Agricultural machinery

Abstract

The objective is to provide an agricultural machine that can improve the field condition after work, regardless of the operator. [Solution] An agricultural machine characterized by comprising: tilling means for tilling a field; working means for performing work on the field; detection means for detecting the state of the field after work by the tilling means; and control means for controlling the working means based on the detection result of the detection means; or an agricultural machine characterized by comprising: tilling means for tilling a field; working means for performing work on the field; receiving means for receiving detection results of the state of the field after work by the tilling means from an external detection means; and control means for operating the working means based on the detection result received from the external detection means.

Description

[[Technical Field]]

[0001] The present invention relates to an agricultural working machine having a grading body that grades a working surface. [[Background Art]]

[0002] Conventionally, there has been known an agricultural working machine that detects the state of a field after tilling work, displays the detection result, and allows an operator to refer to the displayed field state to perform lifting / lowering operation of a lifting / lowering device equipped with the agricultural working machine, adjustment of traveling speed, adjustment of rotation speed of a PTO shaft, and the like. (Patent Document 1) [[Prior Art Literature]] [[Patent Literature]]

[0003] [[Patent Document 1]] Japanese Unexamined Patent Application Publication No. 2023-126570 [[Summary of the Invention]] [[Problem to be Solved by the Invention]]

[0004] With the agricultural working machine described in Patent Document 1, it only detects the state of the field after work and displays the detection result, and an operator needs to judge the working conditions of the agricultural working machine based on the displayed detection result and adjust the operations of the traveling machine body and the agricultural working machine. In such an agricultural working machine, since the adjustment of the working state based on the operator's judgment varies depending on the experience and ability of the operator, there has been a problem that the state of the field after work may not be able to be improved to a favorable condition in some cases.

[0005] Accordingly, an object of the present invention is to solve the above-mentioned problem and provide an agricultural working machine that can make the state of a field after work favorable regardless of the operator. [[Means for Solving the Problem]]

[0006] In order to solve such a problem, the present invention has the following constitution. tilling means for tilling a field; A means of performing work on the aforementioned field, A detection means for detecting the condition of the field after work performed by the aforementioned tilling means, A control means for controlling the work means based on the detection result of the detection means, A farming machine characterized by being equipped with the following features.

[0007] Furthermore, the present invention comprises the following configurations. Tillage methods for cultivating fields, A means of performing work on the aforementioned field, A receiving means that receives detection results of the field condition after work performed by the tilling means from an external detection means, A control means that operates the work means based on the detection result received from an external detection means, A farming machine characterized by being equipped with the following features. [Effects of the Invention]

[0008] The present invention provides an agricultural machine that can improve the condition of the field after work, regardless of the operator. [Brief explanation of the drawing]

[0009] [Figure 1] This is a rear view of the halo A (open state, working position of the soil cover plate) according to an embodiment of the present invention. [Figure 2] This is a view from the front of the halo A (open state, working position of the dowel plate) according to an embodiment of the present invention. [Figure 3] This is a perspective view of the halo A (open state, with the dowel plate working position) of an embodiment of the present invention, viewed from the left rear. [Figure 4] This is a view of the halo A (open state, working position of the soil cover plate) of an embodiment of the present invention, seen from the left side. [Figure 5] This is a view from the front of halo A (closed state, working position of the dowel plate) according to an embodiment of the present invention. [Figure 6] This figure shows frame 2 of halo A according to an embodiment of the present invention. [Figure 7]FIG. 3 is a diagram showing the left apron 35L of the harrow A according to an embodiment of the present invention. [Figure 8] FIG. 4 is a diagram showing the left apron pressurizing device 4L of the harrow A according to an embodiment of the present invention. [Figure 9] FIG. 6 is a front view of the harrow A according to an embodiment of the present invention (open state, covering plate storage position). [Figure 10] FIG. 9 is a perspective view, viewed from the front left side, of the harrow A according to an embodiment of the present invention (open state, covering plate storage position). [Figure 11] FIG. 12 is a perspective front view of the harrow A according to an embodiment of the present invention (closed state, covering plate storage position). [Figure 12] FIG. 15 is a perspective view, viewed from the front left side, of the harrow A according to an embodiment of the present invention (closed state, covering plate storage position). [Figure 13] FIG. 18 is a left side view of the harrow A according to an embodiment of the present invention (closed state, covering plate working storage). [Figure 14] FIG. 21 is a perspective view, viewed from the front left side, of the harrow A according to an embodiment of the present invention (closed state, covering plate storage position, stand in use). [Figure 15] FIG. 24 is a diagram showing the remote controller 9 of the present embodiment. MODES FOR CARRYING OUT THE INVENTION

[0010] [Embodiment] Hereinafter, the harrow A, which is an embodiment of the present invention, will be described with reference to the drawings. It should be noted that the agricultural working machine is not limited to a harrow, and other agricultural working machines such as a rotary tiller may also be used. In the following description, the same reference signs in different drawings indicate parts having the same functions, and repeated descriptions in each drawing will be appropriately omitted. For convenience of description, terms indicating directions such as up, down, front, rear, right, and left are used herein: the direction in which gravity acts is defined as down, and the opposite direction is up. The direction in which the traveling vehicle body advances is defined as front, and the opposite direction is rear. Furthermore, when facing front, the right side is defined as right and the left side is defined as left.

[0011] [Overall Structure] Figure 1 is a rear view of the halo A according to an embodiment of the present invention, Figure 2 is a front view, Figure 3 is a perspective view from the left rear, and Figure 4 is a view from the left side. Each of these figures shows the open state, with the left work section 3L and the right work section 3R extended outwards from the central work section 3C. Furthermore, Figure 5 is a front view of the halo A according to an embodiment of the present invention, showing the closed state in which the left work section 3L and the right work section 3R are folded above the central work section 3C. Figures 1 to 5 show the working position of harrow A when it is ready to perform tasks such as puddling. In addition, in Figures 1 to 5, the soil covering plate 7C is attached to the working position. In this embodiment, harrow A is an agricultural machine used for tasks such as puddling, and comprises a mounting section 1, a frame 2, and a working section 3. Harrow A is connected to a vehicle body (not shown) such as a tractor by a mounting part 1. The mounting part 1 is connected to a frame 2, and the working part 3 is supported by the frame 2. As a result, harrow A is connected to the vehicle body and moves in accordance with the movement of the vehicle body, performing tasks such as puddling by the working part 3.

[0012] In this embodiment, the harrow A has a width (width in the left-right direction) that is wider than the width of the vehicle body, and both the left and right sides of the harrow A protrude from the vehicle body to the left and right. Therefore, in order to narrow the width when moving from the garage to the field, or when moving between fields, the working sections 3 on both the left and right sides are configured to be foldable (openable and foldable) toward the central part. The working section 3 consists of three working sections: a central working section 3C connected to the vehicle body via a mounting section 1, and a left working section 3L and a right working section 3R that are rotatably connected to the central working section 3C. The left working section 3L and the right working section 3R are almost symmetrical and have almost the same configuration. In this embodiment, the work section, which is foldable towards the central part, is connected to both the left and right sides. However, the work section, which is foldable (openable and closable) towards the central part, may be connected to only one side, or the work section may not be foldable.

[0013] [Attachment part] Mounting section 1 is connected to a three-point linkage mechanism (not shown) located at the rear of the vehicle body. The three-point linkage mechanism typically consists of a top link, a lift rod, and a lower link. Since the three-point linkage mechanism is a well-known mechanism, a detailed explanation is omitted. The mounting section 1 includes a top mast 11 connected to the top link and a lower link connecting section (not shown) connected to the lower link. Harrow A can be raised and lowered via the mounting section 1 using a three-point linkage mechanism. Furthermore, the mounting unit 1 is equipped with a control box 1a that houses the agricultural implement control means (control means) for controlling the harrow A. The agricultural implement control means includes an input / output unit for inputting and outputting various signals, a ROM, a RAM, etc., a storage unit for storing various programs and data, a CPU, a control unit that reads programs from the storage unit and performs various processing to control each part of the harrow A, and a communication device for communicating with external electronic devices (for example, a vehicle control device mounted on a vehicle body, a remote control means, a PC, a tablet, a smartphone, a control means mounted on a small flying object such as a drone, etc.). The storage unit stores control data (data related to the drive amount of each means) for driving and controlling each means in accordance with the detection results from various detection means provided on the harrow A.

[0014] [frame] Frame 2 has a gearbox 21 to which the top mast 11 is connected, and a support frame 22 connected to the gearbox 21. The gearbox 21 is located in the center between the left support frame 22L and the right support frame 22R of the support frame 22, which will be described later. The gearbox 21 has a power input shaft 211. Power from the PTO shaft (not shown) of the running vehicle body is transmitted to the power input shaft 211 via a universal joint (not shown). A bevel gear (not shown) is also housed inside the gearbox 21, and power from the power input shaft 211 is transmitted to the power transmission shaft via the bevel gear. The support frame 22 is the main frame of the harrow A and supports the work section 3. The support frame 22 is divided into a left support frame 22L that extends to the left and a right support frame 22R that extends to the right, with the gearbox 21 in between. Both the left support frame 22L and the right support frame 22R are cylindrical in shape, and can house a power transmission shaft that transmits power from the gearbox 21. In this embodiment, a power transmission shaft (not shown) is housed within the left support frame 22L, and power from the power input shaft 211 is transmitted via the bevel gear in the gearbox 21 and the power transmission shaft in the left support frame 22L to a chain (not shown) in the chain case 23 (see Figure 13) located at the left end of the left support frame 22L.

[0015] Figure 6 shows the frame 2 of the halo A according to an embodiment of the present invention, with the gearbox 21 and the right support frame 22R viewed from above, and the left support frame 22L shown in cross-sectional view. Note that the power transmission shaft inside the left support frame 22L is omitted in Figure 6. A chain case 23 is fixed to the outer end of the left support frame 22L, and a power transmission shaft that transmits power from the bevel gear in the gearbox 21 to the chain in the chain case 23 is housed inside the left support frame 22L. Lubricating oil is sealed inside the gearbox 21, left support frame 22L, and chain case 23. A fixing member 22L2 for securing the chain case 23 is fixed to the outer end of the left support frame 22L. The fixing member 22L2 is provided with an insertion hole 22La through which a power transmission shaft can be inserted. The opening 22Lb on the right side (gearbox 21 side) of the insertion hole 22La has an inner diameter that is the same as the outer diameter of the left support frame 22L, so that the left support frame 22L can be inserted. The inner diameter of the insertion hole 22La is formed to be smaller than the inner diameter of the opening 22Lb. A step 22Lc is created due to the difference in the inner diameter of the insertion hole 22La and the opening 22Lb. This step 22Lc prevents the lubricating oil in the gearbox 21 and left support frame 22L from flowing out to the chain case 23 side via the fixing member 22L2.

[0016] Conventionally, there was a risk that lubricating oil in the gearbox 21 and left support frame 22L would leak to the chain case 23 side if the halo A tilted or vibrated. To prevent this, a seal was provided between the inner surface of the left support frame 22L or the fixing member 22L2 and the power transmission shaft. However, in this embodiment, the shape of the fixing member 22L2 is modified so that the inner diameter of the insertion hole 22La is smaller than the inner diameter of the opening 22Lb, and a step 22Lc is formed, thereby preventing lubricating oil in the gearbox 21 and left support frame 22L from leaking to the chain case 23 side. As a result, it is no longer necessary to provide a seal between the inner surface of the left support frame 22L or the fixing member 22L2 and the power transmission shaft to prevent lubricating oil leakage, simplifying the structure and reducing costs.

