Agricultural machinery

Abstract

This invention provides an agricultural machine that can control the land leveling body in accordance with its vertical movement, thereby obtaining appropriate land leveling results. [Solution] The agricultural implement 1 is characterized by comprising: a tilling unit 3 for tilling the field; a leveling body 5 rotatably mounted behind the tilling unit 3 for leveling the field surface; a pressure adjustment unit 6 for adjusting the ground pressure of the leveling body 5; a sensor 93 for detecting the oscillation state of the leveling body 5 and emitting a detection signal; and a control unit 101 for determining the rotation state of the leveling body 5 by performing calculations based on the detection signal and for sending a command to the pressure adjustment unit 6 to adjust the pressure based on the determination result of the rotation state.

Description

Technical Field

[0001] This invention relates to an agricultural working machine. More specifically, it relates to a rotary tillage working machine.

Background Art

[0002] Patent Documents 1 and 2 disclose an agricultural working machine having a tilling part and a soil leveling body, which crushes and levels the field by moving forward. Furthermore, the soil leveling body described in the above documents is provided with a pressure regulating part or a control mechanism for making it possible to adjust the ground contact pressure on the field. These agricultural working machines can obtain an appropriate soil leveling result by adjusting the ground contact pressure, which is the force with which the soil leveling body presses against the field surface. In addition, the traveling machine body to which the agricultural working machine is attached is provided with a detection part capable of detecting the vertical rotation position of the soil leveling body with respect to the tilling part. It is known that the traveling machine body is provided with an automatic tilling depth control part and is configured to maintain the vertical position of the tilling part with respect to the traveling machine body at an appropriate position based on the signal of the detection part. It is also known that it is possible to appropriately adjust the reference value of the vertical position relationship between the traveling machine body and the agricultural working machine with respect to the vertical rotation position of the soil leveling body in response to an input to the automatic tilling depth control part of the traveling machine body.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] The ground contact pressure of the soil leveling body can maintain a good soil leveling state by the operator performing a pressure regulating operation, which is an appropriate ground contact pressure adjustment operation so as to be in an appropriate state. On the other hand, the tilling depth can be maintained at an appropriate tilling depth by automatic tilling depth control by the traveling machine body. However, depending on the condition of the field's footing, that is, the unevenness of the surface where the machine's running section actually makes contact with the mud, the speed of travel, and the soil type of the field being leveled, the agricultural machine may experience small up-and-down pulsations relative to the machine itself. In this case, the degree of pressure regulation also fluctuates along with the vertical movement of the leveled surface, resulting in a wavy finish on the leveled ground and potentially failing to achieve proper leveling results. Furthermore, even when tilling and leveling work is performed using automatic tilling depth control on the machine itself, the above-mentioned environmental influences can cause changes in the machine's driving posture, which can affect the attached agricultural implements. [Means for solving the problem]

[0005] This invention is A tilling machine for cultivating the field, A leveling body is provided to be rotatably mounted behind the aforementioned tilling body and to level the field surface, A pressure adjustment unit for adjusting the ground pressure of the leveled body, A sensor that detects the oscillation state of the leveling body and emits a detection signal, A control unit that determines the rotation state of the leveling body by performing calculations based on the detection signal, and sends a command to the pressure adjustment unit to adjust the pressure based on the determination result of the rotation state, Agricultural implement characterized by having, It relates to.

[0006] This invention further, The control unit commands the pressure adjustment unit to increase the ground pressure of the leveled body when the range of angle change of the leveled body, based on the angle of the leveled body which is the rotational state of the leveled body, falls within a first range. Agricultural machinery characterized by, It relates to.

[0007] This invention further, The control unit evaluates the leveling condition after adjusting the pressure applied to the pressure adjustment unit. Agricultural machinery characterized by, It relates to.

[0008] The present invention further relates to when the control unit determines that the evaluation of the soil preparation state is poor, it instructs the pressure regulating unit to reduce the ground pressure of the soil preparation body. A farming machine characterized by relates to

[0009] The present invention further relates to A farming machine characterized in that the sensor can continuously transmit, as a detection signal, the rotation angle of the soil preparation body for each time series when the soil preparation body swings up and down. relates to

[0010] The present invention further relates to determining whether the range of the angle change of the soil preparation body based on the soil preparation body angle is a first range or a second range smaller than the first range. A farming machine characterized by relates to

[0011] The present invention further relates to comparing the amplitude at the first evaluation time, which is the evaluation time of the first amplitude, with the amplitude at the evaluation time after the first evaluation time. A farming machine characterized by relates to

[0012] The present invention further relates to When it is determined that the swing amplitude of the soil preparation body at the second evaluation time, which is the evaluation time after the first evaluation time, is smaller than the swing amplitude of the soil preparation body collected and measured at the first evaluation time, which is the evaluation time of the first amplitude, it is determined that the "quality is good". If it is determined that there is no change in the swing amplitude but the swing period has changed from a short period to a long period, it is determined that the "quality is good". A farming machine characterized by relates to

[0013] The present invention further relates to When it is determined that the swing width of the soil cultivating body measured at the first evaluation time, which is the evaluation time of the initial amplitude, is larger at the second evaluation time, which is the evaluation time after the first evaluation time, it is determined that the quality is poor. An agricultural working machine characterized by the above. It relates to.

[0014] The present invention further provides When it is determined that the period of the swing has changed from a long period to a short period although there is no change in the swing width of the soil cultivating body at the second evaluation time, which is the evaluation time after the first evaluation time, compared to the swing width of the soil cultivating body collected and measured at the first evaluation time, which is the evaluation time of the initial amplitude, it is determined that the quality is poor. An agricultural working machine characterized by the above. It relates to.

[0015] The present invention further provides When it is determined that there is a sudden large swing although there is a part where the swing width of the soil cultivating body becomes smaller at the second evaluation time, which is the evaluation time after the first evaluation time, compared to the swing width of the soil cultivating body collected and measured at the first evaluation time, which is the evaluation time of the initial amplitude, it is determined that the quality is poor. [[ID=P22]]An agricultural working machine characterized by the above. It relates to.

Effect of the Invention

[0016] The present invention has been made in view of the above problems, and an object thereof is to provide an agricultural working machine capable of controlling the soil cultivating body according to the vertical movement of the soil cultivating body and obtaining an appropriate soil cultivating result. Judge the pulsation condition of the soil cultivating body, change the ground pressure on the soil cultivating body, suppress the vertical pulsation of the agricultural working machine, and feedback the ground pressure state to the traveling machine body side to finely adjust the working depth.

Brief Description of the Drawings

[0017] [Figure 1] It is a front view of the entire working machine as seen from the rear in the traveling direction of the working machine according to the first embodiment of this invention. The side working body is in a deployed state, and the soil cultivating body is in a soil gathering state. [Figure 2] This is a side cross-sectional view of a work machine according to the first embodiment of this invention. [Figure 3] This is an enlarged cross-sectional view of the pressure regulating section of the central working body of the work machine according to the first embodiment of this invention. It shows the state in which the leveling body is located at the lowest position in the rotational direction. [Figure 4] This is an enlarged cross-sectional view of the pressure regulating section of the central working body of the work machine according to the first embodiment of this invention. It shows the state when the leveling body is rising. The specific position of the leveling body angle is indicated by the dashed line. [Figure 5] This is an enlarged plan cross-sectional view of the pressure regulating section of a work machine according to the first embodiment of this invention. [Figure 6] This is a block diagram of a work machine according to the first embodiment of the present invention. [Figure 7] This is a flowchart of the work machine according to the first embodiment of this invention. [Figure 8] This is a flowchart of a work machine according to a second embodiment of the present invention. [Figure 9] This figure shows an example of a data sheet for a work machine according to the first embodiment of this invention. [Figure 10] This figure shows an example of the correlation between the first working time and tillage depth control of a work machine according to the first embodiment of this invention. [Figure 11] This figure shows an example of the amplitude range of a leveling body according to the first embodiment of this invention, and is an example of the first range. [Figure 12] This figure shows an example of the amplitude range of a leveling body according to the first embodiment of this invention, and is an example of range 1a. [Figure 13] This figure shows an example of the amplitude range of a leveling body according to the first embodiment of this invention, and is an example of the second range. [Figure 14] This figure shows an example of the amplitude range of a leveling body according to the first embodiment of this invention, and is an example of the third range. [Figure 15] This is an example of a judgment diagram for determining the amplitude range of a leveled body according to the first embodiment of this invention, and is an example of a judgment diagram showing a comparison with Figure 11, and is a diagram showing an example of a waveform with reduced amplitude ("good"). [Figure 16]This is an example of a judgment diagram for determining the amplitude range of a leveled body according to the first embodiment of this invention, and is an example of a judgment diagram showing a comparison with Figure 11, and is a diagram showing an example of a waveform with a long period ("good"). [Figure 17] This is an example of a judgment diagram for determining the amplitude range of a leveled body according to the first embodiment of this invention, and is an example of a judgment diagram showing a comparison with Figure 11, and is a diagram showing an example where the amplitude exceeds the amplitude at the time of the first evaluation ("bad"). [Figure 18] This figure shows an example of a determination diagram for the amplitude range of a leveled body according to the first embodiment of this invention, an example of a determination diagram showing a comparison with Figure 11, and an example of a third range. [Figure 19] This figure shows an example of a judgment list (decision table) according to the first embodiment of this invention. [Modes for carrying out the invention]

[0018] A first embodiment of this invention will be described. Reference numeral 1 denotes an agricultural implement according to the first embodiment of the present invention. In this first embodiment, the agricultural implement 1 comprises a puddling implement that performs puddling work before rice planting. This puddling machine is described as being composed of three foldable work bodies 11 in the middle of the working width. The description focuses on a pressure regulating unit 6 installed in one of the work bodies 11. Alternatively, the folding structure may be omitted. Furthermore, the leveling body 5 of the work body 11 is described as being composed of a first leveling body 51 and a second leveling body 56, but it may also be composed of only the first leveling body 51.

