JP2017136012A - Work machine and work system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work machine facilitating work at an edge of a field, particularly at a corner.SOLUTION: A work machine includes: a work part capable of working at a side position of a travel machine body; and control means executing a normal work control mode operating the work part along travel of the travel machine body by keeping a work position and work direction of the work part at a predetermined state and an automatic straight travel work control mode operating the work part while keeping the predetermined state by automatically adjusting change of the work position and work direction along with change of a travel direction of the travel machine body. The control means determines a switching timing to the automatic straight travel work control mode based on a distance from the travel machine body to a corner of a field.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a work machine that is mounted on a traveling machine body and can perform a predetermined work on a farm field. In particular, the present invention relates to an offset working machine capable of working on a side position with respect to a traveling position of a traveling machine body. For example, the present invention relates to a wrinkle coater that forms wrinkles on the outer edge of a field.

  2. Description of the Related Art In the technical field of farm work machines, work machines that are mounted on a traveling machine body such as a tractor and perform various operations on a farm field along the traveling direction of the traveling machine body are known. There are various types of such work machines depending on the contents of work. For example, a work machine that works a lateral position (a position offset with respect to the traveling machine body) with respect to the traveling position of the traveling machine body. As such, offset working machines such as a hull coater, a groove forming machine, and a mowing machine are known.

  In particular, the glazing machine has attracted attention in recent years as an attempt to improve the efficiency of the glazing operation that requires a great amount of time and labor in forming a uniform cocoon over the outer edge of a wide field. The basic configuration of the hull coater is to provide a mounting portion having an input shaft to which power from a traveling machine body is input, a power transmission mechanism for transmitting power from the input shaft, and support the body at the work position (offset position). It includes a connecting portion and a working portion that performs a smearing operation with the transmitted power.

  The present applicant has sought to further improve the efficiency of the padding work and has developed a padding machine for shortening the time required for the padding work in the corners of the field. This padding machine is capable of automatically spreading the traveling machine body to the corner of the field simply by moving the traveling machine body straight toward the corner of the field and turning the traveling machine body when it reaches the corner. It is a periodical thing (patent document 1).

Japanese Patent No. 4651915

  Compared with the conventional coater in which the painter described in Patent Document 1 moves the working unit to the work position on the opposite side of the traveling machine body, and travels the traveling machine body back to perform the paintwork. Thus, the work time has been greatly shortened in that the cornering work can be completed simply by moving the traveling machine forward.

  However, in the padding machine described in Patent Document 1, it is necessary to turn the steering wheel to turn the traveling machine body at the timing when the traveling machine body reaches the corner of the field. It was left to the judgment of the person. Therefore, in the case of an operator who is unfamiliar with the smearing work, the handle operation timing is too early or too late, and there is a possibility that the corner smearing work may not be successful. As described above, there is room for further improvement in the wrinkle coater described in Patent Document 1.

  The subject of this invention is providing the working machine which makes the operation | work of the edge part of a farm field, especially the corner part of a farm field easy in view of the said situation.

  According to an embodiment of the present invention, a work machine includes a work unit capable of working a lateral position of a traveling machine body, a work position and a work direction of the working part maintained in a predetermined state, and along the traveling of the traveling machine body. A normal work control mode in which the working part is operated, and a change in the working position and the working direction associated with a change in the traveling direction of the traveling machine body to automatically adjust the working part while maintaining the predetermined state. And a control means for executing the automatic straight-ahead work control mode, wherein the control means determines the switching timing to the automatic straight-ahead work control mode based on the distance from the traveling machine body to the corner of the field. decide.

  The control means may notify the operator of the arrival of the switching timing by sound, light or vibration at the switching timing.

  The control means may switch from the normal work control mode to the automatic straight work control mode at the switching timing.

  The control means may calculate a distance from the traveling machine body to a corner of the field based on position information of the traveling machine body or the working machine calculated using a GPS (Global Positioning System). In addition, the distance from the traveling machine body to the corner of the field may be calculated based on the output from the distance sensor, or an image obtained by photographing the front of the traveling machine body or the traveling machine body upward. The distance from the traveling machine body to the corner of the field may be calculated based on the analysis result of the image taken from the above.

  The control means may compare a preset distance with the calculated distance from the traveling machine body to the corner of the field, and determine when the two coincide with each other as the switching timing. At that time, the preset distance may be updated according to the ground speed of the traveling machine body or the working machine.

  The control unit may include a storage unit that stores in advance a table in which the preset distance is associated with the ground speed of the traveling machine body or the working machine. Then, the distance read from the storage means based on the acquired ground speed of the traveling machine body or the working machine is compared with the calculated distance from the traveling machine body to the corner of the field, and when both coincide with each other The switching timing may be determined.

  In determining the switching timing, the control means may use the ground speed of the traveling machine body or the working machine in addition to the distance from the traveling machine body to the corner of the field.

  According to the working machine of the present invention, it is possible to provide a working machine that facilitates work at an end of a farm field, particularly at a corner of the farm field.

