Agricultural working machine

Abstract

To improve the workability of an operation mechanism.SOLUTION: According to the present invention, an agricultural work machine includes a reproduction part and an operation mechanism, the reproduction part includes learned information and an operation reproduction part of the operation mechanism, the learned information is information obtained by associating various conditions with successful operation control information of the operation mechanism, the various conditions are at least one condition among a condition about harvest, a condition about of treatment of the harvest, a condition about a farm field, and a condition for ejecting the treated harvest, the operation mechanism is an operation mechanism about ejection of the harvest, and the operation reproduction part compares inputted various conditions with the various conditions included in the learned information by inputting the various conditions during operation, selects the associated successful operation control information having the various conditions close to the inputted various conditions from the learned information, and controls the operation mechanism by the selected successful operation control information.SELECTED DRAWING: Figure 12

Description

Technical Field

[0001] The present invention relates to an agricultural working device.

Background Art

[0002] There are various agricultural working devices. For example, a wrapping device that vertically places a wrapped roll bale on a field is known as described in Patent Documents 1 to 3.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in order to vertically place the wrapped roll bale in the wrapping device, various operating mechanisms need to be adjusted, otherwise it cannot be successfully vertically placed, and the workability is poor and there is still room for improvement. Also, in agricultural working machines other than the wrapping device, when performing operations such as taking in, processing, and discharging the harvested product, adjustment and operation of various operating mechanisms mounted on the agricultural working machine are required, and there is room for improving the workability.

[0005] An object of the present invention is to improve the workability of the operating mechanism.

Means for Solving the Problems

[0006] The present invention is provided with a reproduction unit and an operating mechanism. The reproduction unit has learned information and an operation reproduction unit of the operating mechanism. The learned information is information that associates various conditions with successful operation control information of the operating mechanism. The various conditions are at least one of conditions related to the harvested product, conditions related to the processing of the harvested product, conditions related to the field, and conditions for discharging the processed harvested product. The operating mechanism is an operating mechanism related to the discharge of the harvested product. The operation reproduction unit compares the various conditions input during work with the various conditions included in the learned information, selects the associated successful operation control information having the various conditions close to the input various conditions from the learned information, and controls the operating mechanism according to the selected successful operation control information, thereby solving the problem as an agricultural working machine.

Effect of the Invention

[0007] The adjustment burden of the operating mechanism can be reduced.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Mode for Carrying Out the Invention

[0009] As an agricultural working machine, a wrapping machine will be taken as an example for explanation. However, the present invention is a technology that can be widely applied not only to wrapping machines but also to agricultural working machines. The roll bale R referred to in the present invention is obtained by compressing and molding a crop into a cylindrical shape by a roll bale forming device such as a roll baler, and is in a state of being wrapped (wound) with a film. Unless otherwise specified, such as "roll bale R before wrapping", when simply referred to as "roll bale R", it means the state in which the film is wrapped (wound).

[0010] Here, the crops include forage crops such as sorghum, dent corn, and pasture grass.

[0011] The roll bale R is placed in the field in a vertically placed state by the wrapping device 1 of the present invention. Here, the state where the roll bale R has fallen means a state where the axis of the roll bale R is parallel to the field surface, and it has fallen so that the circumferential surface of the cylinder of the cylindrical roll bale R touches the ground. On the other hand, the state where the roll bale R is vertically placed means a state where the axis of the roll bale R is perpendicular to the field surface, and it is stood with the circular bottom surface of the cylindrical roll bale R touching the ground.

[0012] The wrapping device 1 referred to in the present invention means the device part related to wrapping mounted on a wrapping machine. Therefore, in a self-propelled wrapping machine, devices related to traveling such as a drive mechanism and a traveling mechanism are not included.

[0013] The wrapping method of the wrapping device 1 referred to in the present invention is not limited to the embodiments, and any wrapping method can be applied.

[0014] Members related to control such as the reproduction part 9 and the teaching part 99 referred to in the present invention can be provided anywhere. When towed by a towing vehicle (such as a tractor), it can also be provided on the towing vehicle side. Also, vertical placement control and other controls of the wrapping device 1 can be performed by one control unit. For example, it is not necessary to be an independent control unit, and it can be distributed among a plurality of control units. In any case, the position of the members related to control is not limited to the following embodiments. It may also exist as a module in software.

[0015] The various drive parts referred to in the present invention may be of any type such as hydraulic or electric, and are not limited to the embodiments.

