Condition detection system for agricultural machinery

Abstract

To provide a state detection system for agricultural implements that detects whether or not a state is suitable for traveling in the case of traveling with an agricultural implement mounted on a tractor.SOLUTION: A control unit 21 determines that there is a traveling possible state suitable for traveling at the time of movement when a working part is located near the center of the left or right sides of a tractor 1 and an agricultural implement 2 is tilted forward by an angle equal to or greater than a predetermined angle, and wirelessly outputs a driving condition signal to a communication conversion device 17 when it is determined that there is no traveling possible state. The communication conversion device 17 converts a communication method of the driving condition signal from a communication method used for wireless communication with the control unit 21 to a communication method used for wired communication with a tractor control unit 15' and then outputs the signal to the tractor control unit 15'. At the time of receiving the driving condition signal, the tractor control unit 15' displays information warning a danger of driving at a speed equal to or higher than a predetermined speed, as driving caution information, on a display unit 14.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to an agricultural machine condition detection system, and more particularly to an agricultural machine condition detection system that detects whether or not a condition is suitable for traveling when an agricultural machine is attached to a tractor and traveling. [Background technology]

[0002] There are many agricultural work machines that can be attached to tractors and have a configuration that can be changed to a state suitable for agricultural work or a state suitable for traveling.

[0003] For example, Patent Document 1 describes a foldable agricultural machine. When the agricultural machine is open, the working width can be widened, improving work efficiency. When not in use, the machine can be folded up to reduce the overall width. This allows for safer travel when attached to a tractor. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 10-295111 Summary of the Invention [Problem to be solved by the invention]

[0005] However, since it is possible to increase the tractor's speed and travel regardless of the condition of the agricultural work machine attached to the tractor, safety may be reduced depending on the condition of the agricultural work machine.

[0006] For example, in the case of the agricultural machine described in Patent Document 1, if the tractor is driven at high speed with the left and right implement sections left open, the machine will be traveling in a state where safety is reduced. Conventionally, there has been no system to detect such a state.

[0007] In view of the above-mentioned problems, the present invention has an object to provide a condition detection system for an agricultural machine that detects whether or not a condition is suitable for traveling when an agricultural machine is attached to a tractor and traveling. [Means for solving the problem]

[0008] In order to achieve the above object, one representative agricultural work machine state detection system of the present invention is an agricultural work machine state detection system that determines whether an agricultural work machine having a working unit that is attached to a tractor to perform agricultural work is in a runnable state suitable for running when moving, the agricultural work machine state detection system includes an actuator that changes the state of the working unit of the agricultural work machine, a control unit that is provided on the agricultural work machine, a sensor that detects the angle of the agricultural work machine in the fore-aft direction, a tractor control unit that is provided on the tractor, a communication conversion device that is disposed on the tractor, and a display unit that is disposed on the tractor, the agricultural work machine being an agricultural work machine in which the working unit of the agricultural work machine is configured to be movable in position by operation of the actuator, and the control unit detects whether the working unit is located near the center of the tractor in the left-right direction. R case And, When the agricultural work machine is tilted forward at a predetermined angle or more, There are In this case, the vehicle must be in a suitable condition for travel. be It was determined that When the working part is not located near the center of the tractor If it is determined that the vehicle is not in a state where it can be driven, a driving condition signal is output wirelessly to the communication conversion device, and the communication conversion device converts the driving condition signal from a communication method used for wireless communication with the control unit to a communication method used for wired communication with the tractor control unit, and outputs the signal to the tractor control unit.When the tractor control unit receives the driving condition signal, it displays on the display unit driving caution information indicating that driving at or above a specified speed is dangerous.

[0009] Furthermore, one of the agricultural machinery condition detection systems of the present invention is characterized in that the agricultural machinery condition detection system is provided with a speaker, the speaker is arranged in the tractor, and provides an audible alert when the control unit outputs an operating condition signal. Effect of the Invention

[0010] According to the present invention, in an agricultural work machine condition detection system, when an agricultural work machine is mounted on a tractor and travelling, it is possible to detect whether the condition is suitable for travelling, thereby supporting safer travelling. Problems, configurations and effects other than those described above will become apparent from the following description of the embodiments. [Brief description of the drawings]

[0011] [Figure 1] 1 is a block diagram of a first embodiment of an agricultural machine condition detection system according to the present invention. FIG. [Diagram 2] 1 is a schematic plan view of a first embodiment of an agricultural machine condition detection system of the present invention. FIG. [Diagram 3] 1 is a rear view showing a first state of an agricultural machine to which a first embodiment of an agricultural machine state detection system of the present invention is applied. FIG. [Figure 4] FIG. 4 is a rear view showing a second state of the agricultural machine to which the first embodiment of the agricultural machine state detection system of the present invention is applied. [Diagram 5] 1 shows an example of an operating unit applicable to a first embodiment of the agricultural machine state detection system of the present invention. [Figure 6] 2 shows an example of a flowchart of a first embodiment of the agricultural machine condition detection system of the present invention. [Figure 7] FIG. 4 is a block diagram of a second embodiment of an agricultural machine condition detection system according to the present invention. [Figure 8] FIG. 4 is a schematic plan view of a second embodiment of an agricultural machine condition detection system of the present invention. [Figure 9] FIG. 11 is a schematic plan view of a third embodiment of an agricultural machine condition detection system of the present invention. [Figure 10] FIG. 11 is a schematic plan view of a fourth embodiment of a condition detection system for an agricultural machine according to the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] An embodiment for carrying out the present invention will be described.

