Information Processing Apparatus, Program, and System

Abstract

To make data of a formed ridge shape with high accuracy.SOLUTION: An information processing apparatus receives first position information detected by a location detector, and identifies a ridge shoulder position for showing a boundary between an upper surface and a slope of a ridge in the upper surface view on the basis of: first position information; relative position information being the relative position relationship between a boundary position between an upper surface forming unit and a slope forming unit of a ridge forming unit provided in a ridge coating machine and the location detector, and showing the positional relationship in the base condition of the ridge coating machine; and inclination information for showing the inclination from the base condition of the ridge coating machine.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to an information processing apparatus, a program, and a system for acquiring the shape of a ridge. In particular, the present invention relates to an information processing apparatus, a program, and a system for acquiring the shape of a ridge using a position detector provided in a ridge painting machine.

Background Art

[0002] Currently, in order to reduce the labor time of agricultural work, the automation of agricultural work machines is being promoted, and various agricultural work machines are being developed. In particular, agricultural work machines (ridge painting machines, cultivators, and ridging machines) that are attached to the rear of a traveling machine body such as a tractor and can be exchanged according to the type of work such as ridge painting, cultivation, and ridging can be exchanged like an attachment to the traveling machine body. It is possible to handle various agricultural works only by doing so, and it greatly contributes to cost reduction of agricultural works.

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

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the agricultural working machine of Patent Document 1, since the position of the position detector does not match the position of the ridge forming part (for example, the ridge coating drum) provided in the ridge coating machine, the accuracy of the position where the ridge is formed is not sufficient. Also, in a soft field or the like where the tractor cannot travel straight, it is assumed that the tractor will tilt with respect to the traveling direction. However, if a position detector is provided on the traveling machine body, this tilt cannot be detected by the position detector. As a result, a problem occurs in that a change in the position of the ridge coating machine due to the tilt of the tractor cannot be detected, and the formation accuracy of the ridge deteriorates. Further, in the case where the ridge forming part is movable to a position offset to the side of the traveling machine body with respect to the traveling direction of the traveling machine body, depending on the offset amount, the positional relationship between the position information acquired by the position detector and the position of the ridge formed by the ridge forming part fluctuates, so there is a problem that the position accuracy of the formed ridge decreases.

[0006] One embodiment of the present invention aims to digitize the shape of the formed ridge with high accuracy as one of the problems.

Means for Solving the Problems

[0007] An information processing apparatus according to an embodiment of the present invention receives first position information detected by a position detector, and based on the first position information, the relative positional relationship between the boundary position between the upper surface forming part and the slope forming part of the ridge forming part provided in the ridge coating machine and the position detector, which indicates the positional relationship in the reference state of the ridge coating machine, and the inclination information indicating the inclination of the ridge coating machine from the reference state, specifies the ridge shoulder position indicating the boundary between the upper surface and the slope of the ridge in a top view.

[0008] The inclination information may include first inclination information indicating the inclination of the ridge forming part in the rotation direction about the traveling direction of the ridge coating machine, and the ridge shoulder position may be specified based on the distance between the boundary position and the position detector in a plan view orthogonal to the traveling direction and the first inclination information.

[0009] The tilt information includes second tilt information indicating the tilt of the ridge forming part in the rotation direction about the vertical axis, and the ridge shoulder position may be specified based on the distance between the boundary position and the position detector in a horizontal plan view and the second tilt information.

[0010] It has a table that stores in association the model information for specifying the ridge painting machine and the relative position information in the ridge painting machine, and the relative position information may be derived based on the input model information or the received model information and the table.

[0011] A program according to an embodiment of the present invention receives first position information detected by a position detector, and the relative positional relationship between the first position information and the boundary position between the upper surface forming part and the slope forming part of the ridge forming part provided in the ridge painting machine and the position detector, which indicates the positional relationship in the reference state of the ridge painting machine, and the tilt information indicating the tilt of the ridge painting machine from the reference state, and causes an information processing device to specify the ridge shoulder position indicating the boundary between the upper surface and the slope of the ridge in a top view.

[0012] A system according to an embodiment of the present invention includes a ridge painting machine having a ridge forming part for forming a ridge, a position detector provided on the ridge painting machine, and an information processing device for deriving the shape of the ridge based on first position information detected by the position detector.

[0013] It further has an obstacle detection unit provided on the ridge painting machine for detecting an obstacle existing near the ridge formed or to be formed by the ridge painting machine, and the information processing device may record the second position information of the obstacle detected by the obstacle detection unit overlaid on the first position information.

[0014] The information processing device may transmit information regarding the shape of the ridge to other agricultural working machines other than the ridge painting machine.

Advantages of the Invention

[0015] According to an embodiment of the present invention, the shape of the formed ridge can be digitized with high precision.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Modes for Carrying Out the Invention

[0017] Hereinafter, a ridging machine and a system for acquiring the shape of ridges according to an embodiment of the present invention will be described with reference to the drawings. However, the ridging machine and the system for acquiring the shape of ridges according to an embodiment of the present invention can be implemented in many different ways and should not be construed as being limited to the description of the examples shown below. In the drawings referred to in the present embodiment, the same reference numerals are given to the same parts or parts having the same functions, and the repeated description thereof will be omitted. Also, in this specification and each drawing, for elements similar to those described above with respect to the already shown drawings, an alphabet may be appended after the same reference numeral, and the detailed description may be omitted as appropriate.

[0018] In the specification and claims of the present application, "up" indicates a direction vertically away from the ridge in a state where the ridging machine is advancing while performing work on the ridge, and "down" indicates a direction opposite to "up". "Front" indicates the direction in which the traveling body is located with respect to the ridging machine, and "rear" indicates a direction opposite to "front". Also, "left" or "right" indicates "left" or "right" when the ridging machine is viewed from the rear.