[0016] (Example 1) First, the structure of the wrapping device 1 on which the present invention is premised will be described. The bottom surface of the roll bale R of the premised wrapping device 1 has a multiple and thick overlap of the wrap film compared to the circumferential surface of the cylindrical roll bale R. Therefore, the main focus is on placing the roll bale R vertically to reduce the probability that protrusions such as stumps will pierce the wrap film and cause holes. Also, although the vertical placement operation can be performed manually, careful work is required, which reduces work efficiency. Also, although it will be described in detail later, even if the vertical placement is successful, holes may be opened on the side surface of the roll bale R by the vertical placement arm 5 used for the operation of vertically placing the roll bale R, and an undesirable situation may occur.

[0017] In the wrapping device 1 of the embodiment, the "successful operation" means placing the roll bale R vertically (which may include that no holes are opened in the film covering the roll bale R). Also, in the wrapping device 1 of the embodiment, the "operating mechanism" refers to those that contribute to placing the roll bale R vertically, (1) The roll bale support base 2, (2) The lift arm 4 (3) The vertical placement arm 5 and their drive mechanisms.

[0018] Also, in the wrapping device 1 of the embodiment, the "various conditions 991" refers to (1) Conditions regarding the harvested product: dent cone, sorgo, forage, etc. Also, the degree of drying may be included. (2) Conditions regarding the processing of the harvested product (conditions regarding the roll bale R): packing pressure, weight of the roll bale R after wrapping, size (diameter), shape (cylindrical, drum-shaped, etc.), density, etc. (3) Conditions regarding the field: the gradient angle of the field with respect to the loading and unloading direction and the gradient direction with respect to the loading and unloading direction, etc. are included. (4) Conditions for discharging the processed harvested product: whether to place the roll bale R vertically to the right in the advancing direction or vertically to the left in the advancing direction. That's it.

[0019] FIG. 1 is a (A) perspective view, (B) side view, and (C) rear view showing the entire wrapping device 1 as a premise. On the side of the wrapping device 1, there is provided a wrap film winding device 7 composed of a stretch roller 71 for applying tension to the wrap film and a wrap film mounting table 72 for supporting and fixing the wrap film.

[0020] As shown in FIG. 1(A), the vertical arm 5 is provided at the rear end 25 of the roll bail support base 2 having a roll bail support portion 21. And the vertical arm 5 is attached so as to fit along the end face 24 (the side where the roll bail R is loaded and unloaded) of the rear end 25 of the roll bail support base 2 (see the vertical arm 5 shown by the dotted line in FIG. 1(A)). The end face 24 is a virtual plane as shown by the dashed-dotted line. On the vertical arm 5, as shown by the arrow in FIG. 1(A), there is provided a vertical arm driving portion 51 that is driven to be rotatable about a vertical arm rotation axis 52 in a direction of rising with respect to the roll bail support base 2 from a state along the end face 24 (illustrated by the dotted line). When unloading the roll bail R, the vertical arm 5 rotates by the vertical arm driving portion 51 in a direction of rising with respect to the roll bail support base 2 as shown by the solid line in the figure.

[0021] A lift arm 4 for gripping the circumferential surface of the roll bail R is provided when loading the roll bail R before wrapping and when unloading the roll bail R after wrapping. As can be understood from FIG. 1(B), the lift arm 4 is provided on the roll bail support base 2. The lift arm 4 is configured to be driven to be rotatable with respect to the roll bail support base 2 by a lift arm driving portion 41 composed of a hydraulic cylinder. Further, the lift arm 4 is configured to retract to a position where there is no hindrance to the winding when the wrap film is wound.

[0022] As can be understood from FIGS. 1(B) and 1(C), a roll base support base 2 is provided on the wrapping device frame 11, and further, a roll base support portion 21 for placing the roll base R before wrapping when the wrap film is wound is provided on the roll base support base 2.

[0023] As shown in FIG. 1(B), the roll base support base 2 has a tilting shaft 22 provided on the wrapping device frame 11. A tilting drive portion 23 (dump cylinder) for tilting the roll base support base 2 about the tilting shaft 22 is provided when loading and unloading the roll base R.

[0024] (Vertical arm drive) FIG. 2 is a rear view of the wrapping device 1 showing the position of the vertical arm 5 at the start of loading and unloading the roll base R. The vertical arm base 56 is attached slightly to the right side in the advancing direction of the rear end 25 of the roll base support base 2. The vertical arm 5 is rotated so as to rise with respect to the roll base support base 2 by the vertical arm drive portion 51. In the wrapping device 1 of the embodiment, the vertical arm 5 rises to an angle as instructed by the operator by the vertical arm drive portion 51.

