Safety control system for agricultural machinery

Abstract

The objective is to provide a safety control system for agricultural machinery that improves safety when implements are attached to tractors. [Solution] In a safety control system for agricultural implements used in implements 2 that are attached to a tractor 1 to perform agricultural work, the system comprises a control device 20 provided on the implement 2 and an actuator 21 provided on the implement 2. The control device 20 can acquire seating information from the tractor 1, indicating whether or not a occupant 201 of the tractor 1 is seated in the driver's seat 5, and can also acquire PTO drive information, indicating whether or not the PTO shaft of the tractor 1 is driven. If the control device 20 determines from the seating information that the occupant is not seated and from the PTO drive information that the PTO is stopped, it stops the actuator 21.

Description

Technical Field

[0001] The present invention relates to a safety control system for agricultural work machines, and particularly to a safety control system for agricultural work machines considering safety when a work machine is attached to a tractor.

Background Art

[0002] Since a work machine attached to a tractor performs agricultural work with great force, improvement in safety is required. In addition, work machines often have an actuator, and this actuator is controlled by operating a remote control device. At this time, ensuring safety is required for the operation of the actuator.

[0003] Patent Document 1 discloses a work vehicle configured to enable starting of an engine when a PTO on / off switch for driving a work machine is off, a seat switch is on, and the shift position sensor is in an initial position.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] When an operator rides on a tractor to perform agricultural work, it is better to perform safety control because the risk is high when the operator is not seated in the driver's seat. Here, although the work vehicle of Patent Document 1 describes control of engine starting by a seat switch, regarding the work machine, only the PTO on / off switch is described, and further improvement in safety is required. In addition, recently, some tractors may be equipped with an automatic driving mode, and the need for safety control according to the automatic driving mode is also increasing.

[0006] ​In view of the above problems, the present invention aims to provide a safety control system for agricultural implements that improves safety when an implement is attached to a tractor. [Means for solving the problem]

[0007] To achieve the above objective, one representative safety control system for agricultural implements of the present invention is a safety control system for agricultural implements used in implements that are attached to a tractor to perform agricultural work, comprising a control device provided on the implement and an actuator provided on the implement, wherein the control device is capable of acquiring seating information from the tractor, indicating whether or not a occupant of the tractor is seated in the driver's seat, and acquiring PTO drive information, indicating whether or not the PTO shaft of the tractor is driven, and the control device is capable of stopping the actuator if it determines from the seating information that the occupant is not seated and from the PTO drive information that the PTO is stopped. [Effects of the Invention]

[0008] According to the present invention, in a safety control system for agricultural machinery, it is possible to improve safety when an implement is attached to a tractor. Other issues, configurations, and effects will be clarified by the following embodiments. [Brief explanation of the drawing]

[0009] [Figure 1] This is a block diagram showing one embodiment of the safety control system for agricultural machinery of the present invention. [Figure 2] This is a plan view showing a first example of an agricultural implement to which the safety control system for agricultural implements of the present invention is applied. [Figure 3] This is a plan view showing a second example of an agricultural implement to which the safety control system for agricultural implements of the present invention is applied. [Figure 4] This shows an example of the overall flowchart for the safety control system for agricultural machinery of the present invention. [Figure 5]This shows an example of the processing for the manned automatic operation mode in the flowchart of the safety control system for agricultural machinery of the present invention. [Figure 6] This shows an example of manual operation mode processing in the flowchart of the safety control system for agricultural machinery of the present invention. [Figure 7] This shows an example of the unmanned automatic operation mode processing in the flowchart of the safety control system for agricultural machinery of the present invention. [Modes for carrying out the invention]

[0010] A description of an embodiment for carrying out the present invention will be given.

[0011] <Block diagram> Figure 1 is a block diagram showing one embodiment of the safety control system for agricultural machinery according to the present invention.

[0012] A implement 2 equipped with a work unit 25 for performing agricultural work is attached to a tractor 1. A remote control device 30 can be installed on the tractor 1. The implement 2 is equipped with a control device 20, actuator 21, sensor 22, and notification unit 23. The tractor 1 is also equipped with configurations to realize the various modes described later as needed. Here, the implement 2 can be configured to acquire power from the tractor 1 via PTO (Power take-off) and use that power to perform work with the work unit 25.

[0013] Tractor 1 has three modes: manual operation mode, manned automatic operation mode, and unmanned automatic operation mode. Tractor 1 does not need to have all of these modes; it may have at least one.

[0014] This section describes the manual operation mode. The operator becomes the occupant 201 by sitting in the driver's seat 5 of the tractor 1. At this time, the seating sensor 5a provided in the driver's seat 5 detects the occupant 201's seating and sends this information to the control unit 3f of the control unit 3. The occupant 201 performs agricultural work by operating the tractor 1. Specifically, the occupant controls the drive unit 11 of the tractor 1 by operating the drive control unit 6, which consists of the accelerator and brakes, and the steering unit 7, which consists of the steering wheel, etc. Also, when the PTO switch 8 is turned on, the PTO clutch 16 turns on and the PTO shaft 17 rotates, and that power is transmitted to the work unit 25 of the implement 2. In the manual operation mode, the occupant 201 basically performs the operations for agricultural work.

[0015] The following describes the case of the manned automatic work driving mode. The worker becomes the passenger 201 by sitting in the driver's seat 5 of the tractor 1. At this time, the seating sensor 5a provided in the driver's seat 5 detects the passenger 201's seating and sends this information to the control unit 3f of the control unit 3. The passenger 201 operates the monitoring and operation device 9 of the control unit 3 installed in the tractor 1 to start the manned automatic work driving mode. Then, the control unit 3f of the control unit 3 automatically controls the driving section 11 of the tractor 1 via the automatic driving system 10. In addition, the control unit 3f of the control unit 3 automatically controls the steering section 7 of the tractor 1 via the automatic steering system 12. The control content at this time is calculated by the guide device 3a and calculation unit 3e of the control unit 3 based on information from the GNSS unit 4, information from the surrounding monitoring sensor 15, and information recorded in the recording unit 3b of the control unit 3. The GNSS unit 4 can determine its current position based on information from positioning satellites 301 and ground base stations 302. The surrounding monitoring sensor 15 is a sensor capable of detecting surrounding obstacles 210 for driving and working. Furthermore, the control unit 3f controls the PTO clutch 16 so that power from the PTO shaft 17 is transmitted to the working section 25 of the implement 2. The rider 201 can check the control status and the status of the tractor 1 using the monitoring and operation device 9. In this way, in the manned automatic work driving mode, the rider 201 is on board while the machine automatically performs agricultural work.