[0019] Note that the following embodiments can be combined with each other as long as no technical contradiction occurs.

[0020] <First Embodiment> [Configuration of Ridge Shape Acquisition System] Hereinafter, a system for acquiring the shape of ridges (ridge shape acquisition system) according to the present embodiment will be described with reference to FIGS. 1 to 3. The ridge shape acquisition system includes a ridging machine 10, a position detector 50, and an information processing device 60 (for example, the following control unit 600). The ridge shape acquisition system acquires the position information of the ridging machine 10 when the ridge formation work is performed by the ridging machine 10, and specifies the shape of the ridge based on the position information.

[0021] [Configuration of Ridging Machine 10] The schematic configuration of the ridge painting machine 10 according to this embodiment will be described with reference to FIGS. 1 to 3. FIGS. 1 to 3 are all diagrams showing the overall configuration of the ridge painting machine according to an embodiment of the present invention. FIG. 1 is a top view showing the ridge painting machine 10 in a stored state. FIG. 2 is a top view showing the ridge painting machine 10 in an operating state. FIG. 3 is a rear view showing the ridge painting machine 10 in a stored state. In this embodiment, as an example of the ridge painting machine used in the ridge shape acquisition system, a configuration in which the ridge painting machine 10 towed by a traveling body is used is illustrated, but the configuration is not limited thereto. For example, a self-propelled ridge painting machine may be used as the ridge painting machine used in the ridge shape acquisition system.

[0022] As shown in FIG. 1, the ridge painting machine 10 in this embodiment includes a mounting portion 100, an offset mechanism portion 200, a power transmission portion 300, and a working portion 400. The ridge painting machine 10 is mounted on a traveling body such as a tractor by the mounting portion 100. The mounting portion 100 and the working portion 400 are connected via the offset mechanism portion 200 and the power transmission portion 300. With this configuration, as the traveling body travels, the ridge painting machine 10 is towed, and a ridge is formed by the working portion 400.

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

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

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

[0026] The offset frame is composed of a long frame and is disposed below the power transmission unit 300. As described above, one end of the offset frame is rotatably connected to the hitch frame 110 about the rotation axis 211. On the other hand, the other end of the offset frame is rotatably connected to the working unit 400 and the support frame 230 at the rotation axis 213. The offset frame rotates on a horizontal plane with respect to the hitch frame 110 about the rotation axis 211. The working unit 400 rotates on a horizontal plane with respect to the offset frame about the rotation axis 213. With such a configuration, the working unit 400 rotates on a horizontal plane with respect to the mounting unit 100. The offset frame is connected to the power transmission unit 300 and moves together with the power transmission unit 300.

[0027] The link rod 220 is also a long member and has a length similar to that of the offset frame. The link rod 220 is disposed substantially parallel to the offset frame. As described above, one end of the link rod 220 is rotatably connected to the hitch frame 110 at the rotation axis 221. On the other hand, the other end of the link rod 220 is rotatably connected to the support frame 230 at the rotation axis 223.

[0028] The support frame 230 is a shorter member compared to the offset frame and the link rod 220, and is a member that interconnects the offset frame and the link rod 220. As described above, the offset frame and the link rod 220 are both rotatably connected to the support frame 230. The working unit 400 is supported by the support frame 230, and the support frame 230 moves integrally with the working unit 400 during the offset rotation of the working unit 400.

[0029] The hitch frame 110, the offset frame, the link rod 220, and the support frame 230 constitute a rotation mechanism (parallel link mechanism). The offset mechanism unit 200 can offset-rotate the working unit 400 while maintaining the orientation of the working unit 400 with respect to the traveling direction of the traveling machine body. Therefore, even if the working unit 400 undergoes offset rotation, the relative positional relationship between the support frame 230 and the working unit 400 remains unchanged.

[0030] The power unit 240 is a power source (actuator) of the offset mechanism unit 200 and is an expansion and contraction member composed of, for example, a hydraulic cylinder or the like. One end of the power unit 240 is connected to the hitch frame 110, and the other end is connected to the offset frame. By the expansion and contraction of the power unit 240, the offset mechanism unit 200 is driven, and the offset amount (the amount of movement in the offset direction) of the working unit 400 can be controlled. In other words, when the power unit 240 extends, the offset mechanism unit 200 (link mechanism unit) rotates counterclockwise about the rotation axis 211 to offset-rotate the working unit 400 provided with a ridge forming unit 410 described later. When the power unit 240 contracts, the offset mechanism unit 200 rotates clockwise about the rotation axis 211 to move the working unit 400 to the storage position (side). Since the amount of movement of the working unit 400 in the offset direction is determined by the amount of expansion and contraction of the power unit 240, it can be adjusted steplessly.

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

[0032] [Configuration of the working unit 400] The working unit 400 is the part that performs the ridging operation. The working unit 400 includes a ridging formation unit 410, a cover member 420, a top field treatment unit 430, and a pretreatment unit 440 (see FIG. 2). The working unit 400 rotates horizontally with respect to the offset mechanism unit 200 and the power transmission unit 300 about the rotation axis 213. That is, the working unit 400 rotates (offset rotation) about the rotation axis 213 so that the direction of the working unit 400 with respect to the traveling direction of the traveling machine body is maintained by the offset mechanism unit 200. Further, separately from the above rotation, the working unit 400 rotates about the rotation axis 213 so as to change the direction of the working unit 400 with respect to the traveling direction of the traveling machine body. This rotation is referred to as "independent rotation of the working unit 400" or "rotation of the working unit". The offset rotation is a rotation about the first point (rotation axis 211). The rotation of the working unit is a rotation about the second point (rotation axis 213).