[0013] (First embodiment) FIG. 1 is a block diagram of a first embodiment of an agricultural machine condition detection system according to the present invention.

[0014] In a configuration including an agricultural work machine 2 mounted on a tractor 1, the tractor 1 is provided with an engine 11, a transmission 12, a speaker 13, a display unit 14, and a tractor control unit 15. In addition, an operation unit 19 can be arranged on the tractor 1. The agricultural work machine 2 is provided with a control unit 21, an actuator 22, and a sensor 23.

[0015] The engine 11 is an engine for the tractor 1 that is pre-installed in the tractor 1. Information such as the number of revolutions can be output to the tractor control unit 15.

[0016] The transmission 12 is a transmission for the tractor 1 that is pre-installed in the tractor 1. Information on the state of the transmission 12 can be output to the tractor control unit 15.

[0017] The speaker 13 may be provided in advance in the tractor 1, or may be additionally provided in the tractor 1. The speaker 13 is provided near the driver's seat of the tractor 1, and is capable of transmitting sound information to the operator who operates the tractor 1.

[0018] The display unit 14 is installed in a position on the tractor 1 where the operator can easily see it while driving, and can inform the operator whether the condition is suitable for driving based on the detection. The display unit 14 can be equipped with a display screen using, for example, liquid crystal, organic EL, LED, etc. In addition, a configuration in which a lamp such as an LED is turned on, the color is changed, or the lamp flashes can be used to inform the operator. The display unit 14 may be a display device that is installed in the tractor 1 in advance. In this case, a configuration in which an application (application software) can be introduced to perform the necessary processing can be provided. The display unit 14 can also be applied to display the control contents of the tractor 1.

[0019] The tractor control unit 15 performs processing for controlling the tractor 1 side. The tractor control unit 15 may be one that is already provided in the tractor 1. The tractor control unit 15 performs processing for controlling the engine 11, the transmission 12, the speaker 13, the display unit 14, and the like. For example, the tractor control unit 15 controls the rotation of the engine 11 according to the state of an accelerator or the like provided in the driver's seat of the tractor 1. The tractor control unit 15 also controls the shifting of the transmission 12 by the operation of a shift lever provided in the driver's seat of the tractor 1. The tractor control unit 15 also controls the speaker 13 to emit sound and the display unit 14 to display according to a signal sent from the control unit 21. At this time, information from the tractor control unit 15 can be taken into consideration. The information from the tractor control unit 15 here is, for example, the speed of the tractor 1, and this can also be calculated from information from the engine 11 and the transmission 12. The information from the tractor control unit 15 can also be sent to the control unit 21.

[0020] The operation unit 19 is an operation unit for operating the actuator 22 to change the state of the agricultural work machine 2. For operation, a plurality of operation switches such as push buttons may be provided. Information generated by operating the operation switches is transmitted to the control unit 21. In this embodiment, a configuration capable of transmitting information wirelessly is shown.

[0021] The control unit 21 is capable of communicating with the tractor control unit 15 and wirelessly communicating with the operation unit 19. The control unit 21 controls the actuator 22 based on operation information from the operation unit 19. Here, information from the sensor 23 may be reflected in the control. The control unit 21 is capable of processing to determine whether or not the state is suitable for traveling, which will be described later. The control unit 21 can also transmit processed information, etc. to the tractor control unit 15. The control unit 21 may also have a storage unit that stores data necessary for control as necessary. The control unit 21 is composed of electronic devices, etc. necessary for control, processing, etc.

[0022] The actuator 22 is an actuator for moving a part of the agricultural work machine 2 as necessary. The actuator 22 is, for example, a cylinder such as a hydraulic cylinder or an electric hydraulic cylinder, a motor, etc. In particular, it is an actuator for changing the state of a working unit that performs agricultural work of the agricultural work machine 2, an actuator for operating the working unit, etc. An actuator that changes the state of the working unit can change the state by, for example, changing the position of the working unit.

[0023] Various types of sensors are applied as the sensor 23 according to the needs of the agricultural work machine 2, and are installed in appropriate locations of the agricultural work machine 2. The sensor 23 is, for example, an acceleration sensor, an angular velocity sensor, a tilt sensor, a geomagnetic sensor, a rotation sensor, a potentiometer, a limit switch, a stroke sensor, etc. This makes it possible to detect the state of the actuator 22, the state of the agricultural work machine 2 due to the actuator 22, the current state of the agricultural work machine 2 (for example, tilt, working depth, etc.), etc.

