Agricultural machinery and methods of using agricultural machinery

Abstract

To provide a puddling agricultural work vehicle capable of making a mechanical decision on the soil condition, including the condition of crushed soil after plowing.SOLUTION: An agricultural work vehicle A comprises: a rake body 42 configured to be rotatable which can push in and bury foreign matter in muddy soil: a sensor 93 capable of detecting the rotation angle of the rake body 42 and transmitting a detection signal; a controller 101 capable of determining the rotation angle of the rake body 42 by means of the detection signal; and a display device which is connected to the controller 101 and is configured to be capable of achieving visual recognition. Upon receiving a detection signal, the controller 101 outputs an operation instruction composed of the content to be operated to the display device, on the basis of results of comparing and calculating a predetermined value and a value included in the detection signal.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an agricultural work machine and a working method using the same, and more particularly to a puddling work machine which is an agricultural work machine and a working method using an agricultural work machine. [Background Art]

[0002] As an apparatus for performing puddling work, the mechanism thereof is disclosed, for example, in Patent Document 1, "Agricultural Working Machine". Patent Document 1 discloses an agricultural working machine characterized by comprising: an apron for leveling tilled soil tilled by a rotary working unit; and a plowing depth display device capable of transmitting information corresponding to the rotation angle of the apron detected by a potentiometer that detects the rotation angle of the apron, and displaying indicators indicating a plurality of different plowing depths corresponding to said information. According to this document, muddy water and mud do not adhere to the plowing depth display unit, and an operator can confirm the indicator indicating the plowing depth.

[0003] Further, Patent Document 2 discloses a working machine having substantially the same configuration as that of Patent Document 1, which detects rotation of an apron or a leveler, determines the state of a farm field using the detection result, and displays the determination result on a monitor. [Prior Art Documents] [Patent Documents]

[0004] [Patent Document 1] Japanese Unexamined Patent Application Publication No. 2017-23054 [Patent Document 2] Japanese Unexamined Patent Application Publication No. 2019-88204 [Summary of the Invention] [Problem to be Solved by the Invention]

[0005] In puddling work, it is desirable that an operator determines puddling conditions such as plowing depth and plowing speed according to the state of soil after leveling to perform the work. In particular, it is not easy even for a skilled person to instantaneously judge the internal state of soil after plowing and leveling visually. As described in Patent Document 1, by detecting the vertical movement of the leveling section called an apron and displaying the detection result on a display device, the tillage depth relative to the leveled surface can be determined. However, depending on the moisture content and soil type of the field where puddling is performed, it is difficult to accurately determine the tillage depth, and it is not possible to determine the condition of the soil, such as the degree of soil crumbing after tillage and leveling.

[0006] The method for determining field conditions, as described in Patent Document 2 "Display Method," is obtained by determining the rotational state of the apron and leveler, which are grounding members installed on the ground surface, and does not directly measure the condition inside the ground. Whether or not the soil mass has actually been broken up requires confirmation by the workers, and there is a demand for a system that can directly and mechanically determine the condition of the soil, such as the degree of soil breakdown.

[0007] This invention was made in view of the above-mentioned problems, and aims to provide an agricultural machine that can mechanically determine the condition of the soil, such as the degree of soil pulverization after tilling. [Means for solving the problem]

[0008] This invention is A leveling structure is installed behind the tilling unit, The aforementioned leveling body is rotatably attached to the aforementioned leveling body, and an elastic member moves away from the leveling body. Impurities in the mud It is boosted by the pressure of being pushed into the soil, Impurities in the mud Push it into the soil A rake body that can be embedded and is configured to be rotatable, A sensor capable of detecting the rotation angle of the rake body and transmitting a detection signal, A control unit capable of determining the rotation angle of the rake body based on the detection signal, The system includes a display device connected to the control unit and configured to be visually recognizable. 、 The control unit receives the detection signal and, based on the result of comparing a predetermined value with the value included in the detection signal, displays the following information on the display device: Corresponds to the results of the assessment of the degree of soil pulverization after tillage. It outputs an operation instruction consisting of the actions that should be performed. Agricultural machinery characterized by, relates to

[0009] The present invention relates to A leveling structure is installed behind the tilling unit, The aforementioned leveling body is rotatably attached to the aforementioned leveling body, and an elastic member moves away from the leveling body. impurities in mud It is boosted by the pressure of being pushed into the soil, impurities in mud Push it into the soil a rake body configured to be embedable and rotatable, a sensor capable of detecting a rotation angle of the rake body and transmitting a detection signal, a control unit capable of determining the rotation angle of the rake body based on the detection signal, and an alarm device connected to the control unit and configured to be auditorily recognizable, 、 wherein the control unit receives the detection signal, and outputs an operation instruction including content to be operated to the alarm device based on a result of comparison calculation between a predetermined value and a value included in the detection signal, Corresponds to the results of the assessment of the degree of soil pulverization after tillage. outputting an operation instruction including content to be operated, which is a farm working machine characterized by relates to

[0010] The present invention further relates to wherein the operation instruction changes based on a result of the comparison calculation, which is a farm working machine characterized by relates to Effects of the Invention

[0011] The present invention provides a puddling farm working machine capable of mechanically determining a soil condition such as a crushed soil condition after tillage. Brief Description of the Drawings