[0025] (Roll base loading process) As described above, the roll base support base 2 is configured to tilt backward about the tilting shaft 22 shown in FIG. 1(B). FIG. 3 is a perspective view of the wrapping device 1 with the roll base support base 2 upright, and the wrapping device 1 is operated so that the peripheral surface of the roll base R before wrapping placed in a state of falling in the field abuts on the roll base support portion 21. Further, rollers 211 are provided at the ends of the roll base support base 2 when viewed from the back, which is useful as an aid when loading the roll base R before wrapping. It is also useful for preventing the wrap film of the roll base R from being damaged during loading and unloading.

[0026] FIG. 4 is a rear view of the underlying wrapping device 1, showing the start of loading of the roll label R before wrapping. FIG. 4(A) is a rear view before the start of loading, and FIG. 4(B) is a rear view at the start of loading. As shown in FIG. 4(A), when the roll label R before wrapping, which is placed in a fallen state in the field, approaches or contacts the roll label support portion 21 (which is located on the back of the roll label R and not shown), as shown in FIG. 4(B), the lift arm 4 is driven downward to firmly hold the roll label R before wrapping.

[0027] FIG. 5 is a side view of the underlying wrapping device 1 when the loading of the roll label R before wrapping is completed. The roll label support base 2 has a tilting shaft 22 provided on the wrapping device machine frame 11 and is configured to be tiltable so as to fit on the wrapping device machine frame 11. By rotating the roll label support base 2 so as to fit on the wrapping device machine frame 11, the roll label R before wrapping held between the roll label support portion 21 and the lift arm 4 is loaded onto the wrapping device 1. During the loading operation of the wrapping device 1, the vertical arm 5 is tilted along the end face 24 of the roll label support base 2 (see the position of the vertical arm 5 indicated by the dotted line in FIG. 1(A)).

[0028] The roll label support base 2 is provided with a weighing section (not shown) composed of a load cell or the like, which is one of the various sensor sections 88, so that the weight of the roll label R before wrapping can be measured. Also, an image sensor (not shown), which is one of the various sensor sections 88, is provided on the wrap film winding device 7 to measure the size and shape of the roll label R before wrapping.

[0029] As conditions regarding the roll label R before and after wrapping obtained from the above various sensor sections 88, the following information is acquired and sent to the reproduction section 9. Conditions regarding the roll label R before and after wrapping (conditions regarding the harvested product): These include the weight, size (diameter), shape (such as cylindrical, drum-shaped, etc.) of the roll label R before and after wrapping. Also, the conditions regarding the roll label R (conditions regarding the harvested product) include those obtained by calculating the density by integrating the weight, size, and shape. Furthermore, the conditions regarding the roll label R (conditions regarding the harvested product) may include the type of crop input by the operator.

[0030] Also, information regarding the inclination angle and inclination direction of the wrapping device 1 is acquired by an inclination sensor, which is one of the various sensor units 88. Conditions regarding the field: These include the gradient angle of the field with respect to the loading and unloading direction and the gradient direction with respect to the loading and unloading direction. These conditions are sent to the reproduction unit 9 and utilized as conditions regarding the field.

[0031] (Wrapping process) Since the configurations and operations of the roll label support portion 21 and the wrap film winding device 7 are well-known, only a schematic explanation will be provided. The roll label support portion 21 rotates horizontally on the roll label support base 2 during wrapping. The roll label R before wrapping is placed such that its circumferential surface is wrapped by a belt provided on the roll label support portion 21, and is rotated little by little around the circumferential surface, and its entire surface is wrapped by a wrap film stretched between the wrap film winding device 7 and the roll label R. When the roll label R is packaged with the wrap film, its size shrinks compared to the roll label R before wrapping. An image sensor (not shown), which is one of the various sensor units 88 provided on the wrap film winding device 7, measures the size and shape of the roll label R before wrapping and sends them to the reproduction unit 9. When summarizing the conditions regarding the roll label R (conditions regarding the processing of the harvested product), Conditions related to roll bale R (conditions related to the processing of the harvested product): Conditions may include the weight, size (diameter), shape (cylindrical, drum-shaped, etc.), density, etc. of roll bale R before and after wrapping.

[0032] (Loading and unloading process of roll bale) When unloading roll bale R, as shown in Fig. 1(A), the vertically placed arm drive unit 51 rotates the vertically placed arm 5 stored along the end face 24 of the rear end 25 of the roll bale support base 2 indicated by the dotted line in the upward direction with respect to the roll bale support base 2. Fig. 6 is a side view showing the unloading process in a typical case as the unloading process of roll bale R of the wrapping device 1 as a premise. Fig. 6(A) is a side view at the start of unloading, Fig. 6(B) is a side view during unloading, and Fig. 6(C) is a side view when roll bale R is unloaded onto the field.