[0024] FIG. 2 is a schematic plan view of a first embodiment of the agricultural machine state detection system of the present invention. FIG. 3 is a rear view showing a first state of the agricultural machine to which the first embodiment of the agricultural machine state detection system of the present invention is applied. FIG. 4 is a rear view showing a second state of the agricultural machine to which the first embodiment of the agricultural machine state detection system of the present invention is applied. The agricultural machine 2 in FIGS. 2 to 4 shows an embodiment using a tilling machine 30 equipped with a folding mechanism. In the following, the description will be given assuming that the traveling direction of the tilling machine 30 is the forward direction. The left-right direction in FIG. 2 is the lateral direction, and the up-down direction in FIG. 2 is the front-rear direction. The left-right direction in FIGS. 3 and 4 is the lateral direction, and the up-down direction in FIGS. 3 and 4 is the up-down direction of the tilling machine 30.

[0025] As shown in FIG. 2, a central working unit 35 of the tilling implement 30 is attached to the rear of the tractor 1. Extended working units 35' installed on both sides of the central working unit 35 can be folded relative to the central working unit 35. An operation unit 19 is disposed near the driver's seat of the tractor 1. A control unit 21 is disposed in the central working unit 35. The actuators 22 and sensors 23 are disposed in suitable locations on the tilling implement 30 depending on the application. The tractor control unit 15 is connected to a wiring 16, and its tip forms a connector 16a. The control unit 21 is connected to a wiring 25, and its tip forms a connector 25a. The connector 16a and the connector 25a are connected near the area between the tractor 1 and the tilling implement 30, and the tractor control unit 15 and the control unit 21 are connected by wire.

[0026] Here, the operation information operated by the operation unit 19 is sent to the control unit 21 by wireless communication. The control unit 21 controls the actuator 22 based on the information. Information from the sensor 23 is sent to the control unit 21. The control unit 21 judges whether the tillage implement 30 is in a state suitable for traveling based on the information sent from the sensor 23 or the control information of the control unit 21. Then, information based on the judgment is output to the tractor control unit 15. The tractor control unit 15 controls the notification by the speaker 13 and the display by the display unit 14 based on the information from the control unit 21. At this time, the control information of the tractor control unit 15 (for example, speed information of the tractor 1) can be used as necessary. The information from the control unit 21 can also be used for the control of the tractor 1 by the tractor control unit 15 (for example, travel control, etc.).

[0027] 3 and 4 show a specific shape of the tilling implement 30. The central working unit 35 is provided with a mast 31a and left and right hitches 31b, which are the mounting unit 31, and the tilling implement 30 is mounted to the tractor 1 via these. Power from the tractor 1 is input through an input shaft provided at the front, and is transmitted to the tilling unit 49 equipped with tilling claws 48 inside the cover 32 and the first leveling body 33 behind it. The tilling unit 49 then rotates to break down the soil, and the first leveling body 33 and the second leveling body 34 provided behind it flatten the soil surface. In this way, the tilling work is performed. The control box 38 is also installed on the cover 32. The control box 38 may be installed in another location, or on another frame, etc.

[0028] The left and right electric hydraulic cylinders 36 extend and retract, and actuate the pivot mechanism 37 to pivot the extension working parts 35' provided on the left and right end sides of the central working part 35, respectively, to close and fold inward or open outward. FIG. 3 shows the extension working parts 35' on both sides in an open state, and FIG. 4 shows the extension working parts 35' on both sides in a folded state closed inward in the horizontal direction. In the state of FIG. 3, the extension working parts 35' are extended, making it possible to widen the overall width of the tilling work, and to improve the efficiency of the work. In addition, in the state of FIG. 4, the extension working parts 35' on both sides are folded, making it possible to shorten the overall width of the tilling work machine 30 in the horizontal direction, and thus making it suitable for traveling when moving.

[0029] The left and right extension leveling body drive devices 40 (see FIG. 3) rotate the internal motors to rotate the left and right extension leveling bodies 41 around the rotation shafts 41a via the arms 42 and wires 43. This allows the extension leveling bodies 41 provided at both ends of the second leveling body 34 to be selected to be opened outward and extended (left side state of FIG. 3) or closed inward and folded (right side state of FIG. 3). In the state of FIG. 4, the left and right extension leveling bodies 41 are in a folded state.

[0030] The second leveling body drive device 46 rotates the internal motor via the second leveling body link means 47, allowing the user to select whether the second leveling body 34 is fixed at the bottom in a soil-pulling state, or a normal plowing state in which the rotation is not fixed.

[0031] The electric hydraulic cylinder 36, the extended soil leveling body drive device 40 (its motor), and the second soil leveling body drive device 46 (its motor) can be used as the actuator 22 in Figs. 1 and 2. Furthermore, these actuators and sensors that detect their operating states can be used as the sensor 23 in Figs. 1 and 2. For example, a sensor that detects the opening and closing of the extended working section 35' (such as a limit switch) and a sensor that detects the operation of the electric hydraulic cylinder 36 (such as a stroke sensor) can be used. Furthermore, an inclination sensor, acceleration sensor, etc. may be provided on the tillage implement 30 as the sensor 23. This sensor can also be provided inside the control box 38.

[0032] FIG. 5 shows an example of an operation unit that can be applied to the agricultural machine state detection system according to the first embodiment of the present invention.

[0033] In Fig. 5, an operation unit 50 is shown as a specific example of the operation unit 19 in Fig. 1. The operation unit 50 is provided with an open switch 50a, a close switch 50b, a left switch 50c, a right switch 50d, a left open switch 50e, a left close switch 50f, a right open switch 50g, a right close switch 50h, a plowing switch 50i, and a soil pulling switch 50j. These can be configured as push buttons.