[0012] [Figure 1] It is a front view of the farm working machine according to an embodiment of the present invention. [Figure 2] It is a plan view of the farm working machine according to an embodiment of the present invention. [Figure 3] It is a partial enlarged view of the farm working machine according to an embodiment of the present invention, viewed from diagonally upward rearward in the traveling direction of Figure 1. [Figure 4]This is a partially enlarged front view of an agricultural machine according to an embodiment of the present invention. [Figure 5] This is a partially enlarged side view of an agricultural machine according to an embodiment of the present invention, as seen from the front in the direction of travel. [Figure 6] This is an explanatory diagram showing the operation (lower limit position) of the rake body of an agricultural implement according to an embodiment of this invention. [Figure 7] This is an explanatory diagram showing the operation (upper limit position) of the rake body of an agricultural implement according to an embodiment of this invention. [Figure 8] This is a block diagram of an agricultural machine according to an embodiment of the present invention. [Figure 9] This is a flowchart of the operation of an agricultural machine according to an embodiment of the present invention. [Figure 10] This diagram shows the determination result according to an embodiment of this invention, and a breakdown of the operation based on the determination result. [Modes for carrying out the invention]

[0013] An example of an embodiment of this invention will be described with reference to Figures 1 to 10. A is a puddling machine, which is an agricultural implement. B is a tractor, which is a mobile machine. 1 is the running gear. Running gear 1 consists of tires, etc., and is attached to the running body B. Reference numeral 2 denotes the frame section of agricultural machine A, which is a puddling machine.

[0014] 8 is the mounting part. 20 is a quick hitch frame. 10 is the top link, which is a lifting device, and 11 is the lower link, which is also a lifting device. The top link 10 (lifting device) and the lower link 11 (lifting device) constitute a three-point linkage mechanism.

[0015] As shown in Figure 1, the agricultural implement A is connected to a three-point linkage mechanism, which is a lifting link located at the rear of the tractor B, the traveling machine. The connection is made via a quick hitch frame 20, which constitutes a mounting section 8 located at the front of the frame section 2 on the agricultural implement A. The agricultural implement A is freely liftable and lowerable by the three-point linkage mechanism and is driven by power output from the tractor B, which is obtained from the PTO shaft P, the output shaft of the tractor B.

[0016] The quick hitch frame 20 is located at the front of the agricultural implement A and in the center relative to the left and right sides in the direction of travel. The quick hitch frame 20 is connected to the top link 10 (lifting device) and the lower link 11 (lifting device), which constitute a three-point linkage mechanism, by the top link pin 81 at the top center and the pair of lower link pins 80 located below it on the left and right. 21 is the topmast. The topmast 21 protrudes upward and forward from the center of the frame section 2 in the direction of travel.

[0017] 22 is the lower mast. The lower mast 22 protrudes downward and forward from both the left and right sides of the central part of the frame section 2 in the direction of travel. The agricultural implement A is attached to the tractor B by engaging the quick hitch frame 20 with the top mast 21 and the lower mast 22. Although not shown in the diagram, the agricultural implement A may also be attached to the tractor B by omitting the quick hitch frame 20 and engaging the top link 10 and lower link 11, which are three-point linkage mechanisms, with the top mast 21 and the lower mast 22, respectively.

[0018] 31 is the gear shifting mechanism. The gear shift unit 31 is located in the center of the frame unit 2 in the direction of travel. An input shaft 32 protrudes forward from the gear shift unit 31. The input shaft 32 is connected to the PTO shaft P, which is the output shaft of the tractor B, by a universal joint 12, and power from the tractor B is input to it.

[0019] 2 is the frame section. Frame section 2 holds the entire agricultural implement A. Frame section 2 has a gear shift section 31, pipes 33, a transmission section 51, and a support frame 52. The pipes 33 protrude to the left or right from the left and right sides of the gear shift section 31 in the direction of travel. A transmission unit 51, consisting of a case-like structure, is provided at one end of the pipe 33 protruding from the transmission unit 31, facing downwards. A support frame 52, also facing downwards, is provided at the other end of the pipe 33.

[0020] 6 is the tilling body. The tilling body 6 consists of a tilling rotor. 61 is the tilling tines. 60 is the rotor shaft. The rotor shaft 60 is rotatably mounted and supported between the lower end of the transmission unit 51 and the lower end of the support frame (not shown). The tilling tines 61 are attached in large numbers to the rotor shaft 60 at regular intervals in a radial pattern, forming the tilling body 6. As shown in Figure 1, the tilling body 6 rotates counterclockwise so that the front side, which is the uncultivated land side, is down-cut, but there are no restrictions on the orientation or rotation direction of the tilling tines 61.

[0021] Power input from the input shaft 32 of the transmission unit 31 is reduced by gears housed within the transmission unit 31 and transmitted to the transmission unit 51 by an output shaft (not shown) passing through a pipe 33 protruding from one side. Power is transmitted to the rotor shaft 60 by a roller chain (not shown) wound between an output sprocket fixed to the end of the output shaft in the transmission unit 51 and a rotor shaft sprocket fixed to the end of the rotor shaft 60 supported at the lower end of the transmission unit 51, thereby enabling the rotor shaft 60 to rotate.

[0022] The support sections at both ends of the rotor shaft 60 are rotatably supported by bearings. An oil inlet is provided at the top of the transmission section 51, and the lubricating oil supplied to it lubricates the roller chain and bearings.