It is an example of the external view which shows the structure of the work system by 1st Embodiment. It is an example of the block diagram which shows the structure of the control means of the offset working machine by 1st Embodiment. It is a flowchart which shows an example of the normal work control mode which the control means of the offset working machine by 1st Embodiment performs. It is a flowchart which shows an example of the automatic straight-ahead work control mode which the control means of the offset working machine by 1st Embodiment performs. It is an example of the block diagram which shows the structure of the control means of the offset working machine by 2nd Embodiment. It is an example of the block diagram which shows the structure of the control means of the offset working machine by 3rd Embodiment. It is an example of the block diagram which shows the structure of the control means of the offset working machine by 4th Embodiment. It is a figure which shows an example of the whole structure of the haze coating machine in the work system by 6th Embodiment. It is a figure which shows an example of the method of controlling the work position of the working part of the hull coater in the work system by 6th Embodiment.

  Hereinafter, an embodiment of a working machine of the present invention will be described with reference to the drawings. However, the working machine of the present invention can be implemented in many different modes and should not be construed as being limited to the description of the examples shown below. Note that in the drawings referred to in this embodiment, the same portions or portions having similar functions are denoted by the same reference numerals, and repetitive description thereof is omitted.

  Further, for convenience of explanation, the description will be made using the terms upper (upper) or lower (lower), but upper (upper) indicates a direction away from the horizontal plane, and lower (lower) indicates a direction approaching the horizontal plane. Similarly, the description will be made using the terms “front” (front side) or “rear” (rear side), but “front” (front side) indicates the direction in which the traveling machine body is located with reference to the work implement, and “rear (rear side)” indicates front 180 ° opposite direction.

<First Embodiment>
[Work system configuration]
In this embodiment, the agricultural work system provided with the offset working machine is illustrated as a work system. Specifically, a description will be given by exemplifying a system including a wrinkle coater as an offset working machine for a traveling machine body such as a tractor. In addition, here, a plastering machine is illustrated as an offset working machine, but the same applies to other offset working machines such as a groove forming machine and a mowing machine.

  FIG. 1 is an example of an external view showing a configuration of a work system according to the first embodiment of the present invention. A work system 100 according to the first embodiment includes a traveling machine body 10 such as a tractor, and a plastering machine 20 as an offset work machine. The work system 100 having such a configuration is arranged on the farm field 200 and forms a ridge 201 that forms the outer edge of the farm field.

  The wrinkle coater 20 includes a mounting portion 21 that is attached to the connecting means 11 such as a three-point link in the traveling machine body 10, a working unit 22 that works a position offset laterally with respect to the traveling position of the traveling machine body 10, An offset link mechanism unit 23 is pivotally supported at one end with respect to the mounting unit 21 and is pivotally supported at the other end with respect to the working unit 22. The offset link mechanism unit 23 has a function of supporting the working unit 22 at a predetermined working position (also referred to as an offset position) with respect to the mounting unit 21.

  Here, the mounting portion 21 is provided with an input shaft that is connected to the PTO shaft of the traveling machine body 10 and through which power is transmitted from the PTO shaft via a universal joint, a transmission shaft, and the like. A power transmission mechanism that transmits power from the input shaft to the working unit is provided. Further, the working unit 22 is provided with a substantially conical trimming unit for performing a fringing operation and a drive unit for rotating the trimming unit.

  A work position adjusting mechanism 24 is provided between the mounting portion 21 and the offset link mechanism portion 23. The work position adjustment mechanism 24 is configured by an actuator such as a hydraulic cylinder or an electric cylinder, and the work of the work unit 22 is adjusted by rotating the offset link mechanism unit 23 by adjusting the expansion / contraction operation thereof and adjusting the work position of the work unit 22. Adjust the position. In the present embodiment, the work position of the work unit 22 is adjusted by the rotation operation of the work unit 22 by the work position adjusting mechanism 24. However, in addition to or in place of this, the offset link mechanism unit 23 is adjusted. It is also possible to adjust the working position of the working unit 22 by adjusting the length of the link.

  A work direction adjusting mechanism 25 is provided between the offset link mechanism 23 and the work unit 22. The work direction adjusting mechanism 25 is also composed of an actuator such as a hydraulic cylinder and an electric cylinder, similar to the work position adjusting mechanism 24 described above, and the working portion 22 is rotated around the shaft portion 26 by its expansion and contraction operation. Adjust the direction.

  The operations of the work unit 22, the offset link mechanism unit 23, the work position adjustment mechanism 24, and the work direction adjustment mechanism 25 described above are all controlled by the control means 27 provided in the hull coater 20. A specific configuration of the control means 27 will be described later. The control means 27 controls the work position adjustment mechanism 24 based on the detection signal from the position sensor 28, and controls the work direction adjustment mechanism 25 based on the detection signal of the angle sensor 29.

  As the position sensor 28, any sensor can be used as long as it can detect the positional relationship between the working unit 22 and the leveling surface 201a of the rod 201, and a contact type or a non-contact type can be used. May be. For example, a distance sensor that measures the distance between the working unit 22 and the trimming surface 201a may be used, or a movable arm is brought into contact with the trimming surface 201a and the fluctuation of the arm is read with a potentiometer or the like. The distance between the working unit 22 and the trimming surface 201a may be measured.

  As the angle sensor 29, a sensor capable of detecting a change in the working direction of the working unit 22 with respect to the trimming surface 201a can be used. For example, as the angle sensor 29, a gyro sensor or a potentiometer provided around the shaft portion 26 can be used.