[0033] At the start of unloading, as shown in Fig. 6(A), the lift arm 4 holds roll bale R. Then, the vertically placed arm 5 rotates in the upward direction with respect to the roll bale support base 2 by the vertically placed arm control unit 84.

[0034] As shown in Fig. 6(B), the roll bale support base 2 gradually tilts around the tilting axis 22 and moves away from the wrapping device machine frame 11. Finally, as shown in Fig. 6(C), the tilting of the roll bale support base 2 is controlled until the cylindrical roll bale R touches the ground in a fallen state on the field. Finally, the vertically placed arm 5 attached to the rear end 25 of the roll bale support base 2 moves along with the tilting of the roll bale support base 2 until it touches the ground.

[0035] (Vertical placement process of roll bale) The purpose of placing the roll label vertically is that when the roll label R is placed on the circumferential surface, the load is all applied to the grounding surface of the roll label R, and due to foreign objects in the field (such as the stems of uncut dent cones), holes are likely to form. When it is placed vertically with the bottom surface in contact with the field, the load of the roll label R is dispersed over the entire bottom surface, and the film on the bottom surface side is wound multiple times compared to the circumferential surface, making it difficult for holes to open. When the roll label support base machine 2 tilts sufficiently, the roll label R touches the ground in a fallen state in the field. At this time, the vertical arm 5 will be sandwiched between the field and the roll label R (see Fig. 6(C)). Since the vertical arm 5 is in the state of being erected (the position of the solid line) as shown in Fig. 1(A), when viewed from the roll label R, the vertical arm 5 is displaced to one end side of the fallen roll label R and is in contact with the circumferential surface of the roll label R. Next, the lift arm 4 is controlled by the lift arm control unit 83 so as to move away from the roll label R.

[0036] (Auxiliary operation for vertically placing the roll label) Fig. 7 is an explanatory diagram of the vertical arm 5. Fig. 7(A) is a perspective view, and Fig. 7(B) is a rear view. As shown in Fig. 7(A), the lift arm 4 functions to hold the roll label R against the roll label support base machine 2 side so that the roll label R does not separate from the roll label support base machine 2. The rear view of this state is Fig. 7(B). When the roll label support base machine 2 starts to rotate upward (tilt) from the state of Fig. 6(C), the vertical arm 5 attached to the roll label support base machine 2 also rises together with the roll label support base machine 2. It can be observed from Fig. 7(B) that the vertical arm 5 has risen slightly. Thereby, the vertical arm 5 in contact with the circumferential surface of the roll label R lifts the roll label R around the rotation fulcrum R3. When the right side in the advancing direction is lifted from the center of gravity R5, the grounding point of the roll label R becomes the left side in the advancing direction, and it starts to rotate with the grounding point as the rotation fulcrum R3. When the roll label support base machine 2 is further lifted, finally the bottom surface touches the ground and it is vertically placed to the left in the advancing direction. In the vertical placement process, the roll label R and the vertical arm 5 come into contact. As the vertical arm 5 moves upward so as to slide along the circumferential surface of the roll label R, the wrap film wound around the roll label R may be damaged. Therefore, as shown in FIG. 7(C), the vertical arm 5 has a structure in which a cylindrical outer covering member 55 is placed around a cylindrical core member 54. Since the cylindrical outer covering member 55 of the vertical arm 5, which is configured to freely rotate around the core member 54, rotates freely, the wrap film wound around the roll label R is not damaged.

[0037] In particular, the field where the roll label R is about to be placed vertically may be inclined such that the side for loading and unloading the roll label R goes down. In such a case, when the lift arm 4 separates from the roll label R, it may roll due to the inclination of the field and the roll label R may separate from the wrapping device 1. Also, even on a flat field, if the roll label R is light, etc., there is still a possibility that the roll label R will separate from the wrapping device 1 as the lift arm 4 moves away. To cope with such a situation, during the vertical placement process of the roll label R, the lift arm 4 presses the roll label R and the lift arm drive unit 41 is controlled by the lift arm control unit 83 so as to support the roll label R to such an extent that there is no obstacle to vertical placement.

[0038] (Selection of the vertical placement direction of the roll label according to the angle of the vertical arm) As shown by the dotted line in FIG. 1(A), the vertical arm 5 is attached so as to fit along the end face 24 of the rear end 25 on the side for loading and unloading the roll label R of the roll label support base machine 2. As shown in FIG. 1(A), the vertical arm 5 rotates in a direction of rising with respect to the roll label support base machine 2 from a state where it fits along the end face 24 of the roll label support base machine 2 around the vertical arm rotation axis 52. As shown in FIG. 6(C) showing the final stage of the process of loading and unloading the roll label R as described above, the vertical arm 5 becomes horizontal and contacts the ground as the roll label support base machine 2 tilts.

