Information Processing Apparatus and Program

Abstract

To evaluate wear conditions of working claws irrespective of visual inspection of a farm worker.SOLUTION: An agricultural work machine includes working claws for acting on a field, a power transmission part including a claw shaft with the working claws mounted thereon to transmit power received from a travel machine body to the working claws, a sensor for measuring a torque value of the power transmission part, and an evaluation device for evaluating wear conditions of the working claws on the basis of the torque value, a vehicle speed value of the travel machine body, and a type of the working claws. The sensor may be provided on the claw shaft.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an information processing apparatus and an agricultural working machine.

Background Art

[0002] As working claws for agricultural working machines, there are tilling claws attached to rotary working machines and weeding claws attached to weeding machines. These working claws come into contact with the field during tilling work or weeding work, and wear gradually progresses. As the wear of the working claws progresses, the throwing ability, reversing ability, or stirring ability of the working claws decreases, and ultimately the tilling performance or weeding performance decreases, resulting in a state where appropriate work cannot be performed. Therefore, farmers regularly check the wear state of the working claws and replace them promptly when the wear has progressed to a certain extent.

[0003] In order to determine the replacement timing of such working claws, for example, Patent Document 1 describes a technique of providing ribs that can be visually recognized from both sides at positions along the wear line that serves as a guide for replacing the working claws.

[0004] Also, during work with an agricultural working machine, farmers have estimated working states such as tillage depth based on information such as visual inspection or the sound and vibration when the working claws act on the field. However, this estimation was based on the experience and intuition of the farmers.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, in the case of the technology described in Patent Document 1, ultimately, the wear state of the working claws must be visually confirmed by the farmer. If the farmer forgets to check or is too lazy to check due to it being troublesome, there is a problem that the timing for replacing the working claws may be missed.

[0007] Also, for example, when performing tillage work with a rotary working machine or a weeding machine, soil or mud may adhere to the tillage claws. In such a case, in the technology described in Patent Document 1, there is a problem that the ribs cannot be visually recognized due to the influence of soil or mud, and the wear state may not be able to be judged.

[0008] Moreover, the working state during work by the agricultural working machine has to rely on the experience and intuition of the farmer, and it has been difficult to perform a quantitative evaluation that does not depend on the farmer.

[0009] The present invention has been made in view of the above problems, and an object thereof is to provide an information processing device and an agricultural working machine that can evaluate the wear state of working claws without relying on visual inspection by a farmer. Or, an object thereof is to provide an information processing device and an agricultural working machine that can evaluate the working state of a field without relying on the experience and intuition of a farmer.

Means for Solving the Problems

[0010] An information processing device according to an embodiment of the present invention receives a torque value measured in a power transmission unit that transmits power received from a traveling machine body to a claw shaft to which working claws acting on a field are attached, and a vehicle speed value of the traveling machine body when the torque value is measured, and evaluates the wear state of the working claws based on the torque value and the vehicle speed value.

[0011] A first torque value that is the torque value in the first state is acquired, a second torque value that is the torque value in a second state that is after the first state and in which the working claws have not been replaced since the first state is acquired, and the wear state of the working claws may be evaluated based on the first torque value and the second torque value.

[0012] An agricultural working machine according to an embodiment of the present invention includes working claws that act on a farm field, a claw shaft to which the working claws are attached, a power transmission unit that transmits power received from a traveling machine body to the claw shaft, and a sensor that measures a torque value of the power transmission unit.

[0013] The power transmission unit may further include an input shaft to which power from the traveling machine body is input, and the sensor may be provided on the input shaft.

[0014] The power transmission unit may further include an input shaft to which power from the traveling machine body is input, and a drive shaft that transmits the power input to the input shaft to the claw shaft, and the sensor may be provided on the claw shaft or the drive shaft.

[0015] The claw shaft or the drive shaft has a hollow structure, and the sensor may be provided on an inner wall of the hollow structure.

[0016] The claw shaft or the drive shaft has a hollow structure, the sensor is provided on an outer periphery of the claw shaft or the drive shaft, and wiring connected to the sensor may be connected to an output device that outputs a sensing signal measured by the sensor to an external device through the inside of the hollow structure.