  The coater 20 including the above configuration is attached to the rear part of the traveling machine body 10 such as a tractor and is pulled in the direction in which the traveling machine body 10 travels. Specifically, the traveling machine body 10 travels along the ridge 201 and reshapes the ridge 201 by the work of the working unit 22 to form. At this time, the work position and work direction of the work unit 22 are maintained in a predetermined state by the operations of the work position adjustment mechanism 24 and the work direction adjustment mechanism 25. Thus, a mode in which the work position and the work direction are maintained in a predetermined state and the working unit is operated along the traveling of the traveling machine body is referred to as a “normal work control mode”.

  In the work system 100 of the present embodiment, when the normal work progresses and the traveling machine body 10 approaches the corner 202 of the farm field 200, the work unit 22 is controlled in a mode in which the straight work is automatically performed. That is, the working unit 22 continues the trimming operation until the traveling unit 10 reaches the corner 202 while maintaining the normal operation state even after the traveling body 10 performs the turning operation so as to avoid the corner 202. It is controlled by the control means 27.

  At this time, the relative positional relationship between the traveling machine body 10 and the work unit 22 changes with the turning operation of the traveling machine body 10, but between the trimming surface 201 a of the rod 201 that is the work target and the work unit 22. The relative positional relationship of these does not change. That is, the control means 27 controls the operations of the work position adjustment mechanism 24 and the work direction adjustment mechanism 25 described above so as not to change the relative positional relationship between the trimming surface 201 a and the work unit 22. In this way, by automatically adjusting the change in the work position and the work direction according to the change in the traveling direction of the traveling machine body, the work part can be operated while the working part is maintained in a predetermined state (for example, a state during normal work). This mode is called “automatic straight work control mode”.

  In the work system 100 according to the present embodiment, the control unit 27 of the coater 20 is operated from the normal work control mode to the automatic straight-ahead work control mode based on the distance (X) from the traveling machine body 10 to the corner 202 of the field 200. Determine the switching timing. That is, the control means 27 determines whether or not the distance (X) from the traveling machine body 10 to the corner 202 of the farm field 200 has reached a predetermined value, so that the traveling machine body 10 turns to the corner 202, that is, turns. It is determined whether or not the point where the operation should be performed has been reached.

  The traveling machine body 10 according to the present embodiment includes, for example, a distance sensor 12 and measures the distance from the traveling machine body 10 to the corner 202 during normal work. Specifically, the distance to the corner 202 is measured by measuring the distance (X) from the traveling machine body 10 to the trimming surface 201a of the heel 201 located in front of the traveling machine body 10. Note that the distance (X) may be measured continuously or intermittently. For example, the distance (X) may be obtained by detecting the output signal of the distance sensor 12 every predetermined period.

  As the distance sensor 12, a general optical sensor or ultrasonic sensor can be used, and there is no particular limitation as long as the distance can be measured. Further, in the present embodiment, the example in which the distance sensor 12 is provided at the front end portion of the traveling machine body 10 is shown, but the present invention is not limited thereto, and the distance sensor 12 can be provided at any place such as a driver's seat or the rear end part of the traveling machine body 10. In the present embodiment, the distance sensor 12 is provided for the purpose of measuring the distance from the traveling machine body 10 to the trimming surface 201a of the heel 201 in front of the front, and thus is provided at the tip of the traveling machine body 10. As will be described later, it suffices to determine the timing of the turning motion of the traveling machine body 10, and therefore it is arbitrary how to set the reference distance necessary for the calculation for determining the timing.

  When the control unit 27 detects that the distance from the traveling machine body 10 to the trimming surface 201a of the rod 201 has reached a predetermined distance (X1) based on the measurement result of the distance sensor 12, the control unit 27 performs the normal work control mode. From this, it is determined that the timing for switching to the automatic straight-ahead work control mode, which will be described later, has arrived, and a signal indicating that is transmitted to the notifying means 13 provided in the traveling machine body 10 or the hull coater 20. The notification means 13 can be a sound output means such as a speaker, a light output means such as an LED, or a vibration output means such as a vibrator, and the timing for switching to the automatic straight work control mode comes due to sound, light or vibration. The operator is informed of this. In addition, when using a sound output means as the alerting means 13, it is preferable that the voice guidance is “Please turn the handle to the left as far as possible”.

  As described above, in the present embodiment, when the distance between the traveling machine body 10 and the corner portion 202 of the farm field 200 is measured by the distance sensor 12 and the distance reaches a predetermined distance, the operator is informed. Then, the notification means 13 notifies that the switching timing to the automatic straight work control mode has arrived. As a result, even if the worker is not familiar with the wrinkle painting work or is an elderly worker, the timing for switching to the automatic straight-ahead work control mode can be easily recognized, and the handle of the traveling machine body 10 can be accurately detected. The operation (that is, the turning operation of the traveling machine body 10) can be performed.

[Configuration of control means]
FIG. 2 is an example of a block diagram showing the configuration of the control means 27 of the above-described glazing machine 20. In the present embodiment, the control unit 27 includes a storage unit 271, a comparison calculation unit 272, and a signal output unit 273.

  The storage unit 271 stores a work position reference value (α) 271a, a work direction reference value (β) 271b, a control program 271c, and a distance reference value (X0) 271d. The comparison calculation unit 272 includes a first comparison unit 272a, a second comparison unit 272b, and a third comparison unit 272c. The signal output unit 273 includes a work position adjustment output unit 273a, a work direction adjustment output unit 273b, and a notification signal output unit 273c. These units are controlled by executing a control program 271c read from the storage unit 271 by a CPU (Central Processing Unit) (not shown).