[0019] 11 is the central working body of the puddling machine 1, 11L is the left-side working body, and 11R is the right-side working body. The central working body 11 constitutes the central part of the agricultural machine 1. The side working body 11L constitutes the left side of the agricultural machine 1 and is located to the left of the central working body 11. The side working body 11R constitutes the right side of the agricultural machine 1 and is located to the right of the central working body 11.

[0020] 2 is a frame. Frame 2 has a mounting portion 20 that can be attached to a vehicle body (not shown). 212 is the topmast. 213 is the lower plate. The lower plate 213 consists of two parts. 201 is the top link pin. The top link pin 201 is provided at the tip of the topmast 212 of the mounting section 20. 202 is the lower link pin. The lower link pin 202 is provided at the tip of the lower plate 213 of the mounting section 20. The puddling machine 1 is attached to the traveling machine body (not shown) by a top link pin 201 provided on the top mast 212 and lower link pins 202 provided on each of the two lower plates 213. The agricultural implement 1 has a mounting part 20 that is attached to a traveling machine, and a speed change unit 21 that receives rotational power from the traveling machine and changes the speed. The speed change unit 21 is supported by frames connected to both ends. In this embodiment, the mounting part 20 is also connected to a frame, and the speed change unit 21 and the mounting part 20 are integrally formed with the pipe frame 22.

[0021] 21 is the input case, which is the gear shifting unit. 211 is the input shaft. Driving force is introduced from the PTO shaft of the traveling machine (not shown) to the input case 21 via the input shaft 211. 22 is a pipe frame. The pipe frame 22 is a long member and is attached to the left and right sides of the input case 21 with its long direction facing left and right. 221 is a side workpiece pipe frame. The side workpiece pipe frames 221 are attached to the ends of the pipe frame 22. The driving force from the input case 21 is distributed via bevel gears and transmitted to the end of the pipe frame 22 and the side workpiece pipe frames 221, respectively. 22A is a second pipe frame. The second pipe frame 22A is installed parallel to pipe frame 22. The second pipe frame 22A can be omitted.

[0022] 23 is a transmission case consisting of a chain case. 23A is the central workpiece transmission case, and 23B is the side workpiece transmission case. The central workpiece transmission case 23A is attached to the tip side of the second pipe frame 22A. The side workpiece transmission cases 23B are attached to the tip side of the side workpiece pipe frame 221. The central workpiece transmission case 23A may be placed on both the left and right sides of the pipe frame 22, or on only one side of the pipe frame 22. 24 is a support frame made of support members. The support frame 24 is located at the left and right ends of the pipe frame 22 and is connected to the transmission case 23. 25 is a folding pivot point. The folding pivot points 25 are located at both the left and right ends of the central work body 11, and the central work body 11 and the left and right side work bodies 11L and 11R of the puddling machine 1 are rotatably attached to them.

[0023] Section 3 is a tilling section consisting of a soil-crushing section. The tilling section 3 is located below the gear shift section 21. The tilling unit 3 is equipped with a rotor shaft 31, which is a horizontal shaft positioned in the left-right direction and supported by support members 24 positioned downward from both ends of the frame. The rotor shaft 31 is equipped with a plurality of tilling tines 32 that are spaced apart in the axial and circumferential directions. The tilling unit 3 rotates the tilling tines 32 by obtaining rotational power from the traveling machine via the transmission unit 21. The tilling unit 3 is rotatably supported by the support frame 24 of the frame 2 and crushes the soil. The tilling unit 3 can till the field while adjusting the tilling depth by raising and lowering the lifting device 124, which is attached to the mounting part 20 on the traveling machine body. 3L is the left-side tilling section. The side tilling section 3L is located on the left side of the tilling section 3 and is installed below the side work body 11L. 3R is the right-side tilling section. The side tilling section 3R is located on the right side of the tilling section 3 and is installed below the side work body 11R.

[0024] 31 is the rotor shaft. The rotor shaft 31 is installed on the central workpiece 11, the side workpieces 11L and 11R, and is driven by the driving force from the input case 21. 32 is a tilling tine. The tilling tine 32 is mounted protruding from the rotor shaft 31 and rotates in conjunction with the rotation of the rotor shaft 31 to till the field.

[0025] 4 is the cover body. A cover body 4 is provided to cover the top of the tilling unit 3 to prevent the scattering of tilled soil and muddy water. The cover body 4 is installed so as to cover the top of the tilling unit 3 of the central working unit 11.

[0026] 41L is the left pivot frame. The left pivot frame 41L is attached to the folding pivot section 25 on the side tilling section 3L of the side workpiece pipe frame 221. 41R is the right pivot frame. The right pivot frame 41R is attached to the folding pivot section 25 on the side tilling section 3R side of the side workpiece pipe frame 221. Furthermore, the left pivot frame 41L and the right pivot frame 41R can be directly attached to the cover body 4L and cover body 4R, respectively, by omitting the side workpiece pipe frame 221.

[0027] 5 is the leveling section (leveling body). The leveling body 5 is installed at the rear of the cover body 4. The leveling section (leveling body) 5 is installed so as to be rotatable around an axis perpendicular to the direction of travel, behind the tilling section 3 and at the rear of the cover body 4. The leveling section 5 is also called a leveling body and is made up of a plate shape. The leveling body 5 levels the soil (mud) after tilling by making contact with the ground. The leveling body 5 is positioned behind the tilling unit 3 so as to be able to rotate up and down. The leveling body 5 can rotate up and down by supporting its front end on a pivot shaft provided at the rear end of the cover body 4, which is oriented in the left-right direction. In this embodiment, the leveling body 5 consists of a first leveling body 51 and a second leveling body 56. The first leveling body 51 is able to rotate up and down by supporting its front end on a pivot shaft provided at the rear end of the cover body 4, and the second leveling body 56 is able to rotate up and down by supporting its front end on a pivot shaft provided at the rear end of the first leveling body 51. The first leveling body 51 and the second leveling body 56 level the field after tilling by the tilling unit 3 by making contact with the field surface on the tilling unit 3 side.

[0028] 51 is the first leveling body. The first leveling body 51 is attached to the central work body 11. 5L is the left leveling unit. 51L is the left first leveling unit. Left leveling unit 5L and left first leveling unit 51L are attached to the side work unit 11L. 5R is the right leveling unit. 51R is the right first leveling unit. The right leveling unit 5R and the right first leveling unit 51R are attached to the side work unit 11R.

[0029] 512, shown in Figures 2 to 4, is the pivot point of the first leveling body 51. The pivot point 512 attaches the leveling section (leveling body) 5 to the puddling work machine 1 so that it can rotate around an axis perpendicular to the direction of travel behind the tilling section 3. 513 is a retaining plate. 53 is a holding member. The holding member 53 is held rotatably on a rotation axis parallel to the pivot point 512 by two plate-shaped members, which are holding plates 513, that are erected from the leveling section (leveling body) 5. The holding member 53 has an insertion hole 532 perpendicular to its own rotation axis, into which the rod body 61, which will be described later, is inserted.

[0030] 531 is a protruding portion. The protruding portion 531 extends laterally from the holding member 53 parallel to the pivot point 512 and engages with the first elongated hole 641 provided in the rotation restricting member 64, which will be described later. 56 is the second leveling body. 57 is the pivot point of the second leveling body 56. The second leveling body 56 rotates relative to the first leveling body 51, with pivot point 57 as its pivot point. 56L is the left second leveling body. The left second leveling body 56L is attached to the left first leveling body 51L of the side work body 11L and is rotatable around the pivot point 57. 56R is the right second leveling body. The right second leveling body 56R is attached to the right first leveling body 51R of the side work body 11R and is rotatable around the pivot point 57.

[0031] The pivot point 57 is a pivot axis parallel to the width direction of the machine body of the second leveling body 56, the left second leveling body 56L, and the right second leveling body 56R, allowing the second leveling body 56, the left second leveling body 56L, and the right second leveling body 56R to rotate up and down around this pivot point 57. The central first leveling section, leveling body 51, the left first leveling section, left first leveling body 51L, and the right first leveling section, right first leveling body 51R, rotate up and down in conjunction with each other. The central second leveling body 56, the left second leveling body 56L, and the right second leveling body 56R also rotate up and down in conjunction with each other. Even if the leveling body 5 has a foldable structure with side working bodies 11L and 11R on the left and right, the central leveling body 5, the left leveling body 5L, and the right leveling body 5R rotate up and down together as a single unit in conjunction with each other, allowing for leveling of a wide range of soil.

[0032] Let me explain the pressure regulating section. 6 is a pressure regulating unit. The pressure regulating unit 6 is provided above the leveling body 5. The pressure regulating unit 6 is positioned from above the cover body 4 to above the first leveling body 51. The pressure regulating unit 6 includes a rod body 61, a first elastic body 62, a second elastic body 63, a rotation restricting member 64, a restricting body 65, a switching arm 66, a return elastic body 68, a driving means 67 which is an actuator, and a connecting member 672. The 611 shown in Figures 2 to 4 is the rod pivot point. The rod pivot point 611 has one end located near the frame 2 of the rotation restricting member 64 and supports the rod body 61 so that it can rotate in the same direction as the leveling section (leveling body) 5.