[0016] The case of the unmanned automatic operation driving mode will be described. The operator becomes the remote operator 202 who operates remotely without boarding the tractor 1. At this time, the seating sensor 5a provided on the driver's seat 5 does not detect the seating of a passenger. The remote operator 202 operates the remote monitoring / operation device 35 that can communicate remotely with the tractor 1 to start the unmanned automatic operation driving mode. Then, the information is sent from the remote monitoring / operation device 35 to the communication unit 3c of the control unit 3 by wireless or the like. Then, the control unit 3f of the control unit 3 controls the traveling unit 11 of the tractor 1 via the automatic driving system 10. In addition, the control unit 3f of the control unit 3 controls the steering unit 7 of the tractor 1 via the automatic steering system 12. The control content at this time is calculated by the guidance device 3a and the arithmetic unit 3e of the control unit 3 based on the information from the GNSS unit 4, the information from the surrounding monitoring sensor 15, the information recorded in the recording unit 3b of the control unit 3, and the like. Furthermore, the control unit 3f controls the PTO clutch 16 so that the power from the PTO shaft 17 is transmitted to the working unit 25 of the work implement 2. The remote operator 202 can confirm the control content and the state of the tractor 1 with the remote monitoring / operation device 35. Thus, in the unmanned automatic operation driving mode, the remote operator 202 does not board the tractor 1 and automatically performs agricultural work.

[0017] In these cases, the information on the state of the tractor 1 (tractor information) is sent from the control unit 3f of the control unit 3 to the tractor communication unit 20a of the control device 20 of the work implement 2 via the work implement communication unit 18. The information on the state of the tractor 1 includes at least the information on whether the seating detection by the seating sensor 5a is possible. Note that the control unit 3 may acquire information from an external information medium using the data input / output unit 3d.

[0018] The control device 20 controls the actuator 21 based on the operation signal received from the remote control device 30. Also, the information of the sensor 22 is used for control as necessary. Further, information such as the control information of the actuator 21 and the information of the sensor 22 is transmitted from the control device 20 to the remote control device 30. The control device 20 includes a tractor communication unit 20a, a control unit 20b, an arithmetic unit 20c, a recording unit 20d, and a data input / output unit 20e.

[0019] The tractor communication unit 20a communicates with the work implement communication unit 18 provided in the tractor 1. The communication can be either wireless or wired. In the case of wireless communication, it can be configured with a wireless module or the like.

[0020] The control unit 20b controls the actuator 21 and the notification unit 23 according to the processing content of the arithmetic unit 20c. Also, it can acquire information (signals) from the sensor 22 and information from the communication unit 30d of the remote control device 30.

[0021] The arithmetic unit 20c inputs information on operation signals from the remote control device 30 and information detected by the sensor 22, and performs operations such as arithmetic for controlling the actuator 21. The control unit 20b and the arithmetic unit 20c are composed of electronic devices such as a CPU (Central Processing Unit) and a memory, which are necessary for arithmetic processing. Also, the information of the recording unit 20d can be used for the processing. Further, the arithmetic unit 20c may be provided integrally with the control unit 20b.

[0022] The recording unit 20d can record information necessary for the processing in the arithmetic unit 20c and information on the results of the processing in the arithmetic unit 20c. For example, a recording medium such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) can be applied as needed.

[0023] The data input / output unit 20e is a data input / output unit that can input and output information from an external recording medium, a personal computer, an information terminal, etc., as needed.

[0024] The notification unit 23 is a means for notifying by sound or light. For example, a speaker, a buzzer, an LED, a light bulb, etc. can be applied. The notification unit 23 notifies the surroundings by sound or light based on the control information from the control unit 20b. The notification unit 23 may be provided integrally with the control device 20, or may be separated from the control device 20 and installed at a location suitable for notifying the work implement No. 2. The notification information from the notification unit 23 can be notified to the auxiliary monitor 205, the surrounding workers 206, the pedestrians 207, etc. who are around the work implement No. 2.

[0025] The actuator 21 is installed on the work machine 2 side. The actuator 21 is, for example, an actuator that makes it possible to move a movable part of the work machine 2 as needed. In particular, an actuator that makes it possible to move the work unit 25 that performs agricultural work can be applied. Examples of actuators 21 include hydraulic cylinders, electric hydraulic cylinders, motors, etc. Furthermore, as will be described later, the actuator 21 can also be used as a watering motor for a watering device.

[0026] Sensor 22 is installed on the work machine 2 side, and various types of sensors are provided as needed for the work machine 2. Examples of sensors 22 include acceleration sensors, angular velocity sensors, tilt sensors, geomagnetic sensors, rotation sensors, potentiometers, limit switches, etc. This allows the actuator 21 to detect the state of the work machine 2, etc. If sensor 22 is not provided, the state of the actuator 21 can be determined by the control content of the actuator 21.

[0027] The remote control device 30 is primarily for remotely operating the actuator 21 on the implement 2. It may also acquire control information for the actuator 21 and information from the sensor 22 from the control device 20 on the implement 2. The remote control device 30 and the control device 20 can exchange information via wired or wireless means. The remote control device 30 comprises an operation unit 30a, a display unit 30b, an audio output unit 30c, a communication unit 30d, and a processing unit 30e. The remote control device 30 can be positioned near the driver's seat 5 of the tractor 1. On the other hand, when using the remote monitoring and operation device 35 (for example, in unmanned automatic work driving mode), the remote control device 30 can be positioned near the remote monitoring and operation device 35.

[0028] The control unit 30a is equipped with switches for operating the remote control device 30. Various types of switches, such as push-button switches, can be used. Alternatively, a touch panel system may be adopted.

[0029] The display unit 30b is a device that displays various information related to operation, settings, and the work machine 2. It can also display notification information, which will be described later. The display unit 30b may be made of, for example, a liquid crystal screen or an organic light-emitting diode (OLED) screen. Alternatively, the operation unit 30a and the display unit 30b can be formed as an integrated touch panel. This allows the remote control device 30 to be operated using, for example, a general-purpose portable terminal such as a smartphone or a tablet computer.

[0030] The audio output unit 30c is a means of providing notification by sound or voice, and can be a speaker, buzzer, or the like.

[0031] The communication unit 30d communicates with the control device 20 wirelessly or via a wired connection. If wireless, it can be configured using a wireless module or the like. In this case, wireless communication can use standards such as Wi-Fi or Bluetooth, and frequency bands such as the 920MHz band or the 2.4GHz band.

[0032] The processing unit 30e performs processing such as transmitting information from the communication unit 30d based on the operation of the operation unit 30a, displaying necessary information on the display unit 30b, and outputting sound on the audio output unit 30c. The processing unit 30e is composed of electronic devices necessary for arithmetic processing, such as a CPU (central processing unit) and memory. The processing unit 30e may also be equipped with a storage unit for recording necessary information.

