Ridge painting machine

Abstract

To highly accurately control a location to form a ridge.SOLUTION: A ridge plastering machine includes a ridge forming part for forming a ridge, a mounting part to be mounted on a traveling machine body, an offset mover connected to the mounting part at a first point and swiveling the ridge forming part around the first point, and a first location detector provided at a member that does not change a relative physical relation with the ridge forming part even when the ridge forming part is swiveled around the first point. Alternatively, the ridge plastering machine includes a ridge forming part for forming a top face and a slope face of the ridge, an offset mover for swiveling the ridge forming part with respect to a machine body, and a first location detector provided on the upper side of the ridge forming part and overlapped with the ridge forming part in top view.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a ridge coating machine. In particular, the present invention relates to a ridge coating machine having a function of controlling the traveling direction of the ridge coating machine. [Background technology]

[0002] Currently, agricultural machinery is being automated to reduce the labor hours of agricultural work, and various agricultural machinery has been developed. In particular, agricultural machinery (ridgers, cultivators, and puddlers) that are attached to the rear of a running machine such as a tractor and can be replaced depending on the type of work, such as ridge painting, cultivation, and puddling, can be used for various agricultural works simply by replacing the running machine like an attachment, and are greatly contributing to reducing the cost of agricultural work.

[0003] Among the above-mentioned agricultural working machines, the ridge painting machine is particularly useful in that it can form high-precision and high-strength ridges that are difficult to achieve by manual work by an operator. The ridge painting machine forms ridges by cultivating the soil in a field with a rotor or the like and compacting the cultivated soil with a ridge forming unit such as a drum. In recent years, an agricultural working machine has been proposed that performs ridge painting work while using a position detector (e.g., a GNSS antenna) to grasp the position where the ridge is being formed or the position where the ridge has been formed (Patent Document 1). In the agricultural working machine in Patent Document 1, the position detector is provided on the traveling body. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-099240 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the agricultural machine of Patent Document 1, the position of the position detector does not match the position of the ridge forming unit (e.g., ridge coating drum) provided on the ridge coating machine, so the accuracy of the position where the ridge is formed is insufficient. Also, in a soft field where the tractor cannot travel straight, it is assumed that the tractor will tilt with respect to the direction of travel, but if a position detector is provided on the traveling machine body, this tilt cannot be detected by the position detector. As a result, a problem occurs in that the position change of the ridge coating machine caused by the tilt of the tractor cannot be detected, and the accuracy of the formation of the ridge deteriorates. Furthermore, in a configuration in which the ridge forming unit can move to a position offset to the side of the traveling machine body with respect to the traveling direction of the traveling machine body, the positional relationship between the position information acquired by the position detector and the position of the ridge formed by the ridge forming unit varies depending on the amount of offset, so there is a problem in that the accuracy of the position where the ridge is formed decreases.

[0006] One object of one embodiment of the present invention is to control the position where a ridge is formed with high precision. [Means for solving the problem]

[0007] A ridge coating machine according to one embodiment of the present invention comprises a ridge forming unit that forms ridges, a mounting unit that is attached to a traveling body, an offset moving unit that is connected to the mounting unit at a first point and rotates the ridge forming unit around the first point, and a first position detector that is attached to a member whose relative positional relationship with the ridge forming unit does not change even when the ridge forming unit is rotated around the first point.

[0008] A ridge application machine according to one embodiment of the present invention comprises a ridge forming unit that forms ridges, a mounting unit that is mounted to a running body, an offset moving unit that is connected to the mounting unit at a first point and rotates the ridge forming unit around the first point, and a first position detector that is provided above the ridge forming unit and overlaps with the ridge forming unit when viewed from above.

[0009] The device may further include a control unit that generates information regarding the path of the ridge formation unit, and the control unit may generate first information regarding the planned path of travel of the ridge formation unit based on first position information acquired at point A and second position information acquired at point B, and may generate second information for correcting the position of the ridge formation unit based on the position information acquired by the first position detector and the first information.

[0010] The device may further include a control unit that generates information regarding the path of the ridge formation unit, and a target detection unit that detects a progress target along which the ridge formation unit advances, and the control unit may generate second information that corrects the position of the ridge formation unit based on a change in the positional relationship between the position information acquired by the first position detector and the progress target.

[0011] The system may further include a control unit that generates information regarding the path of the ridge formation portion, and a second position detector, wherein the ridge formation portion is connected to the offset moving portion at a second point, and the second position detector is provided on a member whose relative positional relationship with the ridge formation portion does not change whether the ridge formation portion is rotated around the first point or the second point, and the control unit may calculate the inclination of the ridge formation portion with respect to the direction of progression of the ridge formation portion in a top view based on the position information acquired by the first position detector and the position information acquired by the second position detector, and generate second information that corrects the position of the ridge formation portion based on the inclination.

[0012] The vehicle may further include a control unit that generates second information for correcting the position of the ridge forming portion based on map data and the position information acquired by the first position detector.

[0013] The control unit may transmit the generated second information to the traveling machine body.

[0014] The control unit may further include a slope detection unit that detects the slope of the ridge forming unit, and the control unit may generate ridge position information indicating the position of the ridge formed by the ridge forming unit based on the slope detected by the slope detection unit.

[0015] The control unit may generate second information for correcting a position of the ridge forming portion based on the ridge position information. Effect of the Invention

[0016] According to one embodiment of the present invention, the position where the ridge is formed can be controlled with high precision. [Brief description of the drawings]

