How agricultural machinery works

Abstract

To provide a work method of farm work which can coordinate with a traveling machine body for performing control while determining a state after the work.SOLUTION: An agricultural machine 21 has: a groove formation part 23 which forms a groove on a soil after work following the progress; an imaging device 31 which is provided so as to be able to image the groove; and a control unit which can perform intercommunication with a traveling machine body control unit having operation units (a first operation unit=a lifting device 14 of a traveling machine body 11 (three-point link), a second operation unit=a PTO device formed of a PTO shaft 13 of the traveling machine body 11, a third operation unit=a travel device 12 of the traveling machine body 11) in the traveling machine body 11 on the basis of information about a shape of a groove 41 imaged by the imaging device 31. A work method of the agricultural machine includes the steps of: making the control unit obtain a measurement value obtained by measuring a length of the groove 41 with image processing based on image information from the imaging device 31; and comparing the measurement value with the total value obtained by adding a preset permissible value being a preset groove length of the groove 41 for determination.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] This invention relates to a method for operating an agricultural machine. and agricultural machinery relates to. [Background technology]

[0002] Patent document 1, entitled "Control device for tiller," and Patent document 2, entitled "Automatic control system for working machinery," propose a mechanism for operating the lifting device on the running body to bring an agricultural working machine, which is attached to the running body and can till or crush soil, into the appropriate tilling state. Patent document 1, "Tillage machine control device," describes a mechanism that operates a lifting device equipped on the running body based on detection information obtained by a cover sensor that detects the rotation angle of the rear cover of a rotary tillage machine as height above the ground.

[0003] The mechanism described in Patent Document 2, "Automatic Control System for Work Machines," involves installing cameras in other locations where the running body and the work machine attached to it can be seen from the sides and the front and rear, and raising and lowering the work machine attached to the running body by calculating and measuring based on the images obtained by these cameras. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 8-214602 [Patent Document 2] JP 2007-61042 A Summary of the Invention [Problem to be solved by the invention]

[0005] Essentially, it is desirable for a working machine for tilling or breaking soil to operate the traveling machine body appropriately according to the condition of the field in which the work is being carried out. Operation of the traveling machine body includes not only the raising and lowering operation of the lifting device on which the working machine is mounted, but also a wide range of other operations such as the traveling speed and the PTO rotation speed, which is the shaft that takes off power to the working machine.

[0006] The mechanism described in Patent Document 1, "Tillage machine control device," is as follows: "The control device 18 is provided with a lifting speed control means 18E, which is provided as a control program, for adjusting the lifting speed of the rotary tillage device 3 when the rotary tillage device 3 is forcibly raised from the tillage depth setting position to the raised limit position by the controlled operation of the forced lifting control means 18D, based on detection information from the cover sensor S3, as shown in Figure 3" (Patent Document 1

[0024] ). However, since the cover sensor only operates the lifting device of the running body, no control was performed that took into account the soil condition after tilling and crushing.

[0007] The mechanism described in Patent Document 2, "Automatic Control System for Working Machines," states that "simultaneously with the above-mentioned control operation, the amount of wheel sinking of the tractor main unit 1 and the fore-and-aft pitching attitude of the body are calculated and measured by analyzing the captured image, and the acquired information is transmitted to the control device 17 as information for compensating for the control amount and control speed in executing the above-mentioned automatic tilling depth control, and is used to improve responsiveness and prevent hunting, etc." (Patent Document 2

[0030] ), and "An image (see FIG. 5) captured from behind the tilling implement 2 is analyzed to calculate and measure the absolute tilt angle in the left-right direction of the tilling implement 2 and the relative tilt angle with respect to the ground surface GL, etc. " (Patent Document 2

[0032] ), "The imaging device 41 is provided with an analysis unit 44 including an analysis device 42 that analyzes the captured image and a transmission device 43 that wirelessly transmits information acquired by image analysis. On the other hand, the traveling body 31 of the excavator B is provided with a receiving device 45 that receives this wireless information and is connected to the control device 38, and the position of the excavation point x in the bucket 37 is calculated and measured by analyzing the captured image, and excavation work to the desired depth, horizontal excavation, inclined excavation of a slope, etc. are performed based on the obtained information" (Patent Document 2

[0040] ).