[0039] The intermediate line R2 mentioned below refers to a line drawn around the circumference of the cylinder at the midpoint in the height direction of the vertically placed roll label R (cylindrical) (see Fig. 8(A-b)). Fig. 8 is a diagram for explaining the difference in whether the roll label is vertically placed on the left or right side. Fig. 8(A-a) is a rear view of the wrapping device 1 when the vertical arm 5 is tilted closer to the right of the intermediate line R2 of the roll label R and the roll label R is grounded. Also, Fig. 8(B-a) is a rear view of the wrapping device 1 when the vertical arm 5 is tilted closer to the left of the intermediate line R2 of the roll label R and the roll label R is grounded. As shown in Fig. 8(A-a) and Fig. 8(B-a), whether the vertical arm 5 is tilted closer to the right of the intermediate line R2 of the roll label R or closer to the left of the intermediate line R2 of the roll label, the position of the vertical arm base 56 where the vertical arm rotation axis 52 is provided does not change. However, as shown in Fig. 8(A-b) and Fig. 8(B-b), the position of the vertical arm 5 as seen from the ground surface (the state of looking up at the roll label 8 from underground) is different when the vertical arm 5 is tilted closer to the right of the intermediate line R2 of the roll label R as in Fig. 8(A-b) and when the vertical arm 5 is tilted closer to the left of the intermediate line R2 of the roll label R as in Fig. 8(B-b).

[0040] The roll label R is cylindrical. When the roll label R is stacked and unstacked in the present invention, it is stacked and unstacked so that the central axis of the fallen cylindrical roll label R becomes horizontal. At this time, the location where the roll label R touches the ground becomes linear as indicated by the grounding line R1. However, since the roll label R is soft and slightly compressed by its own weight, even though it is said to be linear, it becomes a line with a certain width. When the tip 53 of the vertical arm exceeds this grounding line R1 and the intersection point R4 of the vertical arm 5 and the grounding line R1 does not exceed the intermediate line R2 of the roll label R and is on the right side of the intermediate line R2, it is in a state where the vertical arm 5 is tilted closer to the right of the intermediate line R2 in Fig. 8(A-b). On the other hand, when the tip 53 of the vertical arm crosses the ground line R1 and the intersection point R4 between the vertical arm 5 and the ground line R1 is to the left of the intermediate line R2 of the roll label R and crosses the intermediate line R2, the vertical arm 5 is tilted to the left of the intermediate line R2 in Fig. 8(B-b). When viewed in perspective, they are as shown in Figs. 8(A-c) and 8(B-c), respectively.

[0041] It can be seen from Figs. 8(A-c) and 8(B-c) that the fallen cylindrical roll label R contacts the vertical arm 5 only at one intersection point R4 with the ground line R1. In this state, when moving to the vertical placement process of the roll label, the vertical arm 5 attached to the vertical arm support base 2 of the roll label starts to lift. As shown in Figs. 8(A-b) and 8(A-c), when the vertical arm 5 is closer to the right of the intermediate line R2, the vertical arm 5 contacts the roll label R only at the intersection point R4 (on the right side of the intermediate line R2) of the ground line R1, so it starts to lift the fallen cylindrical roll label R from this intersection point R4. Then, with the rotation fulcrum R3 at the left end of the fallen cylindrical roll label R shown in Fig. 8(A-c) as the fulcrum, the fallen cylindrical roll label R stands up. In this case, when viewed from the back of the wrapping device 1, the roll label R is vertically placed to the left. Fig. 9 is a perspective view showing the vertical placement position when viewed from the back of the wrapping device 1, and the roll label R is vertically placed to the left (in the advancing direction) on the back of the wrapping device 1 as shown here "in the vertical placement position in the case of Fig. 8(A-c)".

[0042] In Figs. 8(A-b) and 8(B-b), if the tip 53 of the vertical arm does not cross the ground line R1, the vertical arm 5 is not in contact with the fallen cylindrical roll label R. When the vertical arm 5 lifts together with the roll label support base 2, the tip 53 of the vertical arm only moves along the cylindrical surface of the fallen cylindrical roll label R, and the roll label R cannot be lifted and vertically placed. For this reason, the vertical arm 5 needs to be long enough for the tip 53 of the vertical arm to cross the ground line R1.