[0033] The pressure regulating unit 6 biases the leveling body 5 in the rotational direction and allows adjustment of the biasing force. In this embodiment, the pressure regulating unit 6 biases the first leveling body 51 and adjusts its biasing force. The connecting member 672 is a member that connects the drive means 67 to the other end of the switching arm 66. By pushing or pulling the connecting member 672 with the drive means 67, the operation of the drive means 67 is transmitted to the switching arm 66. In other words, the position of the restrictor 65 can be changed by the operation of the drive means 67, and the biasing force of the first leveling body 51 can be changed. The drive mechanism 67 can be installed at any position on the agricultural implement 1 without being limited by the connecting member 672. For example, it can be freely positioned on the cover body 4, around the frame (front, back, top, bottom, etc.), around the gear shift section, on the mounting section 20, etc. Preferably, it should be in a location that prevents the scattering of mud and soil and collisions with obstacles, and is easy to maintain. In this embodiment, the drive means 67 and the switching arm 66 are connected using a connecting member 672, but the system is not limited to this configuration. The drive means 67 can also be directly connected to the switching arm 66 or the restrictor 65 to directly move the restrictor 65 and adjust the biasing force of the leveling body 5. In this embodiment, the connecting member 672 uses a wire that acts effectively in the pulling direction, but a cable that does not slacken can also be used to allow for pushing and pulling.

[0034] The rod body 61 is supported at one end by a rod pivot shaft 611 located on the cover body 4, thereby supporting the rod body 61 so that it can rotate freely. The other end of the rod body 61 is inserted into a holding member 53 provided on the upper part of the first leveling body 51. The holding member 53 holds the rod body 61 so that it can slide freely in the axial direction as the first leveling body 51 moves up and down. In other words, the rod body 61 is held slidably in the axial direction by a holding member 53 provided on the leveling section (leveling body) 5 at its other end, i.e., its tip end. The holding member 53 slides in the axial direction of the rod body 61 as the first leveling body 51 and the left first leveling body 51L and the right first leveling body 51R rotate up and down. In this embodiment, the rod body 61 is shown as a round bar-shaped member, but a cylindrical member may also be used, and the cross-sectional shape is not limited to a round shape. Furthermore, the rod body 61 may be provided with an adjustment part that allows the length between the rod pivot point 611 and the regulating body 65 to be adjusted by a screw or the like.

[0035] 62 is the first elastic body. The first elastic body 62 is provided coaxially with the rod body 61 and wrapped around the rod body 61, positioned between the rod pivot point 611 and the holding member 53. The first elastic body 62 can bias the first leveling body 51, or the left first leveling body 51L, or the right first leveling body 51R toward the tilling unit 3. By biasing the first leveling body 51 to rotate toward the tilling unit 3, the pressing force of the first leveling body 51 toward the leveled ground can be increased, thereby improving the leveling performance. The same applies to the left first leveling body 51L and the right first leveling body 51R. The first elastic body 62 is a coil spring and is capable of biasing the first leveling body 51 downwards.

[0036] 65 is a restrictor. The restrictor 65 is slidably mounted in the axial direction of the rod body 61 and is positioned between the rod pivot point 611 and the first elastic body 62. By bringing the restrictor 65 into contact with one end of the first elastic body 62 on the rod pivot point 611 side, the extension and contraction of the first elastic body 62 is restricted. By moving the restrictor 65 relative to the rod body 61, the position in which the extension and contraction of the first elastic body 62 is restricted can be changed. The first elastic body 62 is installed sandwiched between the regulating body 65 and the holding member 53. The movement of the regulating body 65 is performed by the switching arm 66. When the switching arm 66 is moved, the relative position of the regulating body 65 with respect to the rod body 61 changes, and the biasing force on the first leveling body 51 is adjusted. The expansion and contraction of the first elastic body 62 increases or decreases the pressing force of the first leveling body 51 against the leveled ground, thereby improving the leveling performance. When the restricting body 65 is positioned close to the holding member 53, the downward biasing force on the first leveling body 51 increases, and conversely, when the restricting body 65 is positioned further away from the holding member 53, the downward biasing force on the first leveling body 51 decreases.

[0037] The first elastic body 62 biases the leveling section (leveling body) 5 toward the leveled ground by pressing the holding member 53 toward the tip of the rod body 61. As shown in Figure 5, the restricting body 65 has a projection 651 which is a protruding part in a direction perpendicular to the rod body 61, and the restricting position of the restricting body 65 can be changed by connecting this projection 651 to the switching arm 66. The restricting position of the restricting body 65 and the detailed structure of the switching arm 66 will be described later.

[0038] 63 is a second elastic body. The second elastic body 63 is provided coaxially with the rod body 61, on the other end side, i.e., the tip side, opposite to the rod pivot point 611 side of the holding member 53, so as to wrap around the rod body 61. 612 is a pin. The pin 612 is provided protruding from the other end of the rod body 61, which is the end opposite to the rod pivot point 611 of the rod body 61.

[0039] As shown in the figure, the pin 612 prevents the second elastic body 63 from moving any further toward the tip of the rod body 61 at the tip end of the rod body 61. Therefore, the second elastic body 63 can bias the retaining member 53 toward the rod pivot point 611 end. The second elastic body 63 biases the holding member 53 to move in the direction of the rod pivot point 611, thereby biasing the leveling section (leveling body) 5 away from the leveled ground. The second elastic body 63 is a coil spring and is provided coaxially with the rod body 61 on the other end side of the rod body 61 from the holding member 53. In this embodiment, the pressing force and length of the second elastic body 63 are adjusted so as to bias the first leveling body 51 upward when the first leveling body 51 is located on the lower end side in the rotational direction.

[0040] The second elastic body 63 biases the leveling body 5 upward when it rotates upward from its lowest position in the rotational direction. This has the effect of quickly rotating the leveling body 5 upward without it digging into the field surface when it comes into contact with a muddy field surface. In this first embodiment, the first elastic body 62 and the second elastic body 63 are provided coaxially with the rod body 61. Therefore, the first elastic body 62, which biases the leveling section (leveling body) 5 toward the leveled ground by moving the holding member 53 toward the other end of the rod body 61, and the second elastic body 63, which biases the leveling section (leveling body) 5 toward the leveled ground by moving the holding member 53 toward the rod pivot point 611, can be installed together in a limited space. The third elastic body, the return elastic body 68, biases the switching arm 66 so that the restricting body 65 is directed toward the rod pivot axis 611. In the side view, the switching arm 66 is biased to rotate clockwise.

[0041] 64 is a rotation restricting member. The rotation restricting member 64 is a member that restricts the rotation range of the leveling body 5 via the holding member 53 and the holding plate 513. The rotation restricting member 64 is provided with its longitudinal direction parallel to the axial direction of the rod body 61. The rotation restricting member 64 is provided in a U-shaped cross-section with an open bottom so as to cover the rod body 61 (not shown), and is provided on the outside of the work body, that is, above the cover body 4 and the leveling body 5. Therefore, it is possible to prevent foreign matter such as soil and debris from adhering to the rod body 61 and to eliminate the displacement of the rotation restricting position of the leveling body 5. The rotation restricting member 64 is supported at one end by a rod pivot point 611 so as to be able to rotate in the same direction as the leveling section (leveling body) 5 near the frame 2. Furthermore, since the base end of the rod body 61 is fixed to the rotation restricting member 64 with a pin, it can rotate together with the adjustment section and the rod body 61 around the pivot point 611.

[0042] The protrusion 531 provided on the holding member 53 is positioned within the first elongated hole 641 provided on the other end side of the rotation restricting member 64. The first elongated hole 641 is slidably provided with the holding member 53, which moves relative to the first leveling body 51 as it rotates. Furthermore, the rotation range of the first leveling body 51 is restricted by the first elongated hole 641. Although the rotation restricting member 64 has been described as being provided at the pivot point 611, an adjustment part that allows adjustment of the length in the longitudinal direction may be placed near the pivot point 611 of the rod of the rotation restricting member 64.

[0043] 641 is the first elongated hole. 642 is the second elongated hole. The first elongated hole 641 and the second elongated hole 642 are provided in the shape of elongated holes at two locations, front and rear, on the side of the rotation restricting member 64. The second elongated hole 642 is provided near the pivot point 611 of the rod that is rotatably supported near the frame 2 of the rotation restricting member 64, and the first elongated hole 641 is provided near the tip of the second elongated hole 642, which is the other end of the rotation restricting member 64. As shown in Figure 5, the restrictor 65 slides along the rod body 61 with its projection 651 aligned with the elongated hole of the second elongated hole 642. The projection 651 and the second elongated hole 642 allow the restrictor 65 to slide along the rod body 61 without rotating around the axis of the rod body 61.

[0044] The first elongated hole 641 and the second elongated hole 642 are elongated in the axial direction of the rod body 61 and are provided parallel to the rod body 61. The diameter of the first elongated hole 641 is larger than that of the second elongated hole 642, depending on the diameters of the protruding portion 651 and the projection portion 531. The rotation of the leveling section (leveling body) 5 is restricted by the projection portion 531 contacting the end of the first elongated hole 641. In particular, downward rotation is restricted because the weight of the leveling section (leveling body) 5 is applied to the end of the first elongated hole 641. At this time, in order to reduce the surface pressure during contact, it is necessary to increase the contact area between the first elongated hole 641 and the projection portion 531. For this reason, the diameter of the first elongated hole 641 is made larger.

[0045] The holding member 53 has a protruding portion 531 that slides along the elongated hole of the first elongated hole portion 641 on the rod body 61. The first elongated hole 641 on the rear side (free end side) guides the pin-shaped protrusions 531 that protrude from both the left and right ends of the holding member 53. As the leveling body 5 (first leveling body) rotates up and down, the rod body 61 slides along the inner circumference of the first elongated hole 641. The protrusions 531 and the first elongated hole 641 allow the first leveling body 51, or the left first leveling body 51L, or the right first leveling body 51R, to rotate within the range of the first elongated hole 641. 651 is a protruding portion. The protruding portion 651 protrudes in a pin-like manner from both the left and right ends of the regulating body 65.