[0008] The mechanism described in Patent Document 2 involves installing cameras in other locations where the running body and the work equipment attached to it can be seen from the sides and the front and back, and raising and lowering the work equipment attached to the running body by calculating and measuring based on the images obtained by these cameras. The mechanism described in Patent Document 2 uses a camera and allows for more detailed control than Patent Document 1. Although this is possible, like Patent Document 1, the soil condition after plowing and after harrowing is not taken into consideration. The present invention has been made in view of the above-mentioned problems, and provides a working method for an agricultural work machine capable of coordinating with a traveling machine body to control the machine while determining the state after the work is completed. and agricultural machinery The purpose is to provide. [Means for solving the problem]

[0009] The present invention relates to a groove forming section that forms a groove in the soil after work as the work progresses; an imaging device that is provided so as to be able to image the groove; An agricultural machine having a traveling machine body control unit that operates an operating unit provided on a traveling machine body based on information about the shape of the groove photographed by the photographing device, and a control unit that can communicate with each other, a step of obtaining a measurement value of the length of the groove by image processing based on image information from the photographing device by the control unit; a step of comparing and judging the measured value with a sum of a preset value, which is a groove length of a preset groove, and a preset tolerance; A method for operating an agricultural machine, relates to.

[0010] This invention 、 a groove forming section that forms a groove in the soil after work as the work progresses; an imaging device that is provided so as to be able to image the groove; An agricultural machine having a traveling machine body control unit that operates an operating unit provided on a traveling machine body based on information about the shape of the groove photographed by the photographing device, and a control unit that can communicate with each other, the control unit obtains a measurement value of the length of the groove by image processing based on image information from the imaging device, The measured value is compared with a sum of a preset value, which is a groove length of the groove, and a preset tolerance value. An agricultural machine characterized by: relates to. Effect of the Invention

[0015] The present invention relates to a method for operating an agricultural machine that can be linked with a traveling machine body to control the machine while determining the state after the work is completed. and agricultural machineryThe purpose is to provide. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a front view according to a first embodiment of the present invention. [Diagram 2] 3 is an enlarged front view of a groove forming portion according to the first embodiment of the present invention. FIG. [Diagram 3] FIG. 2 is an enlarged side view of a groove forming portion according to the first embodiment of the present invention. [Figure 4] FIG. 1 is a plan view according to a first embodiment of the present invention. [Diagram 5] FIG. 1 is a block diagram according to a first embodiment of the present invention. [Figure 6] FIG. 2 is a flow chart according to the first embodiment of the present invention. [Figure 7] FIG. 11 is a front view according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] In the first embodiment of the present invention shown in Figures 1 to 6, reference numeral 11 denotes a traveling machine body and 21 denotes an agricultural machine. In this embodiment, the traveling machine body 11 is a tractor. Reference numeral 12 denotes a traveling device. In this embodiment, the traveling device 12 is a tire of the tractor. A PTO shaft 13 outputs driving force from the traveling machine body 11 to the agricultural machine 21. A lifting device 14 connects the traveling machine body 11 and the agricultural work machine 21, and lifts and lowers the agricultural work machine 21.

[0018] The agricultural work machine 21 is attached to the traveling machine body 11 and performs work. In this first embodiment of the present invention, the agricultural work machine 21 performs tilling work, which is a soil-breaking work. After the tilling work, the soil becomes muddy by being mixed with water. A ground leveling body 22 is provided on the agricultural work machine 21 and levels the field.

[0019] 23 is a groove forming portion. The agricultural work machine 21 is provided so that at least a part of the rear part of the agricultural work machine 21 can be buried in the soil, and a trench forming part 23 is provided at the buried location. Therefore, the trench forming part 23 can form a trench 41 in the soil after the soil has been crushed as the agricultural work machine 21 advances. The trench forming part 23 has a quadrangular pyramid shape with the apex at the bottom, as shown in Figures 2 and 3. The field is tilled, and then the furrow forming unit 23 scratches the soil after the soil has been leveled to form furrows 41. The furrow forming unit 23 in this embodiment is in the shape of a quadrangular pyramid with an apex at the bottom, and is provided on the ground contact portion of the soil leveling body 22, which is a soil leveling unit provided on the agricultural work machine 21.