[0023] 7 is a cover body. The cover body 7 is installed above the tilling body 6 and spaced apart from the tilling body 6 so as to be along the outer rotational end of the tilling tines 61. The cover body 7 covers the upper part of the tilling body 6. The cover body 7 prevents the soil tilled by the tilling body 6 from scattering upwards and also helps to improve the performance of soil crushing and leveling. The cover body 7 is positioned to bridge the upper and lower central parts of the transmission unit 51 and the support frame 52, respectively.

[0024] 4 is a leveling body. Leveling body 4 is plate-shaped. Leveling body 4 consists of a first leveling body 40 and a second leveling body 41. A leveling body 4 is provided at the rear of the tilling body 6 and the rear of the cover body 7. The leveling body 4 consists of a first leveling body 40, whose front end is connected to the rear end of the cover body 7 so as to be rotatable in the vertical direction, and a second leveling body 41, whose front end is attached to the rear end of the first leveling body 40 so as to be rotatable in the vertical direction. The leveling body 4 catches the scattering of soil tilled by the tilling body 6 to the rear, and levels the ground evenly after tilling by moving forward with the surface of the leveling body 4 facing the tilling body 6 in contact with the soil.

[0025] The widths of the first leveling body 40 and the second leveling body 41 are set to be approximately the same as, or slightly longer than, the cover body 7. This setting ensures that the soil after tilling by the cultivating body 6 is leveled without any omissions.

[0026] The rear end of the cover body 7 is provided with a pivot point 43 for the first leveling body 40, whose axial direction is oriented horizontally, perpendicular to the direction of travel. By attaching the front end of the first leveling body 40 to the pivot point 43, the rear of the first leveling body 40 is made rotatable in the vertical direction. A second leveling body 41 is connected to the rear end of the first leveling body 40. The front end of the second leveling body 41 is held at a pivot point 45 of the second leveling body, which is located at the rear end of the first leveling body 40 and oriented axially in a horizontal direction perpendicular to the direction of travel, and the rear end of the second leveling body 41 is provided to be able to rotate vertically.

[0027] During operation, the first leveling body 40 is tilted downward and diagonally backward from the rear end of the cover body 7, receiving the mud that is tilled and thrown backward by the tilling body 6, and as the tractor B moves forward, it presses down the mud piled up by the slope that is tilted backward, leveling the ground. During the puddling and leveling work, the second leveling body 41 maintains its contact surface in a nearly horizontal state and further presses and levels the surface leveled by the first leveling body 40.

[0028] A connecting cover (not shown) may be provided below the pivot point 43 of the first leveling body 40 at the rear end of the cover body 7, in a cantilevered manner extending rearward from the cover body 7. The connecting cover is a long, strip-shaped elastic plate that guards against soil or mud splashed up by the tilling body 6 flying out from the pivot point 43, which is the connection point between the first leveling body 40 and the cover body 7, and also guides the soil or mud towards the rear.

[0029] 42 is a lake body. Power obtained from the tractor B, which is the traveling machine, is transmitted to the tilling rotor 6, which rotates to till or break up the soil. The tilled or broken-up soil is leveled by the leveling body 4, and any debris floating on the soil surface is buried by the rake body 42 attached to the leveling body 4. The agricultural implement A tills or breaks up the soil while leveling it during the puddling process. In describing this embodiment, the left side of Figures 1 and 2 is considered the front side in the direction of travel, and the right side is considered the rear side.

[0030] The rake body 42 is composed of a first rake body 420 and a second rake body 421. A rake body 42 is provided on the side of the first leveling body 40 that faces the tilling body 6. As shown in Figure 5, the rake body 42 consists of a first rake body 420 and a second rake body 421, each having multiple rod-shaped members 423 and 425 that extend in the direction of travel, which are provided at predetermined intervals in the left-right direction relative to the direction of travel.

[0031] The first rake body 420 has a rod-shaped member 423, a base member 424, and an elastic member 44. The base member 424 shown in Figure 5 is a long, plate-shaped member that is rotatable at the front end of the first leveling body 40. In the embodiment described, the pivot point of the base member 424 is provided coaxially with the pivot point 43. Multiple rod-shaped members 423 are provided, one end of which is fixed to the base portion 424 material and the other end is provided so as to be able to touch the ground, and they are arranged with spacing in the width direction of the direction of travel. The rod-shaped members 423 are rotatable together with the base member 424. The elastic member 44 can bias the base member 424 and the rod-shaped member 423 toward the direction of travel. The elastic member 44 is positioned above the front part of the first leveling body 40, so that it can avoid adhesion due to scattering of tilled soil, etc. The rake body 42 is located behind the tilling body 6 and is positioned between the leveling body 4, which is rotatable in the vertical direction, and the tilling body 6, and is rotatably mounted relative to the leveling body 4.

[0032] The first rake body 420 has rod-shaped members 423 facing the direction of travel, extending from the front to the rear end of the first leveling body 40. The front ends of multiple rod-shaped members 423 are integrally provided by base members 424 extending to the left and right in the direction of travel. In this embodiment, the first rake body 420 is provided in multiple rows on the tilling body 6 side of the first leveling body 40, on the left and right in the direction of travel, but it may also be provided as a single, integral unit. The second rake body 421 is located at the rear end of the first rake body 420 and attached to the rear end of the first leveling body 40, with the rod-shaped members 425 constituting the second rake body 421 positioned between the rod-shaped members 423 of the first rake body 420. The rod-shaped members 425 constituting the second rake body 421 are approximately M-shaped, as shown in Figure 5. The rod-shaped members 425 are shorter in the front-rear direction than the first rake body 420. The rod-shaped member 425 that constitutes the second rake body 421 plows and pushes the large soil clods W1 and small soil clods W2 that have passed through the rod-shaped member 423 that constitutes the first rake body 420 into the soil.