[0033] The ridging formation unit 410, the cover member 420, the top field treatment unit 430, and the pretreatment unit 440 are supported by the support frame 230, and during offset rotation, they rotate integrally with the rotation of the support frame 230. Therefore, even when the above offset rotation and rotation of the working unit are performed, the relative positional relationship in the top view between the ridging formation unit 410 and the members other than the ridging formation unit 410 included in the working unit 400 does not change. For example, even when the above rotation is performed, the relative positional relationship in the top view between the ridging formation unit 410 and the cover member 420 does not change. Although details will be described later, a position detector 50 is attached to the cover member 420 via an arm member 510. Therefore, even when the offset rotation and rotation of the working unit are performed, the relative positional relationship in the top view between the position detector 50 and the ridging formation unit 410 does not change.

[0034] Here, the relative positional relationship means the relationship of the positions and orientations of the members to be focused on. That is, for the members of interest, the fact that the relative positional relationship does not change means that before and after the offset rotation and the working part rotation, neither the distance nor the direction between the members of interest changes. Once the position of one of the target members is determined, the position of the other target member is uniquely determined. This means that the shape of the overall configuration in the top view of the members of interest before and after the offset rotation and the working part rotation is extracted, and when the ridge forming part 410, whose state is different due to the offset rotation and the working part rotation, has its orientation aligned in a certain direction, the shape of the overall configuration formed by the members of interest is the same shape.

[0035] The ridge forming part 410 includes an upper surface forming part 411 that forms the upper surface of the ridge and a side surface forming part 412 that forms the side surface of the ridge. In the present embodiment, the upper surface forming part 411 is a cylindrical member whose central axis extends in a direction perpendicular to the left and right with respect to the traveling direction of the working machine body. The ridge forming part 410 is rotatably supported with respect to this central axis. The ridge forming part 410 rotates by receiving power from the power transmission part 300. Further, the side surface forming part 412 is a substantially conical member having an inclined surface inclined with respect to the above central axis.

[0036] Note that in both the working state and the storage state, the central axis of the upper surface forming part 411 is perpendicular to the forward direction (D1 direction). Such a state and the state where the ridge painting machine 10 is not tilted as described later (in (A) of FIG. 4) are referred to as the reference state of the ridge painting machine 10. That is, in the present embodiment, the reference state is a state where the central axis of the upper surface forming part 411 is perpendicular to both the D1 direction and the vertical direction.

[0037] The slope forming part 412 of this embodiment is a polyhedral drum in which a plurality of plate-like members are arranged so as to partially overlap in the circumferential direction. Each of the plurality of plate-like members has a shape that moves away from the central axis of the slope forming part 412 in the circumferential direction of the slope forming part 412. Due to the shape of this slope forming part 412, each plate-like member approaches the slope of the ridge as the slope forming part 412 rotates, so that the slope of the ridge can be strengthened more firmly. In other words, in the working state, the upper surface forming part 411 is substantially parallel to the field, and the slope forming part 412 is inclined with respect to the field.

[0038] The shapes of the upper surface forming part 411 and the slope forming part 412 are not limited to the above configuration. For example, the upper surface forming part 411 may have a shape in which a plurality of plate-like members partially overlap, similar to a polyhedral drum. Also, the slope forming part 412 does not have to be a polyhedral drum. That is, the slope forming part 412 does not have to have a shape that moves away from the central axis of the slope forming part 412 in the circumferential direction of the slope forming part 412.

[0039] As described above, the cover member 420 is provided at a position where the relative positional relationship in the top view with the ridge forming part 410 does not change. The cover member 420 is provided so as to cover a part of the ridge forming part 410. Specifically, the cover member 420 partially covers the end of the slope forming part 412 located above the upper surface forming part 411.

[0040] The pretreatment part 440 is provided in front of the ridge forming part 410. More specifically, the pretreatment part 440 is provided in front of the slope forming part 412. The pretreatment part 440 has a working rotor provided with a plurality of working claws and a cover member 441 (see FIG. 2) that covers the upper part of the working rotor. The working rotor operates by receiving power from the power transmission part 300 and rotates the working claws. The rotation axis of the working rotor is inclined with respect to the traveling direction. Specifically, the rotation axis of the working rotor is inclined outward of the ridge applicator 10 from the rear to the front of the ridge applicator 10. Among the plurality of working claws provided on the working rotor, one working claw curves in the direction opposite to the rotation direction of the working claw and rearward, and another working claw curves in the direction opposite to the rotation direction of the working claw and forward.

[0041] The field top treatment unit 430 is provided in front of the ridge forming unit 410. More specifically, the field top treatment unit 430 is provided in front of the upper surface forming unit 411. The field top treatment unit 430 has a working rotor provided with a plurality of working claws and a cover member 431 that covers the upper and front sides of the working rotor, similar to the pre-treatment unit 440. The working rotor operates by receiving power from the power transmission unit 300 and rotates the working claws. The rotation axis of the working rotor is inclined with respect to the traveling direction. Specifically, the rotation axis of the working rotor is inclined outward of the ridging machine 10 from the rear to the front of the ridging machine 10. The plurality of working claws provided on the working rotor are curved in the direction opposite to the rotation direction of the working claws and forward.

[0042] In the vertical direction, the field top treatment unit 430 is provided above the pre-treatment unit 440. In other words, in the vertical direction, the lower end of the rotation locus of the working claws provided on the field top treatment unit 430 is located above the lower end of the rotation locus of the working claws provided on the pre-treatment unit 440. However, it is not limited to this configuration, and the lower end of the rotation locus of the working claws provided on the field top treatment unit 430 may be located below the lower end of the rotation locus of the working claws provided on the pre-treatment unit 440, or the lower ends of both may be substantially the same.