[0017] Left support sections and right support sections are attached to the outer ends of the left support frame 22L and the right support frame 22R, respectively, connecting the left support frame 22L and the right support frame 22R to the central work section 3C. A chain case 23, capable of storing a chain inside, is located on the left side of the left support section. The output shaft of the chain inside the chain case 23 is the rotation shaft 312C of the central working rotor 31C of the central working section 3C, and the chain inside the chain case 23 transmits power from the power transmission shaft inside the left support frame 22L to the central working rotor 31C. A clutch CL (see Figure 13; however, Figure 13 only shows the clutch CL between the left end of the rotation axis 312C of the central working rotor 31C of the central working section 3C and the right end of the rotation axis 312L of the left working rotor 31L of the left working section 3L) is installed between the right end of the rotation axis 312C of the central working rotor 31C of the central working section 3C and the left end of the rotation axis 312R of the right working rotor 31R of the right working section 3R) in each case. This clutch CL allows for the switching of power transmission from the rotating shaft 312C of the central working section 3C to the rotating shaft 312L of the left working section 3L and the rotating shaft 312R of the right working section 3R when the left working section 3L and the right working section 3R are opened and closed. In other words, when the left work section 3L and the right work section 3R are in the closed (folded) state, the clutch CL is disengaged, and power is not transmitted from the rotating shaft 312C of the central work section 3C to the rotating shaft 312L of the left work section 3L and the rotating shaft 312R of the right work section 3R. Conversely, when the left work section 3L and the right work section 3R are in the open (unfolded) state, the clutch CL is engaged, and power is transmitted from the rotating shaft 312C of the central work section 3C to the rotating shaft 312L of the left work section 3L and the rotating shaft 312R of the right work section 3R.

[0018] In this embodiment, the chain case 23 is positioned on the left side of the left support section, and power is transmitted from the gearbox 21 to the work section 3 via the power transmission shaft in the left support frame 22L and the chain in the chain case 23. However, the power transmission shaft may be positioned in the right support frame 22R, and the chain case 23 may be positioned on the right side of the right support section, and power may be transmitted from the gearbox 21 to the work section 3 via the power transmission shaft in the right support frame 22R and the chain in the chain case 23. Furthermore, the power transmission from the power transmission shaft to the rotating shaft of the working rotor 31 (cultivating means) is not limited to a chain; other known transmission means such as belts and gears may also be used.

[0019] [Working Department] As described above, the work section 3 is divided into three parts: the central work section 3C, the left work section 3L, and the right work section 3R. The central work section 3C is connected to the three-point linkage mechanism of the vehicle body via the mounting section 1. The work section 3 is configured such that the left work section 3L and the right work section 3R can be opened and closed relative to the central work section 3C, either folded upward (closed) or extended to the side (open). The central working section 3C has a central working rotor 31C equipped with a rotating shaft 312C to which working claws 311 are attached. The front and top of the central working rotor 31C are covered by a central shield cover 32C, the left side by a left support, the right side by a right support, and the rear by a central apron 35C. The left work section 3L has a left work rotor 31L equipped with a rotating shaft 312L to which work claws 311 are attached. The front and top of the left work rotor 31L are covered by a left shield cover 32L, the left side by a left plate 33L, the right side by a right support, and the rear by a left apron 35L. The right work section 3R has a right work rotor 31R equipped with a rotating shaft 312R to which work claws 311 are attached. The front and top of the right work rotor 31R are covered by a right shield cover 32R, the left side by a left support section, the right side by a right plate 33R, and the rear by a right apron 35R.

[0020] The central shield cover 32C and the left shield cover 32L are connected by a left-rotating support part 34L, and the central shield cover 32C and the right shield cover 32R are connected by a right-rotating support part 34R. As a result, the left work section 3L and the right work section 3R are rotatably supported relative to the central work section 3C and are configured to be openable and closable as described above. A left work section opening / closing cylinder 24L is interposed between a left cylinder mounting bracket 22L3 (see Figure 6) provided on the left support frame 22L of the central work section 3C and the left work section 3L side member of the left rotation support section 34L, and a right work section opening / closing cylinder 24R is interposed between a right cylinder mounting bracket 22R3 (see Figure 6) provided on the right support frame 22R of the central work section 3C and the right work section 3R side member of the right rotation support section 34R. The left work section 3L and the right work section 3R are opened and closed by extending and retracting the left work section opening / closing cylinder 24L and the right work section opening / closing cylinder 24R, respectively. The left work section opening / closing cylinder 24L and the right work section opening / closing cylinder 24R are configured to be independently drivable, allowing the left work section 3L and the right work section 3R to be opened and closed independently, respectively. In this embodiment, the opening and closing of the left work section 3L and the right work section 3R relative to the central work section 3C can be performed by operating the remote control 9, which will be described later. In this embodiment, the left work section opening / closing cylinder 24L and the right work section opening / closing cylinder 24R are electrically operated hydraulic cylinders, but the invention is not limited to these, and other actuators such as hydraulic cylinders and electric cylinders may also be used.

[0021] The working rotor 31 is provided in the central working section 3C, the left working section 3L, and the right working section 3R, and has working claws 311 for tilling the rice paddies, and rotating shafts 312C, 312L, and 312R to which the working claws 311 are fixed. The rotating shaft 312C of the central working section 3C is supported by the left support and the right support of the central working section 3C. The rotating shaft 312L of the left work section 3L is supported by the left plate 33L and the right support part of the left work section 3L, and the rotating shaft 312R of the right work section 3R is supported by the right plate 33R and the left support part of the right work section 3R. The working rotor 31 receives power from the power input shaft 211, which is transmitted to the rotating shafts 312C, 312L, and 312R. This power causes the rotating shafts 312C, 312L, and 312R to rotate, and as the rotating shafts 312C, 312L, and 312R rotate, the working claws 311 rotate, thereby performing the puddling operation. In this embodiment, the working rotor 31 rotates counterclockwise when viewed from the left side.

[0022] The central apron 35C, left apron 35L, and right apron 35R (working means) are pivotally supported at the rear ends of the central shield cover 32C, left shield cover 32L, and right shield cover 32R, respectively, so as to be able to rotate vertically. The left apron 35L and the right apron 35R are configured to connect to the central apron 35C when the left work section 3L and the right work section 3R are open, respectively. The aprons (center apron 35C, left apron 35L, right apron 35R) are located behind the working rotor 31 and press against the mud surface MS, thereby performing actions such as crushing the soil in the field, leveling the field surface, and incorporating straw and other materials into the soil. The left apron 35L and the right apron 35R are each fitted with a left apron pressurizing device 4L and a right apron pressurizing device 4R, respectively, between them and the left shield cover 32L and the right shield cover 32R, respectively, which pressurize the aprons downward. As described above, the central apron 35C is configured to connect with the left apron 35L and the right apron 35R when the left work section 3L and the right work section 3R are open. Therefore, when the left apron pressurizing device 4L and the right apron pressurizing device 4R pressurize the left apron 35L and the right apron 35R, the central apron 35C is also pressurized. Furthermore, the apron pressurizing device is not limited to being interposed between the left shield cover 32L and the left apron 35L, or between the right shield cover 32R and the right apron 35R, but may also be interposed between the central shield cover 32C and the central apron 35C, or it may be interposed only between the central shield cover 32C and the central apron 35C.

[0023] The lower ends of the central apron 35C, left apron 35L, and right apron 35R are respectively supported by central levelers 36C, left leveler 36L, and right leveler 36R, which are rotatable in the vertical direction. The left leveler 36L and right leveler 36R are configured to connect to the central leveler 36C when the left work section 3L and right work section 3R are in the open position, respectively. The central leveler 36C, left leveler 36L, and right leveler 36R are located behind the working rotor 31 and press against the mud surface MS, thereby performing actions such as crushing the soil in the field, leveling the field surface, and incorporating straw and other materials into the field soil.

[0024] The left end of the left leveler 36L and the right end of the right leveler 36R are rotatably supported by the left extension leveler 37L and the right extension leveler 37R, respectively, and can be opened and closed outwards to the left and right, respectively. The left extension leveler 37L and the right extension leveler 37R are used to pull soil and mud from the side of the work area 3 inwards and to level the soil on the side of the work area 3. The left extension leveler 37L and the right extension leveler 37R are configured to open and close independently using a motor (not shown), a wire arm WA, and a wire W, respectively. Specifically, the left extension leveler 37L and the right extension leveler 37R are opened and closed by rotating the wire arm WA, to which the wire W is connected, using the motor (see Figures 1 and 2). The opening and closing of the left extension leveler 37L and the right extension leveler 37R is controlled by the motor drive of the agricultural machinery control means, and can also be operated by the remote control 9 described later. In Figures 1-3, the left extension leveler 37L and the right extension leveler 37R are in the open position, while in Figure 4, the left extension leveler 37L and the right extension leveler 37R are in the closed position. Furthermore, in Figure 5, which shows the left work section 3L and the right work section 3R in the closed position, the left extension leveler 37L and the right extension leveler 37R are also in the closed position, although they are not shown in the illustration.

[0025] In this embodiment, the apron of harrow A (center apron 35C, left apron 35L, right apron 35R) is equipped with a rake 38. The rake 38 is located behind the working rotor 31 and, in addition to the action of the apron, further contributes to the pulverization of the field soil and the plowing of straw and other materials into the field soil. The mounting structure of the rake 38 to the apron is the same for the center apron 35C, left apron 35L, and right apron 35R, so here we will describe the mounting structure of the left apron 35L. Figure 7 illustrates a rake 38 attached to the inner surface of the left apron 35L of the left work section 3L of the harrow A according to an embodiment of the present invention, and shows the left apron 35L as seen from the rear and a cross-sectional view along line NN. A pivot shaft 35L1 is attached to the upper end of the left apron 35L, which rotatably supports the left apron 35L to the rear end of the left shield cover 32L. A rake mounting frame 35L2 is also fixed to the left apron 35L below the pivot shaft 35L1.

[0026] The rake mounting frame 35L2 is a member bent into a roughly L-shape, extending in the left-right direction. The rake mounting frame 35L2 has a fixing portion that extends forward, with its rear end fixed to the apron body portion 35La of the left apron 35L, and its left and right ends fixed to the left and right side plate portions 35Lb of the left apron 35L, respectively, and a rake mounting portion that extends downward from the front end of the fixing portion, with its left and right ends fixed to the left and right side plate portions 35Lb of the left apron 35L, respectively, and to which the rake 38 is detachably attached by the rake mounting member 35L3, which will be described later. The rake 38 is detachably attached to the rake mounting portion of the rake mounting frame 35L2 by the rake mounting member 35L3. Since the rake mounting frame 35L2 is configured in a roughly L-shape, as shown in Figure 7, when the rake mounting frame 35L2 is fixed to the left apron 35L, the lower part of the rake mounting frame 35L2 (the side supporting the left leveler 36L) is open. This makes it difficult for soil to accumulate inside the rake mounting frame 35L2, and even if soil does accumulate inside the rake mounting frame 35L2, it is easy for the worker to remove the accumulated soil. In this embodiment, the rakes 38 are attached at equal intervals at nine locations in the left-right direction of the rake mounting frame 35L2 (rake mounting section), but the number of rakes 38 and the attachment intervals can be changed as appropriate in the design.