[0046] The second elongated hole 642 on the front side guides the pin-shaped projections 651 that protrude from both the left and right ends of the restrictor 65. The restrictor 65, which is axially slidable relative to the rod body 61, can move freely within the range of the second elongated hole 642. In addition, the projections 65 and the second elongated hole 642 prevent the restrictor 65 from rotating around the rod axis. A second elongated hole 642 for sliding the restricting body 65 along the elongated hole and a first elongated hole 641 for sliding the holding member 53 along the elongated hole are separately provided in the longitudinal direction of the rotation restricting member 64. Furthermore, by providing the second elongated hole 642 on one end of the rod body 61, which is on the rod pivot point 611 side, and the first elongated hole 641 on the other end, i.e., the tip side, of the rod body 61, the operation of the switching arm 66 and the holding member 53, which will be described later, can be made smooth.

[0047] As shown in Figures 2 to 4, by making one end of the rod body 61 rotatable near the frame 22 or on the cover body 4, the rod body 61 can be laid down (in a horizontal position). As the leveling body 5 rotates, the rod body 61 does not extend or retract in the vertical direction, so there are no problems such as interference between the rod body 61 and the side work bodies 11L and 11R even when they are folded.

[0048] Furthermore, by providing the pivot point 611 of the rod body 61 on the pipe frame 22 side rather than the cover body 4, the pivot point position does not change due to deformation of the cover body 4 during work, and the rotation restriction position on the lower side of the leveling body 5 is stabilized. As shown in Figures 5 and 6, one end of the rod body 61 in this embodiment is rotatably mounted on a member protruding below the frame 22. However, there are no limitations on the mounting position as long as the rod body 61 can rotate in conjunction with the rotation of the leveling body 5. The pivot point 611 only needs to be located above and in front of the pivot point 512. The pivot point 611 can be provided above the tilling unit 3 or above the cover body 4, and does not necessarily need to be provided on the frame 2. For example, the rigidity and strength of the cover body 4 may be improved so that one end of the rod body 61 can rotatably be mounted on the cover body 4 that covers the tilling unit 3.

[0049] The rod body 61 slides in the axial direction of the rod body 61 within the insertion hole 532 provided in the holding member 53. That is, as the leveling body 5 (first leveling body 51, 51L, 51R) rotates up and down, the holding member 53 slides in the axial direction of the rod body 61.

[0050] In this embodiment of the invention, a rod body 61 installed above the leveling body 5, a first elastic body 62, and a second elastic body 63 are used to restrict the rotation of the rod body 61 and thereby restrict the vertical movement of the leveling body 5. The first elastic body 62 biases the leveling section (leveling body) 5 toward the leveled ground, while the second elastic body 63 biases the leveling section (leveling body) 5 toward the leveled ground. Therefore, when the leveling body 5 rotates so that the holding member 53 moves from one end to the other end, i.e., the tip side, or in the opposite direction, the biasing direction can be smoothly switched. As a result, the pressing force on the leveled ground due to the rotation of the leveling body 5 can be changed according to the rotation angle. By providing the rotation restricting member 64 above the leveling body 5, on the side different from the tilling section 3 of the leveling body 5, debris on the leveled ground will not get stuck, and stable rotation restriction of the leveling body 5 can be achieved. Furthermore, since the vertical rotation of the leveling body 5 is restricted by the rotation restricting member 64, stable rotation restriction can be achieved with this rotation restricting member 64 alone, without relying on the rod body 61 and the first elastic body 62 and second elastic body 63.

[0051] The regulating body 65, which is slidable on the rod body 61, can be adjusted by fixing only the first elastic body 62 that pressurizes the leveling body 5 at any desired position. 66 is a switching arm. The switching arm 66 is rotatably mounted on both sides of the rotation restricting member 64 so as to straddle the rotation restricting member 64, in order to move the restricting body 65 in the axial direction of the rod body 61. The switching arm 66 is a member that moves the position of the restricting body 65 and is rotatably supported on the rotation restricting member 64. One end of the switching arm 66 is connected to a projection provided on the restricting body 65. The projection is located in a second elongated hole 642 provided on the front side of the rotation restricting member 64, and the restricting body 65 can change its relative position to the rod body 61 within the range of the second elongated hole 642.

[0052] 661 is a pivot point consisting of a pivot axis. The pivot point 661 is the pivot axis on which the switching arm 66, which is provided above the rotation restricting member 64, rotates, allowing the switching arm 66 to rotate freely in the front-rear direction. The relative rotation of the switching arm 66 with respect to the rotation restricting member 64 guides the protruding portion 651, allowing the restricting body 65 located on the rod body 61 to move.

[0053] 68 is a return elastic body. As shown in Figure 4, the return elastic body 68 is attached around the pivot point 661 and biases the restrictor 65, which can contact the first elastic body, toward the rod pivot point 611. The return elastic body 68 can eliminate the slack in the connecting member 672 that may occur due to the rotation of the switching arm 66. In addition to the examples provided, if a configuration is adopted in which the connecting member 672 does not slacken, the return elastic body 68 can be omitted.

[0054] In this embodiment of the invention, the pressure regulating unit 6 is provided on the central working body 11 and the side working bodies 11L and 11R of the foldable puddling machine, but it may also be provided only on the central working body 11, or only on the left and right side working bodies 11L and 11R. It can also be installed on a puddling machine 1 that does not have a folding mechanism. Furthermore, although the example shows the pressure regulating unit 6 provided in three locations, there is no limit to the number. The pressure regulating unit 6 can be appropriately changed in terms of optimal form and arrangement depending on the form and specifications of the agricultural machine 1 being used.

[0055] As the switching arm 66 rotates, the restrictor 65 slides in the axial direction of the rod body 61. The second elongated hole 642 limits the range of motion of the restrictor 65, and when the rotation of the switching arm 66 is stopped, the movement of the restrictor 65 relative to the rod body 61 stops. Therefore, by changing the rotational position of the switching arm 66, the biasing force of the first elastic body 62, which is sandwiched between the restrictor 65 and the holding member 53, on the leveling body 5 can be changed.

[0056] As shown in Figures 2 to 4, the switching arm 66 is rotatable by a pivot point 661 that can rotate on the rotation restricting member 64. The switching arm 66 has a connecting member 672 attached to its upper end, which is connected to a drive means 67 consisting of an actuator described later, and an elongated hole 663 on its lower end into which the projection 651 of the restricting body 65 is inserted. The elongated hole 663 can be moved in the axial direction of the rod body 61 while the left and right projections 651 of the restricting body 65 are guided by the second elongated hole 642 as the switching arm 66 rotates. The drive means 67 can be, for example, an electric motor or a cylinder assembly. The drive means 67 can change its rotational position or linear position depending on the power output. Furthermore, the drive source for the drive means 67 is not limited to electricity; fluid pressure may also be used, and the drive means 67 may be operated by switching the fluid pressure circuit by controlling the opening and closing of a valve.

[0057] As shown in Figure 2, the leveling body 5 comprises a first leveling body 51 and a second leveling body 56, which are rotatable vertically relative to each other. The rotation of the first leveling body 51 and the second leveling body 56 can be fixed and released by the attitude control unit 7. In the rotation-fixed state, as shown in Figure 2, the first leveling body 51 and the second leveling body 56 are fixed in a state where they cannot rotate when they reach their lower ends in the rotation direction. In the rotation-released state, the first leveling body 51 and the second leveling body 56 are rotatable vertically. The drive means 67 may also be used as a drive source to drive the components constituting the attitude control unit 7. In this case, the machine can be configured without duplication of the drive means 67.

[0058] The pressure regulating unit 6 further includes a drive means 67 consisting of an actuator. In the first embodiment, the actuator 67 is composed of a cylinder having a rod consisting of a retractable rod body 61. The base end of the cylinder is fixed at an arbitrary position on the tilling unit 3 in front of the leveling body 5, and the other end, i.e., the tip end of the rod body 61, is connected to a switching arm 66. By driving the cylinder to extend and retract, the switching arm 66 rotates via the connecting member 672, and the regulating body 65 moves relative to the rod body 61. Since the regulating body 65 is made movable on the rod body 61 by the actuator 67, the first elastic body 62 sandwiched between the regulating body 65 and the holding member can adjust the repulsive force. Therefore, the biasing force that biases the leveling body 5 downward can be adjusted by the position of the regulating body 65. This biasing force is sometimes called pressure regulating. Furthermore, since the extension and retraction position of the rod of the actuator 67 can be maintained unless a control command is issued, the position of the regulating body 65 can be maintained, and the degree of pressure regulation by the first elastic body 62 can be maintained.

[0059] In addition to the configuration described, the actuator 67 may also use a motor with a rotating shaft. In this case, the rotation of the motor's output shaft may be connected to rotate the switching arm 66, thereby moving the restrictor 65. Alternatively, a screw may be used to convert the motor's rotation into the retraction and extension motion of the rod body 61.