[0020] After plowing, the soil becomes muddy due to being mixed with moisture, and since the soil is muddy and contains a large amount of moisture after plowing, the front side of the groove 41 in the direction of travel formed by the groove forming part 23 becomes blocked on the rear side as time passes after the groove is formed, returning to its original state.

[0021] If the trench 41 is short, that is, if the trench 41 disappears early, this means that the soil has not been crushed sufficiently. The moisture that has not been mixed with the soil fills the trench 41 early, causing the trench 41 to appear shorter. The trench 41 becomes shorter when, for example, the depth of the agricultural work machine 21 is insufficient, so that only the surface layer becomes muddy and the moisture in the uncrushed soil below rises up and fills the trench 41. Alternatively, even if the depth is adequate, if the travel speed of the agricultural work machine 21 at a certain point is too fast or the PTO rotation speed of the PTO shaft 13 is too low, the soil is not crushed sufficiently and does not become properly muddy. As a result, the moisture rises to the surface of the soil and fills the trench 41.

[0022] On the other hand, if the furrows 41 are long, that is, if the furrows 41 disappear too slowly, this occurs when excessive soil crushing causes excessive mixing of the soil and water, resulting in high viscosity of the mud after tilling. In this state, there is little water to fill the furrows 41 formed in the topsoil of the mud, and since the mud itself has a high clay content, it takes time to fill the furrows 41. Therefore, the furrows 41 appear to be long.

[0023] The length of the trench 41 becomes long when, for example, the agricultural work machine 21 sinks too deep, stirring and crushing the soil from the surface to a deep position, causing the mud to mix too much and increasing viscosity. Or, in addition to the depth of the agricultural work machine 21, if the travel speed of the agricultural work machine 21 is too slow or the PTO rotation speed of the PTO shaft 13 is too fast, the soil is crushed and mixed with moisture too much, and the mud does not become in an appropriate state. For this reason, if the viscosity of the soil after work is too high, it takes time for the trench 41 to fill up, and as a result, the apparent length of the trench 41 becomes long.

[0024] By setting the difference from the reference state of the traveling body 11 as a tolerance, which is an indication limit, it is possible to adjust the operating condition of the operating parts of the traveling body 11.

[0025] That is, as the tolerance is increased, the operation of the operating parts of the traveling body 11 becomes less sensitive, and the operating parts of the traveling body 11 do not immediately operate even if there is a difference in the length of the groove 41 determined by photographing with the photographing device 31. In contrast, as the tolerance is decreased, the operation of the operating parts of the traveling body 11 becomes more sensitive, and compared to the case where the tolerance is increased, the operating parts of the traveling body 11 immediately operate when there is a difference in the length of the groove 41 determined by photographing with the photographing device 31.

[0026] Reference numeral 31 denotes a photographing device. In this embodiment, the photographing device 31 is a camera. The imaging device 31 is provided above and behind the agricultural work machine 21. The imaging device 31 is capable of taking images of the furrow 41 and the soil after work. The photographing device 31 is provided on the agricultural work machine 21 so as to be able to photograph the groove 41 (as a whole), including at least the rear portion of the agricultural work machine 21. Since the rear part of the agricultural work machine 21 is also photographed, the length of the furrow 41 can be photographed using the rear part of the agricultural work machine 21, that is, the land leveling body 22 in the case of the first embodiment, as a comparison object. Therefore, in determining the length of the photographed furrow 41, the rear part of the agricultural work machine 21 can be used as a reference, making it easy to judge the furrow length. There is no limitation on the installation location of the photographing device 31. The photographing direction for moving the groove 41 does not necessarily have to be from directly above, and may be oblique, as long as the groove 41 can be photographed. Even if the photographed image of the photographing device 31 is distorted, for example, as with a spherical camera or a super wide-angle camera, the control unit (calculation unit) can process the image to properly measure the groove length 42 of the groove 41. Reference numeral 32 denotes the photographing range of the photographing device 31 .