[0017] The power transmission unit may further include an input shaft to which power from the traveling machine body is input, a drive shaft to which the power input to the input shaft is transmitted, a winding transmission unit that transmits the power of the drive shaft to the claw shaft, and a tensioner that applies tension to the winding transmission unit, and the sensor may be provided on the tensioner.

[0018] The agricultural working machine may further include an evaluation device that evaluates a wear state of the working claws based on a vehicle speed value of the traveling machine body and the torque value when the torque value is measured.

Advantages of the Invention

[0019] According to the present invention, it is possible to evaluate the wear state of the working claws without relying on visual inspection by the farmer. Alternatively, it is possible to evaluate the working state of the field without relying on the experience and intuition of the farmer.

Brief Description of the Drawings

[0020]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Embodiments for Carrying Out the Invention

[0021] Hereinafter, an information processing apparatus and an agricultural working machine according to an embodiment of the present invention will be described with reference to the drawings. However, these information processing apparatuses and agricultural working machines can be implemented in many different modes and are not to be construed as limited to the description of the examples shown below. In the drawings referred to in this embodiment, the same parts or parts having the same function are denoted by the same reference numerals or reference numerals followed by an alphabet, and repeated description thereof will be omitted.

[0022] In the description and claims of the present application, "up" indicates a direction vertically away from the field, and "down" indicates a direction vertically approaching the field. Also, "front" indicates the direction in which the traveling body is located with respect to the working machine, and "rear" indicates the direction opposite to the front by 180°. Further, "left" indicates the left direction when facing the direction in which the traveling body is located with respect to the working machine, and "right" indicates the direction opposite to the left by 180°.

[0023] In the following embodiments, a tiller is exemplified as the agricultural working machine, but it is not limited to this configuration. For example, the agricultural working machine shown in the following embodiments may be an agricultural working machine equipped with working claws such as a weeding machine, a soil crusher, or a ridging machine in addition to the tiller. Also, the power transmission unit that transmits the power received from the traveling body to the working claws exemplifies a case composed of an input shaft, a drive shaft, a chain drive unit, and a claw shaft, but the power transmission unit may be composed of some of these members, or may be composed of other members in addition to the above members. Also, unless there is a technical contradiction in particular, the technologies between different embodiments can be combined.

[0024] <First Embodiment> [Configuration of Agricultural Working Machine 100] With reference to FIGS. 1 to 3, the configuration of the agricultural working machine 100 according to an embodiment of the present invention will be described. FIG. 1 is a view showing the configuration of the agricultural working machine of the first embodiment from the back side. FIG. 2 is a side view showing the configuration of the agricultural working machine of the first embodiment from the side. Specifically, FIG. 2 shows a state in which the side plate 140 and the chain drive unit 160 of the agricultural working machine 100 are omitted and the tilling rotor 150 can be visually recognized.

[0025] As shown in FIGS. 1 and 2, the agricultural working machine 100 of the present embodiment generally includes an input shaft portion 101, a frame 110, a shield cover 120 (see FIG. 2), an apron 130, a side plate 140 (see FIG. 1), a tilling rotor 150, a chain drive unit 160 (see FIG. 1), and a control device 170, etc.

[0026] The input shaft portion 101 is connected to the central portion of the frame 110 in the left - right direction. The shield cover 120 is provided below the frame 110 and is fixed to the frame 110. The apron 130 is rotatably connected to the shield cover 120 at the rear connection portion 125 (see Fig. 2) of the shield cover 120. The shield cover 120 is arranged to cover the upper part of the tilling rotor 150 described later, and the apron 130 is arranged behind the tilling rotor 150.

[0027] The side plates 140 are fixed to these members at both left - right ends of the frame 110, the shield cover 120, and the apron 130. The chain case containing the chain drive portion 160 is fixed to one of the above - mentioned side plates 140. The tilling rotor 150 is rotatably connected to the side plates 140 between the above - mentioned side plates 140. The control device 170 is provided on the shield cover 120.