[0060] A sensor 93 is provided on the rotation restricting member 64. The sensor 93 can detect the rotation angle of the leveling body 5. In this embodiment, the sensor 93 is an angle sensor such as a potentiometer. The sensor 93 has a detection arm 91 rotatably connected to the sensor body 931 and is connected to the holding member 53. It can also be said that the sensor 93 installed on the rotation restricting member 64 can detect the relative position of the holding member 53 with respect to the first elongated hole 641. Furthermore, it can also be said that the sensor 93 can detect the relative angle of the leveling body 5 with respect to the cover body 4 and the relative angle with respect to the tilling part 3, which is the tilling body. The sensor 93 detects the rotation angle of the leveling body 5 and emits a detection signal. More specifically, the sensor 93 can continuously emit detection signals for the rotation angle of the leveling body 5 over time when the leveling body 5 swings up and down. The sensor 93 is configured to constantly detect the angle of the leveling body 5. The sensor 93 only needs to be able to detect the rotation angle of the leveling body 5, and there are no restrictions on its installation location. For example, it can be installed at the pivot point 512 of the leveling body 5, or it can be installed on the cover body 4. Although the sensor 93 is described as an angle sensor, an acceleration sensor may also be used in combination. In this case, a detection signal is transmitted by detecting the acceleration generated when the leveling body 5 swings.

[0061] The control unit 101 will now be described. As shown in the block diagram of Figure 6, the control unit 101 is positioned at any location on the agricultural machine 1. A preferred location for the control unit 101 is a place where there is little mud scattering and where communication with the mobile unit is easily possible, for example, above the cover body 4. More preferably, it is above or near the pipe frame 22. Although not shown in the figures, in the embodiment, it is located around the input case 21 and above the front side of the pipe frame 22, which is the most preferred location.

[0062] As shown in Figure 6, the control unit 101 is connected to the sensor 93 and the drive means 67. The control unit 101 receives a detection signal transmitted from the sensor 93, performs various calculations based on the detection signal, and is configured to operate the drive means 67 based on the results of these calculations. The control unit 101 includes a communication processing unit 102, an arithmetic unit 103, an operation processing unit 104, a storage unit 105, and a CAN communication unit 106.

[0063] The communication processing unit 102 receives the detection signal transmitted from the sensor 93. The communication processing unit 102 can also convert the received detection signal into a numerical value necessary for subsequent calculations. Although a detailed explanation is omitted, the communication processing unit 102 can also communicate with an operation unit (not shown) and can process the transmission and reception of control signals for other devices equipped with the agricultural machine 1. The calculation unit 103 performs calculations based on the detection signal obtained by the communication processing unit 102, and also performs comparison calculations with the data table, which is a list of condition values ​​stored in the storage unit 105, and calculates the amount of operation of the drive means 67, etc., based on the result of the comparison calculation. The operation processing unit 104 determines the content of the operation of the drive means 67 based on the calculation results of the calculation unit 103, and generates an operation command so that the drive means 67 operates based on that decision. The drive means 67 operates when this operation command is transmitted to the drive means 67 via the communication processing unit 102. The operation processing unit 104 can also convert the operation command into an optimal signal according to the drive means 67.

[0064] The memory unit 105 stores setting values ​​and data tables used for calculations performed by the calculation unit 103, various condition values ​​and operation amounts related to the operation of the drive means 67, etc. The various values ​​stored in the memory unit 105 are configured to be changeable or modified as needed to optimize them according to the applicable configuration.

[0065] The CAN communication unit 106 can also communicate with the vehicle control unit 111 of the vehicle. When communication with the vehicle control unit 111 is possible, the calculation unit 103 can generate not only operation commands for the drive means 67, but also lifting operation signals to operate the vehicle's lifting device 124, or condition signals that are condition values ​​necessary for the operation of the lifting device, to the vehicle control unit 111 of the vehicle. The CAN communication unit 106 can transmit the lifting operation signals or condition signals. The CAN communication unit 106 will be mainly described in the context of CAN (Controller Area Network) communication with the vehicle control unit 111, but it is not limited to this and can employ a variety of other communication methods without limitation.

[0066] The traveling machine control unit 111 includes a communication processing unit 102 that communicates with the control unit 101 on the work machine side, a calculation unit 103 that performs operations related to the automatic raising and lowering of the lifting device, and a tilling depth determination unit. The configuration of the traveling machine control unit 111 shown above is just one example and is not necessarily limited to this example. The traveling machine control unit 111 only needs to be able to perform the same functions and operations as described above. When the communication processing unit 102 of the traveling machine control unit 111 receives a lifting operation signal, it may operate the lifting device to an amount corresponding to the lifting operation signal. Alternatively, when the communication processing unit 102 receives a condition signal, the tillage depth determination unit may determine the amount of operation based on the condition value included in the condition signal, and operate the lifting device based on this determination result.

[0067] Let me explain the control details. First, the invention will be explained with reference to Figure 7, a flowchart of the work machine according to the first embodiment of this invention. When control is started, the sensor 93 detects the current angle of the leveling body 5 and transmits a detection signal. When the communication processing unit 102 receives the detection signal, the calculation unit 103 determines the leveling body angle, which is the angle of the leveling body 5, based on the detection signal. The calculation unit 103 further determines the angle at which the leveling body angle is located relative to the set angle.

[0068] Let's explain the setting angle. In Figure 4, 51D shows the state of the first leveling body 51 at the set angle D. 51A shows the state where the leveling body angle is 0 degrees. A represents the leveling body angle. The set angle D is the angle used for comparison with the leveling body angle A at the time of measurement. In the embodiment, the set angle D is set to 5 degrees, which is the angle obtained by rotating upwards from the lowest point in the rotation direction of the leveling body 5, which is 0 degrees. However, there are no limitations to this value. That is, as shown in Figure 4, by setting the angle D to a position slightly above the lowest point of the rotation position of the leveling body 5, it is determined whether or not the leveling body 5 is in a working position. In other words, the set angle D should be set to the optimal angle as appropriate depending on the implementation method. Control step S1 In the first embodiment, in the control step S1 shown in Figure 7, if the leveling body angle A is greater than or equal to the set angle D, the process proceeds to the next step; if it is less than the set angle D, the measurement is repeated.

[0069] In this embodiment of the invention, it is determined whether the leveling body angle is 0 degrees or more and less than the set angle D, or whether the leveling body angle is greater than or equal to the set angle D. Incidentally, the state in the embodiment where the leveling body angle is 0 degrees means that the leveling body 5 is completely hanging down relative to the direction of rotation. The values ​​are expressed relatively so that they increase as the leveling body 5 rotates upward relative to the direction of rotation. Of course, the leveling body angle A may be expressed as the absolute angle of the leveling body 5 with respect to the horizontal plane, and the set angle may also be expressed as an absolute angle.

[0070] Control step S2 In control step S2 shown in Figure 7, if it is determined that the leveling body angle is greater than or equal to the set angle D, the communication processing unit 102 receives a detection signal again. At this time, it receives the detection signal during the first evaluation time, which is the evaluation time for the initial amplitude. That is, the communication processing unit 102 collects the change in the leveling body angle during the first evaluation time. The calculation unit 103 calculates the range of angle change of the leveling body 5 based on the leveling body angle from the detection signal during the first evaluation time collected by the communication processing unit 102. It calculates whether the range of angle change of the leveling body 5 based on the leveling body angle is the first range β or the second range which is smaller than the first range β. The first evaluation time can also be said to be the time to measure the rotation angle of the changing leveling body 5 from the reference leveling body angle.

[0071] In Figures 11 to 13, which show examples of the amplitude range of the leveling body, the vertical axis represents the amplitude of the leveling body 5 relative to the leveling body angle A, and the horizontal axis represents the time axis. Furthermore, the thin lines parallel to the horizontal axis are auxiliary lines indicating reference values ​​for amplitude magnitude, representing the first range α, the first range β, the second range γ, and the third range δ. Figure 11 shows an example of the amplitude range at the first evaluation time of a leveled body according to the first embodiment of this invention, where the amplitude is within the first range β. Figure 12 shows an example where the amplitude is within the first a range α but exceeds the first range β. Figure 13 shows an example where the amplitude is within the second range γ.

[0072] I will now explain the first evaluation time. The first evaluation time is the time taken to measure the oscillation of the leveling body 5 with respect to the leveling body angle A, as shown in Figures 11 to 13. In control step S2, shown in Figure 7, which is the flowchart of the first embodiment, the amplitude, which is the amount of rotation when the leveling body 5 changes angle within the first evaluation time, is measured with respect to the leveling body angle A measured in control step S1. The first evaluation time consists of a predetermined period of time, but in the first embodiment, it consists of 2 seconds. The first evaluation time is preferably between 0.1 seconds and 5 seconds, and can be freely changed and set considering the type of agricultural machinery used and the conditions of the field to be leveled. Furthermore, the first evaluation time can also be set to a value exceeding the above.

[0073] In control step S2, shown in Figure 7, a determination is made as to whether the amplitude of the leveled body is within a predetermined range. In control step S2, the branching to the next control step differs depending on the determination of the amplitude range. In this embodiment, the amplitude range is provided as a first range β and a second range γ. Let's explain the first range β. The first range β represents the oscillation range of the leveling body 5 relative to the leveling body angle A, as illustrated in Figures 11 to 13. The oscillation range is also called amplitude. As illustrated in Figures 11 to 13, the first range β represents the case where the amplitude is larger than that of the second range γ. In the example, the first range β is determined using the maximum and minimum values ​​of the amplitude measured during the first evaluation time, but the first range β can also be determined using the average value of the maximum and minimum values ​​of the measured amplitude.

[0074] The control unit 101 determines that the ground leveling body 5 is in the first range β if, within a predetermined first evaluation time, it is determined that the amplitude of the ground leveling body 5 is greater than that of a predetermined second range γ, but smaller than that of the first range β. In the embodiment, if the maximum amplitude enters the first range β at least once within the first evaluation time, it is determined that the ground leveling body 5 is oscillating within the first range β. The determination is not limited to this, but may also be made if the maximum or minimum value is located multiple times within the first evaluation time, or if it is determined that the oscillation position of the leveling body 5 is maintained within the first range β within the first evaluation time. Alternatively, the determination may be made by checking whether the width between the average of the maximum value and the average of the minimum value of the multiple amplitudes instantaneously recorded within the first evaluation time falls within the first range β.