  Changes in the work position (work position) and work direction of the work unit 22 are detected by a position sensor 28 and an angle sensor 29, respectively. The detection signals detected by the position sensor 28 and the angle sensor 29 are input to the first comparison unit 272a and the second comparison unit 272b in the comparison calculation unit 272, respectively.

  In the first comparison unit 272a, the input detection signal from the position sensor 28 is compared with the work position reference value (α) 271a read out from the storage unit 271, and the deviation amount of both is output as a signal output unit. 273 is input to the work position adjustment output unit 273a. Similarly, the second comparison unit 272b compares the input detection signal from the angle sensor 29 with the work direction reference value (β) 271b read from the storage unit 271, and the difference between the two is an output value. Is input to the work direction adjustment output unit 273b of the signal output unit 273.

  The work position adjustment output unit 273a outputs a drive signal for correcting the deviation based on the output value regarding the deviation amount acquired from the first comparison unit 272a. Control for adjusting the position (working position) is performed. The work direction adjustment output unit 273b outputs a drive signal for correcting the deviation based on the output value related to the deviation amount acquired from the second comparison unit 272b. Control is performed to adjust the direction.

  Next, in the third comparison unit 272c, a signal indicating the distance between the traveling machine body 10 and the trimming surface 201a located in front of the traveling machine body 10 is input from the distance sensor 12. In this case, the detection value from the distance sensor 12 may be processed on the control means 27 side to calculate the distance, or the distance is calculated on the distance sensor 12 side, and a signal corresponding to the distance is sent to the control means 27. You may enter. The signal indicating the input distance is compared with the distance reference value (X0) 271d read from the storage unit 271 in the third comparison unit 272c, and the comparison result is output as a notification signal output from the signal output unit 273. Is input to the unit 273c.

  In the notification signal output unit 273c, the distance reference value (X0) 271a stored in the storage unit 271 is the distance between the traveling machine body 10 and the front surface of the trimming surface 201a when the comparison result indicates a match. Is matched, the notification signal is output to the notification means 13, and the notification means 13 is driven to notify the worker that it is the timing for switching to the automatic straight-ahead work control mode.

  Here, in the present embodiment, a preset value is stored as the distance reference value (X0) 271d which is a guideline for switching timing to the automatic linear operation control mode. As a result, when the turning operation of the traveling machine body 10 is started at the timing when the distance between the traveling machine body 10 and the trimming surface 201a in front of the distance becomes the distance reference value (X0) 271d, the traveling machine body 10 is turned. It is possible to automatically move the working unit 22 straight up to the corner 202 of the agricultural field 200 simply by making it.

  The “preset value” may be a value input by an operator, a value used in the past, or a value downloaded from a server. For example, as a value used in the past, a value calculated and used in the past or a statistical value thereof (an average value or the like) may be used, or a value having a good record in the past may be used. Good. In addition, as a value downloaded from the server, for example, a value selected from setting values collected in the server from various places may be downloaded, or used for other fields similar to the field to be worked on. The setting value may be downloaded.

  Therefore, in setting the distance reference value (X0) 271d, it is desirable to consider the distance (rotation radius) from the center of the turning operation (turning center) of the traveling machine body 10 to the traveling machine body 10 and the moving speed of the traveling machine body 10. . For example, it can be said that it is desirable to consider the ground speed indicating the relative speed relationship between the traveling machine body 10 and the agricultural field 200 in consideration of the idling of the wheels due to the slip of the traveling machine body 10 and the like. Such ground speed can be easily acquired by using an ultrasonic sensor using the Doppler effect.

  Based on the above, when setting the distance reference value (X0) 271d, an optimum distance reference value (for each size and model of the traveling machine body 10 and / or a moving speed (preferably ground speed) of the traveling machine body 10 is set. X0) 271d is preferably set in advance. For example, a value when the ground speed of the traveling machine body 10 is 0.4 km / h or less, a value when it exceeds 0.4 km / h and 0.6 km / h or less, and a value when it exceeds 0.6 km / h May be stored as different values.

  In this case, the distance reference value (X0) 271d and the ground speed of the traveling machine body 10 can be stored in the storage unit 271 as a table associated with each other. Of course, a single value is stored as the distance reference value (X0) 271a, and the distance reference value (X0) 271a is appropriately updated according to the acquired ground speed of the traveling aircraft 10 to obtain a corresponding value. It is also possible.

  In the above description, the ground speed of the traveling machine body 10 has been described as an example, but the ground speed of the hull coater 20 may be substituted. In that case, a means (ultrasonic sensor or the like) capable of measuring the ground speed is provided for the coater 20, and data such as the ground speed obtained on the coater 20 side according to a predetermined standard is used for the traveling machine body 10 side. May be transmitted to the control means. For example, as a predetermined standard, ISOBUS or CAN (Controller Area Network) can be used.

  Next, the flow of the normal work control mode and the automatic straight work control mode will be described with reference to FIGS. FIG. 3 is a flowchart showing an example of the normal work control mode executed by the control means 27 of the glazing machine 20. FIG. 4 is a flowchart showing an example of the automatic straight-ahead work control mode that is executed by the control means 27 of the hull coater 20.

  As shown in FIG. 3, first, when the work is started (S10) and the power of the control means 27 is turned on (S11), the position sensor 28 and the angle sensor 29 are actuated to operate the work position and work of the work unit 22. Direction detection is started (S12A, S12B). At this time, the work position adjusting mechanism 24 and the work direction adjusting mechanism 25 are maintained in a predetermined state, and a linear smearing work is performed by the working unit 22 while the traveling machine body 10 travels straight.