[0028] As shown in Fig. 2, the frame 110 is connected by a traveling body (not shown) such as a tractor, the input shaft portion 101, the top mast 135, and the lower link connection portion 136. The input shaft portion 101 is provided with an input shaft 102 that receives power from the PTO shaft of a traveling body such as a tractor. The frame 110 is, for example, cylindrical, and a drive shaft 111 (see Fig. 1) is provided inside it. The input shaft 102 is connected to the drive shaft 111 via a conversion portion 103 (see Fig. 3), and the drive shaft 111 rotates in conjunction with the input shaft 102. The drive shaft 111 extends in a direction intersecting the input shaft 102.

[0029] The tilling rotor 150 is composed of a claw shaft 180 extending in the width direction of the agricultural working machine 100, a holder 190 attached to the claw shaft 180, and a plurality of working claws 200 attached to the holder 190. That is, the agricultural working machine 100 in this embodiment is a holder-type working machine. As shown in FIG. 1, when viewed from the back side of the agricultural working machine 100, the plurality of working claws 200 are composed of a working claw 200L curved to the left and a working claw 200R curved to the right, and are attached at intervals in the axial direction of the claw shaft 180. In this embodiment, the working claws 200L and 200R are attached at regular intervals in the axial direction of the claw shaft 180. In the following description, when the working claws 200L and 200R are not particularly distinguished, they are simply referred to as the working claws 200.

[0030] The drive shaft 111 and the claw shaft 180 are connected as follows. The chain drive unit 160B has a winding transmission unit 161B (see FIG. 7), and the winding transmission unit 161B is wound around a drive sprocket 162B connected to the drive shaft 111 and a driven sprocket 163B connected to the claw shaft 180, respectively. In this way, the rotational power of the drive shaft 111 is transmitted to the claw shaft 180. When the claw shaft 180 rotates, the working claw 200 rotates around the claw shaft 180, and tilling work on the field is performed. In this embodiment, a chain is used as the winding transmission unit 161B, but other members such as a belt may be used. When a belt is used as the winding transmission unit 161B, pulleys can be used instead of the above sprockets.

[0031] As described above, the power input from the PTO shaft is transmitted to the input shaft 102, the drive shaft 111, the chain drive unit 160, and the claw shaft 180. Therefore, these members may be collectively referred to as the "power transmission unit".

[0032] When the working claws 200 rotate to cultivate the field, the field in contact with the working claws 200 becomes a resistance in the rotational movement of the working claws 200, affecting the torque of the claw shaft 180. The torque generated on the claw shaft 180 is transmitted to the winding transmission part 161B, the drive shaft 111, and the input shaft 102. That is, the torque value of the claw shaft 180 caused by the field cultivation work by the working claws 200 can be measured in the power transmission part. Although details will be described later, for example, by providing a strain sensor in the power transmission part and detecting the strain of the power transmission part, the torque value of the claw shaft 180 can be measured.

[0033] In addition, in the present embodiment, a plurality of holders 190 and working claws 200 are attached to one claw shaft 180 at substantially the same position in the direction in which the axis of the claw shaft 180 extends (hereinafter referred to as the axial direction). As shown in FIG. 2, four holders 190 are attached at substantially the same position in the axial direction of the claw shaft 180, and two working claws 200L and two working claws 200R are attached to these holders 190. However, the type and number of the working claws to be attached are not limited to this configuration.

[0034] As shown in FIG. 1, when the agricultural working machine 100 is viewed from the back side, the working claws 200R and 200L arranged facing each other have their claw tips overlapping each other. Therefore, the width of the area where each of the working claws 200L and 200R digs up the soil partially overlaps between the adjacent working claws 200L and 200R. In the agricultural working machine 100 of the present embodiment, the tilling rotor 150 rotates in the direction indicated by the arrow W in FIG. 2.

[0035] Since the center of gravity of the apron 130 is behind the connecting portion 125, the apron 130 tends to descend due to its own weight. A stainless steel leveling plate 132 is attached to the rear end of the apron 130. The leveling plate 132 is configured to draw a loop from the inside to the outside of the apron 130. This leveling plate 132 levels the field dug up by the tilling rotor 150.

[0036] As shown in FIG. 1, movable extension leveling plates 134 are provided at both ends of the leveling plate 132. By opening the extension leveling plates 134, it becomes possible to level a wide range together with the leveling plate 132.