[0033] <First example of a work machine> Figure 2 is a plan view showing a first example of an agricultural implement to which the safety control system for agricultural implements of the present invention is applied. In Figure 2, the left-right direction is the lateral direction, and the top direction is the forward direction. An implement 2 is mounted on the rear of a tractor 1, and agricultural work is performed with the implement 2. Note that the tractor is simplified in the illustration. Furthermore, in Figure 2, the case where the implement 2 is a levee-forming machine 50 will be explained.

[0034] The driver's seat 5 of the tractor 1 is equipped with a seating sensor 5a. The seating sensor 5a detects when an occupant 201 sits in the driver's seat 5, and suitable sensors such as a pressure sensor can be used. This information is sent to the control unit 3 installed in the tractor 1. The remote control device 30 can be installed in the tractor 1, but it is also a portable terminal that can be carried to a location other than the tractor 1.

[0035] The levee-forming machine 50 is mounted by connecting the mounting section 51, which is located at the front, to the rear of the tractor 1. The mounting section 51 and the intermediate frame 52 are connected by a pivot point 52a that can rotate horizontally, and the intermediate frame 52 and the working section 58 (corresponding to the working section 25 in Figure 1) are connected by a pivot point 52b that can rotate horizontally. The working section 58 has a top-surface scraping section 55, a tilling section 56, and a disc section 57 from the front in the working direction. During operation, power transmitted from the PTO of the tractor 1 scrapes the top surface of the old levee with the top-surface scraping section 55, piles up the soil of the old levee with the tilling section 56, and forms the levee shape by the rotation of the disc section 57. The tilling section 56 piles up the soil by rotating multiple tines 56a. The disc portion 57 has a main disc portion 57a ​​that forms the slope of the ridge and an upper roller portion 57b that forms the upper surface of the ridge.

[0036] The first electric hydraulic cylinder 61 is connected between the mounting section 51 and the intermediate frame 52. The third electric hydraulic cylinder 63 is connected in a way that allows the depth of the tilling section 56 relative to the disc section 57 to be changed. The control device 20 is installed on the mounting section 51 and can acquire information from the control unit 3 of the tractor 1. A second electric hydraulic cylinder may also be provided, which is connected to a link mechanism that interlocks with the work section 58 and the intermediate frame 52. These electric hydraulic cylinders correspond to the actuators 21 in Figure 1.

[0037] Figure 2 shows the forward working state. In the forward working state, the working section 58 extends outward (to the right) beyond the total lateral width of the tractor 1, and the amount of outward extension (offset) of the working section 58 can be adjusted by the first electric hydraulic cylinder 61. That is, by controlling the overall length of the first electric hydraulic cylinder 61, the amount of rotation of the intermediate frame 52 is determined, and the offset amount of the working section 58 can be determined. Furthermore, when the first electric hydraulic cylinder 61 is retracted in the direction of arrow D1 from the state in Figure 2, the intermediate frame 52 rotates in the direction of arrow D2, and the working section 58 is retracted to the center in the width direction of the tractor 1. That is, by controlling the overall length of the first electric hydraulic cylinder 61 to be retracted by a predetermined amount, it is possible to put it into the retracted state.

[0038] Furthermore, if a second electric hydraulic cylinder is provided, activating the second electric hydraulic cylinder from the stowed position allows the work unit 58 to rotate around the pivot point 52b and reverse direction. In this case, a reverse working state can be achieved where the work unit extends beyond the lateral width of the tractor 1 to the opposite side (left side). In other words, in this case, the reverse working state can be achieved by controlling the overall length of the second electric hydraulic cylinder. In the reverse working state, the rear of the tractor 1 becomes the direction of travel for the work unit 58, and work can be performed while the tractor 1 is moving in reverse.

[0039] Furthermore, the ridge-forming machine 50 is equipped with a watering device 65, in which a pump powered by a motor or the like operates to release water from the tank 65a through a nozzle 65b near the disc section 57, adjusting the amount of water that hits the disc section 57. In other words, watering is performed when the motor of the watering device 65 is activated, and watering stops when the operation stops. The motor of the watering device 65 corresponds to the actuator 21 in Figure 1. The above-mentioned electric hydraulic cylinders and the motor of the watering device 65 can be operated by the remote control device 30.

[0040] <Second example of a work machine> Figure 3 is a plan view showing a second example of an agricultural implement to which the safety control system for agricultural implements of the present invention is applied. In Figure 3, the left-right direction is the lateral direction, and the top direction is the forward direction. An implement 2 is mounted on the rear of a tractor 1, and agricultural work is performed with the implement 2. Note that the tractor is simplified in the illustration. Furthermore, Figure 3 describes the case where the implement 2 is a puddling implement 100.

[0041] The configuration on the tractor 1 side is the same as in Figure 2.

[0042] The side work sections 105', located on both sides of the central work section 105, are foldable relative to the central work section 105. Figure 3 shows the unfolded state with the side work sections 105' open, allowing for puddling work using both the central work section 105 and the side work sections 105'. When the side work sections 105' are folded, the overall length in the lateral direction is shortened, and in this case, puddling work can be performed using only the central work section 105. The central work section 105 is equipped with a mounting section 101, which includes a mast 101a and left and right hitches 101b, through which the puddling implement 100 is attached to the rear of the tractor 1. PTO power from the tractor 1 is input via an input shaft located at the front, and the tilling section, equipped with puddling tines, rotates inside the cover 102 and the first leveling body 103 behind it, finely grinding the soil. Then, the surface of the soil is leveled using the first leveling body 103 and the second leveling body 104 located behind it. In this way, the puddling work is carried out. The central work section 105 and the side work sections 105' correspond to the work section 25 in Figure 1.

[0043] The left and right electric hydraulic cylinders 106 extend and retract, acting on the rotation mechanism 107 to fold the side work sections 105' on both sides upward relative to the central work section 105, thereby shortening the overall width of the puddling machine 100. The left and right extension leveling body drive devices 110, through the rotation of their internal motors, can rotate the left and right extension leveling bodies 111 on the pivot axis 111a via the arms 112 and wires 113. This allows the user to choose whether to extend the extension leveling bodies 111, provided at both ends of the second leveling body 104, outward or fold them upward. The second leveling body drive device 116, through the rotation of its internal motor, can rotate the second leveling body 104 via the second leveling body link means 117, allowing the user to choose between a fixed soil-pulling state or a normal puddling state where the rotation is not fixed.

[0044] These components, including the electric hydraulic cylinder 106, the motor of the extended leveling body drive unit 110, and the motor of the second leveling body drive unit 116, can be used as actuators 21. Furthermore, the electric hydraulic cylinder 106, the motor of the extended leveling body drive unit 110, and the motor of the second leveling body drive unit 116 can be operated by the remote control device 30. The control device 20 is installed on the side of the mast 101a and can acquire information from the control unit 3 of the tractor 1.