[0043] Similarly, as shown in FIGS. 8(B-b) and 8(B-c), when the vertical arm 5 is shifted to the left of the intermediate line R2, the vertical arm 5 contacts the roll bale R only at the intersection point R4 (located on the left side of the intermediate line R2) of the grounding line R1. Therefore, it starts to lift the columnar roll bale R that has fallen from this intersection point R4. With the rotation fulcrum R3 at the right end of the fallen columnar roll bale R shown in FIG. 8(B-c) as the fulcrum, the fallen columnar roll bale R rises. As shown in the "vertical position in the case of FIG. 8(B-c)" shown in FIG. 9, the roll bale R is vertically placed on the right side (right in the advancing direction) of the back of the wrapping device 1. As described above, Conditions for discharging the processed harvested product: The condition of whether to place the roll bale R vertically to the right or left and the angle of the vertical arm 5 (operating mechanism) should be understood to be closely related to the vertical placement.

[0044] (In the case of sloping land that slopes left or right when viewed from the back of the wrapping device) The above description was for the case where the field is horizontal. FIG. 10 is an explanatory diagram showing the relationship between the angles of the vertical arms 5 on sloping land. In the case of sloping land that slopes left or right when viewed from the back of the wrapping device 1, it is easier to place the roll bale vertically on the lower side, but even if the vertical arm 5 is tilted on the upper side, it may not be possible to place it vertically. On flat ground, since the intermediate line R2 passed through the center of gravity R5 of the roll bale R, the right half and the left half of the fallen roll bale R had the same weight. By changing whether to shift the arrangement of the vertical arm 5 to the right or left with respect to the intermediate line R2, it was possible to place it vertically on the right and left as shown in FIG. 9. However, on sloping land that slopes left or right, it is necessary to shift the vertical arm 5 considering the center of gravity R5. That is, when viewed from the back of the wrapping device 1, depending on whether the vertical arm tip 53 sufficiently crosses the grounding line R1 and whether the intersection point R4 between the vertical line dropped from the center of gravity R5 and the grounding line R1 is on the right or left, whether the roll bale R is vertically placed on the right in the advancing direction or vertically placed on the left in the advancing direction changes. As shown in Fig. 8(A-c), when the vertically placed arm tip 53 is to the right of the intersection point R4, the roll bale R is vertically placed to the left. When the vertically placed arm tip 53 is to the left of the intersection point R4 as shown in Fig. 10 or Fig. 8(B-c), the roll bale R is vertically placed to the right in the traveling direction.

[0045] (Matters related to the successful vertical placement operation) The successful operation in the embodiment means that the roll bale is vertically placed in the intended direction without the film of the roll bale R being torn. From this perspective, it can be seen that the conditions regarding the harvested product (such as dent corn and forage) are conditions that affect the successful operation of the operating mechanism. When the stem is hard and thick like dent corn, if it is not gently vertically placed, the stem may pierce the film and cause it to tear. To gently vertically place it, the vertical placement operation takes time. On the other hand, in the case of forage, etc., the film is less likely to be torn compared to dent corn, and the vertical placement operation does not take much time.

[0046] The conditions regarding the roll bale R (conditions related to the processing of the harvested product) also affect the successful operation of the operating mechanism. The conditions related to the processing of the harvested product are, as described above, the packing pressure, the weight of the roll bale R after wrapping, the size (diameter), the shape (cylindrical, drum-shaped, etc.), the density, etc. When the density and the packing pressure are high, the roll bale R is tightly packed and the film is less likely to be torn. Also, when the shape is drum-shaped, it is easy to roll when vertically placed, and especially when vertically placed on a sloping ground, if it is not gently vertically placed, it may fall due to the momentum when vertically placed. It affects the successful operation of the operating mechanism, such as slowing down or speeding up the movement of the roll bale support base machine 2 (operating mechanism). When the size (diameter) becomes larger, if the timing of separating the lift arm 4 (operating mechanism) during the vertical placement operation is not shifted to be later compared to when it is small, the roll bale R may separate backward from the roll bale support part 21, the contact with the vertically placed arm 5 may be interrupted, and the vertical placement may not succeed.

[0047] As has been explained heretofore, it is obvious that the conditions regarding the field affect the successful operation of the operating mechanism. Depending on the gradient angle of the field with respect to the stacking-down direction and the gradient direction with respect to the stacking-down direction, etc., it is necessary to change the position and angle of the vertical arm 5 (operating mechanism) in particular, which has a great influence on the success of the vertical placement. Furthermore, in the case of a sloping ground that slopes downward toward the rear of the wrapping device 1, unless the timing of separating the lift arm 4 (operating mechanism) from the roll bale R is delayed, the roll bale R will roll out backward and the vertical placement will fail. It is also obvious that the conditions for discharging the processed harvested product (whether to vertically place the roll bale R to the right in the traveling direction or to the left in the traveling direction) also affect the successful operation of the operating mechanism. Depending on whether it is vertically placed to the right or left, the position and angle of the vertical arm 5 (operating mechanism) will be different.