[0033] The front end of the first rake body 420 is attached to a pivot boss 426, which is the pivot axis of the first rake body 420, located coaxially with the pivot point 43 of the first leveling body 40. Since the pivot boss 426 and the base member 424 are integrated, the first rake body 420 can rotate freely up and down coaxially with the first leveling body 40 by the pivot boss 426, and the rear end of the first rake body 420 can move toward and away from the rear end of the first leveling body 40.

[0034] The first rake body 420 has an arm portion 422 that protrudes upward from the rear side of the rotating boss 426 at its front end. The arm portion 422 is a vertically elongated strip-shaped member and rotates together with the rod-shaped member 423 and the base member 424 around the rotating boss 426 as an axis. The arm portion 422 shown in this embodiment is a strip-shaped member and is provided in two places at each of the left and right ends of the first rake body 420, but there are no limitations on its shape or the number of units installed. The ends of the arm portion 422 protrude to the upper surface of the first leveling body 40 and are bent towards the rear. The bent surface of the base member 424 is provided approximately parallel to the upper surface on the front side of the first leveling body 40.

[0035] As shown in Figure 4, a hole 427 is provided at the tip of the arm portion 422, and the positioning member 403 passes through this hole 427. In this embodiment, a bolt is used as the positioning member 403. One end of the positioning member 403 is inserted into a nut 404 fixed to the tilling body 6 side of the first leveling body 40. The positioning member 403 is positioned almost perpendicular to the upper surface on the front side of the first leveling body 40. The bolt head at the other end of the positioning member 403 is located above the upper surface on the front side of the first leveling body 40 and above the hole 427 at the tip of the arm portion 422.

[0036] As shown in Figure 4, a compression spring, which is an elastic member 44, is arranged around the positioning member 403. Both ends of the elastic member 44 are positioned between the bolt head, which is the other end of the positioning member 403, and the upper surface of the tip of the arm portion 422. The elastic member 44 is sandwiched between the shaft portion and the lower surface of the bolt head of the positioning member 403 and the arm portion 422. With this configuration, the first rake body 420 can be attached in a direction away from the first leveling body 40, that is, toward the tilling body 6, while being biased by the elastic member 44.

[0037] As shown in Figure 6, when the first rake body 420 is in a direction away from the first leveling body 40, the surface of the tip located at the top of the arm portion 422 is set to be approximately parallel to the top surface of the first leveling body 40. Subsequently, when the first rake body 420 is pressed upward by soil and mud, it rotates upward. At the end of the rotation, as shown in Figure 7, the rear end of the first rake body 420 comes into contact with the rear end of the first leveling body 40 and the rotation stops. In this state, the arm portion 422 is lifted relatively above the top surface of the first leveling body 40, compressing the elastic member 44 between the tip of the arm portion 422 and the other end of the positioning member 403.

[0038] The positioning member 403, which is attached by a screw, allows for fine adjustment of the repulsive force of the elastic member 44 by adjusting the screwing position. The biasing force of the first rake body 420, which is biased by the elastic member 44, can also be finely adjusted. As a result, the biasing force of the first rake body 420 can be easily fine-tuned to any desired biasing force according to the operator's preference or soil conditions by operating the positioning member 403 on the upper side of the first leveling body 40. The first rake body 420 is constantly biased towards the lower limit of rotation by the elastic member 44. This bias prevents the first rake body 420, which is buried in the soil, from continuously rotating towards the upper limit due to movement. Because the first rake body 420 is biased towards the lower limit of rotation by the elastic member 44, it can rotate when it comes into contact with soil clods W1, W2, etc. in the soil as the machine moves and is pressed towards the rear. By utilizing whether or not the first rake body 420 rotates, soil clods W1, W2, etc. in the soil can be detected.

[0039] The second rake body 421 is attached to the rear part of the first leveling body 40, facing backward and protruding downward from the leveled surface of the first leveling body 40. In this embodiment, the second rake body 421 is made of a member with a smaller diameter than the first rake body 420 and can bend due to its own elastic force. Furthermore, the rod-shaped members 425 constituting the second rake body 421 are positioned between the left and right rod-shaped members 423 of the first rake body 420, which are spaced apart in the left-right direction.

[0040] The rake body 42 is located behind the tilling rotor, which is the tilling body 6, and is rotatable in the vertical direction. The rake body 42 is designed to level the ground and simultaneously push and bury contaminants such as rice straw in the mud tilled and broken up by the tilling body 6. In operation, it has a sloping posture with the front higher and the rear lower. By moving forward, the contaminants captured at the front can be guided down the slope and buried into the soil.

[0041] Only the first rake body 420 is positioned on the front side of the first leveling body 40, and the lateral spacing is relatively wide compared to the rear side of the rake body 42, which is composed of the first rake body 420 and the second rake body 421, due to the rod-shaped member 423. On the rear side of the first rake body 420 (rake body 42), the rod-shaped member 425 that constitutes the second rake body 421 is located between the rod-shaped members 423 that constitute the first rake body 420, resulting in a narrow lateral spacing between the rod-shaped members 423 and 425. As a result, the front side of the first rake body 420 filters out the mud, separating it into water, soil, and impurities.