[0045] <Overall flowchart> Figure 4 shows an example of the overall flowchart of the safety control system for agricultural machinery according to the present invention. The processing here is mainly performed by the calculation unit 20c of the control device 20.

[0046] First, in step S1, the operator selects the operator mode. This can be done by the operator using the remote control device 30. Based on the operator mode selection, the setting decisions 1 to 3 described later are made. For example, the display unit 30b of the remote control device 30 may display "seated work mode" and "non-seated work mode" for the operator to select, or it may display "manual work driving mode", "manned automatic work driving mode", "unmanned automatic work driving mode", and "maintenance mode" for the operator to select. This information is transmitted to the control device 20. Alternatively, the operator mode selection in step S1 may be performed automatically by receiving information on each mode from the control unit 3 of the tractor 1 via the implement communication unit 18 and the tractor communication unit 20a.

[0047] Next, in step S2, setting decision 1 is performed. Setting decision 1 is performed by the control device 20 based on the information selected in step S1. Based on the result of setting decision 1, if the seated work mode is selected, the process proceeds to step S3; if the non-seated work mode is selected, the process proceeds to step S4. Here, the seated work mode is a mode in which agricultural work is performed while seated in the driver's seat 5 of the tractor 1. The non-seated work mode is a mode in which agricultural work is performed without seating in the driver's seat 5 of the tractor 1.

[0048] In step S3, setting decision 2 is performed. Setting decision 2 is performed by the control device 20 based on the information selected in step S1. Based on the result of setting decision 2, if it is the manned automatic work driving mode, proceed to step S100; if it is the non-seated work mode, proceed to step S200.

[0049] In step S4, setting decision 3 is performed. Setting decision 3 is performed by the control device 20 based on the information selected in step S1. Based on the result of setting decision 3, if the unmanned automatic work driving mode is selected, the process proceeds to step S300; if the maintenance mode is selected, the process proceeds to step S5.

[0050] In step S100, the manned automated work mode processing shown in Figure 5 is performed. Once the manned automated work mode processing is completed, the process proceeds to step S6.

[0051] In step S200, the manual operation mode processing shown in Figure 6 is performed. Once the manual operation mode processing is complete, the process proceeds to step S6.

[0052] In step S300, the unmanned automatic work and travel mode processing shown in Figure 7 is performed. Once the unmanned automatic work and travel mode processing is completed, the process proceeds to step S6.

[0053] In step S5, the system switches to maintenance mode. The operator performs maintenance as needed. Once maintenance mode is complete, the system proceeds to step S6. Maintenance mode can be terminated by operating the remote control device 30, etc.

[0054] In step S6, setting determination 4 is performed. Setting determination 4 determines whether or not a mode change has been made by operating the remote control device 30. If a mode change has been made, the process returns to step S1. If no mode change has been made, the process proceeds to step S7, and the operator's work is completed.

[0055] <Flowchart for processing in manned automated work mode> Figure 5 shows an example of the processing for the manned automatic work driving mode in the flowchart of the safety control system for agricultural machinery of the present invention. Here, the processing of step S100 in Figure 4 is shown. Unless otherwise specified, this processing is performed by the calculation unit 20c of the control device 20.

[0056] First, in step S101, the system switches to manned automatic work and travel mode. This switching is performed by the control device 20. The switching is performed based on the result of setting judgment 2 in step S3 of Figure 2.

[0057] Next, in step S102, the operator starts the automated work run. Here, as explained in Figure 1, the passenger 201 operates the monitoring and control device 9 located on the tractor 1 to start the automated work run.

[0058] Next, in step S103, tractor information is received. As shown in Figure 1, the tractor information is received by the tractor communication unit 20a of the control device 20 via the implement communication unit 18 from the control unit 3 of the tractor 1. After this, the latest tractor information is received at predetermined intervals (for example, every 3 seconds or even every 1 second) or in real time. Alternatively, the latest tractor information may be received as needed at each decision-making stage.

[0059] Tractor information includes implement lifting / lowering information, PTO drive information, and seating information. Implement lifting / lowering information concerns the lifting / lowering state of implement 2 attached to tractor 1. If implement 2 is lowered below a predetermined level, it is in a state where work can be performed; if it is raised above a predetermined level, it is in a moving state where work cannot be performed. PTO drive information indicates whether or not the PTO shaft 17 shown in Figure 1 is being driven (rotated). Seating information, based on information from seating sensor 5a, indicates whether or not an occupant 201 is seated in the driver's seat 5 of tractor 1.

[0060] Next, in step S104, the implement lifting / lowering determination 1 is performed. The implement lifting / lowering determination 1 is performed by the control device 20 based on the implement lifting / lowering information included in the latest acquired tractor information. If it is determined that the implement has risen above a predetermined level, the process proceeds to step S126 and is determined to be in a non-working state. If it is determined that the implement has fallen below a predetermined level, the process proceeds to step S105.

[0061] In step S105, a PTO drive determination 1 is made. The PTO drive determination 1 is made by the control device 20 based on the PTO drive information included in the latest acquired tractor information. If it is determined that the PTO is stopped (not driven), the process proceeds to step S126 and the non-working state is determined. If it is determined that the PTO is driven, the process proceeds to step S106.

[0062] In step S106, a seating determination 1 is performed. The seating determination 1 is performed by the control device 20 based on the seating information included in the latest acquired tractor information. If it is determined that the occupant 201 is seated, the process proceeds to step S108 and the seating determination is made. If it is determined that the occupant 201 is not seated, the process proceeds to step S107 and the non-seated determination is made. In addition, to prevent misjudgments, the non-seated determination may be applied if the occupant has not been seated for a predetermined time or longer (for example, 3 seconds or more, or 5 seconds or more). A non-seated state is assumed to be a dangerous situation such as when the occupant 201 leaves the driver's seat 5 or when the occupant 201 falls from the driver's seat 5 due to illness. In other words, a non-seated state takes into account irregular conditions that are not expected during normal operation of the tractor 1.

[0063] After the seating determination in step S108, the process proceeds to step S127, where it is determined that the worker is in working condition, and then returns to step S103.

[0064] Following the non-seated determination in step S107, the process proceeds to step S109 to perform PTO drive determination 2. PTO drive determination 2 is performed by the control device 20 by acquiring PTO drive information again. If it is determined that the PTO is stopped, the process proceeds to step S110; if it is determined that the PTO is driven, the process proceeds to step S111.

[0065] In step S111, it is determined that the machine is in an unseated working state. An unseated working state indicates that the occupant 201 is not seated in the driver's seat 5 of the tractor 1, and the implement 2 is in an operating state.