[0027] The photographing device 31 photographs a groove length 42 from the front of the groove 41 formed by the formed groove forming portion 23 to the rear where the groove 41 is blocked, to the portion where the groove 41 disappears. Since the grooves 41 are photographed from above and behind the groove forming section 23, the photographing device 31 can be disposed close to the agricultural work machine 21. The photographing range of the photographing device 31 is set to be larger than the range where the difference in width between the part close to the groove 41 and the disappearance side behind the groove 41 can be seen. It is also desirable to photograph at least the entire groove 41 of one groove 41. When the image of the groove 41 is taken from the front of the wide groove 41 with the image capture device 31, it becomes easier to accurately determine the position of the end of the groove 41. Furthermore, it becomes easier to recognize that the end of the groove 41 on the rear side in the traveling direction has clearly disappeared due to the perspective that can be generated by the image capture device 31. In other words, the groove 41, which gradually disappears toward the rear side in the traveling direction, can be clearly recognized at a shorter distance in the captured image due to the perspective.

[0028] The soil is muddy and contains a large amount of water after plowing, so the rear side of the trench 41 formed by the trench forming unit 23 will return to its original state and become blocked over time after the formation of the trench. Therefore, taking an image along the direction of the trench 41 makes it possible to clearly capture an image that allows the difference in the front-to-back length and left-to-right width from the formation start point of the trench 41 to the disappearance point.

[0029] The block diagram showing the information transfer relationships shown in FIG. 5 will be described. The operation unit, alarm device, display device, first operation unit, second operation unit, . . . the (n-1)th operation unit, and nth operation unit provided in the traveling machine body 11 are connected to a traveling machine body control unit (control unit). Specific examples of operating parts include a first operating part = a lifting device 14 (three-point link) of the running body 11, a second operating part = a PTO device consisting of a PTO shaft 13 of the running body 11, a third operating part = a running device 12 of the running body 11, etc.

[0030] The traveling machine body control unit (control unit) is provided with a communication processing unit and an operation instruction unit. The communication processing unit processes information input from the operation unit, the alarm device, the display device, the first operating unit, the second operating unit, ..., the n-1th operating unit, and the nth operating unit, and transmits it to a work machine control unit (control unit) provided in the agricultural work machine 21. The operation instruction unit outputs operation instructions consisting of the operations that the traveling body 11 should perform, received from the work machine control unit (control unit) via communication, to the warning device, display device, first operation unit, second operation unit, ... the n-1th operation unit, and the nth operation unit. The traveling machine body control unit (control unit) communicates with and is connected to the work machine control unit (control unit).

[0031] The work machine control unit (control unit) is provided with a communication processing unit, a calculation unit, an operation processing unit, and a storage unit. The communication processing unit of the work machine control unit (control unit) processes information input from the traveling machine body control unit (control unit) so that mutual communication with the traveling machine body control unit (control unit) is possible. The calculation unit calculates and measures the groove length 42 of the groove 41 by image analysis processing, and outputs an acquired value which is the length of the groove 41. Furthermore, the calculation unit compares the output acquired value with a sum of a preset value which is a reference value for the groove length 42 of the groove 41 and a preset tolerance. The operation processing unit performs an operation selection process for giving a predetermined operation command to the traveling machine body 11. The storage unit stores the results of the calculations performed by the calculation unit. The work machine control section (control section) is connected to an operation section, an alarm device, a display device, and an image capturing device (camera) 31 that are provided in the agricultural work machine 21.

[0032] The traveling machine body control unit shown in FIG. 5 is installed near the driver's seat of the traveling machine body, and is provided so as to be able to communicate with a work machine control unit (control unit) provided in the agricultural work machine 21. Information about the groove 41 photographed by the photographing device 31 is transmitted to a calculation unit provided in the work machine control unit. A calculation unit provided within the work machine control unit (control unit) shown in Figure 5 acquires the shooting information captured by the photographing device 31, and based on the shooting information, calculates and measures the groove length 42 of the groove 41 by image analysis processing, and outputs an acquired value which is the value of the groove length 42 of the groove 41 included in the shooting information.