[0027] The rake 38 is a so-called spring rake, and is formed in a shape in which two symmetrical rod portions 381 are paired together and connected at their base ends, i.e., upper ends, by a roughly U-shaped connecting portion 382. The connecting portion 382 is bent to the rear, i.e., in a roughly L-shape when viewed from the side, approximately perpendicular to the plane formed by the two rod portions 381, and toward the rear. When the rake 38 is attached to the rake mounting frame 35L2, the connecting portion 382 is shaped to conform to the fixing portion of the rake mounting frame 35L2. A coil spring portion 383 is formed at the base end of the rod portion 381. The coil spring portion 383 is formed such that its axis is parallel to the rotation axis 312L. The rake 38 is attached to the rake mounting frame 35L2 (rake mounting section) by sandwiching the coil spring section 383 and the connecting section 382 between the rake mounting frame 35L2 and the rake mounting member 35L3, and fastening the rake mounting frame 35L2 and the rake mounting member 35L3 with bolts and nuts.

[0028] In this embodiment, the rake 38 is fixed to the apron (center apron 35C, left apron 35L, right apron 35R), but the state of fixing to the apron can also be changed in order to change the state of action of the rake 38 on the field surface. For example, the mounting angle of the rake 38 to the left apron 35L is made adjustable so that the pressure exerted by the rake 38 on the field surface can be adjusted. In this embodiment, as described above, the rake mounting frame 35L2 to which the rake 38 is attached is fixed to the apron body 35La, but the angle at which the rake mounting frame 35L2 is attached to the apron body 35La, in other words, the mounting angle as viewed from the side (rotation angle with respect to the left-right axis) is made adjustable. When the tip of the rod portion 381 is rotated so that it is positioned downwards, the rake 38 is strongly pressed against the field surface, and conversely, when the tip of the rod portion 381 is rotated so that it is positioned upwards, the rake 38 is weakly pressed against the field surface. The adjustment of the mounting angle of the rake mounting frame 35L2 relative to the apron does not have to be done manually by an operator; the rake mounting frame 35L2 can also be configured to be rotatable by an actuator such as a motor or cylinder. In this case, a detection means (angle detection sensor such as a potentiometer) is provided to detect the mounting angle of the rake mounting frame 35L2 relative to the apron body 35La, and a control program and control data for controlling the operation of the actuator that rotates the rake mounting frame 35L2 are stored in the agricultural implement control means. The mounting angle of the rake mounting frame 35L2 can then be adjusted by the agricultural implement control means according to a remote control or other remote operation means or predetermined conditions. The same applies to the rake 38 on the central apron 35C and the right apron 35R.

[0029] [Apron pressurizing device] Figure 8 shows the left apron pressurizing device 4L of Halo A according to an embodiment of the present invention, where (a) shows the apron pressurizing device in the ON state and (b) shows the apron pressurizing device in the OFF state. Other components besides the left apron pressurizing device 4L have been omitted as appropriate. The apron pressurizing device is a device that applies downward rotational force to the apron, and acts to press the apron downward, that is, against the mud surface MS (work surface) of the field, by the force of an elastic force-generating member (a coil spring in this embodiment). Furthermore, the apron pressurizing device of this embodiment is configured to allow the pressurizing action of the apron to be turned ON / OFF, and the operator can switch the ON / OFF function considering the field conditions, the desired degree of leveling, etc. The ON / OFF switching of the apron pressurizing device can be performed using the remote control 9.

[0030] The apron pressurizing device will be described in detail using the left apron pressurizing device 4L. As shown in Figures 8(a) and 8(b), the left apron pressurizing device 4L includes a left support arm 4L1, a left pressurizing rod 4L2, a left biasing means 4L3, a left pressurizing operating member 4L4, and a left driving means 4L5. The left support arm 4L1 and the left pressurizing operating member 4L4 are rotatably supported on a common left shaft 32L1, which is provided on a bracket (not shown) installed on the left shield cover 32L. The left support arm 4L1 has one end (front end) pivotally supported on the left shaft 32L1, and the other end (rear end) pivotally supports the upper end of the left pressure rod 4L2 by the left shaft 4L6. The upper end of the left pressure rod 4L2 is pivotally supported on the left shaft 4L6 at the rear end of the left support arm 4L1. The lower end of the left pressure rod 4L2 is supported on the left support member 35L5, which is attached to the left pressure bracket 35L4 provided on the left apron 35L. The left support member 35L5 is pivotally supported on the left pressure bracket 35L4 and supports the left pressure rod 4L2 so that it can slide in the longitudinal direction.

[0031] The left biasing means 4L3 is a coil spring. The left pressure rod 4L2 is inserted inside the left biasing means 4L3, and the left biasing means 4L3 is mounted so as to fit over the left pressure rod 4L2. The lower end of the left biasing means 4L3 abuts against the left support member 35L5, and is configured to apply a downward force to the left apron 35L via the left pressure bracket 35L4. The upper end of the left biasing means 4L3 abuts against a pin attached to the upper part of the left pressure rod 4L2. This pin is detachable from multiple pin holes provided in the axial direction of the left pressure rod 4L2, and the elastic force applied by the left biasing means 4L3 can be adjusted by selecting the pin hole into which the pin is inserted. Note that other biasing means such as a gas spring or an electric cylinder may be used instead of a coil spring as the left biasing means 4L3.

[0032] The left pressurizing operating member 4L4 is configured in a substantially fan shape and has a left gear portion 4L41 with a gear formed on its outer edge. The gear of the left gear portion 4L41 is configured to mesh with a drive gear (not shown) driven by the left drive means 4L5. The left pressurizing operating member 4L4 has a left contact arm 4L42 that extends to the rear. The left contact arm 4L42 has a left contact portion 4L43 at its rear lower end (see enlarged view in Figure 8(b)). The left pressurizing operating member 4L4 is rotated forward and backward by the left driving means 4L5, causing the left contact portion 4L43 of the left contact arm 4L42 to come into contact with or separate from the left shaft 4L6 of the left support arm 4L1. In order to prevent slippage when in contact with the left shaft 4L6, a recess is formed in the left contact portion 4L43 that conforms to the shape of the left shaft 4L6. The left drive means 4L5 is an actuator for switching the left apron pressurizing device 4L ON / OFF, and in this embodiment, it is configured as an electric motor. The ON / OFF switching of the left apron pressurizing device 4L is performed by the rotational drive of the left drive means 4L5.

[0033] As shown in Figure 8(a), when the left drive means 4L5 rotates the left pressurizing operating member 4L4 clockwise when viewed from the left, the left contact portion 4L43 comes into contact with the left shaft 4L6 of the left support arm 4L1, pushing the left pressurizing rod 4L2 downward. As a result, the left biasing means 4L3 retracts, and the elastic force of the left biasing means 4L3 strongly presses the left apron 35L downward. As described above, when the left work section 3L and the right work section 3R are in the open position, the left apron 35L and the right apron 35R are configured to be connected to the central apron 35C, so when the left apron 35L is strongly pressed downward, the central apron 35C is also pressed downward.

[0034] As shown in Figure 8(b), when the left drive means 4L5 rotates the left pressurizing member 4L4 counterclockwise when viewed from the left, the left contact portion 4L43 separates from the left axis 4L6 of the left support arm 4L1. As a result, the left biasing means 4L3 extends, and the pressure on the left apron 35L due to the elastic force of the left biasing means 4L3 is released. Furthermore, in addition to switching the apron pressurization ON / OFF, the strength of the apron pressurization pressure can also be adjusted by adjusting the amount of drive by the left drive means 4L5 when the apron pressurization is ON. In other words, by controlling the drive by the left drive means 4L5 and adjusting the amount of rotation of the left pressurization operating member 4L4 within the range in which the left contact portion 4L43 can maintain contact with the left shaft 4L6 of the left support arm 4L1, the strength of the apron pressurization pressure can be adjusted. Furthermore, the ON / OFF switching of the apron pressurization and the adjustment of the pressure level can be controlled remotely using a remote control or other remote control device, or by control using an agricultural machinery control device. Furthermore, the right apron pressurizing device 4R is configured in the same way as the left apron pressurizing device 4L.

[0035] [Apron detection means] The apron detection means 5 is a means for detecting the vertical rotation position of the apron. The detected result is transmitted via the agricultural implement control means to the vehicle control device mounted on the vehicle body, and the vehicle body controls the tilling depth by raising and lowering the harrow A based on the transmitted vertical rotation position of the apron. In this embodiment, the apron detection means 5 is positioned near the right side of the gearbox 21 so as to be interposed between the central shield cover 32C and the central apron 35C of the central work section 3C, and the detection result of the vertical rotation of the apron by the apron detection means 5 is transmitted to the vehicle body via the agricultural machine control means by wire or wireless. Furthermore, the results detected by the apron detection means 5 can be transmitted via the agricultural machinery control means to a remote control or other remote control device, or a smartphone, and the tillage depth can be displayed on the remote control device or smartphone.

[0036] As shown in the enlarged upper right view of Figure 1 and the enlarged upper right view of Figure 3, a detection means mounting bracket 32C1 is installed on the upper part of the central shield cover 32C, and a cover-side apron detection means mounting portion 32C2 is attached to the detection means mounting bracket 32C1. The cover-side apron detection means mounting portion 32C2 is formed in a roughly U-shape. An apron-side apron detection means mounting section 35C1 is installed on the upper part of the central apron 35C. The apron detection means 5 has two link arms interposed between the cover-side apron detection means mounting portion 32C2 and the apron-side apron detection means mounting portion 35C1. The two link arms are, in order from the cover-side apron detection means mounting portion 32C2, the first link arm 51a and the second link arm 51b. The first link arm 51a has one end (front end) fixed to a shaft 52 which is rotatably supported on the cover-side apron detection means mounting portion 32C2, and the other end (rear end) rotatably supports one end (upper end) of the second link arm 51b. The shaft 52 is rotatably supported on the cover-side apron detection means mounting portion 32C2. The shaft 52 is provided between two U-shaped projections of the cover-side apron detection means mounting portion 32C2, and the first link arm 51a is fixed to the shaft 52 between the two projections. The second link arm 51b is bent at both ends so that it can be inserted into the first link arm 51a and the support holes of the apron-side apron detection means mounting portion 35C1. The second link arm 51b is also bent in the middle, forming a V-shape. One end of the second link arm 51b is inserted into the support hole at the other end of the first link arm 51a, and the other end of the second link arm 51b is inserted into the support hole of the apron-side apron detection means mounting portion 35C1, and is rotatably supported.

[0037] An apron detection sensor 53 for detecting the amount of rotation of the shaft 52 is mounted on the outer surface of the cover-side apron detection means mounting portion 32C2. The shaft 52 is connected to the apron detection sensor 53 by passing through one of the protrusions of the cover-side apron detection means mounting portion 32C2, and the apron detection sensor 53 detects the rotational position of the shaft 52. The apron detection sensor 53 is a rotational position detection sensor such as a potentiometer or rotary encoder. As the tilling depth increases and the central apron 35C rotates upward, the second link arm 51b moves upward, causing the first link arm 51a to rotate upward. Since the first link arm 51a is fixed to the shaft 52, the shaft 52 also rotates as the first link arm 51a rotates upward, and its rotational position is detected by the apron detection sensor 53. As the tilling depth decreases and the central apron 35C rotates downward, the second link arm 51b moves downward, causing the first link arm 51a to rotate downward. Since the first link arm 51a is fixed to the shaft 52, the shaft 52 also rotates as the first link arm 51a rotates upward, and its rotational position is detected by the apron detection sensor 53. Furthermore, the tilling depth control of the vehicle body is not limited to the above configuration, which is performed based on the detection results of the apron detection means 5 (apron detection sensor 53) transmitted from the agricultural implement control means. It is also possible to perform this control using a known, so-called automatic device, which operates a lifting operation rod for driving (raising and lowering) the three-point linkage mechanism of the vehicle body by rotating the central apron 35C up and down.