[0048] (Teaching unit mounted on the reproduction unit) FIG. 11 is an explanatory diagram of the function of the teaching unit 99 mounted on the reproduction unit 9. The operator manually performs a vertical placement operation of the roll bale R while using the wrapping device 1 in the field. At this time, various conditions 991, that is, (1) Conditions regarding the harvested product: dent corn, sorgo, forage grass, etc. (2) Conditions regarding the processing of the harvested product (conditions regarding the roll bale R): bale pressure, weight of the roll bale R after wrapping, size (diameter), shape (cylindrical, drum-shaped, etc.), density, etc. (3) Conditions regarding the field: gradient angle of the field with respect to the stacking-down direction and gradient direction with respect to the stacking-down direction, etc. (4) Conditions for discharging the processed harvested product: whether to vertically place the roll bale R to the right in the traveling direction or to the left in the traveling direction. Various conditions such as these may be input. Such various condition information is sent to the teaching unit 99. It is preferable that the various conditions 991 are automatically captured from the various sensor units 88 except for the conditions that the operator must input, but it does not prevent manual input.

[0049] When the vertical placement is successful, an operation is performed to associate the operation of the operating mechanism (roll label support base 2, lift arm 4, vertical placement arm 5, and their drive mechanisms) at the time of success with the successful operation control information 992. The operator can send a signal indicating that the vertical placement is successful to the teaching unit 99 by pressing a button or the like. As a result, the successful operation control information 992 is associated with the fact of success and sent to the learned information storage unit 911. In the embodiment, the association is performed by the operator, but the present invention also includes the case where the success of the vertical placement is detected by some sensor and the association is automatically performed.

[0050] Specifically, the successful operation control information 992 sent is (A) From the roll label support base control unit 82, control information in the time series of control such as the rising speed and rising timing of the roll label support base 2, (B) From the lift arm control unit 83, control information in the time series such as the operating timing of the lift arm (C) From the vertical placement arm control unit 84, (C1) Control information on the angle of the vertical placement arm 5 and (C2) Control information on the moving position of the vertical placement arm 5 with respect to the rear end 25 of the roll label support base 2 of the vertical placement arm 5 . The stored various conditions 991 and the stored successful operation control information 992 are associated and stored, and each time a roll label R is manually vertically placed, they are sent from the teaching unit 99 to the learned information storage unit 911. By repeating this, the content of the learned information 91 may be enriched. Also, at this time, the failure operation may be separately included in the learned information 91.

[0051] (Operation reproduction part of the reproduction part) FIG. 12 is an explanatory diagram of the operation reproduction unit 92 mounted on the reproduction unit 9. In the embodiment, there is an automatic vertical placement operation mode. When the operation reproduction unit 92 of the reproduction unit 9 enters the automatic vertical placement operation mode, it captures various conditions 991 from various sensor units 88, excluding various conditions that the operator must input. The conditions that the operator must input include conditions for discharging the processed harvested product (whether to vertically place the roll label R vertically to the right in the advancing direction or vertically to the left in the advancing direction), etc.

[0052] When the various conditions 991 are input into the operation reproduction unit 92 of the reproduction unit 9, successful operation control information 992 having various conditions 991 close to the input various conditions 991 is selected from the learned information 91 stored in the learned memory unit 911. The selected successful operation control information 992 is sent to the actuating mechanism (roll label support unit machine base control unit 82, lift arm control unit 83, vertical placement arm control unit 84) to reproduce the vertical placement operation. If the vertical placement fails in the automatic operation mode, the operator can manually vertically place the roll label R and use the function of the teaching unit 99 to add new information to the learned information 91.

[0053] Also, the "close" in "the various conditions 991 of the learned information 91 close to the input various conditions 991" may mean that certain conditions are weighted or certain conditions are prioritized. For example, when dent corn is input as a condition regarding the crop, since there is a high possibility that the film of the roll label R will have holes due to the hard stem, even if there are other conditions close to those of soft crops such as forage grass, the condition of dent corn is prioritized, and close conditions are selected from those where the crop is dent corn. In addition, although the above description is that the operator creates the learned information 91 using the teaching unit, it goes without saying that learned information 91 created by others may also be installed.