[0066] Next, in step S112, the non-seated work state is notified. This notification can be provided by the notification unit 23 of the work machine 2, or by the display unit 30b and audio output unit 30c of the remote control device 30. The notification by the notification unit 23 is controlled by the control device 20 and is, for example, audible, voice, or light. Since work is usually performed during the daytime, audible or voice notification is particularly effective. The notification by the remote control device 30 receives notification information from the control device 20 and is, for example, displayed on the display unit 30b with text or pictures indicating the non-seated work state, or given by the audio output unit 30c with sound or voice. After step S112, the process returns to step S106.

[0067] On the other hand, in step S110, it is determined that the machine is in an unseated work stop state. The unseated work stop state indicates that the occupant 201 is not seated in the driver's seat 5 of the tractor 1, and the implement 2 is in a work stop state.

[0068] Next, in step S113, a determination is made regarding the operation of the work implement. The control device 20 determines whether or not the actuator 21 is operating. If the actuator 21 is operating, the process proceeds to step S114, where the control device 20 controls the operation of the actuator 21 to stop it, and then proceeds to step S115. If the actuator 21 is not operating, the process proceeds directly to step S115.

[0069] Here, if the actuator 21 is the first electric hydraulic cylinder 61, the second electric hydraulic cylinder, or the third electric hydraulic cylinder 63 as described in Figure 2, it is possible to stop the movement of the work unit 58 and ensure safety. On the other hand, if the actuator 21 is the motor of the watering device 65 as described in Figure 2, it is possible to stop the watering of the watering device 65 and prevent the wasteful discharge of water from the tank 65a.

[0070] Furthermore, if the actuator 21 is the electric hydraulic cylinder 106 described in Figure 3, it is possible to stop the movement of the side work section 105' to ensure safety. Also, even if the actuator 21 is the motor of the extended leveling body drive device 110 or the motor of the second leveling body drive device 116 described in Figure 3, it is possible to stop the movement of each device to contribute to ensuring safety.

[0071] In step S115, the acceptance of operation signals for the work equipment is stopped. That is, the control device 20 stops accepting operation signals from the operation unit 30a of the remote control device 30. As a result, even if the operation unit 30a of the remote control device 30 is operated, the actuator 21 will not move and will remain stopped. In other words, the actuator 21 cannot be operated by the remote control device 30.

[0072] Next, in step S116, the non-seated work interruption state is notified. This notification can be provided by the notification unit 23 of the work machine 2 and by the display unit 30b and audio output unit 30c of the remote control device 30. The notification by the notification unit 23 is controlled by the control device 20 and is, for example, audible, voice, or light. Since work is usually performed during the daytime, audible or voice notification is particularly effective. The notification by the remote control device 30 receives notification information from the control device 20 and is, for example, displayed by the display unit 30b with text or pictures indicating the non-seated work interruption state, or by audible or voice notification by the audio output unit 30c.

[0073] In this case, the notification of the non-seated work state in step S112 and the notification of the non-seated work interruption state in step S116 may be of different types in terms of sound type, volume, color type, light intensity, etc. The non-seated work state is a high-priority notification because the PTO is rotating and the work equipment 2 is operating. On the other hand, the non-seated work interruption state is a relatively low-priority notification because the PTO is not driving and the work equipment 2 is not working. For this reason, the notification of the non-seated work state may be given a higher level of notification than the notification of the non-seated work interruption state. For example, the non-seated work state could be indicated with a conspicuous red color, and the non-seated work interruption state with a yellow color, or the volume of the sound or voice could be increased for the non-seated work state than for the non-seated work interruption state.

[0074] Next, in step S117, work equipment information is transmitted. This transmission, controlled by the control device 20, sends information indicating that the acceptance of work equipment operation commands has been stopped to the remote control device 30 and the control unit 3. Upon receiving this information, the remote control device 30 may display a corresponding message on the display unit 30b using text, images, etc. Alternatively, the control unit 3, upon receiving this information, may control the monitoring and operation device 9 to display the message.

[0075] Next, in step S118, a seating determination 2 is performed. The seating determination 2 is performed by the control device 20 based on the seating information included in the latest acquired tractor information. If it is determined that the occupant 201 is seated, the process proceeds to step S119. If it is determined that the occupant 201 is not seated, the process returns to step S115.

[0076] In step S119, the operator performs an alarm stop operation. This operation can be performed by operating the operation unit 30a of the remote control device 30. The operation signal is transmitted to the control device 20.

[0077] Next, in step S120, the notification of the non-seated interruption state is stopped. If the notification stop operation is performed in step S119, control is performed to stop the notification of the non-seated work interruption state that was started in step S116. In the case of a notification from the notification unit 23, the control device 20 performs control to stop the notification. If it is a notification from the remote control device 30, the remote control device 30 may directly process the stop, or the control device 20 may send a notification stop signal, and the remote control device 30 may process the notification stop based on that signal.

[0078] Next, in step S121, the acceptance of work implement operation signals is resumed. Here, the acceptance of work implement operation signals, which was stopped in step S115, is resumed. In this case, when the control device 20 receives an operation signal from the operation unit 30a of the remote control device 30, it controls the actuator 21 to operate it. That is, the actuator 21 is made operable by the remote control device 30.

[0079] Next, in step S122, the implement lifting / lowering determination 2 is performed. The implement lifting / lowering determination 2 is performed by the control device 20 based on the implement lifting / lowering information included in the latest acquired tractor information. If it is determined that the implement has risen above a predetermined level, the process proceeds to step S126 and is determined to be in a non-working state. If it is determined that the implement has fallen below a predetermined level, the process proceeds to step S123.

[0080] In step S123, the worker performs a safety check. This worker is passenger 201.

[0081] Next, in step S124, the operator resumes the automated work run. Here, as in step S102, the occupant 201 operates the monitoring and control device 9 of the tractor 1 to resume the automated work run.

[0082] Next, in step S125, the working state is determined. The working state determination is performed by the control device 20 to determine whether the implement 2 is in a working state where it can perform agricultural work. The working state determination can be made based on the control information of the actuator 21 of the control device 20, information from the sensor 22, tractor information received from the implement communication unit 18, etc. If it is determined that it is in a working state, the process proceeds to step S127; if it is determined that it is not in a working state, the process proceeds to step S126. It is determined that it is not in a working state.

[0083] Here, in the case of the levee plastering machine 50, if it is in a forward or reverse working state and the implement 2 (levee plastering machine 50) is in a lowered state, it can be determined that it is in a working state. On the other hand, if it is in a stowed state or in the middle of an offset operation, or if the implement is in an upward state, it can be determined that it is not in a working state (not in a working state). Here, the forward working state, reverse working state, stowed state, and the middle of an offset operation state can be determined from the control information of the electric hydraulic cylinder of the control device 20 and the information from the sensor 22. In addition, whether the implement 2 is in a lowered or raised state can be determined from the tractor information. Furthermore, if it is determined that the PTO is stopped based on the PTO drive information included in the latest acquired tractor information, it may be determined that it is not in a working state.