[0043] Also, as shown in FIG. 3, the working unit 400 further includes a drum case 470. The drum case 470 is connected to a rear gear case provided at the lower end of the rotation shaft 213 and the ridge forming unit 410. A sprocket and a chain are provided inside the drum case 470 to transmit the power transmitted from the power transmission unit 300 to the ridge forming unit 410. The drum case 470 is also a member whose relative positional relationship with the ridge forming unit 410 does not change even when the above-mentioned offset rotation or working unit rotation is performed.

[0044] [Configuration of the position detector 50] The position detector 50 is provided above the ridge forming unit 410 and is provided at a position overlapping the ridge forming unit 410 in a top view. Specifically, in a top view, the position detector 50 is provided at a position overlapping the boundary portion 413 between the top surface forming portion 411 and the slope forming portion 412 (the shoulder position of the ridge forming unit 410). The portion corresponding to the boundary portion 413 is a portion forming the shoulder portion of the ridge (ridge shoulder portion). That is, in a top view, the movement locus of the position detector 50 accompanying the movement of the ridge painting operation of the ridge painting machine 10 substantially coincides with the shape of the ridge shoulder portion.

[0045] The position detector 50 is attached to the upper tip of the arm member 510. The arm member 510 is fixed to the above-described cover member 420. As shown in FIG. 3, the arm member 510 is connected to the upper surface of the cover member 420. The arm member 510 extends from the connection point with the cover member 420 toward the top surface forming portion 411 in a top view (see FIG. 1), bends at the boundary portion 413 between the top surface forming portion 411 and the slope forming portion 412 in a rear view, and extends upward (see FIG. 3).

[0046] The position detector 50 is, for example, an antenna for a global navigation satellite system (GNSS; Global Navigation Satellite System) (GNSS antenna). As the GNSS, satellite positioning systems such as GPS, GLONASS, Galileo, and quasi-zenith satellite (QZSS) can be used. However, as the position detector, it is not limited to GNSS, and other devices that detect the position information of the ridge forming unit 410 can be used.

[0047] In this embodiment, the configuration in which the position detector 50 is attached to the cover member 420 via the arm member 510 is illustrated, but the present invention is not limited to this configuration. The position detector 50 may be directly attached to the cover member 420 or other members without using the arm member 510. Further, the position detector 50 or the arm member 510 may be a member other than the cover member 420, and when the above-described offset rotation or working unit rotation is performed, the relative positional relationship with the ridge forming unit 410 does not change, that is, a member that rotates integrally with the ridge forming unit 410. For example, it can be attached to the top field processing unit 430, the preprocessing unit 440 included in the working unit 400, or other members (for example, the drum case 470 described later).

[0048] Further, in this embodiment, the configuration in which the position detector 50 is provided at the boundary portion 413 (the shoulder position of the ridge forming unit 410) in a top view is illustrated, but the present invention is not limited to this configuration. That is, the position detector 50 may not overlap both the upper surface forming portion 411 and the slope forming portion 412 in a top view. It is also possible to adopt a configuration in which the position detector 50 is disposed close to the ridge forming unit 410. For example, the position detector 50 may be disposed at a position overlapping at least one of the upper surface forming portion 411 or the slope forming portion 412 in a top view. Thus, by disposing the position detector 50 at a position overlapping a part of the ridge forming unit 410 in a top view, the position of the ridge formed through the ridge forming unit 410 can be accurately detected.

[0049] [Configuration of Control Unit 600] As shown in FIGS. 1 and 2, the control unit 600 is provided in the hitch frame 110. The control unit 600 has the functions of an information processing device 60 including an arithmetic circuit such as a central processing unit (CPU) and storage devices such as registers and memories connected to the CPU. In the information processing device 60, functions corresponding to various request signals are realized by the program temporarily stored in the storage device being executed by the CPU. The information processing device 60 stores various design information regarding the ridging machine 10 (the length of the upper surface forming part 411, the drum diameter of the slope forming part 412, information regarding the ridgeline shoulder forming position with respect to the position detector 50, etc.), and generates information regarding the shape of the ridge derived based on the position information detected by the position detector 50.

[0050] In this embodiment, in a top view, the position detector 50 is provided at a position overlapping the shoulder position of the ridge forming part 410, and since there is no inclination of the ridge forming part 410, the movement locus of the position detector 50 in the top view substantially coincides with the shape of the ridgeline shoulder. In this case, the information processing device 60 specifies the shape of the ridge formed by the ridge forming part 410 based on the "first position information" indicating the position information detected by the position detector 50 and the "relative position information" indicating the relative positional relationship between the position detector 50 and the shoulder position of the ridge forming part 410 in the top view (in this embodiment, the relationship where the position of the position detector 50 coincides with the shoulder position of the ridge forming part 410). The above relative position information may be transmitted from the ridging machine 10 to the information processing device 60 together with the first position information, or may be input to the information processing device 60 at a timing different from the timing when the first position information is transmitted to the information processing device 60.

[0051] In this embodiment, the configuration in which the control unit 600 is provided in the hitch frame 110 is illustrated, but the control unit 600 may be provided on other members.

[0052] As described above, in the present embodiment, the configuration included in the control unit 600 provided in the ridging machine 10 of the ridging shape acquisition system has been exemplified, but the present invention is not limited to this configuration. For example, as the information processing device 60, a server or a communication terminal capable of communicating with the ridging machine 10 may be used. As the communication terminal, for example, a communicable communication terminal such as a personal computer, a notebook PC, a tablet PC, a smartphone, a mobile phone, a PDA, and a PHS can be used. That is, the information processing device 60 may not be included in the control unit 600. In this case, the function of deriving the shape of the ridge based on the position information detected by the position detector 50 is provided in an information processing device 60 (for example, a server) separate from the control unit 600, and the function of controlling various operations of the ridging machine 10 is provided in the control unit 600.