[0033] The work machine control unit (control unit) is capable of selecting an operation to give a predetermined operation command to the traveling machine body 11 based on the calculation results obtained by the calculation unit, and is equipped with an operation processing unit as shown in Figure 5 that is capable of transmitting an operation signal based on the selection processing to the traveling machine body 11. Based on the calculation results obtained by the calculation unit, a selection process is performed for an operation to give a predetermined operation command to the running body 11, and an operation signal based on the selection process is processed by the communication processing unit and transmitted to the running body 11.

[0034] Furthermore, the calculation unit compares the output acquired value with a preset value, which is a reference value for the groove length 42 of the groove 41, and a preset allowable value. The calculation unit performs a comparison calculation of the acquired value with the sum of a set value, which is a predetermined value of the length of the groove 41, and a tolerance, which is a predetermined value of the allowable length.

[0035] The operation processing unit of the control unit transmits an operation signal, which is an operation instruction, to the traveling machine body 11 side based on the result of the comparison calculation. The operation signal transmitted from the control unit of the agricultural work machine 21 can be received by the control device of the traveling machine body 11, and various operation parts can be operated based on the operation signal. There is no limit to the operation parts of the traveling machine body 11 that are operated by the operation signal. There are 1 to n operation parts.

[0036] When the control unit receives an operation signal, the running body 11 is able to operate the first operating unit, second operating unit, and third operating unit provided on the running body 11 based on the operation signal, and controls the agricultural machine 21 by operating them. Specific examples of the operating parts include a first operating part = a lifting device 14 (three-point link) of the traveling body 11, a second operating part = a PTO device consisting of a PTO shaft 13 of the traveling body 11, and a third operating part = a traveling device 12 of the traveling body 11. The traveling speed is increased or decreased by the traveling device 12. figure 6 In the flow chart shown in FIG. 1, the A1 operation is to raise the lifting device 14, the B1 operation is to lower the lifting device 14, and the A2 operation is to lower the traveling device 12. Increase In the B2 operation, the running gear 12 decrease The A3 operation is performed by changing the PTO rotation speed of the PTO shaft 13. decrease , the B3 operation is to change the PTO rotation speed of the PTO shaft 13 increase , etc. are applicable.

[0037] The control unit is capable of receiving the current states of the first operation unit, the second operation unit, and the third operation unit as traveling machine body information, and can transmit the same as traveling machine body information. The control unit is configured to determine whether or not to transmit an operation signal based on the traveling machine information.

[0038] A preset value, which is a reference value for the groove length 42 of the groove 41 from the front of the groove 41 in the groove formation portion to the rear where the groove 41 is blocked, and a preset allowable value are summed and compared. As a result, when the groove 41 is short, that is, when the groove 41 disappears early, the operation processing unit issues an operation instruction to the running body 11, which instructs the running body 11 to operate so as to eliminate the shortening of the groove when the groove 41 is short.

[0039] Specific examples of operating units that are targets of operation instructions consisting of operations that the traveling machine should perform to prevent the groove 41 from becoming too short include a first operating unit = the lifting device 14 (three-point link) of the traveling body 11, a second operating unit = the PTO device consisting of the PTO shaft 13 of the traveling body 11, and a third operating unit = the traveling device 12 of the traveling body 11. The traveling speed is increased or decreased by the traveling device 12. In the flow chart, the A1 operation is to raise the lifting device 14, the B1 operation is to lower the lifting device 14, and the A2 operation is to lower the running device 12. Increase In the B2 operation, the running gear 12 decrease The A3 operation is performed by changing the PTO rotation speed of the PTO shaft 13. decrease , the B3 operation is to change the PTO rotation speed of the PTO shaft 13 increase There is a function that can be selected to prevent the groove from becoming shorter.