[0084] Furthermore, in the case of the puddling implement 100, if the implement 2 (puddling implement 100) is in the lowered position, whether in the deployed or folded position, it can be determined that it is in a working state. On the other hand, if the implement is in the raised position while the side working section 105' is in the process of deploying or retracting, it can be determined that it is not in a working state. Here, the deployed and folded states can be determined from the control information of the electric hydraulic cylinder 106 of the control device 20 and from the sensor 22. In addition, whether the implement 2 is in the lowered or raised position can be determined from the tractor information. Furthermore, if it is determined that the PTO is stopped based on the PTO drive information included in the latest acquired tractor information, it may be determined that it is not in a working state.

[0085] In step S126, it is determined that the worker is not in a working state. Therefore, in the next step S128, the worker interrupts the work and proceeds to step S6 in Figure 4.

[0086] On the other hand, in step S127, it is determined that the operation is in progress, and the process returns to step S103.

[0087] <Flowchart for manual operation mode processing> Figure 6 shows an example of the manual operation mode processing in the flowchart of the safety control system for agricultural machinery of the present invention. Here, the processing of step S200 in Figure 4 is shown. Unless otherwise specified, this processing is performed by the calculation unit 20c of the control device 20.

[0088] First, in step S201, the system switches to manual operation mode. This switching is performed by the control device 20. The switching is performed based on the result of setting determination 2 in step S3 of Figure 2.

[0089] Next, in step S202, the operator starts manual operation. Here, as explained in Figure 1, the occupant 201 operates the tractor 1's driving control unit 6, steering unit 7, PTO switch 8, etc., to start manual operation.

[0090] Next, in step S203, tractor information is received. The reception of tractor information here is the same as in step S103 in Figure 5.

[0091] Next, in step S204, the implement lifting / lowering determination 1 is performed. The implement lifting / lowering determination 1 is performed by the control device 20 based on the implement lifting / lowering information included in the latest acquired tractor information. If it is determined that the implement has risen above a predetermined level, the process proceeds to step S226 and is determined to be in a non-working state. If it is determined that the implement has fallen below a predetermined level, the process proceeds to step S205.

[0092] In step S205, a PTO drive determination 1 is made. The PTO drive determination 1 is made by the control device 20 based on the PTO drive information included in the latest acquired tractor information. If it is determined that the PTO is stopped (not driven), the process proceeds to step S226 and the non-working state is determined. If it is determined that the PTO is driven, the process proceeds to step S206.

[0093] In step S206, a seating determination 1 is performed. The seating determination 1 is performed by the control device 20 based on the seating information contained in the latest acquired tractor information. If it is determined that the occupant 201 is seated, the process proceeds to step S208 and the seating determination is made. If it is determined that the occupant 201 is not seated, the process proceeds to step S207 and the non-seated determination is made. In addition, to prevent overly sensitive determinations, the non-seated determination may be applied only if the occupant has not been seated for a predetermined period of time or longer (for example, 3 seconds or more, or 5 seconds or more).

[0094] After the seating determination in step S208, the process proceeds to step S227, where it is determined that the work state is confirmed, and then the process returns to step S203.

[0095] Following the non-seat determination in step S207, the process proceeds to step S209 to perform PTO drive determination 2. PTO drive determination 2 is performed by the control device 20 based on the PTO drive information included in the latest acquired tractor information. If it is determined that the PTO is stopped, the process proceeds to step S210; if it is determined that the PTO is driven, the process proceeds to step S211.

[0096] In step S211, it is determined that the machine is in an unseated working state. An unseated working state indicates that the occupant 201 is not seated in the driver's seat 5 of the tractor 1, and the implement 2 is in an operating state.

[0097] Next, in step S212, the non-seated working state is reported. The report here is the same as in step S112 in Figure 5. After step S212, the process returns to step S206.

[0098] On the other hand, in step S210, it is determined that the machine is in an unseated work stop state. The unseated work stop state indicates that the occupant 201 is not seated in the driver's seat 5 of the tractor 1, and the implement 2 is in a work stop state.

[0099] Next, in step S213, a determination is made regarding the operation of the work implement. The control device 20 determines whether or not the actuator 21 is operating. If the actuator 21 is operating, the process proceeds to step S214, where the control device 20 controls the operation of the actuator 21 to stop it, and then proceeds to step S215. If the actuator 21 is not operating, the process proceeds directly to step S215. The actuator 21 here is the same as the actuator described in step S113 of Figure 5.

[0100] In step S215, the acceptance of operation signals for the work equipment is stopped. That is, the control device 20 stops accepting operation signals from the operation unit 30a of the remote control device 30. As a result, even if the operation unit 30a of the remote control device 30 is operated, the actuator 21 will not move and will remain stopped. In other words, the actuator 21 cannot be operated by the remote control device 30.

[0101] Next, in step S216, a notification is given indicating that the work has been interrupted due to the user not being seated. The notification here is the same as in step S116 in Figure 5.

[0102] Next, in step S217, the work equipment information is transmitted. The transmission of the work equipment information here is the same as in step S117 in Figure 5.

[0103] Next, in step S218, a seating determination 2 is performed. The seating determination 2 is performed by the control device 20 based on the seating information included in the latest acquired tractor information. If it is determined that the occupant 201 is seated, the process proceeds to step S219. If it is determined that the occupant 201 is not seated, the process returns to step S215.

[0104] In step S219, the operator performs an alarm stop operation. This operation can be performed by operating the operation unit 30a of the remote control device 30. The operation signal is transmitted to the control device 20.

[0105] Next, in step S220, the notification of the non-seated interruption state is stopped. If the notification stop operation is performed in step S219, control is performed to stop the notification of the non-seated work interruption state that was started in step S216. In the case of a notification from the notification unit 23, the control device 20 performs control to stop the notification. If it is a notification from the remote control device 30, the stop process may be performed directly within the remote control device 30, or the control device 20 may send a notification stop signal, and the remote control device 30 may perform the notification stop process based on that signal.

[0106] Next, in step S221, the acceptance of work equipment operation commands is resumed. This is the resumption of the acceptance of work equipment operation commands, which had been stopped in step S215. When the control device 20 receives an operation signal from the operation unit 30a of the remote control device 30, it controls the actuator 21 to activate it. In other words, the actuator 21 is made operable by the remote control device 30.

[0107] Next, in step S222, the implement lifting / lowering determination 2 is performed. The implement lifting / lowering determination 2 is performed by the control device 20 based on the implement lifting / lowering information included in the latest acquired tractor information. If it is determined that the implement has risen above a predetermined level, the process proceeds to step S226 and is determined to be in a non-working state. If it is determined that the implement has fallen below a predetermined level, the process proceeds to step S223.

[0108] In step S223, the worker performs a safety check. This worker is passenger 201.