[0017] [Figure 1] FIG. 1 is a top view showing the overall configuration of a ridge coating machine according to one embodiment of the present invention in a stored state. [Diagram 2] FIG. 1 is a top view showing the overall configuration of a ridge coating machine according to an embodiment of the present invention in an operating state. [Diagram 3] FIG. 2 is a rear view showing the overall configuration of the ridge coating machine according to one embodiment of the present invention in a stored state. [Figure 4] 4 is a flowchart of straight-line control in a ridge coating machine according to one embodiment of the present invention. [Diagram 5] FIG. 1 is a diagram showing an example of straight-line control in a ridge coating machine according to one embodiment of the present invention. [Figure 6] 4 is a flowchart of straight-line control in a ridge coating machine according to one embodiment of the present invention. [Figure 7] FIG. 1 is a diagram showing an example of straight-line control in a ridge coating machine according to one embodiment of the present invention. [Figure 8] 4 is a flowchart of straight-line control in a ridge coating machine according to one embodiment of the present invention. [Figure 9] FIG. 1 is a diagram showing an example of straight-line control in a ridge coating machine according to one embodiment of the present invention. [Figure 10] FIG. 1 is a diagram showing an example of automatic control of a ridge corner portion in a ridge coating machine according to one embodiment of the present invention. [Figure 11] FIG. 1 is a top view showing the overall configuration of a ridge coating machine according to one embodiment of the present invention in a stored state. [Figure 12]FIG. 1 is a top view showing the overall configuration of a ridge coating machine according to an embodiment of the present invention in an operating state. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] Hereinafter, a ridge coating machine according to one embodiment of the present invention will be described with reference to the drawings. However, the ridge coating machine according to one embodiment of the present invention can be implemented in many different ways, and should not be interpreted as being limited to the description of the examples shown below. In the drawings referred to in this embodiment, the same parts or parts having similar functions are given the same reference numerals, and repeated explanations thereof will be omitted. In this specification and each figure, elements similar to those described above with respect to the previous figures are given the same reference numerals followed by alphabets, and detailed explanations may be omitted as appropriate.

[0019] In the specification and claims of this application, "up" refers to the direction vertically away from the ridge when the ridge coating machine is moving forward while working on the ridge, and "down" refers to the opposite direction from "up." "Front" refers to the direction in which the traveling body is positioned relative to the ridge coating machine, and "rear" refers to the opposite direction from "front." Additionally, "left" and "right" refer to the "left" and "right" when the ridge coating machine is viewed from the rear.

[0020] The following embodiments can be combined with each other as long as no technical contradiction occurs.

[0021] First Embodiment [Configuration of the ridge coating machine 10] The general configuration of a ridge coating machine 10 according to this embodiment will be described with reference to Figs. 1 to 3. Figs. 1 to 3 are all diagrams showing the overall configuration of a ridge coating machine according to one embodiment of the present invention. Fig. 1 is a top view showing the ridge coating machine 10 in a stored state. Fig. 2 is a top view showing the ridge coating machine 10 in an operating state. Fig. 3 is a rear view showing the ridge coating machine 10 in a stored state.

[0022] [Storage state description] As shown in Fig. 1, the ridge coating machine 10 in this embodiment includes a mounting unit 100, an offset mechanism unit 200, a power transmission unit 300, a working unit 400, a position detector 500 (first position detector), and a control unit 600. The ridge coating machine 10 is mounted to a traveling body such as a tractor by the mounting unit 100. The mounting unit 100 and the working unit 400 are connected via the offset mechanism unit 200 and the power transmission unit 300. With this configuration, the ridge coating machine 10 is towed as the traveling body travels, and ridges are formed by the working unit 400.

[0023] [Configuration of mounting unit 100] The mounting unit 100 is connected to a three-point link mechanism provided between the two rear tires of the traveling body. The three-point link mechanism of the traveling body is composed of a top link, a lift rod, and a lower link. As shown in FIG. 1, the mounting unit 100 of the ridger 10 has a top mast 101 and a lower link connection unit (not shown). The top mast 101 is connected to the top link of the three-point link mechanism via an auto hitch arm (not shown). The lower link connection unit is connected to the lower link of the three-point link mechanism via an auto hitch arm. Note that the three-point link mechanism is a well-known mechanism, so a detailed description will be omitted.

[0024] The mounting unit 100 includes a hitch frame 110 extending in the left-right direction, which is the width direction of the traveling machine body. The hitch frame 110 is configured to be connectable to the above-mentioned three-point link mechanism. A gear box (not shown) is provided at the center lower part of the hitch frame 110, and an input shaft 107 that receives power from the traveling machine body is provided in this gear box (not shown). Power is transmitted to the input shaft 107 from a PTO shaft provided on the traveling machine body via a universal joint.

[0025] [Configuration of offset mechanism 200] The offset mechanism 200 is a rotation mechanism for offsetting the working unit 400. The offset mechanism 200 may be referred to as an "offset movement unit." As will be described later in detail, the rotation by this rotation mechanism may be referred to as a "rotation associated with offset movement" or an "offset rotation." The offset mechanism 200 connects the hitch frame 110 and the working unit 400. The offset mechanism 200 can move the working unit 400 to a position offset to the side of the traveling machine body with respect to the traveling direction (D1 direction) of the traveling machine body. The offset mechanism 200 of this embodiment has an offset frame (not shown) provided below the power transmission unit 300, a link rod 220, a support frame 230, and a power unit 240. As will be described later, a parallel link is formed by the offset frame, the link rod 220, the support frame 230, and the hitch frame 110, and the offset mechanism 200 may be referred to as a "link mechanism." In Fig. 2, the offset mechanism 200 is rotated to the right (counterclockwise) with respect to the forward direction (D1 direction) of the traveling body. At this time, the working unit 400 is positioned in a state where it is offset to the right rear with respect to the traveling body. This state is called the "working state."

[0026] The offset frame is configured as a long frame, and is disposed below the power transmission unit 300. As described above, one end of the offset frame is connected to the hitch frame 110 so as to be rotatable around the rotation shaft 211 (first point). Meanwhile, the other end of the offset frame is connected to the working unit 400 and the support frame 230 so as to be rotatable at the rotation shaft 213. The offset frame rotates on a horizontal plane relative to the hitch frame 110 around the rotation shaft 211. The working unit 400 rotates on a horizontal plane relative to the offset frame around the rotation shaft 213. With this configuration, the working unit 400 rotates on a horizontal plane relative to the mounting unit 100. The offset frame is connected to the power transmission unit 300, and moves together with the power transmission unit 300.

[0027] The link rod 220 is also a long member and has a length approximately equal to that of the offset frame. The link rod 220 is disposed substantially parallel to the offset frame, and as described above, one end of the link rod 220 is rotatably connected to the hitch frame 110 at the pivot shaft 221. Meanwhile, the other end of the link rod 220 is rotatably connected to the support frame 230 at the pivot shaft 223.

[0028] The support frame 230 is a member that is shorter than the offset frame and the link rod 220, and is a member that connects the offset frame and the link rod 220 to each other. As described above, the offset frame and the link rod 220 are both rotatably connected to the support frame 230. The working unit 400 is supported by the support frame 230, and moves integrally with the working unit 400 when the working unit 400 makes an offset rotation.

