroke sensor that detects the stroke of the opening / closing cylinder 62 may be used.

[0099] 11 and 12 have been described as being mainly performed by the control unit 21 of the control device 20. However, in addition to this, some or all of these processes may be performed by the processing unit 44 of the communication terminal 40.

[0100] Also, in FIG. 11, the current potentiometer value is acquired when the cylinder is fully retracted and fully extended. However, the current potentiometer value may also be acquired at any position in the cylinder length between fully retracted and fully extended. For example, as shown in FIG. 9, the position where the extension working unit 61 has finished rotating and before the hook 84 of the locking mechanism 80 engages may be acquired as the third specified position. This increases the accuracy when deriving the relationship between the sensor value and the extension working unit angle in S109 of FIG. 11. That is, it is preferable to acquire sensor values ​​at two or more specified positions, and the more specified positions there are (for example, three or more), the greater the accuracy. The specified positions can be determined in advance.

[0101] 12, the control for changing from the stored state to the deployed state is described, but it can also be applied to changing from the deployed state to the stored state. In this case, in step S201, the "close" button (switch 101f) is pressed instead of the "open" button. Also, in step S204, the value of the potentiometer 90 when the opening / closing cylinder 62 is fully retracted and its immediate surrounding range are excluded from the set range. In other words, if the current value can be determined to be in the stored state, it is determined to be outside the set range. The excluded range may be, for example, a range within 1%, a range within 3%, or a range within 5% in the direction in which the opening / closing cylinder 62 extends from the fully retracted position.

[0102] 12 may be permitted to operate according to a predetermined position of the opening / closing cylinder 62, calculated using the above-mentioned formula 1 or the like. For example, when changing the extended working unit 61 from the stored state to the deployed state, the extended leveling unit drive device 65 may be controlled to open the extended leveling unit 59 when the opening / closing cylinder 62 reaches a predetermined position. In this case, the predetermined position is a position where no interference occurs even when the extended leveling unit 59 is opened. Furthermore, the other operating devices may be configured to move in conjunction with the position of the opening / closing cylinder 62. For example, when the extended working unit 61 is being folded, the extended leveling unit drive device 65 may be automatically closed under the control of the control unit 21 when the opening / closing cylinder 62 reaches a predetermined position.

[0103] 11, the rotation angle of the extension working unit 61 in response to the value of the potentiometer 90 and the lock state of the locking mechanism 80 are derived, but this derived result can also be used to control, for example, the adjustment of the output of the opening / closing cylinder 62. For example, when the extension working unit 61 rotates (between FIGS. 8 and 9), a large amount of power is required, so the output (for example, current value) of the opening / closing cylinder 62 is controlled to be large, and when the locking mechanism 80 performs a locking operation (between FIGS. 9 and 10), a small amount of power is required, so the output of the opening / closing cylinder 62 is controlled to be small.

[0104] This specification also includes the disclosure of the following aspects. (Aspect 1) A farming machine includes a working unit that is attached to a tractor to perform agricultural work, an actuator that is provided on the working machine, a sensor that is provided on the working machine, and a control unit, The working unit has a changeable working unit that can change a part or all of the working unit between a working state and a stored state, the actuator is an actuator that changes the convertible working unit between a stored state and a working state, the sensor is a sensor for detecting a state of the convertible working unit, the control unit uses the sensor values ​​acquired at two or more specified positions of the changeable working unit that is changed by the actuator to derive a relationship between the value of any of the sensors and the state of the changeable working unit, and identifies the state of the changeable working unit from the current value of the sensor.

[0105] (Aspect 2) In the agricultural implement according to aspect 1, the actuator is a cylinder, the working unit includes a basic working unit and an extension working unit that is rotatable relative to the basic working unit via a rotation mechanism and corresponds to the convertible working unit; The agricultural work machine is characterized in that the sensor is a sensor that detects the rotation of the extension working part in response to the extension and contraction of the cylinder.

[0106] (Aspect 3) In the agricultural implement according to aspect 1, the actuator is a cylinder, The working unit includes a basic working unit, an extension working unit that is rotatable relative to the basic working unit via a rotation mechanism and corresponds to the changeable working unit, and a locking mechanism that locks the extension working unit in place when the extension working unit is extended relative to the basic working unit to a position where agricultural work is performed, thereby fixing the extension working unit in that position and setting it in a working state. The agricultural work machine is characterized in that the sensor is a sensor that detects the rotation of a member that rotates in conjunction with the rotation of the extension working part and the locking of the locking mechanism in response to the extension and contraction of the cylinder.