[0034] When the open switch 50a is pressed, operation information is sent to the control unit 21, which then controls the left and right electric hydraulic cylinders 36 to open the extension working unit 35' to the state shown in FIG. 3. When the close switch 50b is pressed, operation information is sent to the control unit 21, which then controls the left and right electric hydraulic cylinders 36 to fold the extension working unit 35' to the state shown in FIG. 4. Furthermore, by pressing the left switch 50c and then pressing the open switch 50a or close switch 50b, only the left extension working unit 35' can be opened or closed. Furthermore, by pressing the right switch 50d and then pressing the open switch 50a or close switch 50b, only the right extension working unit 35' can be opened or closed.

[0035] The left opening switch 50e, the left closing switch 50f, the right opening switch 50g, and the right closing switch 50h can control the extended ground leveling body drive device 40 to open the left extended ground leveling body 41, close the left extended ground leveling body 41, open the right extended ground leveling body 41, and close the right extended ground leveling body 41, respectively.

[0036] The plowing switch 50i and the soil-pulling switch 50j control the second soil-levelling body drive device 46, thereby enabling the second soil-levelling body 34 to be operated in a plowing state or a soil-pulling state.

[0037] 6 is a flowchart showing an example of the agricultural machine state detection system according to the first embodiment of the present invention. Here, the process performed by the control unit 21 is shown.

[0038] First, when the process starts (S101), it is determined whether or not the tractor 1 is in a travelable state (S102). The travelable state here is determined to be a state suitable for the tractor 1 equipped with the agricultural work machine 2 to travel for transportation.

[0039] The determination in S102 can be made based on the state of the working unit of the agricultural work machine 2 that performs the agricultural work. For example, in the case of the tilling work machine 30, when the left and right extension working units 35' are in the state shown in FIG. 4 in which they are folded up, it can be determined that the machine is in a travellable state. This is because the overall width in the lateral direction is shortened, making the machine suitable for travelling for transportation. This determination can be made reliably by providing, as the sensor 23, a sensor that detects the opening and closing of the extension working units 35' and a sensor that detects the state of the electric hydraulic cylinder 36, etc., as necessary, and using the information from these sensors. It is also possible to make the determination based on information from the control unit 21 that controls the electric hydraulic cylinder 36.

[0040] The judgment in S102 can further use detection of the angle (tilt) in the front-rear direction of the tilling implement 30 (farm work machine 2). When the tractor 1 equipped with the tilling implement 30 travels for moving, safety can be ensured by operating the tractor 1 to raise the tilling implement 30 upwards and travel. At this time, the tilling implement 30 equipped on the tractor 1 usually has a tendency to tilt forward when moved upwards relative to the tractor 1 due to the configuration of the connecting part. For this reason, if the tilling implement 30 tilts forward more than a predetermined angle, it is determined that the tilling implement 30 has been raised upwards by a predetermined angle or more, and it can be determined that the tilling implement 30 is in a travelable state. This judgment can be made by providing a sensor (for example, an inclination sensor or an acceleration sensor) that detects the tilt of the tilling implement 30 as the sensor 23, and making the judgment based on information from this sensor. Also, if a signal of the up / down position of the coupling part (e.g., a hitch arm or the like) that couples the agricultural work machine 2 is output from the tractor control part 15 of the tractor 1 (e.g., a signal showing a percentage with the maximum raised position being 100% and the maximum lowered position being 0%), this can also be used. This signal can be received by the control part 21 to determine whether the agricultural work machine 2 has been raised above a predetermined angle or more, and to determine whether it is in a state in which it can travel.

[0041] In this way, the judgment in S102 can be made using the state of the working part of the tilling machine 30 and the state of the inclination in the fore-aft direction of the tilling machine 30 (the inclination when the axis extending in the horizontal direction is the axis of rotation). The judgment may be made only based on the state of the working part of the tilling machine 30, or a more reliable judgment may be made by adding the state of the inclination in the fore-aft direction of the tilling machine 30. When these two states are used, if both the state of the working part of the tilling machine 30 and the state of the inclination in the fore-aft direction of the tilling machine 30 are judged to be suitable for driving, the tilling machine 30 is judged to be in a drivable state. Conversely, if either state is not suitable for driving, the tilling machine 30 is judged to be in a non-drivable state.

[0042] If it is determined in S102 that the vehicle is not in a travel-ready state, the process proceeds to S103, and if it is determined that the vehicle is in a travel-ready state, the process returns to the determination in S102. In other words, if it is determined that the vehicle is in a travel-ready state, the display unit 14, the speaker 13, etc. are not controlled, and travel control by the tractor control unit 15 is not performed.

[0043] In S103, a signal for changing or restricting the operating conditions is output. This output is sent from the control unit 21 to the tractor control unit 15. Here, the signal for changing or restricting the operating conditions is a signal based on information that determines that the tillage implement 30 is not in a state suitable for traveling. The tractor control unit 15 performs control in accordance with that information. A specific example will be described below.