[0029] A rotation mechanism (parallel link mechanism) is configured by the hitch frame 110, the offset frame, the link rod 220, and the support frame 230, and the offset mechanism section 200 can offset rotate the working section 400 while maintaining the orientation of the working section 400 relative to the traveling direction of the traveling machine body. Therefore, even if the working section 400 is offset rotated, the relative positional relationship between the support frame 230 and the working section 400 does not change.

[0030] The power unit 240 is a power source (actuator) of the offset mechanism unit 200, and is an expandable member constituted by, for example, a hydraulic cylinder. One end of the power unit 240 is connected to the hitch frame 110, and the other end is connected to the offset frame. The offset mechanism unit 200 is driven by the expansion and contraction of the power unit 240, and the offset amount (amount of movement in the offset direction) of the working unit 400 can be controlled. In other words, the offset mechanism unit 200 (link mechanism unit) rotates counterclockwise around the rotating shaft 211 as the power unit 240 expands, and rotates the working unit 400 having the ridge forming unit 410 described later to offset, and rotates clockwise around the rotating shaft 211 as the power unit 240 contracts, and moves the working unit 400 to the storage position (side). The rotating shaft 211 may be referred to as the "first point." The amount of movement of the working unit 400 in the offset direction is determined by the amount of expansion and contraction of the power unit 240, and is therefore steplessly adjustable.

[0031] [Configuration of power transmission unit 300] The power transmission unit 300 is a mechanism for transmitting the power from the traveling machine body received by the input shaft 107 of the mounting unit 100 to the working unit 400. A chain drive mechanism is used as the power transmission unit 300. Specifically, the power transmission unit 300 includes at least a drive sprocket, a driven sprocket, and a roller chain. The roller chain is wound around the drive sprocket and the driven sprocket, and the power of the drive sprocket is transmitted to the driven sprocket via the roller chain. The working unit 400 receives power from the driven sprocket and performs ridge painting work.

[0032] [Configuration of working unit 400] The working unit 400 is a part that performs ridge painting work. The working unit 400 has a ridge forming unit 410, a cover member 420, a top processing unit 430, and a pre-processing unit 440 (see FIG. 2). The working unit 400 rotates on a horizontal plane with respect to the offset mechanism unit 200 and the power transmission unit 300, centering on the rotation axis 213. The rotation axis 213 may be called the "second point." In other words, the working unit 400 rotates around the rotation axis 213 by the offset mechanism unit 200 so as to maintain the orientation of the working unit 400 with respect to the traveling direction of the traveling machine body. Furthermore, apart from the above rotation, the working unit 400 rotates around the rotation axis 213 so as to change the orientation of the working unit 400 with respect to the traveling direction of the traveling machine body. This rotation is called the "single rotation of the working unit 400" or the "working unit rotation." The offset rotation is a rotation with the first point (rotation axis 211) as the center. The working unit rotates about a second point (rotation axis 213).

[0033] The ridge forming unit 410, the cover member 420, the top processing unit 430, and the pre-processing unit 440 are supported by the support frame 230, and rotate together with the rotation of the support frame 230. Therefore, even if the above-mentioned offset rotation and working unit rotation are performed, the relative positional relationship between the ridge forming unit 410 and the members included in the working unit 400 other than the ridge forming unit 410 in the top view does not change. For example, even if the above-mentioned rotation is performed, the relative positional relationship between the ridge forming unit 410 and the cover member 420 in the top view does not change. Although the details will be described later, a position detector 500 is attached to the cover member 420 via an arm member 510. Therefore, even if the offset rotation and working unit rotation are performed, the relative positional relationship between the position detector 500 and the ridge forming unit 410 in the top view does not change.

[0034] Here, the relative positional relationship means the relationship between the positions and orientations of the target members of interest. In other words, the fact that the relative positional relationship between the target members does not change means that the distance and direction between the target members do not change before and after the offset rotation and the working unit rotation, and once the position of one target member is determined, the position of the other target member is uniquely determined. This means that when the shapes of the overall configuration of the target members in top view before and after the offset rotation and the working unit rotation are extracted and the orientations of the ridge forming section 410 are aligned in the same direction, the shape of the overall configuration formed by the target members is the same.

[0035] The ridge forming section 410 includes an upper surface forming section 411 that forms the upper surface of the ridge, and a slope forming section 412 that forms the slope of the ridge. In this embodiment, the upper surface forming section 411 is a cylindrical member whose central axis extends in a direction perpendicular to the left and right direction of travel of the working machine body. The ridge forming section 410 is supported so as to be rotatable about this central axis. The ridge forming section 410 rotates by receiving power from the power transmission section 300. The slope forming section 412 is a substantially conical member having an inclined surface inclined with respect to the central axis.

[0036] The slope forming part 412 of this embodiment is a polyhedral drum in which a plurality of plate-like members are arranged so as to overlap partially in the circumferential direction. Each of the plurality of plate-like members has a shape that moves away from the central axis of the slope forming part 412 in the circumferential direction of the slope forming part 412. Due to this shape of the slope forming part 412, each plate-like member approaches the slope of the ridge as the slope forming part 412 rotates, so that the slope of the ridge can be more firmly solidified. In other words, in the working state, the upper surface forming part 411 is approximately parallel to the field, and the slope forming part 412 is inclined with respect to the field.

[0037] The shapes of the upper surface forming part 411 and the slope surface forming part 412 are not limited to the above configuration. For example, the upper surface forming part 411 may have a shape in which a plurality of plate-like members partially overlap, similar to a polyhedral drum. Furthermore, the slope surface forming part 412 does not have to be a polyhedral drum. In other words, the slope surface forming part 412 does not have to have a shape that moves away from the central axis of the slope surface forming part 412 in the circumferential direction of the slope surface forming part 412.

[0038] As described above, the cover member 420 is provided at a position that does not change the relative positional relationship with the ridge forming portion 410 in a top view. The cover member 420 is provided so as to cover a part of the ridge forming portion 410. Specifically, the cover member 420 partially covers an end portion of the slope forming portion 412 located above the upper surface forming portion 411.

[0039] The pre-treatment section 440 is provided in front of the ridge forming section 410. More specifically, the pre-treatment section 440 is provided in front of the slope forming section 412. The pre-treatment section 440 has a work rotor provided with multiple work claws, and a cover member 441 (see FIG. 2) that covers the top of the work rotor. The work rotor receives power from the power transmission section 300 to operate and rotate the work claws. The rotation axis of the work rotor is inclined with respect to the traveling direction. Specifically, the rotation axis of the work rotor is inclined from the rear to the front of the ridge coating machine 10 toward the outside of the ridge coating machine 10. Of the multiple work claws provided on the work rotor, one work claw is curved in the opposite direction to the rotation direction of the work claw and toward the rear, and another work claw is curved in the opposite direction to the rotation direction of the work claw and toward the front.