[0037] The control device 170 includes a central processing unit (CPU), a storage unit (memory), and a communication unit (not shown), and has functions of processing signals (for example, remote control signals) received from the outside of the agricultural work machine 100, analyzing signals (for example, data acquired by sensors, etc.) generated by the agricultural work machine 100, or transmitting the signals to the outside. The storage unit stores various data and various programs. The central processing unit reads and executes a program from the storage unit to control the operation of a drive unit such as an actuator provided in the agricultural work machine 100, and analyzes the sensor signals measured in the above power transmission unit. Specifically, the central processing unit receives a torque value and a vehicle speed value obtained based on the measured sensor signals, and evaluates the wear state of the working claws 200 based on the torque value and the vehicle speed value.

[0038] The communication unit is a functional unit for performing wired communication or wireless communication. For example, in the case of wireless communication, for example, a module enabling short-range wireless communication or a module enabling wireless communication according to a communication standard such as CAN (Controller Area Network), Wi-Fi (registered trademark), Bluetooth (registered trademark), etc. may be installed. That is, the communication unit provided in the control device 170 may have a function of controlling communication with an information processing device such as a server connected on a network or a mobile communication terminal, or a communication terminal mounted on a traveling body.

[0039] FIG. 3 is a view showing the input shaft portion of the agricultural working machine according to an embodiment of the present invention. FIG. 3 is an enlarged top view (A) and front view (B) of the input shaft portion 101. For convenience of explanation, in the top view of (A), the sensor control unit 310 and the fastener 320 provided above the input shaft 102 are omitted. As shown in FIG. 3, the input shaft portion 101 has a conversion unit 103 in addition to the input shaft 102. The conversion unit 103 converts the rotational power of the input shaft 102 into the rotational power of the drive shaft 111. A sensor 300 is provided in front of the conversion unit 103 so as to sandwich the input shaft 102. The two sensors 300 sandwich the input shaft 102 from the left and right directions and are attached to the input shaft 102 with an adhesive. The pedestal 305 sandwiches the input shaft 102 from the vertical direction and is fixed to the input shaft 102 by being tightened by a fastener 320 such as a bolt. The sensor control unit 310 is fixed to the pedestal 305 with screws.

[0040] As the sensor 300, for example, a strain sensor is used. The strain sensor outputs an output value based on the strain generated in the input shaft 102. As the strain sensor, a cross-gauge type strain sensor in which two strain gauges are crossed and arranged is used. In FIG. 3, each of the two sensors 300 sandwiching the input shaft 102 is a strain sensor. Note that, as the sensor 300, in addition to the strain sensor, physical quantity sensors such as a pressure sensor, an acceleration sensor, a gyro sensor, a magnetic sensor, or an optical sensor can be used. However, sensors other than the above can be used as the sensor 300. Further, the working claw 200 may be provided with a soil sensor such as a sensor for detecting the moisture of the soil, a sensor for detecting the salt content of the soil, a sensor for detecting the temperature of the soil, or a sensor for detecting the pH (hydrogen ion index) of the soil. Although details will be described later, the wear state of the working claw 200 may be evaluated using parameters indicating the state of the field obtained by the sensor provided on the working claw 200.

[0041] The sensor control unit 310 has a communication device and a power supply device. For example, a wireless communication device can be used as the communication device. A bridge box may be incorporated in the communication device. The communication device receives the output value output by the sensor 300 and transmits the output value to an information processing device that evaluates the wear state of the working claw 200, such as the control device 170 or the mobile communication terminal. The power supply device supplies power to the sensor 300. The power supply device may receive power supply from other power supply devices, may include a generator, or may include a capacitor. When the power supply device includes a generator, power generation may be performed using the rotation of the input shaft 102. Note that a wired communication device may be used as the communication device.

[0042] [Method for Evaluating Wear State of Working Claw 200] With reference to FIGS. 4 to 5, a method for evaluating the wear state of the working claw 200 will be described. FIG. 4 is a diagram showing the result of investigating the relationship between the wear state of the working claw and the torque in the power transmission unit in the agricultural working machine according to an embodiment of the present invention. The horizontal axis of FIG. 4 is the vehicle speed value of the traveling body that pulls the agricultural working machine 100, and the vertical axis is the torque value measured in the power transmission unit (average value of the torque values measured during operation). Note that the torque value in FIG. 4 is a value calculated based on the output value of the sensor 300 provided on the input shaft 102 as shown in FIG. 3. When the tilling of the tilling rotor 150 is started by driving the engine, the torque value initially becomes relatively large, but then gradually decreases and fluctuates finely. However, the average value of the torque values shows a stable behavior. The torque value in FIG. 4 shows the average value of the torque values measured for about 15 seconds during the period when the stable behavior is shown.