[0044] When the tractor control unit 15 receives a signal to change or restrict the driving conditions, it causes the display unit 14 to display driving caution information. Specifically, it causes the display unit 14 to display information that driving at or above a predetermined speed is dangerous by using characters, figures, pictures, etc. on the display screen of the display unit 14. In addition, such information may be notified by voice from the speaker 13. Furthermore, when the tractor 1 actually travels at or above a predetermined speed, it causes the display unit 14 to display information that the current driving is dangerous by using characters, figures, pictures, etc. on the display screen of the display unit 14. In addition, it is also possible to notify by sound using voice or warning sound from the speaker 13. At this time, the comparison and judgment between the predetermined speed and the current speed can be performed by the tractor control unit 15. Alternatively, the control unit 21 may obtain information on the current speed from the tractor control unit 15 and perform a process of comparing the predetermined speed and the current speed in the control unit 21 to make a judgment. The result is output to the tractor control unit 15. The predetermined speed here is a speed greater than the speed at which actual farm work is carried out (for example, 7 km / h or more, or even 10 km / h or more, or even 15 km / h or more, etc.), and a speed less than that during normal travel (for example, 20 km / h or less, or even 15 km / h or less, or even 12 km / h or less, etc.).

[0045] In addition, the display unit 14 may display the current state of the tilling implement 30 (such as the open / closed state of the extension working section 35' and the forward / backward angle of the tilling implement 30) using diagrams, pictures, text, or the like.

[0046] Furthermore, when the tractor control unit 15 receives a signal to change or restrict the operating conditions, the tractor control unit 15 may actually control the engine 11 and the transmission 12 to perform travel control so that the tractor 1 does not go faster than a predetermined speed. Also, the transmission 12 may be controlled so that the gear does not go higher than a predetermined gear.

[0047] In this way, in the first embodiment, by determining whether or not the tilling implement 30 is in a state where it can be driven and outputting the result based on the state of the tilling implement 30, it is possible to support safer driving of the tractor 1 equipped with the tilling implement 30. In particular, by applying the state of the working section (open / closed state of the extended working section 35') and the state of inclination in the front-to-rear direction as the state of the tilling implement 30, more accurate determination becomes possible. When the operator receives a notification from the display unit 14 or the speaker 13, he or she can change the tilling implement 30 to a state suitable for driving by operating the operation unit 50 or the tractor 1.

[0048] Second embodiment Fig. 7 is a block diagram of a second embodiment of the agricultural machine condition detection system of the present invention. Fig. 8 is a schematic plan view of the second embodiment of the agricultural machine condition detection system of the present invention. In this second embodiment, differences from the first embodiment will be mainly described, and the same parts are given the same reference numerals, and the same description of parts that are not particularly described will be omitted.

[0049] This embodiment differs from the first embodiment in that a communication conversion device 17 is added. In addition, in FIGS.

[0050] The tractor control unit 15' is similar to the first embodiment in that it performs processing for controlling the tractor 1. On the other hand, in this embodiment, control information for the tractor 1 is transmitted from the tractor control unit 15' to the communication conversion device 17. Also, information from the communication conversion device 17 can be received by the tractor control unit 15'.

[0051] The communication conversion device 17 has a configuration capable of converting different types of communication. The communication conversion device 17 is capable of communication with the tractor control unit 15' via the communication line 18, and is also capable of wireless communication R with the control unit 21. Here, the wireless communication R employs a communication method applicable to the control unit 21. Furthermore, the communication method of the communication line 18 employs a communication method applicable to the tractor control unit 15'. Here, if the communication methods are different, communication is only possible with devices compatible with the methods. Therefore, when the communication methods of the wireless communication R and the communication line 18 are different, conversion is performed by the communication conversion device 17. The communication conversion device 17 is capable of converting the communication method of the wireless communication R to the communication method of the communication line 18 for the same information. Furthermore, the communication conversion device 17 is capable of converting the communication method of the communication line 18 to the communication method of the wireless communication R for the same information.

[0052] Various wireless communication methods can be applied to the wireless communication R. Furthermore, if Bluetooth (registered trademark) is used between the communication conversion device 17 and the control unit 21, pairing is performed, and if a method other than Bluetooth, such as Wi-Fi, is used, a method other than pairing is applied.

[0053] An example of the communication method is when the communication method of the communication line 18 is CAN (Controller Area Network). CAN is a communication method that is widely adopted in tractors and is likely to be adopted in the tractor control unit 15' of the tractor 1. For this reason, it is highly likely that CAN can be applied as information output from the tractor control unit 15'. Another example of the communication method of the wireless communication R is BLE (Bluetooth Low Energy). BLE has the effect of enabling communication with low power in wireless communication, and is an effective communication method between the tractor 1 and the agricultural work machine 2. In this case, the communication conversion device 17 changes the communication method from BLE to CAN, or from CAN to BLE.

[0054] Information from the control unit 21 of the agricultural work machine 2 is sent to the communication conversion device 17 on the tractor 1 side via wireless communication R. In the communication conversion device 17, the communication method is converted and the information is sent to the tractor control unit 15' via the communication line 18. On the other hand, information from the tractor control unit 15' is sent to the communication conversion device 17 via the communication line 18. In the communication conversion device 17, the communication method is converted and the information is sent to the control unit 21 via wireless communication R.