[0040] The top field processing section 430 is provided in front of the ridge forming section 410. More specifically, the top field processing section 430 is provided in front of the upper surface forming section 411. The top field processing section 430 has a work rotor equipped with multiple work claws, similar to the pre-processing section 440, and a cover member 431 that covers the upper and front of the work rotor. The work rotor receives power from the power transmission section 300 and operates to rotate the work claws. The rotation axis of the work rotor is inclined with respect to the traveling direction. Specifically, the rotation axis of the work rotor is inclined from the rear of the ridge coating machine 10 to the front toward the outside of the ridge coating machine 10. The multiple work claws provided on the work rotor are curved in the opposite direction to the rotation direction of the work claws and toward the front.

[0041] In the vertical direction, the top surface processing section 430 is provided above the pre-processing section 440. In other words, in the vertical direction, the lower end of the rotation trajectory of the work claw provided in the top surface processing section 430 is located above the lower end of the rotation trajectory of the work claw provided in the pre-processing section 440.

[0042] 3, the working unit 400 further includes a drum case 470. The drum case 470 is connected to a rear gear case provided at the lower end of the rotating shaft 213 and to the ridge forming unit 410. A sprocket and a chain are provided inside the drum case 470, and transmit the power transmitted from the power transmission unit 300 to the ridge forming unit 410. The drum case 470 is also a member whose relative positional relationship with the ridge forming unit 410 does not change even when the above-mentioned offset rotation or working unit rotation is performed.

[0043] [Configuration of position detector 500] The position detector 500 is provided above the ridge forming section 410, at a position overlapping with the ridge forming section 410 in a top view. Specifically, in a top view, the position detector 500 is provided at a position overlapping with the boundary position between the upper surface forming section 411 and the slope forming section 412 (the shoulder position of the ridge forming section 410). The portion corresponding to the boundary position between the upper surface forming section 411 and the slope forming section 412 forms the shoulder portion of the ridge (ridge shoulder portion). In other words, in a top view, the movement trajectory of the position detector 500 accompanying the movement of the ridge coating machine 10 during the ridge coating operation substantially matches the shape of the ridge shoulder portion.

[0044] The position detector 500 is attached to the upper end of the arm member 510. The arm member 510 is fixed to the above-mentioned cover member 420. As shown in Fig. 3, the arm member 510 is connected to the upper surface of the cover member 420. The arm member 510 extends from the connection point with the cover member 420 toward the upper surface forming portion 411 in top view (see Fig. 1), and is bent near the boundary between the upper surface forming portion 411 and the slope forming portion 412 in rear view, and extends upward (see Fig. 3).

[0045] The position detector 500 is, for example, an antenna (GNSS antenna) for a global navigation satellite system (GNSS). As the GNSS, a satellite positioning system such as GPS, GLONASS, Galileo, or Quasi-Zenith Satellite System (QZSS) can be used. However, the position detector is not limited to the GNSS, and other devices that detect the position information of the ridge forming portion 410 can be used.

[0046] In this embodiment, the configuration in which the position detector 500 is attached to the cover member 420 via the arm member 510 has been exemplified, but the present invention is not limited to this configuration. The position detector 500 may be attached directly to the cover member 420 or other members without using the arm member 510. Furthermore, the position detector 500 or the arm member 510 can be attached to a member other than the cover member 420 that does not change its relative positional relationship with the ridge forming unit 410 when the above-mentioned offset rotation or working unit rotation is performed, that is, a member that rotates integrally with the ridge forming unit 410, for example, the top field processing unit 430 or the pre-processing unit 440 included in the working unit 400, or other members (for example, the drum case 470 described later, etc.).

[0047] In addition, in the present embodiment, the configuration in which the position detector 500 is provided at the boundary position between the upper surface forming portion 411 and the slope forming portion 412 (the shoulder position of the ridge forming portion 410) in a top view has been exemplified, but the present invention is not limited to this configuration. In other words, the position detector 500 does not have to overlap both the upper surface forming portion 411 and the slope forming portion 412 in a top view. It is also possible to configure the position detector 500 to be disposed close to the ridge forming portion 410, for example, to be disposed at a position overlapping at least one of the upper surface forming portion 411 or the slope forming portion 412 in a top view. In this way, by disposing the position detector 500 at a position overlapping a part of the ridge forming portion 410 in a top view, the position of the ridge formed through the ridge forming portion 410 can be detected with high accuracy.

[0048] [Configuration of control unit 600] The control unit 600 is provided on the hitch frame 110. The control unit 600 includes an arithmetic circuit such as a central processing unit (CPU) and a storage device such as a register and a memory connected to the CPU. The control unit 600 realizes functions according to various request signals by executing a program temporarily stored in the storage device by the CPU. The control unit 600 stores various information on the ridge coating machine 10 (such as the length of the upper surface forming unit 411, the drum diameter of the slope forming unit 412, and information on the ridge shoulder formation position relative to the position detector 500) together with various programs including a straight control program described later, and generates information on various operations of the ridge coating machine 10 and the route of the traveling machine body. In this embodiment, a configuration in which the control unit 600 is provided on the hitch frame 110 has been exemplified, but the control unit 600 may be provided on another member.

[0049] [Working status description] As described above, the ridge coating machine 10 is switched between the stored state and the working state by extending and retracting the power unit 240. Specifically, the power unit 240 is extended to switch from the "storage state" shown in FIG. 1 to the "working state" shown in FIG. 2. When the power unit 240 is extended, the offset mechanism unit 200 operates to rotate the working unit 400 about the rotating shaft 211, and the working unit 400 moves to the side relative to the traveling direction of the traveling machine body. In other words, the extension of the power unit 240 causes the working unit 400 to perform an offset rotation. As described above, a parallel link mechanism is configured and the angle of the support frame 230 relative to the working unit 400 is kept constant, so the orientation of the working unit 400 does not change during the offset rotation.

[0050] 1 and 2, before and after the offset rotation, the relative positional relationship between the ridge forming portion 410 and the position detector 500 does not change. In other words, even after the offset rotation, just like before the offset rotation, the position detector 500 is located near the boundary between the upper surface forming portion 411 and the slope forming portion 412 (the shoulder portion of the ridge forming portion 410), and the position of the ridge forming portion 410 can be detected with high accuracy based on the detection result of the position detector 500.