[0043] In FIG. 4, torque values are measured for the working claws 200 with different wear states. The torque values in FIG. 4 are measured for three conditions with different wear states of the working claws 200. The first condition ((1) new claw: ●) is that the working claw 200 is in a new state, the second condition ((2) worn claw A: ◆) is that the wear of the working claw 200 has progressed to a certain extent but the working claw 200 still does not need to be replaced, and the third condition ((3) worn claw B: ■) is that the wear of the working claw 200 has further progressed and it is determined that the working claw 200 needs to be replaced. In FIG. 4, the claw widths described for each of (1) new claw to (3) worn claw B are the widths from the cutting edge tip of the working claw 200 to the peak at the cutting edge tip position (shortest claw width). The torque values under each condition of (1) to (3) are the values measured when the vehicle speed values are 1.2 km / h, 1.7 km / h, and 2.1 km / h respectively.

[0044] As shown in FIG. 4, at any vehicle speed value, the torque value gradually decreases in the order of (1) new claw → (2) worn claw A → (3) worn claw B. That is, as the wear of the working claw 200 progresses, the torque value tends to decrease. Also, under each condition of (1) to (3), the torque value changes according to the vehicle speed value, but there is the same relationship as above between (1) to (3) under the conditions of each vehicle speed value. Specifically, in any case of the vehicle speed value, the torque value of (3) worn claw B with respect to (1) new claw is about 2 / 3. That is, when measuring at the same vehicle speed value, if the measured torque value becomes 2 / 3 of the torque value measured when the working claw 200 is new, it can be determined that the wear of the working claw 200 may have progressed to a state where replacement is required. As described above, the torque value in a state where the wear may have progressed to a state where the working claw 200 needs to be replaced (for example, a value of 2 / 3 of the torque value measured when the working claw 200 is new) is called a "threshold value". Note that the threshold value is not limited to the value of 2 / 3 of the torque value measured when the working claw 200 is new as described above, and can be appropriately adjusted according to the type of the agricultural working machine 100 and the type of the working claw 200.

[0045] As described above, based on the torque value (first torque value) in the initial state (first state) of the working claw 200 and the vehicle speed value when the first torque value is measured, the torque value (second torque value) in the subsequent state (second state) and the vehicle speed value when the second torque value is measured can be used to evaluate the wear state of the working claw 200. It is assumed that the working claw 200 is not replaced between the first state and the second state. Also, in the following description, when there is no need to distinguish between the first torque value and the second torque value, it is simply referred to as the torque value. The wear evaluation of the working claw 200 is performed by an information processing device such as a mobile communication terminal capable of communicating with the control device 170 or the sensor control unit 310 provided in the agricultural working machine 100. Specifically, the wear evaluation is realized by a program stored in the control device 170 or an application downloaded to the mobile communication terminal. The information processing device for performing the wear evaluation of the working claw 200 includes at least a look-up table (LUT) in which a vehicle speed value, a torque value, and a threshold value are stored in association with each other. The sensor control unit 310 receives the torque value and the vehicle speed value when the torque value is measured, and evaluates the wear state of the working claw 200 based on the received torque value and vehicle speed value. Note that the wear evaluation of the working claw 200 may be performed by a server capable of communicating with the sensor control unit 310.

[0046] In addition to the above parameters, the LUT may store parameters related to working conditions such as tillage depth, rotational speed of the working claw 200, pressure adjustment amount of the apron 130, amount of soil adhesion to the shield cover 120 or the side plate 140 (for example, whether the adhered soil contacts the working claw 200), etc., parameters related to field conditions such as soil quality, water content in the soil, state of the field (cultivated land or uncultivated land), amount of residues such as grass and plants, etc., in association with the torque value. That is, in addition to the torque value and the vehicle speed value, the above parameters may be used to evaluate the wear state of the working claw 200. Note that the above LUT may be prepared for each shape (or variety) of the working claw 200, and the above parameters may be set for each shape (or variety) of the working claw 200 by one LUT.