[0055] In this way, in the second embodiment, even if the communication method applicable to the tractor control unit 15' is different from the communication method applicable to the control unit 21, communication is possible by using the communication conversion device 17. Conventionally, when the applicable communication method is different, it was necessary to change the entire control unit 21, which was time-consuming and costly. However, in the second embodiment, it is possible to build an agricultural machine status detection system simply by adding the communication conversion device 17, making it possible to increase versatility.

[0056] (Third embodiment) Fig. 9 is a schematic plan view of a third embodiment of the agricultural work machine condition detection system of the present invention. In the third embodiment, differences from the first embodiment will be mainly described, the same parts are given the same reference numerals, and the same description will be omitted for parts that are not particularly described. In this embodiment, an example is shown in which the agricultural work machine 2 is applied to a ridge coating machine 100 that performs ridge coating work. Note that the top of Fig. 9 indicates the front side (the forward direction of ridge coating work), the bottom indicates the rear side, and the left and right directions of Fig. 9 indicate the lateral (left and right) directions. Also, the illustration of the tractor 1 in Fig. 9 is simplified.

[0057] The ridge coating machine 100 has a mounting part 102 attached to the rear of the tractor 1. One end of an intermediate frame 103 is connected to the mounting part 102 so as to be rotatable left and right, and the other end of the intermediate frame 103 is connected to a working part 105 via a rotating mechanism 104. The working part 105 has a tilling part 107 at the front and a disk part 108 at the rear. PTO power from the tractor 1 is sent to the working part 105 via a transmission mechanism (not shown). The working part 105 is configured to send soil from the old ridge to the disk part 108 by the rotation of the claws 107a inside the tilling part cover 107b of the tilling part 107, and then shape the soil into a new ridge by the rotation of the disk part 108.

[0058] The ridger 100 is also provided with a first cylinder 111 and a second cylinder 112. The extension and contraction of the first cylinder 111 allows the working unit 105 to be offset and the offset amount (lateral position relative to the tractor 1) to be adjusted. The first cylinder 111 is also fully contracted from the forward operation state of FIG. 9 to rotate the intermediate frame 103 in the direction of the arrow P relative to the mounting unit 102. This allows the working unit 105 to be offset and moved to the vicinity of the left-right center relative to the tractor 1 and to be stored. In this state, the working unit 105 is positioned behind the tractor 1, and is configured not to protrude from the tractor 1 in the lateral direction, compared to the forward operation state of FIG. 9. Furthermore, the second cylinder 112 is extended from the stored state to rotate the working unit 105 relative to the intermediate frame 103 and set to a back operation state, enabling return operation. At this time, the working unit 105 protrudes to the left side, which is the opposite of the left-right direction, and the front and rear of the working unit 105 are reversed.

[0059] The control box 110 is attached to the mounting section 102, and can store the control section 21, the sensor 23, and the like shown in FIG. 1. The speaker 13, the display section 14, and the tractor control section 15 are the same as those in the first embodiment. The operation section 19' is capable of wireless communication with the control section 21 of the control box 110, and is provided with operation switches corresponding to the control of the first cylinder 111 and the second cylinder 112 of the ridge coating machine 100.

[0060] The first cylinder 111 and the second cylinder 112 can be applied as the actuator 22 in Fig. 1. As the sensor 23 in Fig. 1, a sensor that detects these actuators or their operating states can be applied. For example, a sensor (e.g., a potentiometer) that detects the rotation of the intermediate frame 103 or the working unit 105, or a sensor (e.g., a stroke sensor) that detects the state of the first cylinder 111 or the second cylinder 112, can be applied. Furthermore, as the sensor 23, an inclination sensor, an acceleration sensor, or the like can be provided on the ridger 100 (particularly on the mounting unit 102 that does not rotate relative to the tractor 1). This sensor can also be provided in the control box 110.

[0061] In the third embodiment, the same process as that described in FIG. 6 of the control unit 21 is performed. In the judgment of S102, as in the first embodiment, the judgment can be made by using the state of the working unit 105 of the ridge coating machine 100 and the state of the inclination of the ridge coating machine 100 in the front-rear direction. Here, the state of the working unit 105 of the ridge coating machine 100 can be judged as a travelable state when it is in the above-mentioned stored state. This is a state in which the lateral protrusion from the tractor 1 is small or eliminated, and therefore the state is suitable for travel for moving. This judgment can be made reliably by providing, as the sensor 23, a sensor for detecting the rotation of the intermediate frame 103 and the working unit 105, a sensor for detecting the state of the first cylinder 111 and the second cylinder 112, etc. as necessary, and using the information of these sensors. It is also possible to make the judgment based on information for controlling the first cylinder 111 and the second cylinder 112 of the control unit 21. When the inclination of the ridge coating machine 100 in the front-to-rear direction is greater than a predetermined angle, it can be determined that the machine is ready to travel. This determination can be made by providing a sensor (e.g., an inclination sensor or an acceleration sensor) that detects the inclination of the ridge coating machine 100 and using information from this sensor. The processing of S103 is the same as in the first embodiment.