[0051] In addition, if the ridge coating machine 10 of this embodiment is provided with a sensor that detects the attitude (for example, the tilt in the rotational direction around the traveling direction of the ridge forming unit 410 as an axis) such as an IMU (Inertial Measurement Unit) equipped with a gyro sensor or an acceleration sensor, or is provided with multiple GNSS antennas, the tilt of the ridge forming unit 410 relative to the traveling direction of the traveling body when viewed from above can be calculated, so that the position of the ridge forming unit 410 can be grasped with greater accuracy. A member that detects the tilt of the ridge forming unit 410, such as an IMU or multiple GNSS antennas, may be referred to as a "tilt detection unit."

[0052] When the ridge forming section 410 is tilted, there may be a deviation between the position of the ridge formed by the ridge forming section 410 and the position detected by the position detector 500 (when viewed from above). In this embodiment, when the ridge forming section 410 is not tilted, the position detector 500 is arranged so as to coincide with the shoulder position of the ridge forming section 410 where the upper surface forming section 411 and the slope forming section 412 intersect when viewed from above. However, for example, when the position detector 500 is provided at a position different from the shoulder position of the ridge forming section 410, when the ridge forming section 410 is tilted with respect to the above-mentioned traveling direction, the position detected by the position detector 500 and the position of the ridge formed by the ridge forming section 410 will not coincide. Also, when the ridge forming section 410 is tilted in the above-mentioned rotation direction, the position detector 500 and the shoulder position of the ridge forming section 410 will not coincide. As a result, an error occurs between the position detected by the position detector 500 and the position of the ridge formed by the ridge forming section 410.

[0053] In this case, as described above, by providing a sensor such as an IMU that detects the attitude of the ridge forming unit 410, the inclination of the ridge forming unit 410 can be detected, and the amount of positional deviation between the detection result of the position detector 500 caused by the inclination and the position of the actually formed ridge can be calculated. For example, height information of the position detector 500 is stored in advance in the control unit 600, and the amount of positional deviation is calculated based on the height information of the position detector 500 and the inclination detected by the inclination detection unit. Then, by correcting the position of the ridge forming unit 410 based on the calculated amount of positional deviation, more accurate ridge position information data can be obtained, and the ridge coating machine 10 can be accurately controlled based on the obtained ridge position information data. As described above, information indicating the position of the ridge in which the error caused by the inclination of the ridge forming unit 410 has been corrected is sometimes called "ridge position information."

[0054] As described above, according to the ridge coating machine 10 of this embodiment, the movement trajectory of the position detector 500 and the ridge shoulder portion are almost the same in a top view. Therefore, the position where the ridge is formed can be detected more accurately by the position detector 500. For example, even if the ridge coating machine 10 adjusts the offset amount to adjust the position where the ridge is formed during the ridge coating work, the relative positional relationship between the ridge forming part 410 and the position detector 500 does not change, so that the position where the ridge is formed can be accurately detected even in the middle of changing the offset amount. As described above, since the position where the ridge is formed can be accurately detected by the ridge coating machine 10 of this embodiment, the ridge coating machine 10 or the traveling machine body can be controlled based on the position information detected by the position detector 500, and the shape of the ridge in a top view can be more accurately controlled.

[0055] Second Embodiment The straight-line operation of the ridge coating machine 10A according to this embodiment will be described with reference to Figs. 4 and 5. Fig. 4 is a flowchart of straight-line control in the ridge coating machine according to one embodiment of the present invention. Fig. 5 is a diagram showing an example of straight-line control in the ridge coating machine according to one embodiment of the present invention. The ridge coating machine 10A according to this embodiment has a configuration similar to that of the ridge coating machine 10 according to the first embodiment, so a detailed description will be omitted. In this embodiment, a control method for the ridge coating machine 10A will be described with reference to Figs. 4 and 5. The following straight-line control program is executed by a control unit 600A provided in the ridge coating machine 10A. In this embodiment, for configurations having the same shape and function as those in the first embodiment, the alphabet "A" may be added after the same reference numerals as those in the first embodiment, and a description thereof may be omitted.

[0056] As shown in FIG. 4, first, an operator starts ridge coating work using the ridge coating machine 10A, and sets points A and B while performing the ridge coating work (steps S401, S402). By setting point A in S401, the control unit 600A acquires position information of the position detector 500A at point A. By setting point B in S402, the control unit 600A acquires position information of the position detector 500A at point B. Note that points A and B are points on a straight line along which the operator intends to form the ridge. The ridge coating work from point A to point B is performed manually by the operator.

[0057] After points A and B have been set, the straight-line control program of the ridge coating machine 10A is executed in accordance with the instructions of the operator (step S403). When the straight-line control program is executed, the planned travel path of the traveling body and the ridge coating machine 10A is calculated based on the position information of points A and B, as shown in FIG. 5. In the example shown in FIG. 5, when point B is set, the straight-line control program is executed as is. The planned travel path extends in the direction away from point A (the direction in which the ridge coating work proceeds) on a straight line AB that passes through points A and B. The information about the planned travel path may be referred to as "first information."

[0058] When the straight-line control program is executed, the current position information acquired by the position detector 500A is compared with the above-mentioned planned travel path (first information) at predetermined time intervals (see FIG. 5), and based on the comparison result, it is determined whether or not the travel direction of the traveling machine body and the ridger 10A should be corrected (step S404). For example, if the difference (deviation amount) between the current position information and the first information exceeds a threshold value ("Yes" in S404), it is determined that the travel direction should be corrected. On the other hand, if the difference is equal to or less than the threshold value ("No" in S404), it is determined that there is no need to correct the travel direction.

[0059] If it is determined in S404 that correction of the traveling direction is necessary, information (sometimes referred to as "second information") for correcting the position of the ridge forming unit 410A is generated (step S405). Next, based on the generation of the second information, the amount of deviation between the current position information and the first information is corrected by offset control. At that time, it is determined whether the offset amount of the working unit 400A in the direction in which the offset control is to be performed has reached a limit value (step S406). As described above, if there is an error between the position of the position detector 500 and the position where the ridge is formed due to the inclination of the ridge forming unit 410, the ridge position information may be used instead of the position information of the position detector 500, and the second information may be generated based on the amount of deviation between the ridge position information and the first information. When the inclination of the ridge forming portion 410 exceeds a predetermined threshold value, the second information may be generated using the ridge position information instead of the position information of the position detector 500, or the threshold value may not be set and the second information may be generated using the ridge position information at the time the inclination of the ridge forming portion 410 is detected.