[0047] The operation flow for evaluating the wear state of the working claw 200 is shown in FIG. 5. As shown in FIG. 5, first, at step S401, the working claw 200 is replaced, and a new working claw 200 is attached to the agricultural working machine 100. After the replacement of the working claw 200, based on, for example, the first torque value acquisition instruction input by the above-mentioned mobile communication terminal, the process proceeds to the next step S403. At step S403, the torque value (first torque value) in the initial state (first state) is acquired. The measurement of the torque value is performed for a plurality of vehicle speed conditions. Based on the torque value in the initial state acquired at step S403 and the LUT, the torque value at which the replacement of the working claw 200 is necessary is calculated and set as the threshold value. The torque value acquired at step S403 may be the torque value acquired by an operation dedicated to acquiring the torque value in the initial state, or may be the torque value acquired during normal operation within a predetermined period after replacing the working claw 200.

[0048] After acquiring the first torque value at step S403, based on, for example, the second torque value acquisition instruction input by the above-mentioned mobile communication terminal, the process proceeds to the next step S405. At step S405, the torque value (second torque value) in the working state (second state) which is a state after the above-mentioned initial state and in which the working claw 200 has not been replaced since the initial state is acquired. The working state refers to the state in which the tilling operation is actually performed using the agricultural working machine 100. Using the torque value acquired at S405, a comparison with the threshold value set at S403 is made. In S407, if the torque value acquired at S405 is equal to or greater than the threshold value (''No'' in S407), the process returns to the step of S405, and the steps of S405 and S407 are repeated. On the other hand, if the torque value acquired at S405 is less than the threshold value (''Yes'' in S407), a warning indicating that the wear of the working claw 200 has progressed to a state where replacement is required is issued to the user (step S409).

[0049] Note that in the example of FIG. 5, the operation of acquiring the torque value in the initial state with the working claw 200 in a new state Although the flow has been shown, the acquisition of the torque value in the initial state may be performed even when the working claw 200 is not new. For example, after replacing the working claw 200 with a new one (for example, after inputting the first torque value acquisition instruction), the torque value may be acquired with the state of being used for a certain period as the initial state. In this case, the input of the second torque value acquisition instruction can be omitted. Also, when there is a proportional relationship between the torque value and the vehicle speed value, the torque value in the initial state is measured only for one vehicle speed condition, and based on the measured torque value and the vehicle speed value at which the torque value was measured, threshold values at other vehicle speeds may be set. The above first torque value acquisition instruction and second torque value acquisition instruction may be input via the above server, or may be directly input to the agricultural working machine 100. The first torque value acquisition instruction may be performed, for example, by a signal indicating that the working claw is attached to the agricultural working machine 100 by a sensor provided on the working claw.

[0050] As described above, according to the agricultural working machine and the information processing apparatus according to the present embodiment, it is possible to evaluate the wear state of the working claw 200 from the torque value measured in the power transmission unit (input shaft 102) of the agricultural working machine 100, and it is possible to know whether or not it is necessary to replace the working claw 200 without the operator directly checking the working claw 200.

[0051] <Second Embodiment> With reference to FIG. 6, the agricultural working machine 100A according to the second embodiment of the present invention will be described. FIG. 6 is a diagram showing a drive shaft, a chain drive unit, and a claw shaft of the agricultural working machine according to an embodiment of the present invention. In FIG. 6(A), a drive shaft 111A, a chain drive unit 160A, and a claw shaft 180A are shown. A sensor 400A is provided on the drive shaft 111A, and a sensor 430A is provided on the claw shaft 180A. In FIG. 6(B), the detailed configurations of the sensors 400A and 430A are shown. The arrangement of each sensor will be described in detail below. Although not shown in FIG. 6, the drive shaft 111A is connected to the input shaft 102A. The input shaft 102A, the drive shaft 111A, the chain drive unit 160A (wrapping transmission unit), and the claw shaft 180A are included in the power transmission unit. For convenience of explanation, in FIG. 6, the wrapping transmission unit wound around the drive sprocket 162A and the driven sprocket 163A is omitted.