[0053] Further, the control unit 600 may include an inclination detection unit 71, a speed detection unit 72, and a working height detection unit 73. These detection units are collectively referred to as a detection unit 70. The detection unit 70 is stored, for example, in the position detector 50 as a part of the antenna unit. However, the detection unit 70 may be stored in the cover member of the control unit 600. The details of the function of the detection unit 70 will be described in a later embodiment. In the present embodiment, the detection unit 70 may be omitted.

[0054] The inclination detection unit 71 detects the inclination of the ridging machine 10 in the rotational direction about an axis extending in the traveling direction of the ridging machine 10. In other words, the inclination detection unit 71 detects the inclination (lateral inclination) of the ridging machine 10 when viewed in its traveling direction (for example, when the ridging machine 10 is viewed from behind), and the inclination (longitudinal inclination) of the ridging machine 10 when viewed from the side in the traveling direction. Specifically, the inclination detection unit 71 mainly detects the inclination of the ridging machine 10 with reference to the direction of gravity. As the inclination detection unit 71, for example, an inertial measurement unit (IMU) equipped with a gyro and an accelerometer can be used, but other sensors can be used as long as they can detect the inclination of the ridging machine 10. Note that the inclination detection unit 71 may detect the inclination with reference to the horizontal state, or may detect the inclination with reference to a state inclined at a certain angle from the horizontal. Further, the inclination detection unit 71 may detect not only the detected inclination but also the angular acceleration at the time of detecting the inclination, and evaluate the inclination based on these values.

[0055] The speed detection unit 72 detects the traveling speed of the ridging machine 10. The speed detection unit 72 may detect the traveling speed based on the angular velocity or the number of rotations per unit time of the wheels provided on the traveling body, or may detect the traveling speed based on the position information of the ridging machine 10.

[0056] The working height detection unit 73 detects the height of the ridging machine 10 (particularly, the ridge forming unit 410) with respect to the traveling body in the vertical direction. As the working height detection unit 73, a potentiometer that measures the vertical height of the ridge forming unit 410 may be used, an optical sensor using laser light or the like may be used, or an ultrasonic sensor may be used. Further, instead of the working height detection unit 73, the height of the ridge forming unit 410 may be detected by the position detector 50.

[0057] [Description of working state] As described above, the switching between the storage state and the working state of the ridging machine 10 is performed by the expansion and contraction of the power unit 240. Specifically, when the power unit 240 extends, it is switched from the "storage state" shown in FIG. 1 to the "working state" shown in FIG. 2. When the power unit 240 extends, the working unit 400 rotates about the rotation shaft 211 and moves to the side with respect to the traveling direction of the traveling body by the operation of the offset mechanism unit 200. That is, the working unit 400 performs an offset rotation due to the extension of the power unit 240. As described above, since the parallel link mechanism is configured and the angle of the support frame 230 with respect to the working unit 400 is kept constant, the orientation of the working unit 400 does not change during the offset rotation.

[0058] Referring to FIGS. 1 and 2, the relative positional relationship between the ridging portion 410 and the position detector 50 does not change before and after the offset rotation. That is, even after the offset rotation, the position detector 50 is located near the boundary portion 413 (the shoulder portion of the ridging portion 410), similar to before the offset rotation, and the position of the ridging portion 410 can be accurately detected based on the detection result of the position detector 500.

[0059] The sensor support 460 is connected in an arch shape between the support member 451 of the sensing arm 450 and the drum case 470 via a bracket. The positions of the sensing arm 450 and the support member 451 are determined by the sensor support 460. The drum case 470 is connected to the rear gear case provided at the lower end of the rotation shaft 213 and the ridging portion 410. A sprocket and a chain are provided inside the drum case 470, and the power transmitted from the power transmission unit 300 is transmitted to the ridging portion 410.

[0060] Similar to the cover member 420, the above-described sensor support 460 and drum case 470 are members whose relative positional relationship with the ridging portion 410 does not change even when the above-described offset rotation or the rotation of the working unit is performed. Therefore, the position detector 50 may be provided on the sensor support 460 or the drum case 470.

[0061] As described above, according to the ridging machine 10 according to the present embodiment, since the position detector 50 is provided on the ridging machine 10, the position of the ridging machine 10 can be accurately detected. Further, in a top view, since the position detector 50 is provided at a position overlapping the ridge forming portion 410, the movement locus of the position detector 50 substantially coincides with the ridge shoulder. Therefore, the position where the ridge is formed can be more accurately detected by the position detector 50. Since the relative positional relationship between the ridge forming portion 410 and the position detector 50 does not change, for example, even if the offset amount of the ridging machine 10 is changing during the ridging operation, the position where the ridge is formed can be accurately detected. As described above, since the position where the ridge is formed by the ridging machine 10 according to the present embodiment can be accurately detected, the ridging machine 10 or the traveling body can be controlled based on the position information detected by the position detector 50, and the shape of the ridge in a top view can be more accurately controlled.

[0062] <Second Embodiment> The configuration of the ridging machine 10A according to the present embodiment will be described with reference to FIGS. 4 and 5. FIG. 4 is a rear view showing the inclination of the ridging machine in the ridging machine according to an embodiment of the present invention. FIG. 5 is a top view showing an example of correcting the positional deviation due to the inclination of the ridging machine in the ridging machine according to an embodiment of the present invention. Since the ridging machine 10A according to the present embodiment has the same configuration as the ridging machine 10 according to the first embodiment, detailed description thereof will be omitted. In the present embodiment, with reference to FIGS. 4 and 5, a method of correcting the position where the ridge is formed (ridge position correction) when the ridging machine 10A is tilted will be described. The following ridge position correction program is executed by a control unit 600A provided in the ridging machine 10A. In the present embodiment, for a configuration having the same shape and function as in the first embodiment, the description may be omitted by attaching the alphabet "A" after the same reference numeral as in the first embodiment.