[0042] When the first rake body 420 (rake body 42) guides the foreign matter to the rear, the rod-shaped member 425 of the second rake body 421 located behind it and the rod-shaped member 423 of the first rake body 420 narrow the gap on the rear side, pushing the foreign matter in so that it does not escape upward from the rake body 42. The pivot axes of the first rake body 420 and the first leveling body 40 are located coaxially, and the elastic member 44 that applies a biasing force to the first rake body 420 is located on the front upper surface of the first leveling body 40. As a result, even if the tilling depth changes and the angle of the first leveling body 40 changes, the pressing pressure of the first rake body 420 does not change.

[0043] As shown in Figures 1, 4, 6, and 7, the first leveling body 40 has a mountain-like shape that bulges outward when the first rake body 420 rotates toward the first leveling body 40 and its rear end comes into contact with the first leveling body 40, creating a space from the front to the upper middle section of the first rake body 420. This promotes the filtering of mud on the front side of the first rake body 420.

[0044] The rear ends of the first rake body 420 and the second rake body 421 are positioned behind the leveled surface of the rear end of the first leveling body 40, and in front of the leveled surface of the second leveling body 41. With this configuration, impurities pushed into the soil by the rake body 42 are held down by the second leveling body 41 before they can rise to the surface, ensuring that the impurities are securely buried.

[0045] The sensor 93 is positioned on the upper part of the leveling body 4, with the leveling body 4 in between the rake body 42. The sensor 93 detects the rotation angle of the first rake body 420 and can transmit the detected value as a detection signal to the control unit 101, which will be described later. In this embodiment of the invention, the sensor 93 uses a potentiometer, which is a displacement sensor, and the control unit 101 recognizes the rotation angle of the rake body 42 by detecting the potential difference. The sensor 93 can be of any type or detection method, as long as it can detect the rotation angle, rotation phase, or distance traveled.

[0046] 91 is a detection arm, 92 is a pin, and 93 is a sensor. As shown in Figures 3 and 4, the detection arm 91 is a strip-shaped member extending rearward from the sensor 93, and is projected so as to be rotatable up and down around the sensor 93 as an axis. An elongated hole 94 is provided along the longitudinal direction from the center of the detection arm 91 to the rear. The pin 92 is provided on the arm portion 422 and protrudes in the width direction relative to the direction of travel from the arm portion 422 towards the detection arm 91, and fits into the elongated hole 94 provided on the detection arm 91. Therefore, as the arm portion 422 moves, the pin 92 moves in the elongated hole 94, causing the detection arm 91 to rotate up and down. The sensor 93 detects the movement of the detection arm 91 and thereby senses the rotation of the first rake body 420, which is the movement of the rake body 42.

[0047] The rake body 42 is constructed by the first rake body 420, which has multiple rod-shaped members 423 arranged at intervals in the left-right direction on a base member 424 that is long in the width direction near the pivot point 43, so that the multiple rod-shaped members 423 can rotate as a whole. In addition, in this embodiment of the invention, the first rake body 420 is divided into two and arranged on the leveling body 4, but the rake per leveling body There is no limit to the number of units (body 42) that can be placed. The sensors 93 that detect the rotation of the rake body 42 can be placed at least once per agricultural implement A to determine the finished state of that part, thereby simplifying the structure of the device. Of course, a sensor 93 may also be placed for each rake body 42 that is placed. In this case, the detected finished state can be detected with higher accuracy.

[0048] The block diagram illustrating the information transmission relationships shown in Figure 8 will now be explained. The mobile machine B is equipped with an operating unit, an alarm device, and a display device. The operating unit is located in the driver's seat of the mobile machine B. Furthermore, the mobile machine B or agricultural implement A has an implement control unit 101 (control unit) and a mobile machine control unit (control unit). In this embodiment, the mobile machine control unit (control unit) is located in the mobile machine B, and the implement control unit 101 (control unit) is located in the agricultural implement A. The implement control unit 101 (control unit) in agricultural implement A is equipped with an operating unit, an alarm device, and a display device, similar to the one in the mobile machine B.

[0049] In this embodiment of the invention, the alarm device is simply indicated by whether or not it sounds, but other specific examples include buzzer sounds that involve changing pitches, and voice guidance consisting of language. In terms of implementation, it is sufficient that the worker can correctly perceive the sound aurally, and there are no limitations on the notification format. In this embodiment, the display device is described as displaying in color, but it may also display graphics or text, and there are no limitations on the display format as long as it can be correctly visually recognized by the operator. The display device and alarm device only need to be located on or be operational on at least one of the two sides: either the traveling machine B or the agricultural implement A.

[0050] As shown in Figure 8, the implement control unit 101 (control unit) is equipped with a communication processing unit, a calculation unit, an operation processing unit, and a storage unit. Furthermore, the implement control unit 101 (control unit) is connected to the sensor 93 and can receive a detection signal, which is rotation information of the first rake body 420 detected by the sensor 93. In addition, the implement control unit 101 (control unit) is connected to the operation unit, alarm device, and display device of the agricultural implement A, and can be operated and information can be acquired from the implement control unit 101. The traveling machine control unit (control unit) is equipped with a communication processing unit and an operation instruction unit. The communication processing unit installed in the mobile unit control unit (control unit) can process information input from the operation unit, alarm device, and display device of the mobile unit B and transmit it to the work machine control unit 101 (control unit) shown in Figure 2, which is installed in the agricultural work machine A.