[0060] If the offset value has not reached the limit ("No" in S406), the power unit 240A of the working unit 400A is operated based on the second information, and the straight-line control of S403 is continued while performing offset control (step S407). Specifically, if the deviation direction between the current position information and the first information is to the left with respect to the direction of travel (i.e., the side away from the ridge toward the field), the control unit 600A moves the ridge forming unit 410A to the right, and extends the power unit 240A according to the amount of deviation so that the deviation between the current position information and the first information is eliminated.

[0061] As described above, in addition to adjusting the amount of expansion and contraction of the power unit 240A, the drive time of the power unit 240A may be adjusted according to the magnitude of the difference between the current position information and the first information, such as lengthening the drive time of the power unit 240A as the deviation amount increases. The above method is an example, and is not limited to the above method. For example, the above threshold value may not be set, and it may be determined that the traveling direction should be corrected at the time when a difference occurs between the current position information and the first information. The above threshold value may be set to an arbitrary value as appropriate. In addition, the operating speed of the power unit 240A may be changed according to the magnitude of the difference. In other words, if the difference is relatively large, the operation of the power unit 240A may be made relatively faster, and if the difference is relatively small, the operation of the power unit 240A may be made relatively slower.

[0062] On the other hand, if the offset value has reached its limit ("Yes" in S406), guidance is given to notify the user of the correction of the traveling direction based on the second information generated in S405, or the traveling machine control is performed using the AG port (step S408). The guidance may be voice guidance, or may be guidance displayed on a display device such as a remote control of the ridge coating machine 10A or a mobile terminal. The traveling machine control using the AG port may directly control the traveling machine and forcibly control its traveling direction, or may control the notification operation of the traveling machine to the user so as to notify the user that the traveling direction of the traveling machine should be changed. The AG port is one aspect of a means for transmitting information from the ridge coating machine 10A to the traveling machine. A wireless or other means may be used instead of the AG port.

[0063] As described above, the ridge coating machine 10A according to this embodiment can calculate the planned travel route based on the ridge coating work performed by the work vehicle. Therefore, there is no need to set the planned travel route in advance, and the burden on the worker can be reduced. In addition, when performing ridge coating work, it may be necessary to change the planned travel route after actually entering the field, but even in such a case, it is possible to respond quickly. The method of creating the planned travel route is not limited to the above. For example, it is possible to store map data linked to the position information of the ridge in the control unit 600A, display this map data on a mobile terminal, etc., and set the planned travel route using the map data on the terminal. In addition, the planned travel route may be set using the work history of the ridge formation work performed in the past. In this case, the position information acquired by the position detector 500A (the position information of the ridge formation unit 410 during the ridge formation work) is stored in the control unit 600A as information related to the work history. In addition, it is also possible to store multiple work histories in the control unit 600A, and by the user selecting a desired work history from the multiple work histories, the planned travel route can be set based on the position information included in the work history selected by the user. In addition, in the present embodiment, the planned travel path is a straight line, but is not limited to this. For example, the planned travel path may be a curved line, or may be a bent shape such as a part of a polygon.

[0064] Third embodiment The configuration of the ridge coating machine 10B according to this embodiment will be described with reference to Figs. 6 and 7. Fig. 6 is a flow chart of the straight-line control in the ridge coating machine according to one embodiment of the present invention. Fig. 7 is a diagram showing an example of the straight-line control in the ridge coating machine according to one embodiment of the present invention. The ridge coating machine 10B according to this embodiment has a configuration similar to that of the ridge coating machine 10 according to the first embodiment, so a detailed description will be omitted. In this embodiment, a control method for the ridge coating machine 10B will be described with reference to Figs. 6 and 7. The following straight-line control program is executed by a control unit 600B provided in the ridge coating machine 10B. In this embodiment, for configurations having the same shape and function as those in the first embodiment, the alphabet "B" may be added after the same reference numerals as those in the first embodiment, and the description may be omitted.

[0065] As shown in FIG. 6, first, an operator starts ridge coating work using the ridge coating machine 10B, and sets a target point G before starting the ridge coating work or while performing the ridge coating work (step S501). As shown in FIG. 7, the target point G is provided, for example, at the corner of the ridge. More specifically, a laser transmitter is provided at the target point G, and a laser beam is emitted from the target point G toward the field. The traveling machine body or the ridge coating machine 10B is provided with a light receiving element that receives the laser beam. For example, based on the position where the light receiving element receives the laser beam, it is determined whether the current traveling direction of the ridge coating machine 10B is toward the target point G. In the above configuration, the light receiving element of the laser beam may be referred to as a "target detection unit."

[0066] After the target point G is set, a straight-line control program for the ridge coating machine 10B is executed according to the instructions of the operator (step S502). When the straight-line control program is executed, the traveling direction of the traveling body and the ridge coating machine 10B is controlled so as to head toward the target point G, as shown in FIG. 7. For example, the traveling direction of the ridge coating machine 10B at the current position is calculated based on the position information of the position detector 500B acquired at the current position and any past position. Then, depending on whether the target point G exists on an extension line of the traveling direction, it is determined whether the ridge coating machine 10B is traveling toward the target point G (step S503). In other words, the validity of the traveling direction of the ridge coating machine 10B is determined based on the change in the positional relationship between the position information acquired by the position detector 500B and the target point G (travel target).

[0067] For example, if the difference between the traveling direction of the ridger 10B at the current position and the target point G exceeds a threshold value ("Yes" in S503), it is determined that the traveling direction should be corrected. On the other hand, if the difference is equal to or less than the threshold value ("No" in S503), it is determined that there is no need to correct the traveling direction. Note that the above method is one example and is not limited to the above method. For example, the above threshold value may not be set, and it may be determined that the traveling direction should be corrected when a difference occurs between the traveling direction of the ridger 10B at the current position and the target point G. The subsequent steps are similar to those of the second embodiment (S405 and thereafter in FIG. 4), so description thereof will be omitted.

[0068] In this embodiment, the method of setting the target point G using laser light is exemplified, but the method is not limited to this. For example, the target point G may be set using a camera. Specifically, an image of the area ahead in the traveling direction may be acquired using a camera, image analysis may be performed on the image, a corner of the original ridge may be recognized, and the corner may be set as the target point G. Alternatively, the target point G may be set in map data previously stored in the control unit 600B. In addition, in order to be able to detect the attitude of the ridge forming unit 410 or the inclination of the ridge forming unit 410 with respect to the traveling direction of the traveling body in a top view, it is preferable to provide a sensor that detects the attitude of the ridge forming unit 410, such as an IMU, or multiple GNSS antennas.