[0052] A sensor 401A, a sensor 403A, a wiring 410A, and an external output device 420A are provided on the drive shaft 111A. A drive sprocket 162A is also connected to the drive shaft 111A. The sensors 401A and 403A are provided on the outer circumference of the drive shaft 111A so as to sandwich the drive shaft 111A. As the sensors 401A and 403A, strain sensors can be used respectively. As shown in FIG. 6(B), the sensor 401A and the sensor 403A are arranged crossing each other. In the following description, when it is not particularly necessary to distinguish between the sensors 401A and 403A, these sensors are simply referred to as the sensor 400A together.

[0053] Sensor 400A is attached to the outer periphery of drive shaft 111A via an adhesive layer. As the sensor 400A, a sensor similar to the sensor 300 in FIG. 3 can be used. The drive shaft 111A has a hollow structure with a hollow portion 112A provided inside. The wiring 410A passes through the inside of the hollow structure (hollow portion 112A) to connect the sensor 400A and the external output unit 420A. The sensor 400A, the wiring 410A, and the external output unit 420A rotate together with the drive shaft 111A and the drive sprocket 162A. The external output unit 420A includes, for example, a slip ring and outputs the sensing signal measured by the sensor 400A to the information processing device described above.

[0054] The claw shaft 180A is provided with sensors 431A, 433A, wiring 440A, and an external output unit 450A. Further, a passive sprocket 163A, a tilling shaft 183A, and a flange shaft 185A are connected to the claw shaft 180A. The claw shaft 180A has a hollow structure. The sensors 431A, 433A are provided on the inner wall 181A of the hollow structure of the claw shaft 180A so as to face each other. As the sensors 431A, 433A, strain sensors can be used. As shown in FIG. 6(B), the sensor 431A and the sensor 433A are arranged crossing each other. In the following description, when there is no need to particularly distinguish between the sensors 431A, 433A, these sensors are simply referred to as the sensor 430A together.

[0055] The sensor 430A is attached to the inner wall 181A of the claw shaft 180A via an adhesive layer. As the sensor 430A, a sensor similar to the sensor 300 in FIG. 3 can be used. Further, the claw shaft 180A has a hollow structure formed by the inner wall 181A up to the flange shaft 185A, and has a hollow structure with a hollow portion 182A provided inside from the flange shaft 185A to the tip of the claw shaft 180A. The wiring 440A passes through the hollow portion 182A to connect the sensor 430A and the external output device 450A. The sensor 430A, the wiring 440A, and the external output device 450A rotate together with the claw shaft 180A, the passive sprocket 163A, the tilling shaft 183A, and the flange shaft 185A. The external output device 450A includes, for example, a slip ring and outputs the sensing signal measured by the sensor 430A to the above-described information processing device.

[0056] Note that the present invention is not limited to the configuration shown in FIG. 6. The configuration of the drive shaft 111A may be applied to the claw shaft 180A. Conversely, the configuration of the claw shaft 180A may be applied to the drive shaft 111A. Further, the sensor may be attached to only one of the drive shaft 111A and the claw shaft 180A. That is, either one of the sensors 400A and 430A can be omitted. Further, the external output devices 420A and 450A have the same functions as the sensor control unit 310 in FIG. 3.

[0057] As described above, according to the agricultural working machine according to the present embodiment, the wear state of the working claw 200A can be evaluated from the torque value measured in the power transmission unit (drive shaft 111A, claw shaft 180A) of the agricultural working machine 100A, and the operator can know whether or not it is necessary to replace the working claw 200A without directly checking the working claw 200A.

[0058] <Third Embodiment> With reference to Fig. 7, the agricultural working machine 100B according to the third embodiment of the present invention will be described. Fig. 7 is a diagram showing the internal structure of the chain case of the agricultural working machine according to an embodiment of the present invention. (A) of Fig. 7 is a diagram showing the chain drive unit 160B inside the chain case with the cover of the chain case omitted. (B) of Fig. 7 is a diagram showing the sensor 540B provided on the tensioner 500B.