[0038] [Level detection means] The leveler detection means 6 is a means for detecting the vertical rotation position of the leveler. The detected result is transmitted to the agricultural machine control means, which controls the operation of the left apron pressurizing device 4L and the right apron pressurizing device 4R based on the transmitted vertical rotation position of the leveler. In this embodiment, the leveler detection means 6 (detection means) is positioned near the right side of the gearbox 21 so as to be interposed between the central shield cover 32C and the central leveler 36C of the central work section 3C, and transmits the detection result of the vertical rotation of the central leveler 36C to the agricultural implement control means.

[0039] As shown in the enlarged upper right view of Figure 1 and the enlarged upper right view of Figure 3, a detection means mounting bracket 32C1 is installed on the upper part of the central shield cover 32C, and a cover-side leveler detection means mounting portion 32C3 is attached to the detection means mounting bracket 32C1. The cover-side leveler detection means mounting portion 32C3 is formed in a roughly U-shape. In this embodiment, the apron detection means 5 and the leveler detection means 6 are attached to a single detection means mounting bracket 32C1, but the apron detection means 5 and the leveler detection means 6 may be attached to the central shield cover 32C at different locations using separate mounting members.

[0040] As shown in the enlarged view of the upper left of Figure 1 and the enlarged view of the lower right of Figure 3, the leveler-side leveler detection means mounting part 36C1 is installed on the upper part of the central leveler 36C. The leveler detection means 6 has four link arms interposed between the cover-side leveler detection means mounting portion 32C3 and the leveler-side leveler detection means mounting portion 36C1. The four link arms are, in order from the cover-side leveler detection means mounting portion 32C3, the first link arm 61a, the second link arm 61b, the third link arm 61c, and the fourth link arm 61d. The first link arm 61a is fixed at one end (front end) to a first shaft 62a supported by the cover-side leveler detection means mounting portion 32C3, and at the other end (rear end) is a second shaft 62b that pivotally supports the second link arm 61b. The first shaft 62a is rotatably supported by the cover-side leveler detection means mounting portion 32C3. The first shaft 62a is provided between two U-shaped projections of the cover-side leveler detection means mounting portion 32C3, and the first link arm 61a is fixed to the first shaft 62a between the two projections.

[0041] The second link arm 61b has one end (front end) rotatably supported on the second shaft 62b, and the third shaft 62c, which pivotally supports the third link arm 61c and the fourth link arm 61d, is fixed to the other end (rear end). Furthermore, the upper part of the other end (rear end) of the second link arm 61b has a second contact portion 61b1 to which the contact pin 62d of the third link arm 61c, which will be described later, can contact. In addition, the second link arm 61b has a support hole in front of the second contact portion 61b1 into which one end of the first elastic member 63a, which will be described later, is inserted. The third link arm 61c is rotatably supported in the center by the third axis 62c, and one end (upper end) is provided with a contact pin 62d that can contact the other end (rear end) of the second link arm 61b and one end (upper end) of the fourth link arm 61d, and the other end (lower end) has a support hole into which one end (upper end) of the second elastic member 63b, which will be described later, is inserted. The fourth link arm 61d has one end (upper end) rotatably supported on the third shaft 62c, and the other end (lower end) is fixed to the fourth shaft 62e, which is rotatably supported on the leveler side leveler detection means mounting portion 36C1 (see the enlarged view of the lower right in Figure 3). Furthermore, below the upper end of the second link arm 61b, which is pivotally supported on the third shaft 62c, there is a support hole into which the other end (lower end) of the second elastic member 63b, which will be described later, is inserted. In addition, the rear part of one end (upper end) of the second link arm 61b has a fourth contact portion 61d1 into which the contact pin 62d provided on the third link arm 61c can make contact.

[0042] A leveler detection sensor 64 for detecting the amount of rotation of the first shaft 62a is mounted on the outer surface of the cover-side leveler detection means mounting portion 32C3. The first shaft 62a is connected to the leveler detection sensor 64 by passing through one of the protrusions of the cover-side leveler detection means mounting portion 32C3, and the leveler detection sensor 64 detects the rotational position of the first shaft 62a. The leveler detection sensor 64 is a rotational position detection sensor such as a potentiometer or rotary encoder. The first elastic member 63a is interposed between the second link arm 61b and the third link arm 61c. In this embodiment, the first elastic member 63a is a torsion coil spring. The first elastic member 63a is mounted so as to fit over the third shaft 62c, through which the third shaft 62c is inserted. One end (upper end) of the first elastic member 63a is bent outward at its tip and inserted into a support hole provided in the second link arm 61b. Furthermore, the other end (lower end) of the first elastic member 63a is bent outward at its tip and inserted into a support hole provided in the third link arm 61c. The first elastic member 63a biases the other end of the second link arm 61b (second contact portion 61b1) and the contact pin 62d of the third link arm 61c in the direction in which they come into contact, that is, in the direction in which the angle between the second link arm 61b and the third link arm 61c increases (the second link arm 61b and the third link arm 61c open up).

[0043] The second elastic member 63b is interposed between the third link arm 61c and the fourth link arm 61d. In this embodiment, the second elastic member 63b is a tension coil spring. One end (upper end) of the second elastic member 63b is inserted into a support hole provided in the third link arm 61c. Furthermore, the other end (lower end) of the second elastic member 63b is inserted into a support hole provided in the fourth link arm 61d. The second elastic member 63b biases the third link arm 61c contact pin 62d and one end of the fourth link arm 61d (fourth contact portion 61d1) in the direction of contact, that is, in the direction that reduces the angle between the third link arm 61c and the fourth link arm 61d (the third link arm 61c and the fourth link arm 61d close together). The second link arm 61b and the fourth link arm 61d move upward / downward in response to the upward movement / downward rotation of the central leveler 36C, without changing the angle between the second link arm 61b and the fourth link arm 61d, due to the biasing force of the third link arm 61c, the first elastic member 63a, and the second elastic member 63b.

[0044] When the central leveler 36C rotates upward, the fourth link arm 61d moves upward. When the fourth link arm 61d moves upward, the second link arm 61b moves upward via the third shaft 62c without changing the angle it makes with the fourth link arm 61d, as described above. When the second link arm 61b moves upward, the first link arm 61a rotates upward. Since the first shaft 62a is fixed to the first link arm 61a, the first shaft 62a rotates in accordance with the upward rotation of the first link arm 61a. The rotational position of the first shaft 62a is detected by the leveler detection sensor 64. When the central leveler 36C rotates downward, the fourth link arm 61d moves downward. When the fourth link arm 61d moves downward, the second link arm 61b moves downward via the third shaft 62c without changing the angle it makes with the fourth link arm 61d, as described above. When the second link arm 61b moves downward, the first link arm 61a rotates downward. Since the first shaft 62a is fixed to the first link arm 61a, the first shaft 62a rotates in accordance with the downward rotation of the first link arm 61a. The rotational position of the first shaft 62a is detected by the leveler detection sensor 64.

[0045] When the central leveler 36C rotates significantly upward or downward, causing the fourth link arm 61d to rise or fall significantly, the first link arm 61a rotates significantly forward or downward. When the first link arm 61a rotates forward or downward beyond a predetermined distance, it comes into contact with the cover-side leveler detection means mounting portion 32C3 and is unable to rotate any further. From this state, if the central leveler 36C rotates significantly upward or downward, the angle between the second link arm 61b and the fourth link arm 61d changes against the biasing force of the first elastic member 63a and the second elastic member 63b. Due to the change in angle between the second link arm 61b and the fourth link arm 61d, the central leveler 36C can rotate upward or downward even if the first link arm 61a cannot rotate, thus preventing damage to the first link arm 61a, the second link arm 61b, the third link arm 61c, the fourth link arm 61d, the central leveler 36C, etc.

[0046] As described above, the leveler detection means 6 is configured to prevent damage even if the central leveler 36C rotates significantly. In other words, when the central leveler 36C rotates up and down within a predetermined range, the contact pin 62d and the second contact portion 61b1 of the second link arm 61b come into contact, and the contact pin 62d and the fourth contact portion 61d1 of the fourth link arm 61d come into contact, that is, the second link arm 61b and the fourth link arm 61d maintain a predetermined angle, and the up and down rotation of the central leveler 36C is transmitted to the up and down rotation of the first link arm 61a. However, when the central leveler 36C rotates up and down a large amount, the angle between the second link arm 61b and the fourth link arm 61d becomes larger or smaller than the predetermined angle, so that even if the central leveler 36C rotates a large amount, damage to the leveler detection means 6 can be prevented.

[0047] [Covering board] As shown in Figure 2, the harrow A of this embodiment is equipped with four covering plates 7C, 7L, and 7R. The two dowel plates 7C are installed at both ends of the central work area 3C, the dowel plate 7L is installed at the left end of the left work area 3L, and the dowel plate 7R is installed at the right end of the right work area 3R. The dozer plate 7C is installed behind the tires of the vehicle and is used to fill in the grooves left by the tire tracks of the vehicle. Covering plates 7L and 7R are installed to pull the mud near the outer edges of the left working section 3L and the right working section 3R inward, so that they can be tilled by the left working rotor 31L and the right working rotor 31R. The soil covering plate 7C can be installed in two locations: a working position that acts on the field surface to erase tire marks, and a storage position that does not act on the field surface. In the working position, the soil cover plate 7C is attached to a soil cover plate working bracket 32C4, which is fixed to the front frame 32C6 of the central shield cover, located at the front end of the central shield cover 32C. In the storage position, it is attached to a soil cover plate storage bracket 32C5, which is fixed to the central shield cover 32C. The soil cover plate storage bracket 32C5 is located approximately above the soil cover plate working bracket 32C4, so that the soil cover plate 7C, when installed in the storage position, is separated from the field surface. Similar to the soil cover plate 7C, soil cover plates 7L and 7R are attached to the soil cover work bracket 32L4, which is fixed to the front frame 32L5 of the left shield cover installed at the front end of the left shield cover 32L, and to the soil cover work bracket 32R4, which is fixed to the front frame 32R5 of the right shield cover installed at the front end of the right shield cover 32R.

[0048] Figure 9 is a view of the halo A of an embodiment of the present invention from the front, and Figure 10 is a perspective view from the left front, both showing the open state where the left work section 3L and the right work section 3R are extended outwards from the central work section 3C. Furthermore, Figure 11 is a view of the halo A of an embodiment of the present invention from the front, Figure 12 is a perspective view from the left front, and Figure 13 is a view from the left side, showing the closed state in which the left work section 3L and the right work section 3R are folded above the central work section 3C. Figure 14 is a perspective view from the left front of the halo A of an embodiment of the present invention, showing it in a closed state supported by the stand S. Figures 9 to 13 show the working position of harrow A when it is ready for tasks such as puddling. Also, in Figures 9 to 14, the soil covering plate 7C is installed in the storage position. As shown in Figure 14, the halo A is stored supported by the stand S. When supporting the halo A on the stand S, the left work section 3L and the right work section 3R are closed, and the stand S is attached to the stand mounting brackets 32C7 installed on both the left and right ends of the central work section 3C. In this embodiment, the soil covering plate work bracket 32C4 is positioned inside the left and right stand mounting brackets 32C7. The attachment of the dozer plate 7C to the dozer plate work bracket 32C4 and the dozer plate storage bracket 32C5, the attachment of the dozer plate 7L to 32L4, and the attachment of the dozer plate 7R to the dozer plate work bracket 32R4 all have the same configuration, so the attachment of the dozer plate 7L to the dozer plate work bracket 32L4 will be explained (see the enlarged view of the lower center of Figure 10). Refer to the diagrams of the attachment locations of the dozer plates 7C and 7R (enlarged views of Figures 9, 10, 12, and 14) as appropriate.