[0054] Automating the vertical placement operation reduces the operator's operation burden and improves work efficiency. In the embodiment, a wrapping machine using a vertically-mounted arm 5 was taken as an example for explanation, but the present invention can also be applied to other wrapping machines having a vertically-mounted mechanism. For example, the present invention can be applied even to those in which a vertically-mounted mechanism is attached to the lift arm 4. Furthermore, the present invention can be applied to agricultural working machines other than wrapping machines. For example, in a roll baler, if the roll bale R is light, the roll bale R may not be smoothly discharged even when the gate is opened, and the roll bale R may be caught by the gate unless the timing of closing the gate is delayed. In such a case, the present invention can be applied when the weight of the roll bale R is taken in as various conditions by various sensor units 88 and the timing of closing the gate is delayed.

[0055] (Modification example of the vertically-mounted arm) So far, the aspect in which the vertically-mounted arm 5 rises while changing the angle has been described with reference to FIG. 8 and the like. FIG. 13 is an explanatory view of a modification example of the vertically-mounted arm 5. FIG. 13(A) is a rear view, and a moving rail 57 is provided at the rear end 25 of the roll bale support base machine 2 in the left-right direction so that the position of the vertically-mounted arm base 56 can be moved left and right. After the vertically-mounted arm base 56 moves, the vertically-mounted arm base 56 is firmly fixed by a fixing mechanism (not shown). The drive source for the movement can be arbitrary, such as hydraulic pressure or an electric motor. As shown in the perspective view of FIG. 13(B), the vertically-mounted arm 5 can be moved left in the traveling direction along the moving rail 57 to the position indicated by the dotted line. When the vertically-mounted arm 5 is moved left in the traveling direction and the roll bale support base machine 2 is lifted as shown in FIG. 7(B), it will be understood that the roll bale R is vertically placed left in the traveling direction by the vertically-mounted arm 5. As described above, in the wrapping device 1 of the modification example, by moving the position of the vertically-mounted arm 5 by the moving rail 57, it is possible to select whether to vertically place the roll bale R on the right in the traveling direction or on the left in the traveling direction. Regarding other configurations, there is no difference from those in the first embodiment.

[0056] As described above, the wrapping device 1 according to the embodiments of the present invention has been described in detail with reference to the drawings. However, the specific structure and configuration are not limited to these embodiments, and even if there are design changes and the like within the scope that does not deviate from the gist of the present invention, they are included in the present invention.

[0057] In addition, as long as there are no particular contradictions or problems in the purpose, configuration, etc. of the above-described embodiments, it is possible to cross-use and combine their technologies with each other.

Explanation of Reference Numerals

[0058] R Roll label R1 Ground line R2 Intermediate line R3 Rotation fulcrum R4 Intersection point R5 Center of gravity 1 Wrapping device 11 Wrapping device machine frame 2 Roll label support base 21 Roll label support part 211 Roller 22 Tilt axis 23 Tilt drive part 24 End face 25 Rear end 4 Lift arm 41 Lift arm drive part 5 Vertically placed arm 51 Vertically placed arm drive part 52 Vertically placed arm rotation axis 53 Tip of the vertically placed arm 54 Core material 55 Exterior material 56 Base of the vertically placed arm 57 Moving rail 7 Wrap film winding device 71 Stretch roller 72 Wrap film placement table 82 Roll label support base control part 83 Lift arm control part 84 Vertically placed arm control part 88 Various sensor parts 9 Reproduction Unit 91 Learned Information 911 Learned Information Memory Unit 92 Motion Reproduction Unit 99 Teaching Unit 991 Various Conditions 992 Successful Motion Control Information

Claims

1. comprising a reproduction unit and an operating mechanism, the reproduction unit has a learned information and an operation reproduction unit of the operating mechanism, the learned information is information associating various conditions with successful operation control information of the operating mechanism, the various conditions are at least one of conditions related to the harvested product, conditions related to the processing of the harvested product, conditions related to the field, and conditions for discharging the processed harvested product, the operating mechanism is an operating mechanism related to the discharge of the harvested product, the operation reproduction unit compares the various conditions input during operation with the various conditions included in the learned information by having the various conditions input during operation, selects the associated successful operation control information having the various conditions close to the input various conditions from among the learned information, and controls the operating mechanism with the selected successful operation control information. An agricultural working machine characterized by this.

2. the reproduction unit includes a teaching unit, the teaching unit takes in the various conditions and the successful operation control information as the learned information by associating them, and updates the learned information. The agricultural working machine according to claim 1, characterized by this.

3. The agricultural working machine according to claim 1 or claim 2, characterized in that the various conditions input to the reproduction unit are automatically input.

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