  In the normal work control mode, the detection values of the position sensor 28 and the angle sensor 29 are sent to the storage unit 271 of the control means 27 as needed, and the work position reference value (α) 271a and the work direction reference value (β) 271b are set. (S13). The work position reference value (α) 271a and the work direction reference value (β) 271b are set by calculating an average value for a predetermined period from detection values sent from the position sensor 28 and the angle sensor 29 as needed. Alternatively, the detection value sent from time to time may be replaced with the reference value stored each time and updated sequentially.

  This process of setting the reference value (S13) is continued until the end of the work in the normal work control mode (S14, S16), and during that time, an instruction operation for executing the automatic linear work control mode is performed on the control means 27. Then, the normal work is finished (S17), and the process proceeds to the automatic straight-ahead work control mode shown in FIG. 4 (S18). Note that the instruction operation for executing the automatic straight-ahead work control mode may be an operation of depressing a manual switch, or may be interlocked with a steering wheel operation (steering operation) of the traveling machine body 10 or the like.

  In the case of the present embodiment, the timing of the instruction operation to execute the automatic straight work control mode is notified to the worker by the notification by the notification means 13 described above.

  As shown in FIG. 4, when the work is started (S20) and the automatic straight-ahead work control mode is executed (S21), the work position reference value (α) 271a and the work direction reference value set at that time. (Β) 271b is maintained as a reference value in the automatic linear operation control mode (S22). Then, driving by the notification means 13 causes the operator to recognize that the traveling machine body 10 has reached the corner 202 of the farm field 200, that is, the switching timing from the normal work control mode to the automatic linear work control mode. When the body 10 is turned (S23), the position sensor 28 detects the offset position of the work unit 22 and the angle sensor 29 detects the work direction of the work unit 22 under the control of the automatic linear work control mode. (S24A, S24B).

  Then, by the control by the control means 27 described above, the work position adjustment mechanism 24 and the work direction adjustment mechanism 25 are automatically operated so as to cancel the change in the work position and the work direction of the work unit 22 due to the change in the travel direction of the traveling machine body 10. It is controlled (S25A, S25B), and as a result, the straight operation of the working unit 22 is maintained.

  Then, at the timing when the working unit 22 reaches the corner 202 of the farm field 200, the automatic linear operation control mode ends (S26), and the automatic linear operation of the working unit 22 ends (S27).

  According to the work system 100 of the present embodiment described above, the basket 201 of the farm field 200 is formed using the basket coater 20 pulled by the traveling machine body 10, and the normal work control mode is switched to the automatic linear work control mode. The switching timing is determined on the basis of the distance (X) from the traveling machine body 10 to the trimming surface 201a of the rod 201 located in front of the front, and the notification means 13 informs the operator of the arrival of the switching timing to the automatic linear operation control mode. Can be notified.

  As a result, even a worker unfamiliar with the hull painting work or a worker unfamiliar with the operation of the traveling machine body can easily recognize the arrival of the timing for switching to the automatic straight-ahead work control mode. Simply performing the operation (handle operation), it is possible to easily finish the cornering of the field.

Second Embodiment
A work system according to the second embodiment will be described with reference to FIG. Specifically, in the present embodiment, the work system of the second embodiment automatically performs switching from the normal work control mode to the automatic linear work control mode. In the present embodiment, the description will be given focusing only on differences from the work system 100 illustrated in FIG. 2, and the same portions will be denoted by the same reference numerals and description thereof will be omitted.

  FIG. 5 is an example of a block diagram showing the configuration of the control means 27a mounted on the glazing machine 20. As shown in FIG. A control mode switching unit 274 that receives an output signal from the third comparison unit 272c is newly added to the control unit 27a of the present embodiment. When the distance acquired based on the output of the distance sensor 12 matches the distance reference value (X0) 271d read from the storage unit 271, that is, the control mode switching unit 274, that is, the output signal from the third comparison unit 272c ( Triggered by the coincidence signal), the normal work control mode is controlled to be switched to the automatic straight work control mode. The switching from the normal work control mode to the automatic linear work control mode may be performed by changing the control program 271c to be executed.

  In the first embodiment, only the output signal from the third comparison unit 272c is received, the notification unit 13 is driven using the notification signal output unit 273c, and the operator is informed that it is the control mode switching timing. An example is shown in which the control mode is switched manually. In the present embodiment, it is possible not only to notify the operator of the timing for switching the control mode, but also to automatically switch the control mode. Note that the notification signal output unit 273c and the notification unit 13 may be omitted when it is not necessary to notify the operator of the control mode switching timing.

  Further, the control means 27a may transmit a control signal from the control mode switching unit 274 to the traveling machine body 10 to instruct the turning means of the traveling machine body 10 to the control means (not shown) of the traveling machine body 10. . In this case, the control unit of the traveling machine body 10 can receive the control signal from the control mode switching unit 274 and automatically execute the turning operation of the traveling machine body 10. For example, when the working unit 22 is located at a position where work can be performed on the right side with respect to the traveling direction of the traveling machine body 10, the control unit of the traveling machine body 10 may automatically control the traveling machine body 10 to perform a turning operation on the left side. In this case, it is desirable that the control mode is automatically controlled on condition that the coater 20 is working. This is to prevent the control mode from being erroneously switched when the traveling machine body 10 approaches the corner of the field during non-working.