[0062] In this way, in the third embodiment, it is possible to determine whether or not the ridge coating machine 100 is in a state where it can be driven, based on the state of the ridge coating machine 100, thereby supporting safer driving of the tractor 1 equipped with the ridge coating machine 100. In particular, by applying the state of the working unit 105 (offset position) and the state of tilt in the fore-and-aft direction as the state of the ridge coating machine 100, more accurate determination is possible. Upon receiving a notification from the display unit 14 or the speaker 13, the operator can change the state of the ridge coating machine 100 to one suitable for driving by operating the operation unit 19' or by operating the tractor 1.

[0063] (Fourth embodiment) Fig. 10 is a schematic plan view of a fourth embodiment of the agricultural work machine state detection system of the present invention. In the fourth embodiment, differences from the first embodiment will be mainly described, the same parts are given the same reference numerals, and the same description of parts that are not particularly described will be omitted. In this embodiment, an example is shown in which the agricultural work machine 2 is applied to a grass mower 200 that performs grass cutting work. Note that the top of Fig. 10 indicates the front side (forward direction of grass cutting work), the bottom indicates the rear side, and the left and right directions of Fig. 10 indicate the lateral (left and right) directions. Also, the illustration of the tractor 1 in Fig. 10 is simplified.

[0064] The grass cutter 200 has a mounting part 210 mounted on the rear of the tractor 1. The mounting part 210 and the working part 250 are connected by a link mechanism 220 having a first arm 221 and a second arm 222. The link mechanism 220 allows the working part 250 to be offset in the left-right direction relative to the mounting part 210. The PTO power from the tractor 1 is transmitted from a first input shaft 231 provided on the mounting part 210 to a second input shaft 251 provided on the working part 250 via an intermediate joint 232. The second input shaft 251 is provided in a transmission case 252 on the upper part of a cover 255, and the input power is transmitted to a grass cutting shaft 263 on the lower side of the cover 255 via a belt inside a belt cover 261 provided on the side of the working part 250. The grass cutting shaft 263 is provided with a plurality of grass cutting claws 264, and grass is cut by rotating the grass cutting shaft 263.

[0065] In addition, the mower 200 can adjust the offset amount (lateral position relative to the tractor 1) of the working unit 250 by expanding and contracting the offset cylinder 240 provided on the link mechanism 220. In addition, by sufficiently contracting the offset cylinder 240 from the working state of FIG. 10, the working unit 250 can be moved in the direction of arrow Q relative to the mounting unit 210, and the working unit 250 can be placed in a stored state in which it is positioned near the left-right center relative to the tractor 1. In this state, the working unit 250 is positioned behind the tractor 1, and the working unit 250 does not protrude from the tractor 1 in the lateral direction as compared to the working state of FIG. 10. In addition, the tilt cylinder 270 is a cylinder that enables the working unit 250 to be tilted with respect to the mounting member 256 on the working unit 250 side of the link mechanism 220, with an axis extending in the front-rear direction as a rotation axis.

[0066] The control box 280 is attached to the mounting section 210, and can store the control section 21, the sensor 23, etc. shown in FIG. 1. The speaker 13, the display section 14, and the tractor control section 15 are the same as those in the first embodiment. The operation section 19'' is capable of wireless communication with the control section 21 of the control box 280, and includes operation switches corresponding to the control of the offset cylinder 240 and the tilt cylinder 270 of the grass mower 200.

[0067] The offset cylinder 240 and the tilt cylinder 270 can be applied as the actuator 22 in Fig. 1. As the sensor 23 in Fig. 1, a sensor that detects these actuators or the operating state thereof can be applied. For example, a sensor (e.g., a potentiometer) that detects the rotation of either the arms 221, 222 of the link mechanism 220 or the tilt of the working unit 250, or a sensor (e.g., a stroke sensor) that detects the state of the offset cylinder 240 or the tilt cylinder 270, etc. Furthermore, as the sensor 23, an inclination sensor, an acceleration sensor, etc. may be provided on the mower 200 (particularly on the mounting unit 210 that does not move offset or rotate with respect to the tractor 1). This sensor can also be provided in the control box 280.

[0068] In the fourth embodiment, the control unit 21 performs the same process as that described in Fig. 6. In the judgment in S102, as in the first embodiment, the judgment can be made using the state of the working unit 250 of the mower 200 and the state of inclination of the mower 200 in the front-rear direction.

[0069] The state of the working unit 250 of the mower 200 can be determined as a runnable state when it is in the above-mentioned stored state. This is a state in which the lateral protrusion from the tractor 1 is small or absent, and therefore the state is suitable for running for transportation. This determination can be made reliably by providing, as the sensor 23, a sensor that detects the rotation of either of the arms 221, 222 of the link mechanism 220, a sensor that detects the state of the offset cylinder 240, or the like as necessary, and using the information from these sensors. It is also possible to make the determination based on the information for controlling the offset cylinder 240 of the control unit 21. Furthermore, the state of the working unit 250 of the mower 200 can be determined as a runnable state when the inclination of the working unit 250 with the axis extending in the front-rear direction as the rotation axis is close to horizontal (for example, within ±10 degrees from the horizontal, or further within ±5 degrees from the horizontal). This determination can be made reliably by providing, as the sensor 23, a sensor for detecting the rotation of the working unit 250 in the tilt direction, a sensor for detecting the state of the tilt cylinder 270, etc. as necessary, and using the information from these sensors. It is also possible to make the determination based on information from the control unit 21 that controls the tilt cylinder 270.