[0069] As described above, the ridge coating machine 10B according to this embodiment can determine the travel direction based on the target point G. Therefore, there is no need to set a planned travel route in advance, which can reduce the burden on the worker. Furthermore, when performing ridge coating work, it may be necessary to change the planned travel route after actually entering the field, but even in such a case, it is possible to quickly respond.

[0070] Fourth embodiment The configuration of the ridge coating machine 10C according to this embodiment will be described with reference to Figs. 8 and 9. Fig. 8 is a flow chart of straight-line control in the ridge coating machine according to one embodiment of the present invention. Fig. 9 is a diagram showing an example of straight-line control in the ridge coating machine according to one embodiment of the present invention. The ridge coating machine 10C according to this embodiment has a configuration similar to that of the ridge coating machine 10 according to the first embodiment, so a detailed description will be omitted. In this embodiment, a control method for the ridge coating machine 10C will be described with reference to Figs. 8 and 9. The following straight-line control program is executed by a control unit 600C provided in the ridge coating machine 10C. In this embodiment, for configurations having the same shape and function as those in the first embodiment, the alphabet "C" may be added after the same reference numerals as those in the first embodiment, and description thereof may be omitted.

[0071] In this embodiment, there is no need to set the planned route of travel or the target point G in advance. However, before a new ridge is formed, a previously formed ridge must exist. Or, a marking must be made at the location where the new ridge is to be formed. The ridge coating machine 10C is also provided with a function for recognizing the state of the field (or the old ridge) before the ridge is formed and the state of the ridge after it is formed. In this embodiment, a configuration is described in which a camera is provided as a function for recognizing the state before and after the ridge is formed. Images of the old and new ridges may be obtained by the camera, and the positions of the old and new ridges may be recognized by performing image analysis on the images.

[0072] As shown in FIG. 8, the straight-line control program of the ridge coating machine 10C is executed according to the instructions of the operator (step S601). When the straight-line control program is executed, as shown in FIG. 9, the shapes of the old ridge before the ridge is formed by the ridge forming unit 410C and the new ridge newly formed in top view are compared (step S602). Based on the shapes of the new ridge and the old ridge in top view as shown in FIG. 9, if the difference W between the position of the new ridge and the position of the old ridge exceeds a threshold value ("Yes" in S602), it is determined that the traveling direction should be corrected. On the other hand, if the difference is equal to or less than the threshold value ("No" in S602), it is determined that there is no need to correct the traveling direction. Note that the above method is an example and is not limited to the above method. For example, the above threshold value may not be set, and it may be determined that the traveling direction should be corrected when a difference occurs between the position of the new ridge and the position of the old ridge. The positions of the new ridge and the old ridge can be the positions of the ridge shoulders in the respective ridges. The subsequent steps are similar to those in the second embodiment (S405 and subsequent steps in FIG. 4), and therefore will not be described.

[0073] In the above configuration, the camera that captures the image of the old ridge may be referred to as the "target detection unit." Also, the position of the old ridge may be referred to as the "progress target." In other words, second information for correcting the position of the ridge forming unit 410C is generated based on the change in the positional relationship between the position information acquired by the position detector 500C and the progression target (the position of the old ridge).

[0074] In this embodiment, a configuration in which a camera is used to detect the difference between the position of the new ridge and the position of the old ridge is exemplified, but the present invention is not limited to this configuration. For example, various sensors may be used instead of a camera to recognize the positions of the new ridge and the old ridge. As a specific example, the positions of the new ridge and the old ridge can be recognized by providing a sensing arm similar to the sensing arm 450 in front of the ridge forming unit 410. In addition, even if the old ridge has not been formed, a marking (e.g., a white line drawn with lime) may be formed at a location where the ridge will be formed. The marking may be formed at a location other than the location where the new ridge will be formed. For example, a rail (e.g., a rail formed by a rod-shaped member or a linear member) may be formed on the upper surface of the ridge, and the ridge may be formed so that the distance between the rail and the position detector 500C is kept constant.

[0075] As described above, the ridge coating machine 10C according to this embodiment can form a ridge along a previously formed old ridge (or a position where a ridge is planned to be formed). Therefore, there is no need to set a planned travel route in advance, which reduces the burden on the worker. Furthermore, when performing ridge coating work, it may become necessary to change the planned travel route after actually entering the field, but even in such a case, it is possible to respond quickly.

[0076] Fifth embodiment The configuration of the ridge coating machine 10D according to this embodiment will be described with reference to Fig. 10. Fig. 10 is a diagram showing an example of automatic control of a ridge corner portion in a ridge coating machine according to one embodiment of the present invention. As shown in Fig. 10, when performing ridge coating work on a ridge corner portion, so-called working unit rotation is performed, in which the working unit 400D is rotated so as to change its orientation with respect to the traveling direction of the traveling machine body. In this embodiment, a configuration is described in which the working unit 400D is made to move straight along the side of the ridge even while such working unit rotation is being performed.

[0077] The ridge coating machine 10D according to this embodiment is similar to the ridge coating machine 10 according to the first embodiment. Therefore, a description of the same configuration as the ridge coating machine 10 will be omitted, and differences from the ridge coating machine 10 will be mainly described. Note that in this embodiment, for configurations having the same shape and function as the first embodiment, the alphabet "D" may be added after the same reference numerals as the first embodiment, and a description thereof may be omitted.

[0078] As shown in FIG. 10, in the ridge coating machine 10D, a position detector 590D (second position detector) is provided at the position of the pivot shaft 213D, which is above the power transmission unit 300D and is the center of rotation of the working unit 400D caused by the working unit rotation. The position of the pivot shaft 213D does not change relative to the ridge forming unit 410D regardless of whether the above-mentioned offset rotation or the working unit rotation is performed. Therefore, even if the above-mentioned rotation is performed, the relative positional relationship between the position detector 500D and the position detector 590D does not change. The above-mentioned pivot shaft 213D may be referred to as the "second point." In other words, the above configuration can be said to be connected to the link mechanism unit at the second point, that is, the ridge forming unit 410D (or the working unit 400D including the ridge forming unit 410D).