  Here, an example in which a control signal instructing a turning operation of the traveling machine body 10 is output from the control mode switching unit 274 is shown, but not limited to this, the notification signal output unit 273c notifies the control mode switching timing. A notification signal may be output. In this case, the control unit of the traveling machine body 10 can recognize the arrival of the control mode switching timing from the notification signal and can start the turning operation of the traveling machine body 10. Of course, when the notification signal is used, the notification signal may be output directly from the third comparison unit 272c to the control unit of the traveling machine body 10, not from the control mode switching unit 274.

  According to the second embodiment described above, the switching timing from the normal work control mode to the automatic linear work control mode is determined based on the distance between the traveling machine body and the corner of the field, and the normal work control mode is set. To the automatic straight-ahead work control mode is automatically executed. Therefore, the operator can smoothly shift to the automatic straight-ahead work control mode without requiring any special operation.

  Furthermore, it is also possible to perform automatic control so as to execute the turning operation of the traveling machine body at the same time as switching from the normal work control mode to the automatic straight drive work control mode. In this case, even if the operator does not perform the steering wheel operation on the traveling machine body, it is possible to automatically execute the hulling operation at the corner of the field. Furthermore, it is possible to notify the operator of the timing for switching the control mode in advance before executing the turning operation of the traveling machine body.

<Third Embodiment>
A work system according to the third embodiment will be described with reference to FIG. Specifically, in this embodiment, instead of the distance sensor in the first embodiment, a GPS receiver that receives radio waves from a GPS (Global Positioning System) is provided, and the position of the traveling vehicle body acquired by the GPS receiver Based on the information, the distance from the traveling machine body to the corner of the field is calculated. In the present embodiment, the description will be given focusing only on differences from the work system 100 illustrated in FIG. 2, and the same portions will be denoted by the same reference numerals and description thereof will be omitted.

  FIG. 6 is an example of a block diagram showing the configuration of the control means 27b mounted on the glazing machine 20. As shown in FIG. A distance calculation unit 275 is newly added to the control means 27b of the present embodiment, which receives as input the position information of the traveling aircraft acquired by the GPS receiver 12a. The distance calculation unit 275 has a function of calculating the distance between the traveling machine body and the corner of the field based on the acquired position information of the traveling machine body. Specifically, with reference to the position information of the traveling vehicle acquired from the GPS receiver 12a and the map information of the field acquired from the GIS (geographic information system), at which point of the current field the traveling vehicle is located And the distance between the traveling machine body and the corner of the field is calculated.

  The distance value output from the distance calculation unit 275 is compared with the distance reference value (X0) 271d read from the storage unit 271, and when they match, a signal (match signal) indicating that is output as a notification signal. Is input to the unit 273c. Subsequent processing is the same as in the first embodiment.

  In the present embodiment, the example in which the distance between the traveling machine body and the corner of the field is calculated based on the position information of the traveling machine body is shown, but the position information of the hull coater can also be used. . That is, the GPS receiver 12a may be attached to the traveling machine body 10, or may be attached to the glazing machine 20.

  Further, the configuration of the present embodiment can be combined with the configuration of the second embodiment. For example, a control mode switching unit 274 is provided for the control unit 27b in the present embodiment, and the control is performed when the distance calculated by the distance calculation unit 275 matches the distance reference value (X0) 271d read from the storage unit 271. The mode switching unit 274 may switch from the normal work control mode to the automatic straight work control mode.

<Fourth embodiment>
A work system according to the fourth embodiment will be described with reference to FIG. Specifically, in the present embodiment, instead of the distance sensor in the first embodiment, an imaging unit such as a camera is provided, and based on image information obtained by capturing the front of the traveling aircraft acquired by the imaging unit, Calculate the distance to the corner of the field. In the present embodiment, the description will be given focusing only on differences from the work system 100 illustrated in FIG. 2, and the same portions will be denoted by the same reference numerals and description thereof will be omitted.

  FIG. 7 is an example of a block diagram showing the configuration of the control means 27 c mounted on the glazing machine 20. The control means 27c of the present embodiment is newly added with an image analysis unit 276 that receives an imaging signal indicating image information in front of the traveling machine imaged by the imaging means 12b. The image analysis unit 276 has a function of calculating the distance between the traveling machine body and the corner of the field by analyzing the acquired image information in front of the traveling machine body. A technique for acquiring a distance between arbitrary points from the result of image analysis of a captured image is known, and various methods can be used in this embodiment.

  As the imaging means 12b, a camera may be installed in a driver's seat or the like, or a CMOS image sensor may be provided on the back of a light of a traveling machine body or a rearview mirror. In any case, it is desirable to install in a place where the field of view can be secured as much as possible.

  The distance value output from the image analysis unit 276 is compared with the distance reference value (X0) 271d read from the storage unit 271, and when they match, a signal (match signal) indicating that is output as a notification signal. Is input to the unit 273c. Subsequent processing is the same as in the first embodiment.

  In this embodiment, the example in which the distance between the traveling machine body and the corner of the farm field is calculated based on the image information obtained by photographing the front of the traveling machine body is shown, but the image information photographed from above the traveling machine body is shown. It is also possible to use. For example, while a small unmanned aerial vehicle equipped with the imaging means 12b is flying over the field, the image including the traveling machine body and the corner of the field is photographed, and the acquired image information is analyzed to analyze the traveling machine body and the corner of the field. It is also possible to calculate the distance between.