[0063] (A) of FIG. 4 shows the state where the ridge coating machine 10A is not tilted. (B) of FIG. 4 shows the state where the ridge coating machine 10A is tilted in the rotation direction about an axis extending in the traveling direction (D1 direction) of the ridge coating machine 10A. As shown in (A) of FIG. 4, in the state where the ridge coating machine 10A is not tilted, the position of the position detector 50A in the top view coincides with the position of the ridge shoulder 710A in the ridge 700A. On the other hand, as shown in (B) of FIG. 4, in the state where the ridge coating machine 10A is tilted, the position of the position detector 50A in the top view does not coincide with the position of the ridge shoulder 710A. Therefore, a deviation of a distance Δx occurs between the position detected by the position detector 50A and the position of the ridge shoulder 710A.

[0064] Note that the state of (A) of FIG. 4 is the reference state of the ridge coating machine 10A because the central axis of the upper surface forming portion 411A is horizontal and, as shown in FIGS. 1 and 2, the central axis of the upper surface forming portion 411A is orthogonal to the forward direction (D1 direction) in the top view.

[0065] In the present embodiment, distance information from the boundary portion 413 between the upper surface forming portion 411 and the slope forming portion 412 of the ridge forming portion 410A to the position detector 50A is stored in the control unit 600A as design information. The inclination δ is an angle formed by a straight line extending vertically upward from the ridge shoulder 710A and a straight line extending from the ridge shoulder 710A toward the position detector 50A. The control unit 600A calculates the above distance Δx based on the stored distance from the ridge shoulder 710A to the position detector 50A and the inclination δ detected by the inclination detection unit 71A. Note that the distance information from the boundary portion 413 to the position detector 50A can be referred to as relative position information between the ridge forming portion 410A (particularly the boundary portion 413A) and the position detector 50A. The relative position information indicates the positional relationship in the reference state described later.

[0066] As shown in FIG. 5, in the state of (A), since the ridging machine 10A is not tilted, the position of the position detector 50A coincides with the position of the ridge shoulder 710A. Therefore, no ridge position correction is performed, and the position detected by the position detector 50A is specified as the position of the ridge shoulder 710A. On the other hand, in the state of (B) in FIG. 5, since the ridging machine 10A is tilted, the position of the position detector 50A is deviated from the position of the ridge shoulder 710A by a distance Δx. Therefore, the above-mentioned ridge position correction specifies the position corrected from the position detected by the position detector 50A based on the distance Δx as the ridge shoulder 710A. In other words, the control unit 600A corrects the position information (first position information) detected by the position detector 50A based on the relative position information between the above-mentioned ridge forming unit 410A and the position detector 50A, and the information (tilt information) regarding the tilt of the ridging machine 10A detected by the tilt detection unit 71A, and derives the position of the ridge. By specifying the position of the ridge shoulder 710A as described above, the shape of the ridge in plan view can be specified. In other words, the control unit 600A specifies the ridge shoulder position in plan view based on the first position information, the relative position information, and the tilt information. Also, by using the design information of the ridging machine 10A, the position of the boundary between the field and the ridge can be specified. The tilt information is information indicating the tilt from a certain reference state. In the present embodiment, the state where the ridging machine 10A is placed horizontally is the reference state. However, the reference state is not limited to this example.

[0067] In the case of the present embodiment, the above-mentioned tilt information indicates the tilt of the ridge forming unit 410A in the rotation direction about the traveling direction of the ridging machine 10A. In some cases, the said tilt information may be referred to as "first tilt information". In this case, the position of the ridge shoulder 710A is specified based on the distance L between the boundary portion 413A and the position detector 50A in a plan view (rear view as shown in FIG. 4) orthogonal to the traveling direction (D1 direction), and the above-mentioned first tilt information.

[0068] Note that the position detector 50A can detect the vertical position information (height information). Therefore, if the height (distance) information from the lower end position of the slope forming part 412A to the boundary part 413A is stored as design information, the three-dimensional shape of the ridge 700A can be specified by adding the height information to the shape of the ridge in the above top view. In this case, it is preferable to store the angle of the ridge shoulder formed by the upper surface forming part 411A and the slope forming part 412A in the control unit 600A as well.

[0069] The above ridge position correction may be performed when the inclination δ of the ridge painter 10A exceeds the threshold value, or the ridge position correction may be performed at the time when the inclination δ of the ridge painter 10A occurs. Note that the above threshold value can be set to any appropriate value.

[0070] As described above, according to the ridge painter 10A according to the present embodiment, even if the ridge painter 10A tilts during the ridge painting operation, the position of the more accurate ridge shoulder 710A can be specified. Therefore, a more accurate ridge shape can be obtained.

[0071] <Third Embodiment> The configuration of the ridge painter 10B according to the present embodiment will be described with reference to FIGS. 6 to 8. Since the ridge painter 10B according to the present embodiment has the same configuration as the ridge painter 10 according to the first embodiment, detailed description thereof will be omitted. Note that the following operations are executed by the control unit 600B provided in the ridge painter 10B. In the present embodiment, for a configuration having the same shape and function as in the first embodiment, the description may be omitted by attaching the alphabet "B" after the same reference numeral as in the first embodiment.