[0109] Next, in step S224, the operator resumes manual operation. Here, as in step S202, the occupant 201 resumes manual operation by operating the tractor 1's travel control unit 6, steering unit 7, PTO switch 8, etc.

[0110] Next, in step S225, a work status determination is made. The work status determination here is the same as in step S125 in Figure 5. If it is determined that the work status is active, the process proceeds to step S227; if it is determined that the work status is not active, the process proceeds to step S226.

[0111] In step S226, it is determined that the worker is not in a working state. Therefore, in the next step S228, the worker interrupts the work and proceeds to step S6 in Figure 4.

[0112] On the other hand, in step S227, it is determined that the operation is in progress, and the process returns to step S203.

[0113] <Flowchart for processing in unmanned automated work mode> Figure 7 shows an example of the unmanned automatic work travel mode processing in the flowchart of the safety control system for agricultural machinery of the present invention. Here, the processing of step S300 in Figure 4 is shown. Unless otherwise specified, this processing is performed by the calculation unit 20c of the control device 20.

[0114] First, in step S301, the system switches to unmanned automatic work and travel mode. This switching is performed by the control device 20. The switching is performed based on the result of setting judgment 3 in step S4 of Figure 2.

[0115] Next, in step S302, the remote operator starts the unmanned automated work run. Here, as explained in Figure 1, the remote operator 202 operates the remote monitoring and control device 35, which is located separately from the tractor 1, to start the unmanned automated work run.

[0116] Next, in step S303, tractor information is received. The reception of tractor information here is the same as in step S103 in Figure 5.

[0117] Next, in step S304, the implement lifting / lowering determination 1 is performed. The implement lifting / lowering determination 1 is performed by the control device 20 based on the implement lifting / lowering information included in the latest acquired tractor information. If it is determined that the implement has risen above a predetermined level, the process proceeds to step S320 and is determined to be in a non-working state. If it is determined that the implement has fallen below a predetermined level, the process proceeds to step S305.

[0118] In step S305, a PTO drive determination 1 is made. The PTO drive determination 1 is made by the control device 20 based on the PTO drive information included in the latest acquired tractor information. If it is determined that the PTO is stopped (not driven), the process proceeds to step S320 and the non-working state is determined. If it is determined that the PTO is driven, the process proceeds to step S306.

[0119] In step S306, the operation status is determined to be working.

[0120] Next, in step S307, a PTO drive determination 2 is performed. The PTO drive determination 2 is performed by the control device 20 based on the PTO drive information included in the latest acquired tractor information. If it is determined that the PTO is stopped, the process proceeds to step S308. If it is determined that the PTO is driven, the process proceeds to step S321, where it is determined to be in working condition, and the process returns to step S303.

[0121] In step S308, it is determined that the machine is in an unmanned operation stop state. The unmanned operation stop state indicates that the work machine 2 is in an operation stop state in the unmanned automatic work travel mode.

[0122] Next, in step S309, a determination is made regarding the operation of the work implement. The control device 20 determines whether or not the actuator 21 is operating. If the actuator 21 is operating, the process proceeds to step S310, where the control device 20 controls the operation of the actuator 21 to stop it, and then proceeds to step S311. If the actuator 21 is not operating, the process proceeds directly to step S215. The actuator 21 here is the same as the actuator described in step S113 of Figure 5.

[0123] In step S311, the acceptance of operation signals for the work equipment is stopped. That is, the control device 20 stops accepting operation signals from the operation unit 30a of the remote control device 30. As a result, even if the operation unit 30a of the remote control device 30 is operated, the actuator 21 will not move and will remain stopped. In other words, the actuator 21 cannot be operated by the remote control device 30.

[0124] Next, in step S312, the unmanned work interruption status is notified. This notification can be provided by the notification unit 23 of the work machine 2 and by the display unit 30b and audio output unit 30c of the remote control device 30. The notification by the notification unit 23 is controlled by the control device 20 and is, for example, audible, voice, or light. Since work is usually performed during the daytime, audible or voice notification is particularly effective. The notification by the remote control device 30 receives notification information from the control device 20 and is, for example, displayed on the display unit 30b with text or pictures indicating the unmanned work interruption status, or audible or voice notification from the audio output unit 30c.

[0125] Next, in step S313, the work equipment information is transmitted. The transmission of the work equipment information here is the same as in step S117 in Figure 5.

[0126] Next, in step S314, the remote operator performs the notification stop operation. This operation can be performed by the remote operator 202 operating the operation unit 30a of the remote control device 30. The operation signal is transmitted to the control device 20.

[0127] Next, in step S315, the notification of the unattended work interruption state is stopped. If the notification stop operation is performed in step S314, control is performed to stop the notification of the unattended work interruption state that was started in step S312. In the case of a notification from the notification unit 23, the control device 20 performs control to stop the notification. If it is a notification from the remote control device 30, the remote control device 30 may directly process the stop, or the control device 20 may send a notification stop signal, and the remote control device 30 may process the notification stop based on that signal.

[0128] Next, in step S316, the implement lifting / lowering determination 2 is performed. The implement lifting / lowering determination 2 is performed by the control device 20 based on the implement lifting / lowering information included in the latest acquired tractor information. If it is determined that the implement has risen above a predetermined level, the process proceeds to step S320 and is determined to be in a non-working state. If it is determined that the implement has fallen below a predetermined level, the process proceeds to step S317.

[0129] In step S317, the remote operator 202 performs a safety check.

[0130] Next, in step S318, the remote operator restarts the unmanned automated work operation. Here, similar to step S302, the remote operator 202 restarts the unmanned automated work operation by operating the remote monitoring and control device 35, which is located separately from the tractor 1.

[0131] Next, in step S319, a work status determination is made. The work status determination here is the same as in step S125 in Figure 5. If it is determined that the work status is active, the process proceeds to step S321; if it is determined that the work status is not active, the process proceeds to step S320.

[0132] In step S320, it is determined that the system is not in a working state. Therefore, in the next step S322, the remote operator 202 interrupts the work and proceeds to step S6 in Figure 4.

[0133] On the other hand, in step S321, it is determined that the operation is in progress, and the process returns to step S303.

[0134] <Effects> The above-described embodiment enables the following safety control. First, in seated work mode, if non-seating is detected, the worker and those around them can be notified by an alert. In this case, appropriate alerts can be provided by changing the type of alert depending on whether the PTO is driven or not. Furthermore, it is possible to stop the alert when the worker returns to a seated state, preventing unnecessary alerts. In addition, if non-seating is detected and the PTO is stopped, the actuator 21 is stopped. This ensures safety. Furthermore, safety can be further enhanced by making the actuator 21 inoperable. If the actuator 21 is the motor of the watering device 65, this also prevents the discharge of unnecessary water.