[0051] The mobile unit control unit (control unit) communicates and connects with the work equipment control unit 101 (control unit). The communication processing unit of the work equipment control unit 101 (control unit) processes the information input from the mobile unit control unit (control unit) so that it can communicate with the communication processing unit of the mobile unit control unit (control unit). The vehicle control unit (control unit) is installed near the cockpit of the vehicle B and is configured to communicate with the work machine control unit 101 (control unit) provided in the agricultural work machine A shown in Figure 2. The control unit, alarm device, and display device on the vehicle body are connected to the vehicle body control unit (control unit).

[0052] The work machine control unit 101 receives information about the rotation angle of the first rake body 420 detected by the sensor 93 as a detection signal from the sensor 93. The work machine control unit 101 (control unit) can receive the detection signal as information and can also transmit it as information. The control unit 101 can determine the rotation angle of the rake body 42 based on the information, which is the detection signal from the sensor 93. The work machine control unit 101 determines whether or not to transmit an operation signal based on the information.

[0053] The calculation unit in the implement control unit 101 (control unit) performs a comparison calculation based on the information received from the sensor 93. The operation processing unit of the implement control unit 101 (control unit) performs an operation selection process to give a predetermined operation command to the traveling machine B or agricultural implement A based on the obtained calculation result. The operation processing unit can select the operation to be executed based on the determination result and transmit an operation signal to execute the operation. The operation signal based on this selection process is processed by the communication processing unit and transmitted to the traveling machine B. The memory unit stores the results of calculations performed by the calculation unit. The work machine control unit 101 (control unit) is connected to the operation unit, alarm device, and display device of the agricultural work machine A.

[0054] Based on the results of the comparison calculation, the operation processing unit of the control unit 101 transmits an operation signal, which is an operation instruction, to the mobile body B. The operation signal transmitted from the control unit 101 of agricultural machine A can be received by the control unit of the traveling machine B. Upon receiving the operation signal from the control unit 101, the traveling machine B can control its operation based on the operation signal. Furthermore, the operation of the display device and alarm device equipped in agricultural machine A can be controlled based on the operation signal transmitted from the control unit 101.

[0055] The work machine control unit 101 (control unit) is equipped with an operation processing unit, as shown in Figure 8, which is capable of selecting an operation to give a predetermined operation command to agricultural work machine A or traveling machine B based on the calculation result obtained by the calculation unit, and is capable of transmitting an operation signal based on the selection process to traveling machine B.

[0056] The calculation unit located within the work machine control unit 101 (control unit) shown in Figure 2 performs calculations and measurements, and outputs the acquired values. The calculation unit compares a predetermined set rotation amount, which is a value stored in the memory unit, with a detected value X, which is stored in the memory unit and is based on the detection signal detected for the rotation angle, which is the rotation amount input from the sensor 90. Furthermore, the calculation unit derives a determination result based on the comparison calculation. The input rotation angle is a value included in the detection signal and is an acquired value.

[0057] Figure 10 shows the breakdown of operations that each device should perform based on the determination of the rotation amount of the rake body 42 obtained from the comparison calculation in the calculation unit. In this embodiment, based on the first to third determination results, the operation processing unit selects an operation instruction so that each device performs an operation corresponding to the determination result.

[0058] For example, if the rotation amount of the rake body 42 is large, it is treated as the first judgment result and judged as having a rough finish on the tilled soil. Based on the first judgment result, the display device is shown in blue and the alarm device sounds. If the rotation amount of the rake body 42 is moderate, it is treated as the second judgment result and judged as having a good tilled soil finish. Based on the second judgment result, the display device will be set to green, and the alarm device will not sound.

[0059] If the rotation amount of the rake body 42 is small or there is no rotation, it is treated as a third judgment result and judged as either the tilled soil finish being too fine or the rake body 42 not being installed. Based on the third judgment result, the display device is set to red and the alarm device sounds. The first to third judgment results correspond to the operation of the display device and alarm device, respectively.

[0060] In the embodiments described, the results are referred to as the first to third determination results, but there is no limit to the number of determination results, nor is the device used to operate the system limited to the examples provided. The operation instruction unit of the vehicle control unit outputs operation instructions consisting of the contents that the vehicle B should operate, received via communication from the implement control unit 101 (control unit), to the alarm device and display device. Alternatively, the implement control unit 101 (control unit) outputs operation instructions consisting of the contents to be operated, selected by the operation processing unit, to the alarm device and display device of agricultural implement A.

[0061] When the traveling machine B is moved forward with the other end of the rake body 42 embedded in the ground, the rake body 42 comes into contact with large soil clods W1 and small soil clods W2 present in the ground. The degree of pressure exerted on the rake body 42 by the large soil clods W1 and small soil clods W2 can be used to determine the finish of the soil. In this embodiment of the invention, the finish of the soil is an indicator of the degree of soil crushing, and is determined by the size of the large soil clods W1 and small soil clods W2 after crushing.

[0062] The second rake body 421 (rake body 42) has its rod-shaped member 425, which is the part that touches the ground, positioned between the rod-shaped members 425 of the first rake body 420 (rake body 42) located in front of it. This allows the rake body 42 to push large soil clods W1, small soil clods W2, etc., that have passed between the rod-shaped members 425 into the ground.

[0063] The rake body 42 is rotatable vertically at the rear of the tilling body, and in this embodiment, it is positioned coaxially with the pivot point 43 of the leveling body 4. The rod-shaped member 423 of the first rake body 420 (rake body 42) can be made as long as possible, so that the sensor 93 can detect the rotation of the tip buried in the soil with higher accuracy.