[0075] For the first range β, please refer to Figure 11, which provides an example. In the illustration, the graph showing the detected values ​​is shown as a sinusoidal wave for ease of understanding, but it is not necessarily limited to this shape. Since the values ​​detected by sensor 93 are plotted as they are, the graph may be nonlinear or zigzag. The same applies to the other graphs.

[0076] Let's explain the second range, γ. The second range γ represents the oscillation range of the leveling body 5 relative to the leveling body angle A, as shown in Figure 7, which is a flowchart of the first embodiment. The second range γ represents the case where the amplitude is smaller than that of the first range β. In the first embodiment, the second range γ is determined using the maximum and minimum values ​​of the amplitude measured during the first evaluation time, but the second range γ can also be determined using the average value of the maximum and minimum values ​​of the measured amplitude. Figure 13 illustrates the second range γ. The determination of whether or not it is within the range is the same as for the first range β. The control unit 101 determines that it is within the second range γ if the amplitude of the leveled body 5 measured within the first evaluation time is less than or equal to the second range γ.

[0077] Let's take a concrete example where the first range β is defined as within 10 degrees above and below the leveling body angle A, and the second range γ is defined as within 5 degrees above and below the leveling body angle A. With respect to the reference leveling body angle A, if the leveling body 5 is oscillating within a range of 10 degrees in the upward direction and 10 degrees in the downward direction, it is determined to be in the first range β. On the other hand, if the leveling body 5 is oscillating within a range of 5 degrees in the upward direction and 5 degrees in the downward direction relative to the reference leveling body angle, it is determined to be in the second range γ. The amplitude of the oscillation of the leveling body 5 in the second range γ is smaller than that of the first range β.

[0078] The oscillation ranges of the first range β and the second range γ are assumed to be the same in both the positive and negative directions with respect to the reference ground leveling angle A, but they may be different. Furthermore, there are no limitations to the angle ranges shown in the specific examples, and they can be freely changed and adjusted according to the type of agricultural implement 1 to which they are applied.

[0079] The oscillation range will be described as consisting of two ranges, a first range β and a second range γ, but there may be more ranges. For example, a first range α with a larger oscillation range than the first range β may be provided, and a control process similar to, or modified from, the control process described below may be provided. Let's explain the range α in section 1a. This is illustrated in Figure 12. The first a range α is described as being a larger range (amplitude) than the first range β. It is also possible to have three branches in control step S2 using this first a range α.

[0080] Control step S3 In control step S2 shown in Figure 7, if the calculation unit 103 determines that the oscillation range, which is the angle change range of the leveling body 5, is within the first range β, the process proceeds to control step S3. In control step S3, the operation processing unit 104 drives the drive means 67 of the pressure regulating unit 6 to pressurize. In this embodiment, the drive means 67 is operated in the direction of pulling the connecting member 672 so that the regulating body 65 approaches the holding member 53 via the switching arm 66. The drive means 67 is operated in the pressurizing direction only for the duration of the first operation time. Let's explain the first operation time. The first operating time is the time it takes to operate the drive means 67 in control step S3 of the flowchart in Figure 7 of the first embodiment. The length of the time can be freely set and changed depending on the applicable configuration. As a result, the leveling body 5 exhibits a relatively stronger downward biasing force after it is determined that the oscillation range is within the first range β, compared to before the determination by the control step S2 of the calculation unit 103.

[0081] In control step S3, the drive means 67 operates in a direction that increases the pressure regulation on the leveling body 5. Then, the process proceeds to control step S4, shown in Figure 7, where the control unit 101 evaluates the oscillation state of the leveling body 5. That is, it determines the range of angle change and the quality of the oscillation of the leveling body 5. During the second evaluation time, which is the amplitude evaluation time following the first evaluation time, the communication processing unit 102 collects the angle change of the leveling body 5, and the calculation unit 103 determines the quality of the angle change of the leveling body 5. The second evaluation time is the time to evaluate the angle of the leveling body 5, which is performed after the evaluation of the angle of the leveling body performed in the first evaluation time. The second evaluation time can also be said to be the time to evaluate the leveling state of the leveling body 5.

[0082] I will now explain the second evaluation time. Control step S4 The second evaluation time is the time for evaluating the amplitude following the first evaluation time, and is the time for evaluating the degree of oscillation of the leveling body 5 in control step S4 shown in Figure 7, where "angle change evaluation" is performed. In other words, it is the time for measuring the oscillation state of the leveling body 5 after driving the drive means 67 of the pressure regulating unit 6 to apply pressure. The length of the time can be freely set and changed according to the applicable configuration. For example, if the oscillation amplitude of the leveled body 5 collected and measured at the first evaluation time shown in Figure 11 is smaller than the oscillation amplitude of the leveled body 5 at the second evaluation time shown in Figure 15, then it is judged to be of "good quality". Also, as shown in the comparison between Figure 12 and Figure 16, even if the oscillation amplitude does not change, if it is judged that the oscillation period has changed from a short period to a long period, then it is judged to be of "good quality". The second evaluation time consists of a predetermined duration, but in this example, the second evaluation time is set at 2 seconds. The second evaluation time can be equal to the first evaluation time, or a different time may be used. The second evaluation time is preferably between 0.1 seconds and 5 seconds, and can be freely changed and set considering the type of agricultural machinery used and the conditions of the field to be leveled. Furthermore, the second evaluation time can be set to a value exceeding the above.

[0083] Conversely, if the oscillation amplitude of the leveled body 5 collected and measured at the first evaluation time shown in Figure 13 is found to be larger at the second evaluation time, which is the next amplitude evaluation time as shown in Figure 17, then it is judged to be "poor quality". Also, even if the oscillation amplitude does not change, if it is judged that the oscillation period has changed from a long period to a short period, then it is judged to be "poor quality". Furthermore, even if there are parts where the oscillation amplitude of the leveled body 5 is smaller at the second evaluation time, if it is judged that there was a sudden large oscillation, then it is judged to be "poor quality".

[0084] The quality of the angle change and the evaluation of the angle change in control step S4 will be explained. In Figures 15 to 18, which show examples of judgment diagrams, the vertical axis represents the amplitude of the leveling body 5, and the horizontal axis represents the time axis. Furthermore, the thin lines parallel to the horizontal axis are auxiliary lines indicating reference values ​​for amplitude magnitude, representing the first range α, the first range β, the second range γ, and the third range δ.

[0085] Figure 15 shows an example of the amplitude range of a leveled body according to the first embodiment of this invention. It shows an example of a waveform with reduced amplitude ("good") compared to the amplitude range of the first range β at the first evaluation time shown in Figure 11. Figure 16 is an example of a judgment diagram for the amplitude range of the leveled ground, and is an example of a judgment diagram that shows a comparison with Figure 11, and is a diagram that shows an example of a waveform with a long period ("good"). Figure 17 is an example of a judgment diagram for the amplitude range of the leveled ground, and is an example of a judgment diagram that shows a comparison with Figure 11, and is a diagram that shows an example where the amplitude exceeds the amplitude at the time of the first evaluation ("bad"). Figure 18 is an example of a judgment diagram for determining the amplitude range of the leveled ground, an example of a judgment diagram showing a comparison with Figure 11, and an example of the third range δ.

[0086] This section explains an example of a judgment made when evaluating the leveling of a leveled area during the second evaluation period. If the maximum amplitude of the oscillation of the leveling body 5 measured at the second evaluation time (the next amplitude evaluation time shown in Figure 15), compared to the maximum amplitude set as the first range β at the first evaluation time shown in Figure 11, is smaller, then the leveling body 5 is judged to be of "good quality," indicating good pressure regulation. If the width measured at the first evaluation time is suppressed at the time of measurement at the second evaluation time, then it is judged to be of "good quality." In this case, it is not necessarily required that it remain within the second range γ.

[0087] Furthermore, the criterion for judging "good quality" may be based not only on amplitude but also on the period of amplitude. If the period of amplitude measured at the second evaluation time (the next amplitude evaluation time shown in Figure 16), compared to the period of amplitude measured at the first evaluation time shown in Figure 11, is significantly longer, then the leveled body 5 is fluctuating slowly, and therefore it can be judged as "good quality."

[0088] Figure 17 shows a case where the evaluation is "poor quality." Figure 17 shows an example where the change in angle of the leveled body at the second evaluation time, which is the next amplitude evaluation time after the first evaluation time, exceeds the first range β, which is the amplitude evaluated at the first evaluation time as shown in Figure 11, and the amplitude becomes large.

[0089] The judgment is made by comparing the figure shown in Figure 11 at the first evaluation time with the figure shown in Figure 18 at the second evaluation time, which is the evaluation time for the next amplitude after the first evaluation time. In addition, as shown in Figure 18, during the measurement at the second evaluation time, even if the oscillation of the leveling body 5 is suppressed for most of the time, it is also possible to determine that the quality is "poor" if a part of it oscillates in a way that causes it to protrude. In this case, the magnitude of the protruding amplitude can be set as appropriate, and in the figure, it is set to determine that the quality is "poor" if it momentarily exceeds the first range β even once. Figure 18 illustrates an example where the angle change of the leveled body, measured during the second evaluation time (the amplitude evaluation time following the first evaluation time), falls within the third range δ, which is smaller than the second range γ, but exceeds the first range β towards the end of the second evaluation time.