  Further, the configuration of the present embodiment can be combined with the configuration of the second embodiment. For example, a control mode switching unit 274 is provided for the control unit 27c in the present embodiment, and the control is performed when the distance calculated by the image analysis unit 276 matches the distance reference value (X0) 271d read from the storage unit 271. The mode switching unit 274 may switch from the normal work control mode to the automatic straight work control mode.

<Fifth Embodiment>
In the first to fourth embodiments described above, the farm work system including the traveling machine body 10 and the hull coater 20 has been described as an embodiment of the present invention. However, the embodiment of the present invention is described. It is also possible to grasp as a working machine. For example, in the case of the first embodiment, the distance sensor 12 and the notification means 13 are arranged in the coater 20, so that the effect of the present invention can be obtained only by mounting the coater according to the first embodiment on the traveling machine body. Can be played.

  Similarly, in the second embodiment to the fourth embodiment, the present invention can be grasped as a work machine by arranging the configuration provided on the traveling machine body 10 side on the glazing machine 20 side. .

<Sixth Embodiment>
In the sixth embodiment, an example of a specific configuration of the glazing machine 20 exemplified as the offset working machine in the first to fifth embodiments will be described. FIG. 8 is a diagram illustrating an example of the overall configuration of the haze coater in the work system according to the sixth embodiment. The hull coater 20 includes a mounting portion 21 that is mounted on a link mechanism (for example, a three-point link mechanism) of the traveling machine body 10, a working portion 22 that performs a smearing operation, and an offset link that connects the mounting portion 21 and the working portion 22. The mechanism unit 23 is provided as a basic configuration.

  The mounting portion 21 includes lower link connecting portions 211a and 211b and a top link connecting portion 212, and a support member 213 on which the offset link mechanism portion 23 is mounted. The mounting portion 21 includes an input shaft (not shown) connected to the PTO shaft of the traveling machine body 10 via a transmission joint such as a universal joint. The power transmitted to the input shaft is offset link. A mechanism for transmitting to the transmission mechanism of the mechanism portion 23 is also provided in the support member 213. An auto hitch arm (not shown) may be attached to the lower link connecting portions 211a and 211b and the top link connecting portion 212, and the auto hitch arm and the link mechanism of the traveling machine body 10 may be connected. .

  One end of the offset link mechanism portion 23 is supported by the support member 213 of the mounting portion 21, and the other end is attached to the working portion 22, and includes a link member 231 and an offset frame 232.

  The link member 231 is a member having one end rotatably supported on the mounting portion 21 side and the other end rotatably supported on the working portion 22 side, and controls the position of the working portion 22.

  The offset frame 232 includes winding transmission means for transmitting power to the working unit 22 side, and includes transmission shafts 232a and 232b provided vertically, so that the offset frame 232 can rotate around the transmission shaft 232a. The working portion 22 is supported so as to be rotatable around the transmission shaft 232b.

  The offset frame 232 and the link member 231 are arranged in parallel, and these and the support member 223 form a parallel link mechanism. For this reason, the working direction of the working unit 22 does not change with respect to the swing of the offset link mechanism unit 23 in the offset angle θ direction, that is, the working unit 22 can be offset while maintaining the work surface with a dash.

  In the present embodiment, a parallel link mechanism is employed in order to facilitate control of the work position adjusting mechanism 24 and the work direction adjusting mechanism 25 configured by a hydraulic cylinder or a conductive cylinder. However, as an embodiment of the present invention, the work position adjusting mechanism 24 and the work direction adjusting mechanism 25 can be configured to be controlled independently. In the case of such an embodiment in which such a parallel link mechanism is not formed. However, the same control as described below is possible.

  The working unit 22 cuts a part of an old paddle and performs a filling work, and forms a new paddle by applying the soil piled forward by the preprocessing unit 221 to the cut old paddle. And a power transmission mechanism that distributes the power transmitted to the power transmission shaft 232b to the pre-processing unit 221 and the power control unit 222, which are mounted on a support case (not shown). Yes.

  Here, the pretreatment unit 221 can adopt a rotary tillage type pretreatment mechanism in which a rotary claw is mounted on a drive shaft, and a heaven treatment mechanism (heavens) that scrapes off the old cocoon heaven (upper surface) as necessary. A field processing rotor) may be added. The trimming unit 222 employs a heel repair body (also referred to as a trimming body) including a cylindrical upper surface repair body 222a for molding the upper surface of the heel and a conical side surface repair body 222b for molding the side surface of the heel. be able to.

  In addition, a position sensor 28 is provided as work position detection means for detecting the work position of the work unit 22. The position sensor 28 is arranged behind the upper surface restoration body 222a from a support case (not shown) via the attachment arm 282.

  Here, FIG. 9 shows an example of a method for controlling the work position of the work unit 22 by the position sensor 28. As shown in FIG. 9, the position sensor 28 incorporates a potentiometer 28a for detecting the rotational displacement of the rotating shaft, and one end of a sensor rod 28b is fixed to the rotating shaft. The sensor rod 28b is a rod-shaped member whose sensitivity can be adjusted by adjusting its length. A contact portion 28c is formed at the tip of the sensor rod 28b, and the contact portion 28c is urged so as to come into contact with the side surface of the new rod. Installed. Then, when the sensor rod 28b swings to the side a shown in FIG. 9 with respect to the reference position, it is detected that the working unit 22 has moved to the left in the traveling direction (the direction in which the working unit 22 moves away from the bag) with respect to the reference. When the sensor rod 28b swings to the b side, it is detected that the working unit 22 has moved to the right in the traveling direction (the direction in which the working unit 22 approaches the heel) with respect to the reference.