[0064] Next, the puddling operation using the agricultural implement A of the present invention will be described. The lower link pin 80 and top link pin 81 of the mounting part 8 are connected to the three-point linkage mechanism of the tractor, which is the traveling machine B, so that it can be raised and lowered by the tractor's three-point linkage mechanism. In addition, the PTO shaft P, which is the output shaft of the tractor, is connected to the input shaft with a universal joint 12 so that power can be input.

[0065] In a field being prepared for puddling, the tractor B is operated to rotate the tilling body 6 and lower the three-point linkage mechanism, causing the soil to be tilled by the tilling tines 61 of the tilling body 6. When the tractor B is driven in this state, the field can be tilled sequentially and puddling work can be performed. In addition, a leveling body 4 is located at the rear of the tilling body 6, and the work is performed while leveling the top layer of the tilled soil. A rake body 42 is positioned on the field side of the leveling body 4, burying impurities in the soil. The first leveling body 40 and the first rake body 420 have the function of separating water, soil, and impurities from the soil that has been tilled and scattered by the tilling body 6. The impurities are guided to the rear and buried in the soil by the first rake body 420 and the second rake body 421. After that, the soil and mud can be leveled by the second leveling body 41.

[0066] When adjusting the biasing force of the first rake body 420 depending on the soil and mud conditions, the positioning member 403 can be rotated to adjust the biasing force, allowing the elastic member 44 to apply any desired biasing force. Because the biasing force of the first rake body 420 can be finely adjusted, the appropriate biasing force can be applied to the first rake body 420 for a variety of field conditions, allowing impurities to be buried in the soil. The surface of the mud or soil, where the impurities have been buried, is level and free of foreign matter, making it an ideal field surface for subsequent seedling planting.

[0067] Furthermore, the adjustment of the biasing force applied to the first rake body 420 by the elastic member 44 using the positioning member 403 ensures that even if multiple implements with similar configurations but different working widths are offered, the pressing force per rod-shaped member 423 when the first rake body 420 contacts the soil surface in the field remains constant. As a result, the ground pressing force of the first rake body 420 can be made the same even if the working width differs during the initial setup at the time of product shipment, so that the ability of contaminants to be buried does not change due to changes in working width.

[0068] (Relationship between rake body 42 and large soil clumps W1 and small soil clumps W2 1) When the soil is broken up with the tilling machine 6, large soil clods W1 and small soil clods W2 may be generated depending on the soil and the puddling conditions, including tilling. Since puddling is performed while the soil contains moisture, the soil after tilling is in a muddy state containing moisture. As shown in Figure 7, if the rake body 42 is pushed significantly to the rear, it is determined that the moisture content is low or that the soil has not been sufficiently broken up, resulting in a rough finish. Figure 7 illustrates the case where there is a large soil mass W1 on the surface of the tilled soil in the field after the tilling body 6 has passed over it.

[0069] As shown in Figure 7, if a large soil clump W1 is present in the tilled soil, the soil clump W1 that comes into contact with the rake body 42 cannot pass between the rod-shaped members 423 of the rake body 42, causing the rake body 42 to be pushed significantly backward. Therefore, the implement control unit 101 (control unit) can determine that the finished soil after tillage is rough and not sufficiently broken up. In addition, during puddling, the viscosity of the mud made up of the soil increases because there is insufficient water to mix with the soil. Therefore, the collision resistance with the rake body 42 increases, causing the rake body 42 to be pushed significantly backward, and it can be determined that the amount of water is low. At this time, the first rake body 420 rotates significantly upward to the extent that it reaches its rotation limit. Then, the sensor 90 detects a value X as a large amount of rotation.

[0070] (Relationship between rake body 42 and large soil clumps W1 and small soil clumps W2 2) We will explain that if the rake body 42 is pushed back moderately without being pushed too far, it indicates that the moisture content of the soil is appropriate. When the sizes of the large soil clods W1 and small soil clods W2 are appropriate, the large soil clods W1 and small soil clods W2 will contact and catch on the rake body 42, but an appropriate amount of the large soil clods W1 and small soil clods W2 will pass between the rod-shaped members 423 of the rake body 42, so the rake body 42 will not be pushed back excessively, but will be pushed moderately. As a result, the rake body 42 will be positioned between the upper and lower limits (not shown), and the implement control unit 101 (control unit) will be able to determine that the soil finish after tillage is good. Also, in the puddling operation, the moisture content of the mud mixed with the soil is appropriate, and the viscosity of the mud is appropriate, so the first rake body 420 is pressed moderately. As a result, the rotating rake body 42 will be positioned between the upper and lower limits, and the implement control unit 101 (control unit) will be able to determine that the moisture content of the mud mixed with the soil is appropriate.

[0071] (Relationship between rake body 42 and large soil clumps W1 and small soil clumps W2 3) As illustrated in Figure 6, if the rake body 42 moves forward, it is determined that the soil contains a large amount of moisture, or that the soil has been crushed excessively, resulting in a finer finish. Figure 6 illustrates the case where the field surface is covered by small soil clumps W2 on top of large soil clumps W1. As shown in Figure 6, when the small soil mass W2 covers the top of the large soil mass W1, the small soil mass W2 is too small and easily passes between the rod-shaped members 423 of the rake body 42. This reduces the resistance pushing the rake body 42 backward, causing the rake body 42, which is biased by the elastic member 44, to move forward.