[0040] That is, to solve the problem of insufficient soil crushing, which is the problem of the trench 41 being short, i.e., the trench 41 disappearing early, the lifting action of the lifting device to which the implement is attached causes the agricultural work machine 21 to sufficiently crush the soil so that it becomes muddy below the surface, and the depth of the agricultural work machine 21 is made deeper, or the speed of the agricultural work machine 21 is slowed down and the PTO rotation speed of the PTO shaft 13 is increased, thereby creating an appropriate muddy state. The depth and length of the furrows created can be adjusted to ensure proper tilling work.

[0041] On the other hand, a comparison is made between the sum of a preset value, which is a reference value for the groove length 42 of the groove 41 from the front of the groove 41 in the groove formation portion to the rear where the groove 41 is blocked, and a preset tolerance value. As a result, when the groove 41 is long, that is, when the disappearance of the groove 41 is too slow, an operation instruction is given to the traveling machine body 11 side, which includes an operation instruction for the traveling machine to operate so as to eliminate the groove 41 from becoming long when the groove 41 is long.

[0042] Specific examples of operating units that are targets of operation instructions that are to cause the traveling machine to operate to eliminate the long groove 41 when it is long include a first operating unit = the lifting device 14 (three-point link) of the traveling body 11, a second operating unit = the PTO device consisting of the PTO shaft 13 of the traveling body 11, and a third operating unit = the traveling device 12 of the traveling body 11. The traveling speed is increased or decreased by the traveling device 12. In the flow chart, the A1 operation is to raise the lifting device 14, the B1 operation is to lower the lifting device 14, and the A2 operation is to lower the running device 12. Increase In the B2 operation, the running gear 12 decrease The A3 operation is performed by changing the PTO rotation speed of the PTO shaft 13. decrease , the B3 operation is to change the PTO rotation speed of the PTO shaft 13 increase There is a function that can be selected to eliminate the groove becoming longer. The depth and length of the furrows created can be adjusted to ensure proper tilling work.

[0043] That is, to solve the problem that the furrows 41 are too long, i.e., the furrows 41 disappear too slowly, causing excessive crushing of the soil and excessive mixing of the soil and moisture, and resulting in high viscosity of the mud after tilling, the lifting action of the lifting device to which the working machine is attached prevents the agricultural working machine 21 from crushing the soil excessively, prevents excessive mixing of the soil and moisture, and avoids high viscosity of the mud after tilling. The agricultural work machine 21 is used to mix and crush the soil from the surface to deep positions to prevent the mud from being mixed too much. The speed of the agricultural work machine 21 is increased so as not to be too slow, and the PTO rotation speed of the PTO shaft 13 is slowed down so that the soil is not mixed with the crushed soil and moisture too much due to the mud not being in the proper state. Based on these illustrations and descriptions, for the lifting device, running device, and PTO rotation speed, when the groove is short and when the groove is long, the following relationship is observed between B1 operation (descent), B2 operation (deceleration), B3 operation (acceleration), A1 operation (ascent), A2 operation (acceleration), and A3 operation (deceleration). [Table 1]

[0044] The flow diagram shown in FIG. 6 will be described. In FIG. 6, Ls is the set value and a is the allowable value. Upon starting, image information is acquired in S1. Next, in S2, the grooves 41 are determined by image processing. Next, in S3, the length of the groove 41 is measured to obtain a measured value L. Next, in S4, it is determined whether L>Ls+a? If YES, the process proceeds to S5. In S5, the traveling machine body 11 is instructed to perform the A1 operation. In S6, it is determined whether the traveling body 11 is at the command limit of the A1 operation. If YES, the process proceeds to S7. In S7, the A1 action instruction is stopped, and then the A2 action instruction is given. Next, in S8, the An-1th operation instruction is stopped, and then the An operation instruction is performed. Next, in S9, it is determined whether the traveling body 11 is at the instruction limit for the An operation. If YES, the process proceeds to S10. At S10, a warning is issued and the process returns to the start.