[0070] The mower 200 can be determined to be in a drivable state when the mower 200 is tilted forward more than a predetermined angle in the forward-rear direction. This determination can be made based on information from a sensor (such as an inclination sensor or an acceleration sensor) that detects the inclination of the mower 200. The process of S103 is the same as in the first embodiment.

[0071] In this way, in the fourth embodiment, it is possible to determine whether or not the grass mower 200 is in a state in which it is possible to run, based on the state of the grass mower 200, and it is possible to support safer running of the tractor 1 equipped with the grass mower 200. In particular, by applying the state of the working unit 250 (offset position), the state of inclination in the front-to-rear direction, and the horizontal state of the working unit as the state of the grass mower 200, it is possible to make a more accurate determination. Upon receiving a notification from the display unit 14 or the speaker 13, the operator can change the grass mower 200 to a state suitable for running by operating the operation unit 19'' or by operating the tractor 1.

[0072] As described above, the embodiments of the present invention have been described, but the present invention is not limited to the above-mentioned embodiments, and various modified examples other than those described above are also included. For example, the present invention is not limited to those having all the configurations provided in the above-mentioned embodiments. In addition, it is also possible to delete part of the configuration of a certain embodiment or replace it with another configuration.

[0073] For example, in the above embodiment, examples of agricultural work machines 2 were given as the tiller 30, the ridger 100, and the grass cutter 200, but the present invention can also be applied to agricultural work machines 2 mounted on other tractors 1.

[0074] Further, in the first, third and fourth embodiments, the tractor control unit 15 and the control unit 21 are connected by wire, but wireless communication may also be used.

[0075] In addition, in each embodiment, the angle in the front-rear direction of the agricultural work machine 2 is used to determine whether the agricultural work machine 2 is in a travelable state, but the height of the agricultural work machine 2 may be actually calculated from this angle to determine whether the agricultural work machine 2 is in a travelable state. Furthermore, if information on the height of the agricultural work machine 2 can be obtained from the tractor control unit 15 of the tractor 1, that information may be used.

[0076] Also, instead of the display unit 14 and speaker 13 shown in each embodiment, or in addition to the display unit 14 and speaker 13, a communication terminal capable of direct wireless communication with the control unit 21 may be arranged on the tractor 1. This communication terminal is equipped with a display unit and a speaker, and can perform notifications similar to those of the display unit 14 and speaker 13. In this case, since the tractor control unit 15 is not involved, the control unit 21 performs the necessary processing and outputs it to the communication terminal, and processing for notification is performed within the communication terminal. For example, the comparison between a predetermined speed and the current speed is performed by the control unit 21. A smartphone, a tablet computer, or the like can be applied as this communication terminal. [Explanation of symbols]

[0077] 1 Tractor 2 Agricultural machinery 11 Engine 12. Transmission 13 Speakers 14 Display section 15 Tractor control unit 16, 18, 25 Wiring 19, 19', 19'', 50 Operation section 21 Control section 22 Actuator 23 Sensors 30 Plowing machine 35 Central Work Section 35' extension working section 36 Electric hydraulic cylinder 40 Extension leveling body drive device 46 Second leveling body drive unit 100 Ridge Painting Machine 105 Working Section 111 No. 1 cylinder 112 No. 2 cylinder 200 Grass trimmer 240 Offset Cylinder 250 Working Unit 270 Tilt Cylinder

Claims

1. An agricultural work machine state detection system for determining whether an agricultural work machine having a working unit attached to a tractor to perform agricultural work is in a runnable state suitable for running when moving, comprising: The agricultural work machine status detection system includes an actuator that changes the status of the working unit of the agricultural work machine, a control unit provided in the agricultural work machine, a sensor that detects the angle of the agricultural work machine in the forward / rearward direction, a tractor control unit provided in the tractor, a communication conversion device disposed in the tractor, and a display unit disposed in the tractor, The agricultural work machine is an agricultural work machine configured such that the working unit of the agricultural work machine can be moved in position by operation of the actuator, the control unit determines that the agricultural work machine is in a drivable state suitable for traveling when the working unit is located near the left-right center of the tractor and the agricultural work machine is tilted forward by a predetermined angle or more, and wirelessly outputs a driving condition signal to the communication conversion device when the working unit is not located near the left-right center of the tractor and it is determined that the agricultural work machine is not in a drivable state, the communication conversion device converts the driving condition signal from a communication method used for wireless communication with the control unit to a communication method used for wired communication with the tractor control unit, and outputs the converted driving condition signal to the tractor control unit; The agricultural machinery condition detection system is characterized in that, when the tractor control unit receives the driving condition signal, it displays on the display unit driving caution information indicating that driving at or above a predetermined speed is dangerous.

2. The agricultural machine condition detection system according to claim 1, The agricultural machine condition detection system includes a speaker, The speaker is disposed in the tractor and provides an audible alert when the control unit outputs an operating condition signal.

Images