[0049] The dozer plate work bracket 32L4 is formed in a roughly U-shape in cross-section, and each of the two opposing U-shaped surfaces has a set of pin holes 32L41 (see also 32C41 in the upper right enlarged view of Figure 10, the lower left enlarged view of Figure 12, and the lower left enlarged view of Figure 14) through which pins 8 for fixing the dozer plate 7L are passed. The dozer plate work brackets 32C4, 32R4, and dozer plate storage bracket 32C5 have a similar configuration. The soil cover plate 7L is provided with mounting members 7L1. The mounting member 7L1 has a roughly U-shaped cross-section, and two sets of pin holes 7L11 are formed on the two opposing U-shaped surfaces, through which pins 8, which are fixed to the soil cover plate work bracket 32L4, pass (see the enlarged view of the lower right of Figure 10). Mounting members 7C1 and 7R1 have a similar configuration. The mounting member 7L1 is placed on the inside of the soil cover plate work bracket 32L4, and the soil cover plate 7L is fixed to the soil cover plate work bracket 32L4 by inserting pins 8 into the pin holes 7L11 of the mounting member 7L1 and the pin holes 32L41 of the soil cover plate work bracket 32L4. Pin 8 has an annular contact plate 81 at one end (see the enlarged view in the lower left of Figure 10) and a pin insertion hole 82 at the other end through which a fixing pin 8a can be inserted (see the enlarged view in the lower center of Figure 10). Pin 8 is inserted from one end in the following order: pin hole 32L41, pin hole 7L11, pin hole 7L11, and pin hole 32L41. That is, pin 8 is inserted through the pin holes 32L41 on both sides of the soil covering plate work bracket 32L4, which has a roughly U-shaped cross-section, and through the pin holes 7L11 on both sides of the mounting member 7L1, which also has a roughly U-shaped cross-section. Then, a fixing pin 8a is inserted through the pin insertion hole 82 on one end. The inserted pin 8 is held in place by the contact plate 81 and the fixing pin 8a.

[0050] When the soil-covering plates 7C, 7L, and 7R are attached to the soil-covering plate work brackets 32C4, 32L4, and 32R4, respectively, the mounting members 7C1, 7L1, and 7R1 are attached to the soil-covering plates 7C, 7L, and 7R, respectively, so that they are positioned and oriented in a way that allows them to perform the soil-covering function. Furthermore, the soil covering plates 7C, 7L, and 7R can be installed at two different heights by selecting one of the two pin holes 7C11, 7L11, and 7R11 provided on the mounting members 7C1, 7L1, and 7R1, respectively. When attaching the soil covering plates 7C, 7L, and 7R to the soil covering plate storage bracket 32C5, install them upside down so that the soil covering plate 7C is away from the field surface and above the mounting member 7C1.

[0051] In this embodiment, the soil covering plates 7C, 7L, and 7R can be attached to the soil covering plate work brackets 32C4, 32L4, and 32R4 at two different positions in the height direction. However, they can also be configured to be attachable at three or more positions, or at any position within a predetermined range. In other words, the mounting positions of the soil covering plates 7C, 7L, and 7R in the height direction can be adjusted. Furthermore, the mounting position can be adjusted not only in the height direction but also in the left-right direction. In this embodiment, the earth cover plate work brackets 32C4, 32L4, and 32R4 can be configured to be mounted on the central shield cover front frame 32C6, the left shield cover front frame 32L5, and the right shield cover front frame 32R5, respectively, so that their mounting positions can be adjusted in the left-right direction. Furthermore, the mounting angles of the soil covering plates 7C, 7L, and 7R to the mounting members 7C1, 7L1, and 7R1 can be adjusted. Furthermore, the height and lateral mounting positions of the soil covering plates 7C, 7L, and 7R, as well as the mounting angles of the soil covering plates 7C, 7L, and 7R to the mounting members 7C1, 7L1, and 7R1, can be adjusted using actuators such as motors or cylinders, rather than being done manually by an operator. In this case, the height and lateral mounting positions of the soil covering plates 7C, 7L, and 7R, and the mounting angles of the soil covering plates 7C, 7L, and 7R to the mounting members 7C1, 7L1, and 7R1 can be adjusted using remote control devices such as remote controls, or by control of agricultural machinery control devices.

[0052] [Remote control means] Figure 15 is a six-view drawing showing the remote control 9 used in the Hello A of an embodiment of the present invention. The remote control 9 is connected to the agricultural machinery control means by wireless or wired connection, and operation signals from the remote control 9 are input via the input / output section of the agricultural machinery control means. As described above, the opening and closing of the left work section 3L and the right work section 3R, the opening and closing of the left extension leveler 37L and the right extension leveler 37R, and the ON / OFF of the apron pressurizing device can be operated by the remote control 9, which is the remote control means. The remote control 9 has a roughly rectangular parallelepiped shape, with one of its widest surfaces serving as the operation and display surface, on which multiple push buttons as operation means and indicator lamps as display means are arranged. The remote control 9 has two parallel grooves 98 extending horizontally (short side) on the upper side of the back of the operation / display surface, above the center in the vertical direction (long side). The grooves 98 are shaped to make it easy for the operator to operate the remote control 9 by hooking their fingers into the grooves 98. For example, when pressing a button located above the remote control 9, such as the power button 91 described later, the operator can hook their index finger into the upper groove 98 to hold the remote control 9 while pressing the button with their thumb. Similarly, when pressing a button located below the remote control 9, such as the pressure button 96 or soil-gathering button 97 described later, the operator can hook their index finger into the lower groove 98 to hold the remote control 9 while pressing the button with their thumb. In this way, the operator can stably hold the remote control 9 by hooking their fingers into the grooves 98 when operating the remote control, enabling reliable operation.

[0053] (1) Power supply A power button 91 is provided to turn the power on and off. Additionally, a power indicator lamp 91a is provided to show whether the power is on or off, and a charging indicator lamp 91b is provided to show the charging status of the remote control 9's battery. Press and hold the power button 91 to turn the power on and off. The power indicator light illuminates when the power is on and turns off when the power is off. Additionally, the charging indicator light 91b blinks when the battery level falls below a certain value, stays lit while charging, and turns off when charging is complete.

[0054] (2) Opening and closing of work equipment Three buttons are provided: a left / right selection button 92 for selecting either the left work section 3L or the right work section 3R; an open button 93 for unfolding the selected left work section 3L or right work section 3R to the open position; and a close button 94 for folding the selected left work section 3L or right work section 3R to the closed position. In addition, there are four indicator lights of two types: a left / right selection lamp 92a that displays the selected item using the left / right selection button 92, and an open lamp 93a that displays the item being opened using the open button 93. When the left / right selection button 92 is pressed, the left work section 3L is selected first. Then, when the left / right selection button 92 is pressed again, the right work section 3R is selected. Subsequently, each time the left / right selection button 92 is pressed, the left work section 3L and the right work section 3R are selected alternately. In addition, the left / right selection lamp 92a on the selected side lights up. After selecting with the left / right selection button 92, pressing the open button 93 will unfold the selected left work section 3L or right work section 3R. During the unfolding operation, the open lamp 93a on the unfolded side will light up. When the left work section 3L and / or the right work section 3R are extended, pressing the close button 94 causes the extended (open) left work section 3L and / or the right work section 3R to fold into the closed position. When the left / right selection button 92, the open button 93, or the close button 94 of the remote control 9 is operated, an operation signal is transmitted to the agricultural machine control means provided on the halo A, and the agricultural machine control means controls the driving of the left work section opening / closing cylinder 24L and the right work section opening / closing cylinder 24R based on the received operation signal.

[0055] (3) Extension leveler opening and closing Two buttons are provided to open and close the extension levelers: the left extension leveler open / close button 95L, which opens and closes the left extension leveler 37L, and the right extension leveler open / close button 95R, which opens and closes the right extension leveler 37R. Additionally, there are two indicator lamps: a left extension leveler open / close indicator lamp 95La that shows when the left extension leveler 37L is being opened or closed by the left extension leveler open / close button 95L, and a right extension leveler open / close indicator lamp 95Ra that shows when the right extension leveler 37R is being opened or closed by the right extension leveler open / close button 95R. When the left extension leveler open / close button 95L is pressed, the left extension leveler 37L, which is in the closed position, unfolds and becomes open. Conversely, the left extension leveler 37L, which is in the open position, folds back into the closed position. In addition, the left extension leveler open / close indicator lamp 95La illuminates while the left extension leveler 37L is in the opening / closing operation. When the right extension leveler open / close button 95R is pressed, the closed right extension leveler 37R unfolds to the open position, and conversely, the open right extension leveler 37R folds back into the closed position. In addition, the right extension leveler open / close indicator lamp 95Ra lights up while the right extension leveler 37R is in the opening / closing operation. When the left extension leveler open / close button 95L or the right extension leveler open / close button 95R of the remote control 9 is operated, an operation signal is transmitted to the agricultural implement control means provided on the harrow A, and the agricultural implement control means controls the drive of the motor that operates the wire W based on the received operation signal.

[0056] (4) Apron pressurization A pressure button 96 is provided to turn the pressure on and off for the left apron 35L and the right apron 35R. Additionally, a pressure indicator lamp 96a is provided to show when the left apron 35L and the right apron 35R are pressurized. When the pressurizing button 96 is pressed, the left apron 35L and right apron 35R, which are currently in a pressure-off state, enter a pressure-on state, and conversely, the left apron 35L and right apron 35R, which are currently in a pressure-on state, enter a pressure-off state. Also, when the left apron 35L and right apron 35R enter a pressure-on state, the pressurizing indicator lamp 96a lights up, and when the left apron 35L and right apron 35R enter a pressure-off state, the pressurizing indicator lamp 96a turns off. When the pressure button 96 on the remote control 9 is operated, an operation signal is transmitted to the agricultural machine control means provided on the harrow A, and the agricultural machine control means controls the drive of the left apron pressurizing device 4L and the right apron pressurizing device 4R based on the received operation signal.

[0057] (5) Switching to soil mounding A soil-piling button 97 is provided to switch the central leveler 36C, left leveler 36L, and right leveler 36R to the soil-piling state. Additionally, there are soil-piling indicator lamps 97a that show when the central leveler 36C, left leveler 36L, and right leveler 36R are in a soil-piling state. When the soil-raising button 97 is pressed, the central leveler 36C, left leveler 36L, and right leveler 36R, which are in the soil-raising release state, enter the soil-raising state, and conversely, the central leveler 36C, left leveler 36L, and right leveler 36R, which are in the soil-raising state, enter the soil-raising release state. Also, when the central leveler 36C, left leveler 36L, and right leveler 36R enter the soil-raising state, the soil-raising indicator lamp 97a lights up, and when the central leveler 36C, left leveler 36L, and right leveler 36R enter the soil-raising release state, the soil-raising indicator lamp 97a turns off. When the soil-piling button 97 on the remote control 9 is operated, an operation signal is transmitted to the agricultural implement control means, and the agricultural implement control means controls the drive of the motors (not shown) so that the central leveler 36C, left leveler 36L, and right leveler 36R are in a soil-piling state based on the received operation signal.

[0058] [Tillage depth control] The detection result from the apron detection sensor 53 is transmitted to the agricultural implement control means (control means). The agricultural implement control means transmits the received detection result from the apron detection sensor 53 to the vehicle control device, which is the control means for the vehicle body. Based on the received detection result from the apron detection sensor 53, the vehicle control device drives the lifting means of the three-point linkage mechanism of the vehicle body to raise and lower the harrow A and perform tilling depth control to achieve the appropriate tilling depth. Furthermore, the detection results from the apron detection sensor 53 can also be transmitted directly from the apron detection sensor 53 to the vehicle control device without going through the agricultural machinery control means. Furthermore, the detection results from the apron detection sensor 53 can be transmitted to the agricultural machinery control means by either wired communication or wireless communication. Furthermore, the vehicle control unit, upon receiving the detection result from the apron detection sensor 53, can also display the tilling depth on a display device mounted on the vehicle.