[0079] That is, even if the working unit 400D makes an offset rotation (rotation around the first point (rotation axis 211D)) or a working rotation (rotation around the second point (rotation axis 213D)), the relative positional relationship between the position detectors 500D and 590D is the same as the relative positional relationship between the working unit 400D when moving straight. Therefore, based on the position information acquired by the position detector 500D and the position information acquired by the position detector 590D, the inclination of the ridge forming unit 410D with respect to the traveling direction of the traveling body in a top view when the traveling body moves straight in the direction in which the ridge extends is calculated, and the traveling direction of the working unit 400D is controlled based on the inclination. Specifically, even if the traveling direction of the traveling body changes to a direction different from the direction in which the ridge extends at the ridge corner, the working unit 400D can be made to move straight in the direction in which the ridge extends based on the relative positional relationship between the position detectors 500D and 590D.

[0080] In the present embodiment, the position detector 590D is provided above the power transmission unit 300D and at the position of the rotation shaft 213D, but is not limited to this configuration. For example, the position detector 590D can be attached to a member whose relative positional relationship with the ridge forming unit 410D does not change even when the offset rotation and the working unit rotation are performed.

[0081] As described above, with the ridge coating machine 10D of this embodiment, even if the traveling direction of the running body is different from the direction in which the sides of the ridge extend, the ridge forming section 410D can be made to move straight in the direction in which the sides of the ridge extend.

[0082] Sixth embodiment The configuration of the ridge coating machine 10E according to this embodiment will be described with reference to Figures 11 and 12. Figure 11 is a top view showing the ridge coating machine 10E in a stored state. Figure 12 is a top view showing the ridge coating machine 10E in an operating state. The ridge coating machine 10E according to this embodiment is similar to the ridge coating machine 10 according to the first embodiment, but the position at which the arm member 510E is attached is different. Note that in this embodiment, for configurations having the same shape and function as those in the first embodiment, the alphabet "E" may be added after the same reference numerals as those in the first embodiment, and a description thereof may be omitted.

[0083] As shown in FIG. 11 and FIG. 12, the arm member 510E is fixed to the support frame 250E at the attachment portion 511E. The arm member 510E extends in a direction substantially perpendicular to the support frame 250E, and is bent on the way to extend toward the ridge forming portion 410E. The position detector 500E is connected to the tip of the arm member 510E at a position where it overlaps with the ridge forming portion 410E in a top view. In this embodiment, the arm member 510E has a shape in which a straight member is bent on the way, but for example, the arm member 510E may have a curved shape. The arm member 510E may have a shape in which a straight member is curved on the way, or may have a shape that is continuously curved from the attachment portion 511E to the position detector 500E.

[0084] One end of the support frame 250E is rotatably connected to the link rod 220E and the power transmission unit 300E at the rotation shaft 213E, and the other end is fixed to the upper end of the cover member 431E. The support frame 250E rotates together with the ridge forming unit 410E, the cover member 420E, the top processing unit 430E, and the pre-processing unit 440E as the working unit 400E rotates. In other words, even if the above-mentioned offset rotation and working unit rotation are performed, the relative positional relationship between the support frame 250E and the ridge forming unit 410E in a top view does not change. As a result, the positional relationship between the position detector 500E and the ridge forming unit 410E is the same in the stored state (FIG. 11) and the working state (FIG. 12).

[0085] As described above, the arm members 510E may be secured to the support frame 250E.

[0086] The present invention has been described above with reference to the drawings, but the present invention is not limited to the above-described embodiment and can be modified as appropriate without departing from the spirit of the present invention. [Explanation of symbols]

[0087] 10: ridge coating machine, 100: mounting section, 101: top mast, 107: input shaft, 110: hitch frame, 200: offset mechanism section, 211, 213, 221, 223: rotating shaft, 220: link rod, 230: support frame, 240: power section, 250E: support frame, 300: power transmission section, 400: working section, 401: member, 410: ridge forming section, 411: upper surface forming section, 412: slope forming section, 420: cover member, 430: top surface processing section, 431: cover member, 440: pre-processing section, 441: cover member, 450: sensing arm, 451: support member, 460: sensor support, 470: drum case, 500: position detector, 510: arm member, 590D: position detector, 600: control unit

Claims

1. a ridge forming section including an upper surface forming section that forms an upper surface of the ridge and a slope forming section that forms a slope of the ridge; A mounting part that is mounted on the traveling body; an offset moving part connected to the mounting part at a first point and configured to rotate the ridge forming part around the first point; A ridge coating machine having a first position detector that is provided above the ridge forming portion and overlaps with the boundary between the upper surface forming portion and the slope forming portion when viewed from above.

2. A control unit that generates information regarding the path of the ridge forming unit, The control unit is generating first information regarding a planned travel path of the ridge forming unit based on first position information acquired at point A and second position information acquired at point B; The ridge coating machine according to claim 1 , further comprising: generating second information for correcting the position of the ridge forming portion based on the position information acquired by the first position detector and the first information.

3. A control unit that generates information regarding a path of the ridge forming unit; A target detection unit that detects a progress target along which the ridge forming unit progresses, The ridge application machine according to claim 1, wherein the control unit generates second information for correcting the position of the ridge forming unit based on a change in the positional relationship between the position information acquired by the first position detector and the traveling target.

4. A control unit that generates information regarding a path of the ridge forming unit; a second position detector; The ridge forming portion is connected to the offset moving portion at a second point, the second position detector is provided on a member whose relative positional relationship with the ridge forming portion does not change even when the ridge forming portion is rotated around the first point or the second point, The control unit calculates the inclination of the ridge forming part relative to the direction of travel of the ridge forming part when viewed from above based on the position information acquired by the first position detector and the position information acquired by the second position detector, and generates second information for correcting the position of the ridge forming part based on the inclination.

5. The ridge application machine according to claim 1 , further comprising a control unit that generates second information for correcting the position of the ridge forming unit based on map data and position information acquired by the first position detector.

6. The ridge coating machine according to claim 2 , wherein the control unit transmits the generated second information to the traveling machine body.

7. A control unit that generates information regarding a path of the ridge forming unit; Further comprising a tilt detection unit that detects the tilt of the ridge forming portion, The ridge coating machine according to claim 1 , wherein the control unit generates ridge position information indicating a position of the ridge formed by the ridge forming unit based on the inclination detected by the inclination detection unit.

8. The ridge coating machine according to claim 7 , wherein the control unit generates second information for correcting a position of the ridge forming unit based on the ridge position information.

Images