[0090] Figure 19 illustrates the judgment list (judgment table). This list shows a judgment table for determining the amplitude, its period, and the presence or absence of partial protrusions, among those judged to be within the first range β in the first evaluation time and evaluated in the second evaluation time. In detail, this is a judgment table that determines the quality of the angle change of the leveling body 5 based on the results of measuring the angle change of the leveling body 5 measured at the second evaluation time for those leveling bodies 5 that were determined to be within the first range β at the first evaluation time. The table determines the quality of the angle change of the leveling body 5 based on the increase or decrease in the amplitude of the leveling body 5, the length of the oscillation period of the leveling body 5, and the presence or absence of sudden protruding oscillations of the leveling body 5. The quality of the angle change of the leveling body 5 evaluated at the second evaluation time is also the quality of leveling performed by the leveling body 5. According to this, the quality is judged to be good or bad based on the amplitude, period, and presence or absence of instantaneous and partial oscillations (protrusions) of the leveling body 5 measured at the second evaluation time. In this example, the system is set to judge the quality as "good" if the amplitude decreases, the period changes to a short time, and there are no protrusions. It is also set to judge the quality as "good" if the amplitude decreases, the period changes to a long time, and there are no protrusions. In all other cases, it is judged as "poor quality". Of course, this example is not the only one; the criteria for judging quality can be appropriately modified and applied depending on the implementation method and the conditions of the work site.

[0091] Control step S5 The control step S5, shown in Figure 7, determines whether the evaluation result from control step S4 is good or bad. If the calculation unit 103 determines in control step S5 that the evaluation result of the oscillation of the leveling body 5 determined in the second evaluation time is good (Good, Yes), the control process is repeated from the beginning.

[0092] Control step S6 In control step S5, shown in Figure 7, if the calculation unit 103 determines that the evaluation result of the oscillation of the leveling body 5 determined in the second evaluation time is bad (Bad, No), the system proceeds to control step S6. In control step S6, the operation processing unit 104 drives the drive means 67 of the pressure regulating unit 6 to reduce the pressure. In other words, if it is determined that the quality of the leveling has deteriorated compared to the state before pressurization due to the pressurization of the leveling body 5 by the pressure regulating unit, the pressure is reduced to return the pressure to its original level. In this embodiment, the drive means 67 is operated in a direction that pushes or extends the connecting member 672 so that the regulating body 65 moves away from the holding member 53 via the switching arm 66. The drive means 67 is operated only on the pressure-reducing side for the duration of the first operation time. Of course, the operation time on the pressure-reducing side can also be set to a second operation time that is different from the first operation time applied to the pressurizing side.

[0093] As a result, the leveling body 5, which has been evaluated after being biased toward the pressurized side by the pressure regulating unit 6, causes the pressure regulating unit 6 to move toward the depressurized side. In other words, the leveling body 5 is temporarily returned to its original pressurized state, or a state close to the original pressurized state. After that, the control process is repeated again from the beginning.

[0094] In control step S2, if the calculation unit 103 determines that the oscillation range, which is the angle change range of the leveling body 5 within the first evaluation time, is within the second range γ, the control process is repeated from the beginning. In other words, the control unit 101 and the calculation unit 103 are instructed to determine that the oscillation of the leveling body 5 is within the defined range and that there is no need to adjust the pressure applied to the leveling body 5.

[0095] If, in control step S1, it is determined that the ground leveling angle is greater than or equal to 0 degrees and less than the set angle D, the control process is repeated from the beginning.

[0096] As the first embodiment is configured as described above, even if pulsation occurs in the leveling body 5, the unevenness of the leveled ground caused by the pulsation of the leveling body 5 can be suppressed by increasing the pressure applied by the leveling body 5 to the field. Therefore, it is possible to control the leveling body by driving the pressure adjustment unit 6 in response to the vertical movement of the leveling body 5 and to obtain an appropriate leveling result. In the first embodiment, when the sensor 93 detects the oscillation state of the leveling body 5 within a certain period of time, the control unit 101 performs calculations and makes a determination to control the leveled ground appropriately. That is, the driving means 67 that drives the pressure adjustment unit 6 is operated to adjust the degree of pressure applied to the leveling body 5, and the change in the posture of the leveling body 5 is verified and evaluated again by the sensor 93 to obtain an appropriate leveling result. The signal regarding the angle of the leveling body 5 transmitted from sensor 93 is assumed to be sent continuously, but the transmission interval can be changed as appropriate. Similarly, the communication processing unit 102 is assumed to continuously receive signals transmitted from sensor 93, but the reception interval can be changed, or the received signals can be filtered.

[0097] Summary of the second embodiment The second embodiment adds a step of issuing or suggesting actions to the mobile unit compared to the first embodiment. Furthermore, there is a change in the control process when it is determined that the reference ground leveling angle is greater than or equal to 0 degrees and less than the set angle after detection. The description of the second embodiment will only refer to the parts that have been changed from the first embodiment, and the description of parts that have not been changed will be omitted.

[0098] The control unit 111 of the mobile unit is configured to communicate with the control unit 101 on the agricultural implement 1 side. Communication between them can be wired or wireless, and there are no limitations on the communication protocol. The control unit 111 and the control unit on the agricultural implement 1 side are configured to send and receive communication commands to each other. Communication from the agricultural machine 1 to the mobile unit is handled by the CAN communication unit 106. The mobile unit control unit 111 comprises an operation instruction unit 112 and an arithmetic processing unit 113. The mobile unit control unit 111 is connected to the operation unit 121, display unit 122, notification unit 123, and lifting device 124. The lifting device 124 is designed to allow automatic lifting and lowering control by operation of the mobile unit's operation unit 121. Based on angle information of the land leveling body 5 from another angle sensor 93 separately provided on the land leveling body, the lifting device 124 can be operated to automatically raise and lower the tilling unit. Furthermore, the mobile unit control unit 111 is also designed to allow free modification of the reference position of the relative positional relationship between the angle of the land leveling body 5 and the lifting position of the tilling unit by the lifting device 124 during automatic lifting and lowering control.

[0099] Control steps S11 to S16 The control details of the second embodiment of this invention will now be described. As shown in Figure 8, control steps S11 to S16 of the second embodiment correspond to control steps S1 to S6 of the first embodiment, so a detailed explanation will be omitted. Control step S18 In the control step S15 shown in Figure 8, if the calculation unit 103 determines that the evaluation result of the oscillation of the leveling body 5 determined in the second evaluation time is good (Good, Yes), the control proceeds to the control step S18, and the CAN communication unit 106 instructs the traveling machine to raise the lifting device 124. Alternatively, instead of directly raising the lifting device 124, it makes an operation suggestion to the automatic lifting control of the lifting device 124 that it would be better to raise the reference value of the lifting position.

[0100] Upon receiving an operation instruction from the CAN communication unit 106, the vehicle control unit 111 of the vehicle can raise the lifting device 124 as instructed by the operation instruction unit 112. Alternatively, after receiving an operation suggestion from the CAN communication unit 106, the vehicle control unit 111 of the vehicle can use the calculation processing unit 113 to determine the degree and timing of the lifting device 124's rise, and then raise the lifting device 124 according to the command from the operation instruction unit 112. Furthermore, the mobile unit control unit 111, upon receiving operation instructions or suggestions from the CAN communication unit 106, can also operate the display unit 122 and notification unit 123 connected to the mobile unit control unit 111. For example, upon receiving operation instructions or suggestions, the display unit 122 can display information in a way that is visually understandable to the operator, or the notification unit 123 can provide an audible voice guidance to the operator. If automatic lifting control of the lifting device 124 is not being performed, the operator can be prompted to directly operate the operation unit 121 of the lifting device 124 based on the guidance from the display unit 122 and notification unit 123.

[0101] After issuing an instruction or suggestion to raise the reference value of the lifting position, the control process is repeated from the beginning.

[0102] Control steps S11 to S17 In control step S15, if the calculation unit 103 determines that the evaluation result of the oscillation of the leveling body 5 determined in the second evaluation time is bad (Bad, No), and in the subsequent control step S16 the drive means 67 is moved to the pressure-reducing side only for the duration of the first operation time, or if in control step S12 the oscillation range, which is the angle change range of the leveling body 5 during the first evaluation time, is determined to be within the second range γ, then the system proceeds to control step S17, and the CAN communication unit 106 issues an operation command or operation suggestion to maintain the current lifting position of the lifting device 124. Of course, since no change occurs in the traveling machine, it is also possible not to issue an operation command or operation suggestion.

[0103] As a result, the lifting device 124 maintains its current position, and the tilling operation continues with no change in the height of the tilling unit. After that, the control process is repeated again from the beginning.

[0104] Control step S21 In control step S11, if it is determined that the leveling body angle is 0 degrees or greater and less than the set angle D, the process moves to control step S21, and the communication processing unit 102 receives a detection signal from the sensor 93 again. At this time, it receives detection signals during the third evaluation time. That is, it collects the change in the angle of the leveling body 5 during the third evaluation time. The calculation unit 103 calculates the range of angle change of the leveling body 5, based on the leveling body angle A, obtained from the detection signals during the third evaluation time. The third evaluation time may be the same as the first and second evaluation times, the same as either one of them, or set to different times.

[0105] I will now explain the third evaluation time. Control step S21 In the second embodiment, after measuring the leveling body angle A relative to the set angle D as shown in Figure 8, the third evaluation time is the time to measure the angle change of the leveling body 5 as it swings relative to the leveling body angle A in the "angle change range" of control step S21 when the leveling body angle A is less than the set angle D. As will be described later, when the leveling body angle A is less than the set angle D, the leveling body 5 is in a rotational position that is not in a working state, so the third evaluation time can also be said to be the time to determine the swinging state of the leveling body 5 when the leveling body 5 is not in a working state. The third evaluation time consists of a predetermined amount of time, but in the second embodiment, 2 seconds is used. The third evaluation time is preferably between 0.1 seconds and 5 seconds, and can be freely changed and set considering the type of agricultural implement to be applied and the conditions of the field to be leveled. Furthermore, the third evaluation time can be set to a value exceeding the above value. The length of the third evaluation time can be freely set and changed according to the applicable form.