[0059] [Apron pressure control] The detection result of the level detection sensor 64 of the level detection means 6 is transmitted to the agricultural implement control means (control means). The agricultural implement control means stores a program for apron pressure control to control the operation of the left apron pressurizing device 4L and the right apron pressurizing device 4R based on the received detection result of the level detection sensor 64, in order to bring the field to an appropriate finished state. The agricultural implement control means performs apron pressure control according to this program. In the apron pressure control of this embodiment, first, the state of the field immediately after tilling by the work unit 3 is determined based on the detection result of the level detection sensor 64, and then, based on the determined state of the field, the apron pressure ON / OFF switching control of the left apron pressurizing device 4L and the right apron pressurizing device 4R is performed. The apron pressure control will be explained in detail below. When tilling is performed by the harrow A, the central leveler 36C rotates up and down to follow the unevenness of the field surface immediately after tilling (after work) by the working unit 3. This up and down rotation is detected by the leveler detection means 6. The vertical rotation of the central leveler 36C is detected as the rotational position of the leveler detection sensor 64 of the leveler detection means 6. The agricultural machinery control means determines the field conditions based on the change in rotational position detected by the leveler detection sensor 64. The field condition is determined using the vertical position of the central leveler 36C, which rotates up and down, that is, the maximum and minimum values ​​detected by the leveler detection sensor 64, in other words, the peaks and valleys. Specifically, the difference between adjacent peaks and valleys is used. The difference between adjacent peaks and valleys is called the adjacent PV (Peak to Valley) value. The field condition is determined by averaging the adjacent PV values ​​over a predetermined period, and the magnitude of the average adjacent PV value. If the average adjacent PV value is greater than a predetermined value, it indicates that the surface of the field has significant irregularities, meaning the field is rough (roughly finished). If the average adjacent PV value is smaller than a predetermined value, it indicates that the surface irregularities of the field are small, meaning the field is fine-grained (finely finished). Since the determination of field conditions is publicly known as described in Patent Document 1, a detailed explanation will be omitted.

[0060] The agricultural machinery control means determines the field condition based on the detection result of the leveler detection means 6, and then controls the ON / OFF switching of the left apron pressurizing device 4L and the right apron pressurizing device 4R based on this determination result. Specifically, if it is determined that the field is in a rough condition, it controls the left apron pressurizing device 4L and the right apron pressurizing device 4R to turn ON. When the left apron pressurizer 4L and the right apron pressurizer 4R are turned ON, the central apron 35C, the left apron 35L, and the right apron 35R are strongly pressed against the field surface, respectively, which reduces the unevenness of the field surface. Conversely, if the agricultural machinery control means determines, based on the detection result of the leveler detection means 6, that the field is in a fine state, it performs control such that the pressure of the left apron pressurizing device 4L and the right apron pressurizing device 4R is turned OFF. When the pressure from the left apron pressurizer 4L and the right apron pressurizer 4R is turned OFF, the central apron 35C, the left apron 35L, and the right apron 35R are released from being strongly pressed against the field surface, thus eliminating the excessive pressure they exert on the field surface.

[0061] As mentioned above, in a configuration where the strength of the apron pressurization can be adjusted not only by switching the apron pressurization ON / OFF, but also by adjusting the amount of drive by the left drive means 4L5 and the right drive means 4R5 when the apron pressurization is ON, the system can be configured to control not only the ON / OFF of the apron pressurization, but also the strength of the pressurization when the apron pressurization is ON, based on the average adjacent PV value. More specifically, the amount of drive by the left drive means 4L5 and the right drive means 4R5 is adjusted so that the apron pressurization force becomes stronger as the surface irregularities of the field increase, that is, as the field is determined to be in a rough condition. Furthermore, the agricultural machinery control means (storage unit) stores control data for adjusting the drive amount of the left drive means 4L5 and the right drive means 4R5, that is, data (data table) and control program that associate the field condition determination result with the drive amount of the left drive means 4L5 and the right drive means 4R5, and the drive of the left drive means 4L5 and the right drive means 4R5 is adjusted to match the drive amount corresponding to the field condition determination result. Furthermore, the system can be configured to allow field workers to set their preferred field conditions as the target conditions. If the field condition assessment is rougher than the set conditions, the system can control the apron pressurization by turning it ON or increasing the pressure applied by the apron pressurization. Furthermore, the system may be configured to store multiple control data sets, allowing the user to select the control data that satisfies the desired apron pressurization conditions based on field conditions such as soil type and the operator's selection.

[0062] As described above, the condition of the field after puddling work by the work rotor 31 is detected by the leveler detection means 6 (detection means) by detecting the vertical movement of the central leveler 36C, left leveler 36L, and right leveler 36R. Based on the detection results of the leveler detection means 6, the agricultural work mechanism control means (control means) determines the condition of the field and controls the pressurization state of the left apron pressurizing device 4L and right apron pressurizing device 4R (working means), thereby automatically improving the condition of the field. The detection results of the level detection means 6 may be transmitted to the agricultural machine control means by either wired or wireless communication. Furthermore, the detection results of the leveler detection means 6 can be transmitted via the agricultural machinery control means to remote control means such as a remote control or a smartphone, and the field conditions can be determined by the remote control means or smartphone, and the determined field conditions can be displayed. In addition, the field condition determination results of the agricultural machinery control means can be transmitted to remote control means such as a remote control or a smartphone, and the transmitted field conditions can be displayed by the remote control means or smartphone, etc. Furthermore, the detection result of the leveler detection means 6 can be transmitted to the vehicle control unit via the agricultural implement control means, or directly without going through the agricultural implement control means. The vehicle control unit that receives the detection result of the leveler detection means 6 can then determine the field conditions and display the determined field conditions on a display device mounted on the vehicle. In addition, the system can be configured to transmit the field condition determination result of the agricultural implement control means to the vehicle control unit, and display the transmitted field conditions on a display device mounted on the vehicle. Furthermore, apron pressure control may be performed at all times during the plowing operation, or at all times when the left work section 3L and the right work section 3R are deployed, or the operator may be able to select whether or not to perform apron pressure control by operating a remote control or other remote control device.

[0063] In the above embodiment, the state of the field surface after puddling by the work rotor 31 is determined by the leveler detection means 6 (detection means), which detects the vertical movement of the central leveler 36C, left leveler 36L, and right leveler 36R. Based on the detection result of the leveler detection means 6, the agricultural work mechanism control means (control means) controls the pressurization state of the left apron pressurization device 4L and the right apron pressurization device 4R, that is, the pressing force (working state) of the apron (working means) on the field surface, thereby automatically improving the finished state of the field surface. However, the system is not limited to this configuration, and any configuration that can improve the state of the field after puddling is acceptable. Detection means for detecting the state of other fields may be used, or working means for performing work on other fields may be used. Furthermore, a combination of detection means for detecting the state of other fields and working means for performing work on other fields may be used. When a detection means for detecting the condition of other fields is combined with an apron pressurizing device, the agricultural machinery control means stores in association the detection result of the detection means for detecting the condition of the field surface with the ON / OFF switching of the apron pressurizing device or the amount of drive of the apron pressurizing device. Examples of detection means for detecting the condition of other fields, and work means for performing work on other fields, include the following:

[0064] [Other detection methods] As an alternative detection method, in addition to the central leveler 36C, left leveler 36L, and right leveler 36R, a field surface detection member (detection means) that contacts and follows the field surface can be attached to the mounting part 1 or working part 3 of the harrow A, or to the vehicle body, and a detection means that detects the vertical movement of this field surface detection member using a detection sensor can be installed and used. When installing the field surface detection member on the mounting section 1 or working section 3 of the harrow A, the member may be installed in such a configuration that it contacts the field surface behind the working rotor 31 and in front of the point where the apron touches the field surface, in order to detect the condition of the field immediately after work by the working rotor 31 (such as unevenness of the field surface); in such a configuration that it contacts the field surface behind the point where the apron touches the field surface, in order to detect the condition of the field immediately after work by the apron (such as unevenness of the field surface); or in such a configuration that it contacts the field surface in front of the working rotor 31, in order to detect the condition of the field before work by the working rotor 31. Examples of configurations include: a configuration in which the device is installed to contact the field surface on the left side of the left work section 3L and on the right side of the right work section 3R, in order to detect the condition of the field (such as unevenness of the field surface) on the left side of the left work section 3L and on the right side of the right work section 3R; a configuration in which the device is installed to contact the field surface in front of the covering plates 7C, 7L, and 7R, in order to detect the condition of the field (such as grooves on the field surface) before work is performed by the covering plates 7C, 7L, and 7R; and a configuration in which the device is installed to contact the field surface behind the covering plates 7C, 7L, and 7R, in order to detect the condition of the field (such as grooves on the field surface) after work is performed by the covering plates 7C, 7L, and 7R. Furthermore, when the field surface detection member is installed on the vehicle body (using external detection means), possible configurations include: installing it so that it contacts the field surface between the two rear wheels at the rear of the vehicle body to detect the condition of the field before work by the harrow A (such as unevenness of the field surface); installing it so that it contacts the field surface behind each of the two rear wheels of the vehicle body to detect the condition of the field before work by the soil covering plates 7C, 7L, and 7R (such as grooves on the field surface); and installing it so that it contacts the field surface at the front of the vehicle body to detect the condition of the field before work by the harrow A (such as unevenness of the field surface). As a field surface detection member, for example, a member such as a rake, a sled-shaped member, or a float-shaped member can be rotatably attached to the mounting unit 1, the work unit 3, or the vehicle body, and brought into contact with the field surface. By detecting the amount of rotation using a sensor, it is possible to detect unevenness and grooves on the field surface. More specifically, a configuration can be used in which a rake 38 is rotatably attached to the central apron 35C and the amount of rotation is detected. When a member such as a rake is brought into contact with the field surface, it is also possible to detect the moisture content of the field.

[0065] Instead of a detection means that contacts the field surface, an imaging means (detection means) that images the field surface can also be used as a means of detecting the field condition without contact. The imaging means is attached to the mounting part 1 or working part 3 of the harrow A, or to the vehicle body, to image the field surface. When the imaging means is installed on the mounting part 1 or working part 3 of the harrow A, it is installed to image the field surface in front of the point where the apron touches the field surface behind the working rotor 31, in order to detect the condition of the field immediately after work by the working rotor 31 (such as unevenness of the field surface and the moisture content of the field), or it is installed to image the field surface in front of the point where the apron touches the field surface, in order to detect the condition of the field immediately after work by the apron (such as unevenness of the field surface and the moisture content of the field). The following functions are used to detect the field condition before work by the working rotor 31: The working rotor 31 is positioned to image the field surface in front of the working rotor 31; the working rotor 31 is positioned to image the field surface to the left of the left working section 3L and to the right of the right working section 3R, detecting the field condition (field surface irregularities, field moisture content, etc.) to the left of the left working section 3L and to the right of the right working section 3R; the working rotor 31 is positioned to image the field surface in front of the working rotor 31. Examples of configurations include: detecting the field condition before work (such as unevenness of the field surface and the amount of moisture in the field); installing the system to image the field surface in front of the covering plates 7C, 7L, and 7R to detect the field condition before work by the covering plates 7C, 7L, and 7R (such as grooves on the field surface); and installing the system to image the field surface behind the covering plates 7C, 7L, and 7R to detect the field condition after work by the covering plates 7C, 7L, and 7R (such as grooves on the field surface). Furthermore, when the imaging means is installed on the vehicle body (using external detection means), the following configurations can be used: installing it to image the rear of the vehicle body to detect the condition of the field before work by the harrow A (such as unevenness of the field surface and the amount of moisture in the field); installing it to image the field surface to the left of the left work section 3L and to the right of the right work section 3R to detect the condition of the field to the left of the left work section 3L and to the right of the right work section 3R (such as unevenness of the field surface and the amount of moisture in the field); installing it to image the rear of each of the two rear wheels of the vehicle body to detect the condition of the field before work by the soil covering plates 7C, 7L, and 7R (such as grooves in the field surface); and installing it to image the front of the vehicle body to detect the condition of the field before work by the harrow A (such as unevenness of the field surface and the amount of moisture in the field). Furthermore, the images from the imaging device can detect the size of soil clumps on the field surface and the location of grooves such as tire tracks. In addition, by imaging the area around the moving vehicle and harrow A, the distance between harrow A and the ridge can also be detected.