[0107] (Aspect 4) In the agricultural work machine according to any one of aspects 1 to 3, The agricultural work machine, wherein the two or more specified positions include two specified positions in a working state and a stored state.

[0108] (Aspect 5) In the agricultural work machine according to any one of aspects 1 to 4, The control unit determines from the derived relationship, based on the current value of the sensor, whether the operation from the working state to the storage state has been completed, or whether the operation from the storage state to the working state has been completed.

[0109] (Aspect 6) In the agricultural work machine according to any one of aspects 1 to 5, An agricultural work machine comprising a display unit capable of communicating with the control unit, the display unit displaying either a working state, a stored state, or a state intermediate between the working state and the stored state, based on the state of the changeable working unit identified by the control unit.

[0110] (Aspect 7) In the agricultural work machine according to any one of aspects 1 to 6, The agricultural work machine is characterized in that the control unit performs error processing if the amount of change per hour in the sensor value is not greater than a predetermined value while the agricultural work machine is in an intermediate state between the working state and the storage state.

[0111] (Aspect 8) In the agricultural work machine according to any one of aspects 1 to 7, the control unit, when changing from a working state to a storage state, or when changing from a storage state to a working state, does not perform error processing within a predetermined time even if the value of the sensor does not change by a predetermined amount from the initial value. [Explanation of symbols]

[0112] 1 Tractor 2 Work equipment 20 Control device 21 Control section 31 Sensors 32 Actuator 40 Communication terminal 41 Display section 42 Operation section 50 Plowing machine 60 Central Work Section 61 Extension work section 62 Opening and closing cylinder 65 Extension leveling body drive device 66 Second leveling body drive device 67 Pressure Device 70 Rotating mechanism 71 Link arm 72, 72' link plate 73 Pivot pivot axis 75 Guide roller 76 Guide shaft 80 Locking mechanism 84 Hook 86 Hook engagement part 100 Remote control device 101, 101a~101q switches 102, 400 display section

Claims

1. A farming machine includes a working unit that is attached to a tractor to perform agricultural work, an actuator that is provided on the working machine, a sensor that is provided on the working machine, and a control unit, The working unit has a changeable working unit that can change a part or all of the working unit between a working state and a stored state, the actuator is an actuator that changes the convertible working unit between a stored state and a working state, the sensor is a sensor for detecting a state of the convertible working unit, the control unit uses the sensor values ​​acquired at two or more specified positions of the changeable working unit that is changed by the actuator to derive the relationship between the value of any of the sensors and the state of the changeable working unit, and identifies the state of the changeable working unit from the current sensor value.

2. The agricultural work machine according to claim 1, the actuator is a cylinder, the working unit includes a basic working unit and an extension working unit that is rotatable relative to the basic working unit via a rotation mechanism and corresponds to the convertible working unit; The agricultural work machine is characterized in that the sensor is a sensor that detects the rotation of the extension working part in response to the extension and contraction of the cylinder.

3. The agricultural work machine according to claim 1, the actuator is a cylinder, The working unit includes a basic working unit, an extension working unit that is rotatable relative to the basic working unit via a rotation mechanism and corresponds to the changeable working unit, and a locking mechanism that locks the extension working unit in place when the extension working unit is extended relative to the basic working unit to a position where agricultural work is performed, thereby fixing the extension working unit in that position and setting it in a working state. The agricultural work machine is characterized in that the sensor is a sensor that detects the rotation of a member that rotates in conjunction with the rotation of the extension working part and the locking of the locking mechanism in response to the extension and contraction of the cylinder.

4. The agricultural work machine according to any one of claims 1 to 3, The agricultural work machine according to claim 1, wherein the two or more specified positions include two specified positions in a working state and a stored state.

5. The agricultural work machine according to claim 1, The control unit determines from the derived relationship, based on the current value of the sensor, whether the operation from the working state to the storage state has been completed, or whether the operation from the storage state to the working state has been completed.

6. The agricultural work machine according to claim 1, An agricultural work machine comprising a display unit capable of communicating with the control unit, the display unit displaying either a working state, a stored state, or a state intermediate between the working state and the stored state, based on the state of the changeable working unit identified by the control unit.

7. The agricultural work machine according to claim 1, The control unit performs error processing when the amount of change in the sensor value per predetermined time is not greater than a predetermined amount while the agricultural machine is in an intermediate state between the working state and the storage state.

8. The agricultural work machine according to claim 1, the control unit, when changing from a working state to a storage state, or when changing from a storage state to a working state, does not perform error processing within a predetermined time even if the value of the sensor does not change by a predetermined amount from the initial value.

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