[0135] Furthermore, by changing the processing content of the safety control system for each mode—manned automatic work mode, manual work mode, and unmanned automatic work mode—appropriate safety control processing becomes possible. In particular, the manned automatic work mode and manual work mode are seated work modes that assume seating, and in this case, seating information from the seating sensor 5a can be taken into account. This enables appropriate safety control based on seating information. On the other hand, in the unmanned automatic work mode's non-seated work mode, it is a mode that does not assume seating, and appropriate safety control is possible by not taking seating information into account.

[0136] As described above, embodiments of the present invention have been explained, but the present invention is not limited to the embodiments described above, and various other modifications are also included. For example, it is not limited to having all the configurations provided in the embodiments described above. Furthermore, it is possible to delete or replace some of the configurations of a certain embodiment with other configurations.

[0137] For example, while embodiments of a levee-forming machine and a puddling machine were shown as applicable implements, other implements that can be attached to a tractor, such as rotary implements, fertilizer spreaders, and seeders, can also be applied.

[0138] Furthermore, the sprinkler system 65 can be applied not only to sprinkler systems but also to liquid supply systems that supply liquid using actuators such as motors. In this case, stopping the motor also stops the liquid supply.

[0139] This specification also includes disclosures of the following aspects: (Aspect 1) In a safety control system for agricultural implements used in implements attached to tractors for agricultural work, The work machine comprises a control device and a notification unit provided on the work machine that performs notification under the control of the control device. The control device is capable of obtaining seating information from the tractor, indicating whether or not a occupant of the tractor is seated in the driver's seat. The safety control system for agricultural machinery is characterized in that, when the control device determines from the seating information that the machine is not seated, it makes a notification using the notification unit, and the notification by the notification unit includes an audible notification.

[0140] (Aspect 2) In the safety control system for agricultural machinery described in Embodiment 1, The work machine comprises an actuator and a remote control device capable of communicating remotely with the control device. The control device controls the actuator based on the operation signal from the remote control device. The safety control system for agricultural machinery is characterized in that, when the control device determines from the seating information that the person is not seated, it transmits information for notification by the remote control device, and the remote control device provides notification.

[0141] (Aspect 3) In the safety control system for agricultural machinery described in Embodiment 2, The control device is capable of obtaining PTO drive information from the tractor, indicating whether or not the tractor's PTO shaft is being driven. The safety control system for agricultural machinery is characterized in that the control device stops the actuator when it determines from the seating information that the machine is in an unseaten state and from the PTO drive information that the PTO is stopped.

[0142] (Aspect 4) In the safety control system for agricultural machinery described in Embodiment 3, A safety control system for agricultural machinery, characterized in that, if the control device determines from the seating information that the machine is not seated and from the PTO drive information that the PTO is stopped, it disables the operation of the actuator by the remote control device.

[0143] (Aspect 5) In the safety control system for agricultural machinery described in any one of embodiments 2 to 4, The safety control system for agricultural machinery is characterized in that the actuator is a cylinder that enables the movement of a work unit that performs agricultural work and is provided on the agricultural machinery.

[0144] (Aspect 6) In the safety control system for agricultural machinery described in any one of embodiments 2 to 4, The aforementioned actuator is a motor that supplies liquid to a liquid supply device provided in the work machine, and the safety control system for agricultural work machines is characterized in that when the motor is stopped, the supply of liquid to the liquid supply device is stopped.

[0145] (Aspect 7) In the safety control system for agricultural machinery described in any one of embodiments 1 to 6, The control device is capable of obtaining PTO drive information from the tractor, indicating whether or not the tractor's PTO shaft is being driven. The safety control system for agricultural machinery is characterized in that, when the control device determines from the seating information that the state is not occupied, the notification unit changes the type of notification when it determines from the PTO drive information that the PTO is being driven and when it determines that the PTO is stopped.

[0146] (Pattern 8) In a safety control system for agricultural implements used in implements attached to tractors for agricultural work, The work machine comprises a control device and a notification unit provided on the work machine that performs notification under the control of the control device. The control device is capable of acquiring seating information from the tractor, indicating whether or not a occupant of the tractor is seated in the driver's seat, and is capable of switching between a seated work mode that utilizes the seating information and a non-seated work mode that does not utilize the seating information. In the seated work mode, if the control device determines from the seating information that the user is not seated, it will provide notification, including an audible notification from the notification unit. In the non-seated work mode, the control device does not provide notification via the notification unit regardless of the seating information, characterized in that it is a safety control system for agricultural machinery. [Explanation of symbols]

[0147] 1 tractor 2. Work equipment 3. Control Unit 5. Driver's seat 5a Seat sensor 9 Monitoring and operating equipment 18. Work Machinery Communications Department 20 Control device 20a Tractor Communication Unit 20b Control Unit 20c Arithmetic unit 21 Actuators 22 sensors 23 Hochi Department 25 Work Section 30 Remote control device 30a Operation section 30b Display section 30c Audio output section 30d Communications Department 30e Processing Unit 35 Remote monitoring and control device 50 Ridge plastering machine 51 Mounting part 52 intermediate frames 58 Work Section 61. First electric hydraulic cylinder 63 Third electric hydraulic cylinder 65 Sprinkler system 100-unit plowing machine 105 Central Work Unit 105' Side work area 106 Electric Hydraulic Cylinder 107 Rotating Mechanism 110 Extended Ground Leveling Drive System 116 Second Ground Leveling Drive Device

Claims

1. In a safety control system for agricultural implements used in implements attached to tractors for agricultural work, The work machine comprises a control device and an actuator, The control device is capable of obtaining seating information from the tractor, indicating whether or not a occupant of the tractor is seated in the driver's seat, and is also capable of obtaining PTO drive information, indicating whether or not the PTO shaft of the tractor is being driven. The safety control system for agricultural machinery is characterized in that the control device stops the actuator when it determines from the seating information that the machine is in an unseaten state and from the PTO drive information that the PTO is stopped.

2. In the safety control system for agricultural machinery described in claim 1, The control device is equipped with a remote control device capable of communicating remotely, The control device controls the actuator based on the operation signal from the remote control device. A safety control system for agricultural machinery, characterized in that, when the control device determines from the seating information that the machine is not seated and from the PTO drive information that the PTO is stopped, it disables the operation of the actuator by the remote control device.

3. In the safety control system for agricultural machinery according to claim 1 or claim 2, The safety control system for agricultural machinery is characterized in that the actuator is a cylinder that enables the movement of a work unit that performs agricultural work and is provided on the agricultural machinery.

4. In the safety control system for agricultural machinery according to claim 1 or claim 2, The aforementioned actuator is a motor that supplies liquid to a liquid supply device provided in the work machine, and the safety control system for agricultural work machines is characterized in that when the motor is stopped, the supply of liquid to the liquid supply device is stopped.

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