  In addition, an angle sensor 29 is provided as work direction detection means for detecting the work direction of the work unit 22. The angle sensor 29 does not detect a change in the direction of the working unit 22 relative to the offset link mechanism unit 23, but detects a change in the working direction with respect to the field scene of the working unit 22 alone. A sensor or the like can be employed. In the present embodiment, the angle sensor 29 is disposed around the transmission shaft 232 b (corresponding to the shaft portion 26 in FIG. 1) in the offset frame 232.

  By using the plastering machine 20 having the above configuration as an offset working machine in the working system of the present invention, it is possible to finely control the working position and working direction of the working unit 22 with respect to the brim 201. As a result, it is possible to easily control the working unit 22 when shifting to the automatic linear operation control mode.

<Seventh embodiment>
In the seventh embodiment, in the first to sixth embodiments, an offset working machine capable of working a lateral position with respect to the traveling position of the traveling machine body for facilitating the work at the corners of the field. The technology has been illustrated and described. However, the present invention is not limited to this, and can also be applied to a case where the direction of the traveling machine body is changed at the end of the field. For example, the present invention can also be applied when changing the direction of a working machine that can work on a farm field behind a traveling machine body, such as a rotary working machine or a plowing working machine.

  Taking a rotary work machine as an example, the distance between the traveling machine body and the end of the field in front is calculated by the method of any one of the first to fourth embodiments, and the work machine is It is possible to determine the timing of turning. That is, when the traveling machine body approaches the vicinity of the end of the field, it is possible to know that it is time to automatically turn the traveling machine body to change the work direction.

  In the case of this embodiment, the turn of the traveling machine body is mistakenly turned and the turning becomes insufficient, or conversely, it is too early and an unworked area (so-called headland) remains at the end of the field. Can reduce that. This effect is the same when applied to other working machines such as a scraping work machine.

  The present invention has been described above with reference to the drawings. However, the present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 100 ... Work system, 200 ... Agricultural field, 201 ... Saddle, 201a ... Trimming surface, 202 ... Corner, 10 ... Traveling machine body, 20 ... Offset work machine (spray coater), 11 ... Connection means, 12 ... Distance sensor, DESCRIPTION OF SYMBOLS 13 ... Notification means, 21 ... Mounting part, 22 ... Work part, 23 ... Offset link mechanism part, 24 ... Work position adjustment mechanism, 25 ... Work direction adjustment mechanism, 26 ... Shaft part, 27 ... Control means, 28 ... Position sensor , 29 ... Angle sensor

Claims (12)

A working unit capable of working the lateral position of the traveling machine body,
A normal work control mode in which the working unit is operated along the traveling of the traveling machine body while maintaining the working position and working direction of the working unit in a predetermined state, and the work associated with a change in the traveling direction of the traveling machine body An automatic rectilinear operation control mode for operating the working unit while maintaining the predetermined state by automatically adjusting a change in position and the work direction,
The said control means is a working machine which determines the switching timing to the said automatic rectilinear work control mode based on the distance from the said traveling machine body to the corner of a farm field.   2. The work implement according to claim 1, wherein, at the switching timing, the control unit causes an informing unit that informs an operator of arrival of the switching timing by sound, light, or vibration.   The work machine according to claim 1 or 2, wherein the control means performs switching from the normal work control mode to the automatic straight work control mode at the switching timing.   The said control means calculates the distance from the said traveling body to the corner | corner of a farm field based on the positional information on the said traveling body or the said working machine computed using GPS (global positioning system). 4. The working machine according to any one of 3.   The work machine according to any one of claims 1 to 3, wherein the control unit calculates a distance from the traveling machine body to a corner of a field based on an output from a distance sensor.   The work according to any one of claims 1 to 3, wherein the control means calculates a distance from the traveling machine body to a corner of a field based on an analysis result of an image obtained by photographing the front of the traveling machine body. Machine.   The control means compares the preset distance with the calculated distance from the traveling machine body to the corner of the field, and determines when the two coincide with each other as the switching timing. A working machine according to claim 1.   The work machine according to claim 7, wherein the control unit updates the preset distance according to a ground speed of the traveling machine body or the work machine. The control means has storage means for storing in advance a table in which the preset distance and the ground speed of the traveling machine body or the working machine are associated with each other.
The distance read from the storage means based on the acquired ground speed of the traveling machine or the working machine is compared with the calculated distance from the traveling machine to the corner of the field, and the switching is performed when they match. The work machine according to claim 7, wherein the work machine is determined as a timing.   The said control means uses the ground speed of the said traveling machine body or the said working machine in addition to the distance from the said traveling machine body to the corner of a field in determining the said switching timing. The working machine described in.   A work system comprising: a traveling machine body; and the work machine according to any one of claims 1 to 10, which is attached to the traveling machine body. The work system according to claim 11, wherein a distance from the traveling machine body to a corner of a field is calculated based on information input from the traveling machine body to the control unit.

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