[0072] FIG. 6 is a rear view showing the positional relationship between the position detector and the shoulder position of the ridge forming part in the ridge painting machine according to an embodiment of the present invention. FIG. 7 is a top view showing the positional relationship between the position detector and the shoulder position of the ridge forming part in the ridge painting machine according to an embodiment of the present invention. In FIGS. 6 and 7, for convenience of explanation, only the ridge forming part 410B and the position detector 50B are shown, and other members are omitted. As shown in FIGS. 6 and 7, unlike the first and second embodiments, in a top view, the position detector 50B is provided at a position where it does not overlap with the ridge forming part 410B.

[0073] Specifically, as shown in FIG. 7(A), in the traveling direction (D1 direction), a deviation of Δb occurs between the ridge forming part 410B (particularly the boundary part 413B) and the position detector 50B. In the direction orthogonal to the D1 direction in a top view, a deviation of Δa occurs between the boundary part 413B and the position detector 50B. Further, as shown in FIG. 6(A), in the vertical direction, a deviation of Δc occurs between the boundary part 413B and the position detector 50B.

[0074] As described above, in the present embodiment, deviations in three directions of Δa, Δb, and Δc occur between the position detector 50B and the boundary part 413B. Therefore, the deviation (Δx) between the position detected by the position detector 50B and the position of the ridge shoulder 710B is caused not only by the inclination δ in the rotation direction about the D1 direction axis as shown in FIG. 4, but also by the inclination θ in the rotation direction about the vertical axis (see FIG. 7(B)). In the case of the present embodiment, in the reference state where the ridge painting machine 10B is placed horizontally, the positional relationships in two directions (the directions of Δa and Δb) orthogonal to each other on the horizontal plane and in the vertical direction (the direction of Δc) correspond to the above relative position information.

[0075] As shown in FIG. 6, when there are displacements Δa and Δc between the boundary portion 413B and the position detector 50B in a rear view, Δx can be calculated more accurately by considering not only the inclination δ of the ridging machine 10B but also Δa and Δc. Therefore, when the position detector 50B does not overlap with the boundary portion 413B in a top view, the position of the ridge shoulder 710B formed by the ridging portion 410B can be calculated by using the inclination δ (tilt information) and Δa and Δc (relative position information). Here, a configuration is exemplified in which the position is calculated using the inclination δ centered on the D1 direction when the ridging machine 10B is viewed from the rear, but the configuration is not limited to this. For example, the position may be calculated using the front-rear inclination centered on the direction in which the central axis of the cylindrical shape of the upper surface forming portion 411 extends when the ridging machine 10B is viewed from the side. In the ridging machine 10B of the present embodiment, the position of the ridge shoulder 710B is calculated using both the inclination δ centered on the D1 direction when the ridging machine 10B is viewed from the rear and the front-rear inclination when the ridging machine 10B is viewed from the side.

[0076] Similarly, as shown in FIG. 7, when there are displacements Δa and Δb between the boundary portion 413B and the position detector 50B in a top view, Δx can be calculated more accurately by considering not only the inclination θ of the ridging machine 10B (ridging portion 410B) in the rotation direction about the vertical axis but also Δa and Δb. Therefore, when the position detector 50B does not overlap with the boundary portion 413B in a top view, the position of the ridge shoulder 710B formed by the ridging portion 410B can be calculated more accurately by using the inclination θ (tilt information) and Δa and Δb (relative position information).

[0077] The above inclination θ can be referred to as "second tilt information". In other words, it can be said that the position of the ridge shoulder 710B can be specified based on the distance between the boundary portion 413B and the position detector 50B in the horizontal plane and the second tilt information.

[0078] The above relative position information (Δa, Δb, Δc) may be manually set by the user. For example, in the guidance program when starting the operation of the ridging machine 10B, a user interface may be provided to allow the user to input the values of the relative position information. Alternatively, referring to a table associating the model information and the relative position information as shown in FIG. 8, based on the model ID (model information) unique to the ridging machine 10B, the information processing device 60B may automatically acquire the relative position information from the database. The above table may be stored in the information processing device 60B, or may be stored in a server or a communication terminal that communicates with the information processing device 60B.

[0079] <Fourth Embodiment> The configuration of the ridging machine 10C according to this embodiment will be described with reference to FIGS. 9 and 10. FIG. 9 is a top view showing the overall configuration in the working state of the ridging machine according to an embodiment of the present invention. FIG. 10 is an example showing the shape of the ridge derived by the system according to an embodiment of the present invention. Since the ridging machine 10C according to this embodiment has the same configuration as the ridging machine 10 according to the first embodiment, detailed description thereof will be omitted. In this embodiment, the control method of the ridging machine 10C will be described with reference to FIGS. 9 and 10. The following operations are executed by the control unit 600C provided in the ridging machine 10C. In this embodiment, for the configuration having the same shape and function as that in the first embodiment, the description may be omitted by attaching the alphabet "C" after the same reference numeral as that in the first embodiment.

[0080] As shown in FIG. 9, an obstacle detection unit 800C is provided in the ridging machine 10C. Specifically, the obstacle detection unit 800C is provided on the front side (D1 direction side) of the cover member 420C. The obstacle detection unit 800C detects the presence or absence of obstacles in the field (specifically, the field in front of the topsoil treatment unit 430C) before the ridging unit 410C forms ridges. As the obstacle detection unit 800C, a camera or a sensor capable of detecting an object can be used. When a camera is used as the obstacle detection unit 800C, the presence or absence of an obstacle can be determined by image processing on the image captured by the camera. When it is determined by image processing that an obstacle exists, the control unit 600C estimates the position where the obstacle detected by the obstacle detection unit 800C exists in the top view. The control unit 600C records the position information (second position information) of the obstacle overlaid on the shape of the ridge (first position information).