[0045] In S4, it is determined whether L>Ls+a, and if NO, the process proceeds to S11. In S11, L < Determine whether Ls-a? If YES, proceed to S12. In S12, the traveling machine body 11 is instructed to perform the B1 operation. Next, in S13, it is determined whether the traveling body 11 is at the command limit for the B1 operation. If YES, the process proceeds to S14. In S14, the B1 action instruction is stopped, and then the B2 action instruction is given. Next, in S15, the Bn-1th operation instruction is stopped, and then the Bnth operation instruction is performed. Next, in S16, it is determined whether the traveling body 11 is at the instruction limit for the Bn operation. If YES, the process proceeds to S17. At S17, a warning is issued and the process returns to the start.

[0046] If the answer is NO in S6, proceed to S18. In S18, the operation instructions A1 to An are stopped, and the operation instructions B1 to Bn are stopped, and the process returns to the start. If the answer is NO in S9, proceed to S18. In S18, the operation instructions A1 to An are stopped, and the operation instructions B1 to Bn are stopped, and the process returns to the start. If NO in S13, the operation instructions A1 to An are stopped, and the operation instructions B1 to Bn are stopped, and the process returns to the start.

[0047] If the answer is NO in S16, proceed to S18. In S18, the operation instructions A1 to An are stopped, and the operation instructions B1 to Bn are stopped, and the process returns to the start. S11 L < Determine Ls-a?, if NO, S1 9 Proceed to. S1 9 Then, the operation instructions A1 to An are stopped, and the operation instructions B1 to Bn are stopped, and the process returns to the start.

[0048] An alarm device capable of issuing a warning by voice and a display device enabling visual recognition may be provided on at least one of the traveling machine body 11 or the agricultural work machine 21. When the conditions are met such that all of the operable parts of the traveling body 11 reach their operating limits, a warning instruction is transmitted and a warning can be issued to the operator by the alarm device and display device.

[0049] The number of formed grooves 41 photographed by the photographing device 31 needs to be one or more, and the greater the number of grooves 41, the higher the reliability of the detected grooves 41, which is expected to improve the accuracy of tillage depth control. It is also possible to measure the degree of narrowing of the groove 41. For example, the start portion of the groove 41 may be compared with a portion 10 mm from the start portion of the groove 41, and a portion 10 mm from the start portion of the groove 41 and a portion 20 mm from the start portion of the groove 41 may be compared with each other. The length of the groove 41 is measured by image processing. The area of ​​the grooved portion may be obtained based on the difference in color tone or reflected light between the grooved portion and the non-grooved portion in the image.

[0050] A second embodiment will be described with reference to FIG. The furrow forming unit 23 forms furrows 41 by scratching the soil after it has been tilled and leveled. Therefore, since it is sufficient for the furrow forming unit 23 to be able to form the furrows 41, in the second embodiment, as shown in Fig. 7, a rod-shaped member extending rearward and downward from the frame is partially buried in the soil after work to form the furrows 41. That is, in the second embodiment, the furrow forming unit 23 is provided separately from the soil leveling body 22, vertically rearward from the top of the soil leveling body 22, and L-shaped when viewed from the front so as to straddle the soil leveling body 22. [Explanation of symbols]

[0051] 11 Running body 21 Agricultural machinery 22 Land leveling structure 23 Groove forming part 31 Imaging Equipment 32 Shooting range 41 Groove

Claims

1. a groove forming section that forms a groove in the soil after work as the work progresses; an imaging device that is provided so as to be able to image the groove; An agricultural machine having a traveling machine body control unit that operates an operating unit provided on a traveling machine body based on information about the shape of the groove photographed by the photographing device, and a control unit that can communicate with each other, a step of obtaining a measurement value of the length of the groove by image processing based on image information from the photographing device by the control unit; a step of comparing and judging the measured value with a sum of a preset value, which is a groove length of a preset groove, and a preset tolerance; A method for operating an agricultural machine, including:

2. A groove forming section that forms a groove in the soil after work as it progresses; an imaging device that is provided so as to be able to image the groove; An agricultural machine having a traveling machine body control unit that operates an operating unit provided on a traveling machine body based on information about the shape of the groove photographed by the photographing device, and a control unit that can communicate with each other, the control unit obtains a measurement value of the length of the groove by image processing based on image information from the imaging device, The measured value is compared with a sum of a preset value, which is a groove length of the groove, and a preset tolerance value. Agricultural machinery characterized by:

Images