[0072] Similarly, if the rake body 42 is not in contact with the ground, the rake body 42 will return completely to the forward position. As a result, the sensor 90 detects that the amount of rotation of the rake body 42 is small, or that there is no upward rotation, and the implement control unit 101 (control unit) can determine that the soil finish after tilling is too fine, or that it is not in contact with the ground. In addition, during puddling work, there is an excessive amount of moisture mixing with the soil, so the mud easily passes over the rake body 42, resulting in insufficient force pressing down on the rake body 42 and a small amount of rotation of the rake body 42. Therefore, the implement control unit 101 (control unit) can determine that the amount of moisture in the soil is large.

[0073] The operation flow shown in Figure 9 will be explained below. (1) Detect the amount of rotation. Here, the amount of movement of the arm section 422 is sensed by the pin 92 and the detection arm 91, and detected as the amount of rotation by the sensor 93.

[0074] (2) The rotational amount is transmitted as the detected value X. The amount of rotation detected by the sensor 93 is transmitted to the work machine control unit 101 (control unit).

[0075] (3) Compare the test values ​​X. The calculation unit of the work machine control unit 101 (control unit) compares the detected value X, which is the amount of rotation and is included in the detection signal transmitted by the sensor 93, with a predetermined set amount of rotation. (4) Select the result. The calculation unit selects a judgment result corresponding to the detected value X, based on the comparison result. (5) The system emits an operation signal based on the judgment result. The operation processing unit transmits an operation signal, which is information indicating the operation to be performed, based on the determination result derived by the calculation unit, corresponding to a predetermined breakdown of operations.

[0076] Figure 10 illustrates the judgment result and the breakdown of actions taken based on that result. The first judgment result indicates that the finish is "rough." In terms of the actions taken, the display device is controlled to "show a blue light," and the alarm device is controlled to "sound."

[0077] In the second judgment result, the judgment indicates that "the finish is good." In terms of operation, the display device is controlled to "show green" and the alarm device is controlled to "not sound."

[0078] In the third judgment result, the judgment indicates that "the finish is too fine, or the grounding is not done." In terms of operation, the display device will be controlled to "display red" and the alarm device will "sound."

[0079] In the embodiment of this invention, the determination results are shown in Figure 10 as being divided into three categories, but they may be further subdivided. In this case, the display and notification accompanying the rotation of the rake body 42 can be made more detailed, allowing the operator to recognize the rotation state of the rake body 42, i.e., the finished state of the soil, with greater accuracy and in real time. Furthermore, the operator can recognize the display device or alarm device activated by the determination result if it is at least one of the agricultural implement A or the traveling machine B. In addition, the operation instructions for the traveling machine B are not limited to the operation of the display device or alarm device equipped in the traveling machine B, but may also be used to operate the traveling device 1 or the three-point linkage mechanism including the top link 10 and the lower link 11.

[0080] The agricultural machine with the configuration disclosed above makes it possible to mechanically determine the condition of the soil, such as the degree of soil pulverization after tillage. Furthermore, this determination allows the control unit to control the operation of other devices. The present invention is applicable even if, for example, the agricultural implement has a structure that can be folded at any part in the working width direction. Furthermore, although it has been described that multiple first rake bodies 420 are provided on the first leveling body in the working width direction, it is also possible to implement the invention with just one. [Explanation of Symbols]

[0081] 4 Earth leveling body 40 1st land leveling body 403 Positioning member 41 Second leveling body 42 rake body 420 First rake body 421 Second Lake Body 44 Elastic members 6 Cultivation body 7 Cover body 93 Sensors 101 Work Machine Control Unit (Control Unit) A farming machine (puddling machine) B. Mobile Unit W1 Large clod W2 clod small

Claims

1. A leveling body provided behind the tilling body, A rake body is rotatably attached to the aforementioned leveling body, biased by an elastic member in a direction away from the leveling body by pressure that pushes impurities in the mud into the soil, and capable of pushing and burying impurities in the mud into the soil, and is configured to be rotatable, A sensor capable of detecting the rotation angle of the rake body and transmitting a detection signal, A control unit capable of determining the rotation angle of the rake body based on the detection signal, The system includes a display device connected to the control unit and configured to be visually recognizable, The control unit receives the detection signal and, based on the result of comparing a predetermined value with the value included in the detection signal, outputs an operation instruction to the display device consisting of an action to be taken corresponding to the determination result of the degree of soil pulverization after tilling. A farming machine characterized by the following features.

2. A leveling body provided behind the tilling body, A rake body is rotatably attached to the aforementioned leveling body, biased by an elastic member in a direction away from the leveling body by pressure that pushes impurities in the mud into the soil, and capable of pushing and burying impurities in the mud into the soil, and is configured to be rotatable, A sensor capable of detecting the rotation angle of the rake body and transmitting a detection signal, A control unit capable of determining the rotation angle of the rake body based on the detection signal, The system includes an alarm device connected to the control unit and configured to be audibly recognizable, The control unit receives the detection signal and, based on the result of comparing a predetermined value with the value included in the detection signal, outputs an operation instruction to the alarm device consisting of an action to be taken corresponding to the determination result of the degree of soil pulverization after tilling. A farming machine characterized by the following features.

3. The operation instruction changes based on the result of the comparison calculation. The agricultural implement according to feature 1 or 2.

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