[0081] Specifically, as shown in FIG. 10, map information in which an obstacle 720C is overlaid on a ridge 700C derived by the same method as in the first embodiment is generated. This map information is transmitted to the ridging machine 10C that performs the ridging operation again, another agricultural working machine different from the ridging machine 10C, or a communication terminal of the user of the ridging machine 10C or the agricultural working machine in the field where the ridge is formed by the ridging unit 410C, and is used when performing the ridging operation or other agricultural working machine. As shown in FIG. 10, a boundary 730C between the ridge and the field is shown on the field side of the ridge shoulder 710C, and a topsoil portion 740C formed by the topsoil treatment unit 430C is shown on the side opposite to the field with respect to the ridge shoulder 710C. In FIG. 10, a configuration in which each of the ridge shoulder 710C, the boundary 730C, and the topsoil portion 740C is linear is illustrated, but it is not limited to being linear, and may have undulations or may be partially curved. Also, the area surrounded by the ridge shoulder 710C does not have to be rectangular.

[0082] In this embodiment, an obstacle detection unit 800C is provided on the front side of the cover member 420C, and a configuration for checking the state of the field before the ridge is formed is illustrated, but the present invention is not limited to this configuration. For example, the obstacle detection unit 800C may be provided on the rear side of the cover member 420C to check the state of the ridge formed by the ridge forming unit 410C. Further, the obstacle detection unit 800C may be provided on a member different from the cover member 420C.

[0083] As described above, according to the ridge painting machine 10C according to this embodiment, when there is an obstacle 720C on the formed ridge 700C, the position of the obstacle 720C on the ridge 700C is recorded and can be used in subsequent farming operations, thereby improving the working efficiency in subsequent farming operations.

[0084] As described above, the present invention has been described with reference to the drawings, but 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.

Description of Reference Numerals

[0085] 10: Ridge painting machine, 50: Position detector, 60: Information processing device, 70: Detection unit, 71: Tilt detection unit, 72: Speed detection unit, 73: Working height detection unit, 100: Mounting unit, 101: Top mast, 107: Input shaft, 110: Hitch frame, 200: Offset mechanism unit, 211, 213, 221, 223: Rotation shaft, 220: Link rod, 230: Support frame, 240: Power unit, 300: Power transmission unit, 400: Working unit, 410: Ridge forming unit, 411: Upper surface forming unit, 412: Side surface forming unit, 420, 431, 441: Cover member, 430: Top field processing unit, 440: Pretreatment unit, 450: Sensing arm, 451: Support member, 460: Sensor support, 470: Drum case, 510: Arm member, 600: Control unit, 700A: Ridge, 710A: Ridge shoulder, 720C: Obstacle, 800C: Obstacle detection unit

Claims

A position detector that can detect first position information indicating that the relative positional relationship between a ridging portion movable with respect to a mounting portion provided in a ridging machine does not change even when the ridging portion moves with respect to the mounting portion is received, An information processing device that specifies a ridgeline position indicating the boundary between the upper surface and the slope surface of a ridge in a top view based on the first position information, relative position information indicating the relative positional relationship between the boundary position between the upper surface forming portion and the slope surface forming portion of the ridging portion and the position detector, which is the positional relationship in the reference state of the ridging machine, and inclination information indicating the inclination of the ridging machine from the reference state.

2. The inclination information includes first inclination information indicating the inclination of the ridging portion in the rotation direction about the traveling direction axis of the ridging machine, The ridgeline position is specified based on the distance between the boundary position and the position detector in a plan view orthogonal to the traveling direction and the first inclination information. The information processing device according to claim 1.

3. The inclination information includes second inclination information indicating the inclination of the ridging portion in the rotation direction about the vertical axis, The ridgeline position is specified based on the distance between the boundary position and the position detector in a horizontal plan view and the second inclination information. The information processing device according to claim 1 or 2.

4. It has a table that stores the model information specifying the ridging machine and the relative position information in the ridging machine in association with each other, The relative position information is derived based on the input model information or the received model information and the table. The information processing device according to any one of claims 1 to 3. A position detector that can detect first position information indicating that the relative positional relationship between a ridging portion movable with respect to a mounting portion provided in a ridging machine does not change even when the ridging portion moves with respect to the mounting portion is received, A program that causes an information processing device to specify a ridgeline position indicating the boundary between the upper surface and the slope surface of a ridge in a top view based on the first position information, relative position information indicating the relative positional relationship between the boundary position between the upper surface forming portion and the slope surface forming portion of the ridging portion and the position detector, which is the positional relationship in the reference state of the ridging machine, and inclination information indicating the inclination of the ridging machine from the reference state. A ridging machine including a frame and a ridging portion that is rotatable with respect to the frame and forms a ridge, A position detector that, even when a ridge forming part movable with respect to a mounting part provided in the ridge coating machine moves with respect to the mounting part, does not change the relative positional relationship with the ridge forming part; An information processing device that specifies a ridge shoulder position indicating a boundary between the upper surface and the slope surface of the ridge in a top view, based on the first position information detected by the position detector, the relative positional relationship between the boundary position between the upper surface forming part and the slope surface forming part of the ridge forming part and the position detector, which indicates the positional relationship in the reference state of the ridge coating machine, and the inclination information indicating the inclination of the ridge coating machine from the reference state. A system having: **Claim 7** The ridge coating machine further includes an obstacle detection unit that detects an obstacle existing near the ridge formed or to be formed by the ridge coating machine; The system according to claim 6, wherein the information processing device records the second position information of the obstacle detected by the obstacle detection unit on top of the first position information. **Claim 8** The system according to claim 6 or 7, wherein the information processing device transmits information regarding the ridge shoulder position to another agricultural work machine other than the ridge coating machine or a communication terminal of an operator who operates the agricultural work machine.

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