[0066] Alternatively, it is possible to mount imaging equipment (external detection equipment) on small flying objects such as drones (either unmanned or manned) to image the field surface (detect the field conditions). In this case, the small flying object is made to fly in sync with Harrow A, and images are taken of the front and rear of Harrow A, the front and rear of the moving vehicle, etc., to detect the field conditions. Furthermore, as a means of detecting the field conditions without contact, ultrasonic sensors, laser sensors, and radio wave sensors can be used to detect irregularities on the field surface by emitting ultrasonic waves, laser light, or radio waves. Furthermore, since the size of tire tracks varies depending on the type of vehicle (especially its size), it is possible to detect the condition of the field (such as grooves on the field surface) depending on the type of vehicle.

[0067] When using imaging means (detection means) installed on Harrow A, imaging means (external detection means) installed on the vehicle body, or imaging means (external detection means) mounted on a small flying object, etc., as a means of detecting the field condition without contact, the images captured by the imaging means are transmitted to the agricultural machinery control means, and the agricultural machinery control means determines the field condition based on the received images (detection results from the detection means and detection results received from the external detection means). This determination can be made by applying image processing to the images captured by the imaging means so that the unevenness of the field surface can be determined, or by using AI that has been trained on the captured images and the field condition. Similarly, when using other means to detect the field conditions in a non-contact manner, the agricultural machinery control means determines the field conditions based on the detection results of the detection means.

[0068] [Other means of work] Other tools for operation include the left extension leveler 37L, the right extension leveler 37R, the rake 38, and the covering plates 7C, 7L, and 7R. As described above, the left extension leveler 37L and the right extension leveler 37R can level the soil on the side of the work section 3, thereby improving the field conditions. When controlling the left extension leveler 37L and the right extension leveler 37R, the agricultural implement control means can rotate the wire arm WA to which the wire W is connected using a motor, based on the determined field conditions, to open and close the left extension leveler 37L and the right extension leveler 37R. For example, under predetermined conditions (for example, positions corresponding to the outer ends of the left work section 3L and the right work section 3R), if it is determined that a groove has formed on the field surface based on the field condition detection result, and the extension leveler 37 is closed, control is performed to open the extension leveler 37.

[0069] The rake 38 can improve the condition of the field by crushing the soil, incorporating straw and other materials into the soil, etc. When controlling the rake, as described above, the rake mounting frame 35L2 is configured to be rotatable by an actuator such as a motor or cylinder, and the agricultural implement control means controls the angle of the rake 38 in accordance with the field conditions determined based on the detection results by the detection means (e.g., imaging means). For example, when it is determined that there are clods of soil or straw remaining on the field surface under predetermined conditions (e.g., behind the central work section 3C, left work section 3L, and right work section 3R), the control is performed so that the lower end of the rake 38 is positioned downwards. Alternatively, actuators for rotating the rake 38 may be provided in each of the central work section 3C, left work section 3L, and right work section 3R, and the angle control of the rake 38 may be controlled individually for each of the central work section 3C, left work section 3L, and right work section 3R, or the same angle control may be performed for the central work section 3C, left work section 3L, and right work section 3R using a single actuator.

[0070] The soil covering plates 7C, 7L, and 7R can improve the field condition by eliminating grooves left by the tires of the vehicle and the grooves (lines) that form on the outer edges of the left working section 3L and the right working section 3R due to the influence of the vehicle's tires. When controlling the soil covering plates 7C, 7L, and 7R, as described above, the system should be configured to allow adjustment of the mounting positions of the soil covering plates 7C, 7L, and 7R in the height and left-right directions, and adjustment of the mounting angles of the soil covering plates 7C, 7L, and 7R to the mounting members 7C1, 7L1, and 7R1 using actuators such as motors and cylinders. The agricultural implement control means should then control the mounting positions of the soil covering plates 7C, 7L, and 7R in the height and left-right directions, and the mounting angles of the soil covering plates 7C, 7L, and 7R to the mounting members 7C1, 7L1, and 7R1 based on the determined field conditions. For example, when it is determined that a groove has formed on the field surface under predetermined conditions (for example, the position of the tires of the vehicle or the position corresponding to the outer end of the left work section 3L and the right work section 3R), control may be performed to lower the height of the soil covering plates 7C, 7L, and 7R, or control may be performed to adjust the position of the soil covering plates 7C, 7L, and 7R so that they align with the position of the groove, or control may be performed to adjust the mounting angle of the soil covering plates 7C, 7L, and 7R relative to the mounting members 7C1, 7L1, and 7R1 so that the front end of the soil covering plates 7C, 7L, and 7R moves backward.

[0071] Another example is a transmission that is incorporated into the power transmission mechanism that transmits power from the power input shaft 211 to the central working rotor 31C, and which allows the rotational speeds of the central working rotor 31C, the left working rotor 31L, and the right working rotor 31R to be changed. By increasing the rotational speed of the central working rotor 31C, left working rotor 31L, and right working rotor 31R using the transmission, the soil-crushing action of the central working rotor 31C, left working rotor 31L, and right working rotor 31R can be strengthened, resulting in a better finish on the field surface. Increasing the rotational speed increases the power load, so if the field surface condition is good, the field condition can be improved with less load by reducing the rotational speed. When controlling the transmission, the agricultural implement control means can control the transmission based on the detected field conditions. For example, when a predetermined condition is met (for instance, when it is determined that the field is rough immediately after work by the work rotor 31), the transmission is controlled to change speed so that the rotational speed of the work rotor 31 increases.

[0072] [Examples of combinations of other detection means and other working means] By combining the detection means (leveler detection means 6) described in the embodiment with other detection means and the working means (apron) described in the embodiment with other working means, and controlling the working means based on the detection results of the detection means, the field condition can be automatically improved. For example, the following are some examples: Installed on Harrow A, it contacts the field surface behind the working rotor 31 and in front of the point where the apron touches the field surface, and controls the operation of the apron pressurizing device (ON / OFF, adjustment of pressurizing force) based on the detection results of a field surface detection member that detects the condition of the field immediately after work by the working rotor 31 (such as unevenness of the field surface). The apron pressurizing device is controlled (ON / OFF, pressure adjustment) based on the detection results of a field surface detection member installed on Harrow A, which contacts the field surface behind the point where the apron touches the field surface and detects the condition of the field immediately after work is performed with the apron. A field surface detection member is installed on harrow A and contacts the field surface in front of the working rotor 31 to detect the condition of the field before work is performed by the working rotor 31. Based on the detection results of this field surface detection member, the operation of the apron pressurizing device (ON / OFF, adjustment of pressurizing force) is controlled. The apron pressurizing device is operated (ON / OFF, pressure adjustment) based on the detection results of a field surface detection member, which is installed on the vehicle body and contacts the field surface between the two rear wheels at the rear of the vehicle body to detect the condition of the field before work is performed by Harrow A.

[0073] The field surface detection member, installed on Harrow A, contacts the field surface on the left side of the left work section 3L and the right side of the right work section 3R, and controls the opening and closing of the left extension leveler 37L and the right extension leveler 37R based on the detection results of the field surface detection member that detects the field conditions on the left side of the left work section 3L and the right side of the right work section 3R.

[0074] The mounting angle of the rake 38 is controlled based on the detection result of the leveler detection means 6. The mounting angle of the rake 38 is controlled based on the detection results of a field surface detection member, which is installed on harrow A and contacts the field surface behind the point where the apron touches the field surface, detecting the condition of the field immediately after work is performed by the apron. The mounting angle of the rake 38 is controlled based on the detection results of a field surface detection member, which is installed on harrow A, contacts the field surface in front of the working rotor 31, and detects the condition of the field before work is performed by the working rotor 31. The mounting angle of the rake 38 is controlled based on the detection results of a field surface detection member, which is installed on the vehicle body and contacts the field surface between the two rear wheels at the rear of the vehicle body to detect the condition of the field before work is performed by the harrow A.

[0075] Based on the detection results of the leveler detection means 6, the transmission controls the rotational speeds of the central working rotor 31C, the left working rotor 31L, and the right working rotor 31R. A field surface detection member is installed on harrow A and contacts the field surface in front of the point where the apron touches the field surface behind the working rotor 31. Based on the detection results of the field surface detection member, which detects the condition of the field immediately after work by the working rotor 31, the transmission controls the rotational speeds of the central working rotor 31C, the left working rotor 31L, and the right working rotor 31R. A field surface detection component is installed on Harrow A and contacts the field surface behind the point where the apron touches the field surface. Based on the detection results of this component, which detects the condition of the field immediately after work performed by the apron, the transmission controls the rotational speeds of the central working rotor 31C, the left working rotor 31L, and the right working rotor 31R. A field surface detection member is installed on harrow A and contacts the field surface in front of the working rotor 31 to detect the condition of the field before work is performed by the working rotor 31. Based on the detection results of this field surface detection member, the transmission controls the rotational speeds of the central working rotor 31C, the left working rotor 31L, and the right working rotor 31R. A field surface detection member is installed on the vehicle body and contacts the field surface between the two rear wheels at the rear of the vehicle body to detect the condition of the field before work is performed by the harrow A. Based on the detection results of this field surface detection member, the transmission controls the rotational speeds of the central working rotor 31C, the left working rotor 31L, and the right working rotor 31R.

[0076] A field surface detection member is installed on Harrow A and contacts the field surface in front of the soil covering plates 7C, 7L, and 7R to detect the condition of the field before work is performed by the soil covering plates 7C, 7L, and 7R. Based on the detection results of this field surface detection member, the height and left-right mounting positions of the soil covering plates 7C, 7L, and 7R, as well as the mounting angles of the soil covering plates 7C, 7L, and 7R to the mounting members 7C1, 7L1, and 7R1, are controlled. A field surface detection member is installed on Harrow A and contacts the field surface behind the soil covering plates 7C, 7L, and 7R to detect the field condition after work performed by the soil covering plates 7C, 7L, and 7R. Based on the detection results of this field surface detection member, the height and left-right mounting positions of the soil covering plates 7C, 7L, and 7R, as well as the mounting angles of the soil covering plates 7C, 7L, and 7R to the mounting members 7C1, 7L1, and 7R1, are controlled. A field surface detection member is installed on the vehicle body and contacts the field surface behind the two rear wheels of the vehicle body to detect the condition of the field before work is performed by the soil covering plates 7C, 7L, and 7R. Based on the detection results of this field surface detection member, the system controls the mounting position of the soil covering plates 7C, 7L, and 7R in the height and left-right directions, as well as the mounting angle of the soil covering plates 7C, 7L, and 7R to the mounting members 7C1, 7L1, and 7R1. Although it does not directly detect the field conditions, the system acquires the type of vehicle from the vehicle control device, or the type of vehicle is input by the operator. Based on the acquired or inputted type of vehicle, it controls the mounting position of the soil covering plates 7C, 7L, and 7R in the height and left-right directions, and the mounting angle of the soil covering plates 7C, 7L, and 7R to the mounting members 7C1, 7L1, and 7R1.