[0106] In control step S21, the calculation unit 103 determines whether the change in the angle of the leveling body during the third evaluation time falls within the third range δ or not. Note that being within the third range δ means that the leveling body 5 is not oscillating, while being outside the third range δ means that the leveling body 5 is oscillating.

[0107] The third range, δ, will be explained. This is the range in which the angle of the leveling body changes during the third evaluation time. In the embodiment, the third range δ indicates a minute change. In other words, a leveling body 5 evaluated as being in the third range δ is in a non-working state where the leveling body 5 is located on the lower end side in the rotation direction, and its angle is maintained almost. To put it another way, if the leveling body 5 is determined to be in the third range δ, it can also be determined that the leveling body 5 is not in contact with the ground. The range of the third range δ can be freely set and changed depending on the applicable configuration. Figure 14 shows the relationship between the third range δ and the third evaluation time. The third range δ is set to an amplitude range smaller than the first range β and the second range γ. In control step S21, it is determined whether the angle change of the leveled body is within or exceeds the third range δ within the third evaluation time. The determination of whether or not a value falls within the third range δ is the same as the determination method for the first range β described in the first embodiment.

[0108] We will now explain the case where the result does not fall within the third range δ. "Not falling within the third range δ" can also be expressed as "outside the third range δ." In the second embodiment, "outside the third range δ" refers to a situation where the leveling body angle A is less than the set angle D, and the leveling body 5 is in a non-working state positioned towards the lower end in the rotation direction, but the leveling body 5 starts moving during the subsequent third evaluation time. The evaluation time will be based on the third evaluation time. The determination of whether a point is located within the third range δ is the same as for the first range β.

[0109] In control step S21, if the calculation unit 103 determines that the range is within the third range δ, the process moves to control step S22, and the CAN communication unit 106 sends a signal to the traveling body control unit 111 to instruct or suggest lowering the lifting device 124.

[0110] In other words, because the leveling body 5 is not in contact with the ground, the system determines that the leveling body 5 has rotated completely downwards and sends a signal to the vehicle control unit 111. In other words, because the agricultural implement 1 is in a state where it cannot work properly, the system determines that the tilling unit 3 should be lowered and sends a signal to the vehicle control unit 111. By positioning the lifting device 124 in the correct position, the traveling machine can properly perform tilling and leveling with the agricultural implement 1.

[0111] In control step S21, if the calculation unit 103 determines that the value is not within the third range δ, the control unit 101 operates to restart the control process from the beginning. In other words, because the leveling body 5 is not in contact with the ground, even though the leveling body 5 has completely rotated downwards, the system judges that the rotation of the leveling body 5 has begun and restarts the control process from the beginning.

[0112] Control step S18 Here, the control of raising the lifting device 124 of the traveling machine in control step S18 will be further explained. As described in this second embodiment, the lifting device 124 is raised based on communication from the CAN communication unit 106. At this time, the amount of rise of the lifting device 124 can be set to be related to the first operating time during which the drive means 67 is operated to the pressurized side. To give a specific example, as shown in Figure 10, if the first operating time is 0 seconds, the lifting device 124 is maintained at the specified reference depth. If the first operating time is 1 second, the lifting device 124 is raised to a depth Y mm shallower than the specified reference depth. If the first operating time is 2 seconds, the lifting device 124 is raised to a depth Y + α mm shallower than the specified reference depth. In this way, the amount of elevation can be associated with the operating time of the drive means 67. The value of depth Y relative to the depth of the reference position can be changed as appropriate depending on the form and specifications of the agricultural implement or traveling machine to which it is applied. It is also possible to add steps corresponding to the depth.

[0113] Furthermore, as mentioned in the first embodiment, the range of angle change of the leveling body 5 obtained from the detection signal during the first evaluation time can be set to a first range β, a second range γ, ..., and an nth range, and the time for operating the driving means 67 toward the pressurizing side can be set in relation to the first operating time, second operating time, ..., and nth operating time according to these ranges.

[0114] By performing the above control, the pressure regulating unit 6 applies pressure to the leveling body 5, and the depth of the tilling section can be reduced in proportion to the increase in ground pressure on the field. In this case, the pressure applied to the field by the leveling body 5 remains almost unchanged, thus suppressing the occurrence of unevenness in the leveled surface due to pressure. Furthermore, the tilling section, which has been raised by the lifting device 124 of the traveling machine, can reduce the amount of soil supplied to the leveling body 5 located behind the tilling section. In other words, the amount of soil supplied to the leveling body 5 decreases for the tilling section located deep in the field. Therefore, it is possible to suppress the excessive supply of mud to the leveling section and prevent poor leveling that results in an uneven surface. In this way, by controlling the pressure adjustment unit 6 of the leveling body 5 in cooperation with the traveling machine, a more precise leveled surface can be obtained.

[0115] In this embodiment, when the sensor 93 detects the oscillation state of the leveling body 5 within a certain period of time, the control unit 101 performs calculations and makes a determination to properly level the ground. Specifically, the drive means 67 that drives the pressure adjustment unit 6 is operated to adjust the degree of pressure on the leveling body 5. After the drive means 67 has been operating for a certain period of time, it stops, and the sensor 93 verifies and evaluates the change in the posture of the leveling body 5 again. After it is confirmed that the pulsation has stopped or been suppressed, a signal is sent to the traveling machine. Because the leveling body 5 is pressurized, it becomes less likely to float up, so the tilling section of the agricultural implement 1 may become deeper than expected due to the automatic tilling depth control of the traveling machine. After pressurizing the leveling body 5, a signal is sent to raise the lifting device 124 in order to raise the tilling section, and it is raised. Then, if the control determines that the pulsation of the leveling body 5 has stopped, the lifting device 124 of the traveling machine operates according to the working height specified in advance by experience.

[0116] The signal regarding the angle of the leveling body 5 transmitted from sensor 93 is assumed to be sent continuously, but the transmission interval can be changed as appropriate. Similarly, although the communication processing unit 102 is assumed to continuously receive signals transmitted from sensor 93, the reception interval can be changed, or the received signals can be filtered. Furthermore, although it has been described as transmitting an operation command or operation suggestion to the lifting device 124 of the mobile unit, it may also transmit an operation command or operation suggestion to other parts of the mobile unit, such as the mobile unit's travel mechanism.

[0117] The pressure regulating unit 6 may be provided in multiple locations, and pressure regulating control is achieved by the control unit 101 simultaneously controlling the actuators 67 located at each of these units. [Explanation of symbols]

[0118] 1 Generation raking machine (agricultural machine) 3 Cultivation Department 5 Earth leveling body 6. Pressure Regulating Section 32 Cultivating Claw 93 Sensors 101 Control Unit β First range γ Second range

Claims

1. A tilling machine for cultivating the field, A leveling body is provided to be rotatably mounted behind the aforementioned tilling body and to level the field surface, A pressure adjustment unit for adjusting the ground pressure of the leveled body, A sensor that detects the oscillation state of the leveling body and emits a detection signal, A control unit that determines the rotation state of the leveling body by performing calculations based on the detection signal, and sends a command to the pressure adjustment unit to adjust the pressure based on the determination result of the rotation state, A farming machine characterized by being equipped with the following features.

2. The control unit commands the pressure adjustment unit to increase the ground pressure of the leveled body when the range of angle change of the leveled body, based on the angle of the leveled body which is the rotational state of the leveled body, falls within a first range. The agricultural implement described in feature 1.

3. The control unit evaluates the leveling condition after adjusting the pressure applied to the pressure adjustment unit. The agricultural implement according to feature 1 or 2.

4. If the control unit determines that the leveling condition is poor, it commands the pressure regulating unit to reduce the ground pressure of the leveled body. The agricultural implement described in feature 3.

5. The agricultural implement according to claim 1 or 2, characterized in that the sensor is capable of continuously transmitting as a detection signal the rotation angle of the leveling body over time when the leveling body oscillates up and down.

6. This determines whether the range of angle change of the leveled body, based on the leveled body angle, falls within the first range or within the second range, which is smaller than the first range. The agricultural implement according to claim 1 or 2.

7. The amplitude at the first evaluation time, which is the initial amplitude evaluation time, Compare the amplitude of the evaluation time after the first evaluation time. The agricultural implement according to feature 1 or 2.

8. If the oscillation amplitude of the leveled ground collected and measured during the first evaluation time (the initial amplitude evaluation time) is smaller than the oscillation amplitude of the leveled ground during the second evaluation time (the evaluation time after the first evaluation time), it is judged to be of "good quality." Similarly, if the oscillation amplitude remains unchanged, but the oscillation period changes from a short period to a long period, it is also judged to be of "good quality." The agricultural implement according to feature 1 or 2.

9. If the oscillation amplitude of the leveled ground collected and measured during the first evaluation time (the initial amplitude evaluation time) is greater than the oscillation amplitude of the leveled ground during the second evaluation time (the evaluation time after the first evaluation time), it will be judged as "poor quality." The agricultural implement according to feature 1 or 2.

10. If, while the amplitude of the ground leveling body collected and measured during the first evaluation time (the initial amplitude evaluation time) remains unchanged in the second evaluation time (the evaluation time after the first evaluation time), but the oscillation period changes from a long period to a short period, it is judged to be of "poor quality." The agricultural implement according to feature 1 or 2.

11. If, in the second evaluation time (after the first evaluation time), the amplitude of oscillation of the leveled ground is smaller than the amplitude collected and measured in the first evaluation time (the initial amplitude evaluation time), but it is determined that there was a sudden large oscillation, it will be judged as "poor quality." The agricultural implement according to feature 1 or 2.

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