[0059] As shown in Fig. 7, the chain drive unit 160B is provided with a drive sprocket 162B and a driven sprocket 163B, and a transmission part 161B is wound around these sprockets. A tensioner 500B for applying tension to the transmission part 161B is provided between the two sprockets. The input shaft 102B, the drive shaft 111B, the transmission part 161B, the tensioner 500B, and the claw shaft 180B are included in the power transmission part.

[0060] The tensioner 500B has a sliding member 510B and a tension adjusting member 520B. The sliding member 510B slides on the circulating transmission part 161B. Further, the sliding member 510B rotates around the rotation shaft 511B. The tension adjusting member 520B presses the sliding member 510B toward the transmission part 161B. In the example of Fig. 7, the tension adjusting member 520B is composed of a bolt 521B and a nut 523B. However, the configuration of the tension adjusting member 520B is not limited to this configuration.

[0061] The torque of the claw shaft 180B generated when the working claw 200B tills the field affects the tension of the transmission part 161B. Therefore, by measuring the tension of the transmission part 161B the torque value generated by the tilling operation can be measured. In Fig. 7, the tension of the transmission part 161B is measured by attaching the sensor 540B to the tension adjusting member 520B. Specifically, as shown in (B) of Fig. 7, the sensor 540B is provided in the hollow part 525B provided on the bolt 521B. A strain sensor for measuring axial force can be used as the sensor 540B. The sensor 540B is connected to an external output device via a wiring 541B.

[0062] As described above, according to the agricultural work machine according to the present embodiment, the wear state of the working claw 200B can be evaluated from the torque value measured in the power transmission unit (the winding transmission unit 161B) of the agricultural work machine 100B, and the operator can know whether or not it is necessary to replace the working claw 200B without directly checking the working claw 200B.

[0063] As described above, the present invention has been described with reference to the drawings. However, the present invention is not limited to the above-described embodiments, and can be appropriately modified without departing from the spirit of the present invention. For example, based on the information processing apparatus and the agricultural work machine of the present embodiment, those in which those skilled in the art have appropriately added, deleted, or changed the components are also included in the scope of the present invention as long as they have the gist of the present invention. Furthermore, the above-described embodiments can be appropriately combined as long as there is no contradiction, and technical matters common to each embodiment are included in each embodiment even without explicit description.

[0064] Other operational effects different from those brought about by the aspects of the above-described embodiments are naturally understood to be brought about by the present invention as long as they are obvious from the description of this specification or can be easily predicted by those skilled in the art.

Description of Reference Numerals

[0065] 100: Agricultural working machine, 101: Input shaft part, 102: Input shaft, 103: Conversion part, 110: Frame, 111: Drive shaft, 112A: Hollow part, 120: Shield cover, 125: Connection part, 130: Apron, 132: Leveling board, 134: Extended leveling board, 135: Top mast, 136: Lower link connection part, 140: Side plate, 150: Cultivation rotor, 160: Chain drive part, 161B: Winding transmission part, 162: Driving sprocket, 163: Driven sprocket, 170: Control device, 180: Claw shaft, 181A: Inner wall, 182A: Hollow part, 183A: Cultivation shaft, 185A: Flange shaft, 190: Holder, 200: Working claw, 300: Sensor, 310: Sensor control part, 320: Fastener, 400A: Sensor, 401A: Sensor, 403A: Sensor, 410A: Wiring, 420A: External output machine, 430A: Sensor, 431A: Sensor, 433A: Sensor, 440A: Wiring, 450A: External output machine, 500B: Tensioner, 510B: Sliding member, 511B: Rotating shaft, 520B: Tension adjustment member, 521B: Bolt, 523B: Nut, 525B: Hollow part, 540B: Sensor, 541B: Wiring

Claims

1. An information processing device that evaluates the wear condition of the working claw based on a torque value measured in a power transmission unit that transmits power received from the running body to the working claw acting on a field, the vehicle speed value of the running body, the type of the working claw, and the type of agricultural machine.

2. A program that causes a computer to evaluate the wear condition of the working tines based on a torque value measured in a power transmission unit that transmits power received from the running body to the working tines acting on a field, the vehicle speed value of the running body, the type of the working tines, and the type of agricultural machine.

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