[0077] Based on images from an imaging device installed on harrow A, which captures the field surface in front of the point where the apron touches the field surface behind the working rotor 31, the operation of the apron pressurizing device (ON / OFF, adjustment of pressurizing force) is controlled. Based on images from an imaging device installed on Harrow A, which captures the field surface behind the point where the apron touches the field surface, the operation of the apron pressurizing device (ON / OFF, adjustment of pressurizing force) is controlled. Based on images from an imaging device installed on harrow A that captures images of the field surface in front of the working rotor 31, the operation of the apron pressurizing device (ON / OFF, adjustment of pressurizing force) is controlled. The system is installed on the vehicle body and controls the operation of the apron pressurizing device (ON / OFF, adjustment of pressurizing force) based on images from an imaging device that captures images of the area behind the vehicle body. The system is installed on the vehicle body and controls the operation of the apron pressurizing device (ON / OFF, adjustment of pressurizing force) based on images from an imaging device that captures images of the area in front of the vehicle body.

[0078] Based on images from imaging devices installed on the vehicle body that capture images of the field surface to the left of the left work section 3L and to the right of the right work section 3R, the opening and closing of the left extension leveler 37L and the right extension leveler 37R are controlled. Although not intended to directly improve the field conditions, the system can also be configured to detect the distance between Harrow A and ridges or obstacles based on images from imaging devices installed on Harrow A and the vehicle body that capture images of the vehicle body and the area around Harrow A, and to control the opening and closing of the left extension leveler 37L and the right extension leveler 37R.

[0079] The mounting angle of the rake 38 is controlled based on images from an imaging device installed on harrow A, which captures images of the field surface in front of the point where the apron touches the field surface, behind the working rotor 31. The mounting angle of the rake 38 is controlled based on images from an imaging device installed on harrow A, which captures images of the field surface behind the point where the apron touches the field surface. The mounting angle of the rake 38 is controlled based on images from an imaging device installed on harrow A, which captures images of the field surface in front of the working rotor 31. The mounting angle of the rake 38 is controlled based on images from an imaging device installed on the vehicle body that captures images of the area behind the vehicle body. The mounting angle of the rake 38 is controlled based on an image from an imaging device installed on the vehicle body that captures images of the area in front of the vehicle body.

[0080] Based on images from an imaging device installed on harrow A, which captures the field surface in front of the point where the apron touches the field surface behind the working rotor 31, the transmission controls the rotational speeds of the central working rotor 31C, the left working rotor 31L, and the right working rotor 31R. Based on images from an imaging device installed on harrow A, which captures the field surface behind the point where the apron touches the field surface, the transmission controls the rotational speeds of the central working rotor 31C, the left working rotor 31L, and the right working rotor 31R. Based on images from an imaging device installed on harrow A that captures images of the field surface in front of the working rotor 31, the transmission controls the rotational speeds of the central working rotor 31C, the left working rotor 31L, and the right working rotor 31R. Based on images from an imaging device installed on the vehicle body that captures images of the area behind the vehicle body, the transmission controls the rotational speeds of the central working rotor 31C, the left working rotor 31L, and the right working rotor 31R. Based on images from an imaging device installed on the vehicle body that captures images of the area in front of the vehicle body, the transmission controls the rotational speeds of the central working rotor 31C, the left working rotor 31L, and the right working rotor 31R.

[0081] Based on images from an imaging device installed on Harrow A that captures the field surface in front of the soil covering plates 7C, 7L, and 7R, the mounting positions of the soil covering plates 7C, 7L, and 7R in the height and left-right directions, as well as the mounting angles of the soil covering plates 7C, 7L, and 7R to the mounting members 7C1, 7L1, and 7R1, are controlled. Based on images from an imaging device installed on Harrow A that captures the field surface behind the soil covering plates 7C, 7L, and 7R, the mounting positions of the soil covering plates 7C, 7L, and 7R in the height and left-right directions, as well as the mounting angles of the soil covering plates 7C, 7L, and 7R to the mounting members 7C1, 7L1, and 7R1, are controlled. Based on images from an imaging device installed on the vehicle body that captures images of the area behind the vehicle's two rear wheels, the mounting positions of the soil cover plates 7C, 7L, and 7R in the height and left-right directions, as well as the mounting angles of the soil cover plates 7C, 7L, and 7R to the mounting members 7C1, 7L1, and 7R1, are controlled. Based on images from imaging devices installed on the harrow A and the vehicle body that capture images of the vehicle body and the area around harrow A, the distance between harrow A and ridges, obstacles, etc. is detected, and the mounting positions of the soil covering plates 7L and 7R in the left-right direction, and the mounting angles of the soil covering plates 7L and 7R to the mounting members 7L1 and 7R1 are controlled.

[0082] A small projectile is flown to follow Halo A, and images are taken of the front and rear of Halo A, the front and rear of the vehicle, etc. Based on these images, one or more of the following controls are performed: operation of the apron pressurizing device (ON / OFF, adjustment of pressurizing force), opening and closing of the left extension leveler 37L and the right extension leveler 37R, control of the mounting angle of the rake 38, control of the rotation speed of the central working rotor 31C, left working rotor 31L and right working rotor 31R by the transmission, mounting position of the dozer plates 7C, 7L and 7R in the height and left and right directions, and control of the mounting angle of the dozer plates 7C, 7L and 7R to the mounting members 7C1, 7L1 and 7R1. Furthermore, by using small projectiles to image the entire surface of the field before work begins, the condition of the entire field surface can be detected in advance, and the detection results can be stored in the agricultural machinery control system, which can then perform the necessary controls during work.

[0083] In the above description, a configuration was explained in which the work means is controlled based on the detection results of the detection means. However, instead of controlling the work means, the system can be configured so that the work means is adjusted by the operator, and the system can be configured to provide notifications (such as the target of adjustment, the amount of adjustment, and the adjustment method) to the operator, prompting them to adjust the work means based on the detection results of the detection means, either through a display device or by voice.

[0084] As described above, the control of various work means based on the detection results of the halo A and various detection means in the embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to the control of various work means based on the detection results of the halo A and various detection means in the embodiment, and any design changes, etc., that do not depart from the gist of the present invention are also included. Furthermore, the combination of control of various detection means and various work means can be arbitrarily combined as long as there are no particular contradictions or problems in their purpose and configuration. [Explanation of Symbols]

[0085] A Hello 1. Mounting part 11 Topmast 1a Control box 2 frames 21 Gearbox 211 Power input shaft 22 Support frame 22L Left Support Frame 22L2 Fixing Member 22L3 Left Cylinder Mounting Bracket 22La Through hole 22Lb opening 22Lc step 22R Right support frame 22R3 Right Cylinder Mounting Bracket 23 Chain Case 24L Left work section opening / closing cylinder 24R Right work section opening / closing cylinder 3. Work area 3C Central working section 3L Left work area 3R Right work area 31 Working rotor 31C Central Working Rotor 31L Left-hand working rotor 31R Right-hand working rotor 311 Working Claws 312C, 312L, 312R Rotation axis 32C Central Shield Cover 32C1 Detection means mounting bracket 32C2 Cover-side apron detection means mounting section 32C3 Cover-side leveler detection means mounting section 32C4 Dozer plate work bracket 32C5 Dozer plate storage bracket 32C6 Central Shield Cover Front Frame 32L Left Shield Cover 32L1 Left Axis 32L4 Dozer plate work bracket 32L41 Pinhole 32L5 Left shield cover front frame 32R Right Shield Cover 32R4 Dozer plate work bracket 32R5 Right shield cover front frame 33L left side plate 33R Right side plate 34L Left-hand rotation support section 34R Right-hand rotation support section 35C Central Apron 35C1 Apron side apron detection means mounting part 35L Left apron 35L1 Rotary shaft 35L2 Rake Mounting Frame 35L3 Rake mounting component 35L4 Left Pressure Bracket 35L5 Left support member 35La Apron main body 35Lb side plate part 35R Right Apron 36C Central Level 36C1 Leveler side leveler detection means mounting section 36L Left Leveler 36R Right Level 37L Left Extension Leveler 37R Right extension level 38 Rake 381 Rod section 382 Connecting part 383 Coil spring section 4L Left Apron Pressurizing Device 4L1 Left support arm 4L2 Left pressure rod 4L3 Left biasing means 4L4 Left pressurizing operating member 4L41 Left gear section 4L42 Left contact arm 4L43 Left contact part 4L5 Left drive mechanism 4L6 Left Axis 4R Right apron pressurizing device 5. Apron detection means 51a First Link Arm 51b Second Link Arm 52 axes 53 Apron detection sensor 6 Level detection means 61a First link arm 61b Second Link Arm 61b1 Second contact part 61c Third Link Arm 61d Fourth Link Arm 61d1 4th contact part 62a First axis 62b 2nd axis 62c 3rd axis 62d Contact pin 62e 4th axis 63a First elastic member 63b Second elastic member 64 Level detection sensors 7C, 7L, 7R Soil cover plate 7C1, 7L1, 7R1 mounting components 7C11, 7L11, 7R11 pin holes 8 pins 8a Fixing pin 81 Contact plate 82 Pin insertion holes 9 Remote control 91 Power button 91a Power lamp 91b Charging Indicator 92 Left / Right Select Buttons 92a Left / Right Selection Lamp 93 Open button 93a Open Lamp 94 Close button 95L Left extension leveler open / close button 95La Left extension leveler open / close indicator lamp 95R Right Extension Leveler Open / Close Button 95Ra Right Extension Leveler Open / Close Indicator Lamp 96 Pressure Button 96a Pressure indicator lamp 97 Soil-covered buttons 97a Indicator Lamp 98 Groove CL Clutch MS mud face WS water surface S Stand W wire WA Wire Arm

Claims

1. Tillage methods for cultivating fields, A means of performing work on the aforementioned field, A detection means for detecting the condition of the field after work performed by the aforementioned tilling means, A control means for controlling the work means based on the detection result of the detection means, A farming machine characterized by being equipped with the following features.

2. The tilling means comprises a working rotor having a plurality of working tines, The aforementioned working means is An apron is mounted to the rear of a work rotor having multiple working claws, so as to be able to rotate up and down, to level the work surface, An apron pressurizing device that pressurizes the apron toward the work surface, Equipped with, The agricultural machine according to claim 1, characterized in that the control means controls the operating state of the apron pressurizing device based on the detection result of the detection means.

3. The apron is equipped with a leveler that is mounted to the lower end so as to be rotatable up and down, The agricultural implement according to claim 2, characterized in that the detection means detects the vertical rotation of the leveler.

4. The agricultural machine according to claim 2, characterized in that the detection means is a photographing means for photographing the work surface of the work rotor after it has been used.

5. Tillage methods for cultivating fields, A means of performing work on the aforementioned field, A receiving means that receives detection results of the field condition after work performed by the tilling means from an external detection means, A control means that operates the work means based on the detection result received from an external detection means, A farming machine characterized by being equipped with the following features.

6. The tilling means comprises a working rotor having a plurality of working tines, The agricultural machine according to claim 5, characterized in that the external detection means is a photographic means for photographing the work surface of the work rotor after work.

Images