JP2019004806A - Sensor system for agricultural machine - Google Patents

Abstract

To provide a sensor system for an agricultural machine that is suppressed in cost but can reliably acquire information from a sensor installed to an agricultural machine to be mounted to a tractor.SOLUTION: A sensor system for an agricultural machine used for an agricultural machine that is mounted to a tractor and performs a farm work includes: a control box provided to the agricultural machine; and a sensor 11 and a control part 10 inside the control box. The sensor 11 transmits information to the control part 10 via a digital signal. The sensor 11 and the control part 10 are provided on an identical substrate 20.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a farm machine sensor system, and more particularly, to a farm machine sensor system used as a sensor provided in a farm machine mounted on a tractor.

  A farm machine that is attached to a tractor and performs farm work can be equipped with a sensor to obtain information for informing the worker of the state of the farm machine and information for controlling actuators provided in the farm machine. it can.

  Patent Document 1 discloses a configuration in which a change in resistance caused by the rotation of a potentiometer is extracted as a voltage change, input to a control box, converted into a digital signal, and transmitted to a tilling depth display device wirelessly to light an LED. Have been described.

Japanese Unexamined Patent Publication No. 2017-23054

  FIG. 9 is a block diagram illustrating a connection relationship between a conventional sensor and a control unit. Here, the sensor 51 and the control unit 50 are installed on the side of the farm work machine to be mounted on the tractor, but these are installed at separate positions and connected by the wiring 52. Here, the information from the sensor 51 is output as an analog signal and sent to the control unit 50 via the wiring 52. The control unit 50 converts an analog signal into a digital signal, and uses the information to perform processing for display on the display unit 55 and processing for control of the output unit 56. Here, the output unit 56 is an actuator or the like.

  The reason why the output from the sensor 51 is an analog signal is that the analog signal is more resistant to noise than the digital signal. In particular, in an agricultural machine with a lot of vibration, an output using an analog signal is required in the case of wiring used for a certain distance.

  However, in the case of an analog signal, although it is strong against noise, it is necessary to convert the analog signal to a digital signal on the control unit 50 side. Furthermore, it is necessary to provide a mounting base for the sensor 51 and a waterproof structure. In addition, the analog output sensor 51 itself is often expensive. For this reason, as a whole, it takes time and effort to design, and the cost is high.

  In Patent Document 1, a potentiometer and a control box are provided separately and converted into digital signals by the control box. From this, the communication by an analog signal is performed between the potentiometer and the control box.

  In view of the above problems, an object of the present invention is to provide a farm machine sensor system having a configuration in which information from a sensor provided in a farm machine mounted on a tractor can be reliably acquired and cost is suppressed.

  In order to achieve the above object, one of the representative agricultural machine sensor systems of the present invention is a control system provided in the agricultural machine in the agricultural machine sensor system used in an agricultural machine that is attached to a tractor and performs agricultural work. The control box includes a sensor and a control unit, and information from the sensor is sent to the control unit by a digital signal.

Furthermore, one of the sensor systems for agricultural machinery according to the present invention is characterized in that the sensor and the control unit are provided on the same substrate.
Furthermore, one of the sensor systems for agricultural machinery according to the present invention is characterized in that the sensor is a multi-axis sensor capable of sensing in a plurality of axial directions.
Furthermore, one of the sensor systems for agricultural machinery according to the present invention is characterized in that the multi-axis sensor is a sensor capable of sensing in directions of three or more axes.

Furthermore, one of the sensor systems for agricultural machinery according to the present invention is characterized in that the multi-axis sensor is a sensor including at least one of an acceleration sensor, an angular velocity sensor, a tilt sensor, and a geomagnetic sensor.
Further, one of the agricultural machine sensor systems according to the present invention is characterized in that the control unit performs a process of detecting the inclination of the agricultural machine from information of the multi-axis sensor.

Further, one of the agricultural machinery sensor system of the present invention is provided with a display unit, a wireless module is provided in the control box, information from the control unit is wirelessly transmitted to the display unit through the wireless module, The display unit performs display based on transmitted information.
Further, in one of the agricultural machinery sensor systems according to the present invention, the control box is installed in a mounting portion for attaching the agricultural machinery to the tractor or a portion where the angle in the measurement direction does not change independently with respect to the mounting portion. It is characterized by.
One of the agricultural machine sensor systems according to the present invention is a agricultural machine sensor system used in an agricultural machine that is attached to a tractor and performs agricultural work, and includes a control box provided in the agricultural machine. , A sensor and a control unit, information from the sensor is sent to the control unit, and the sensor and the control unit are provided on the same substrate.

  ADVANTAGE OF THE INVENTION According to this invention, in the sensor system for agricultural machines, it can be set as the structure which can acquire reliably the information from the sensor with which the agricultural machine with which a tractor is mounted | worn, and suppressed cost.

It is a block diagram showing one embodiment of a sensor system for agricultural machines of the present invention. It is a rear view which shows the example of the agricultural machine applied with the sensor system for agricultural machines of Example 1. FIG. It is a side view which shows the example of the agricultural machine applied with the sensor system for agricultural machines of Example 1. FIG. It is a block diagram which shows the structural example of the control box used with the sensor system for agricultural machines of Example 1. FIG. It is a figure which shows the example of the detection direction by the multi-axis sensor used with the sensor system for agricultural machines of Example 1. FIG. It is a rear view which shows the example of the agricultural machine applied with the sensor system for agricultural machines of Example 2. FIG. It is a side view which shows the example of the agricultural machine applied with the sensor system for agricultural machines of Example 2. FIG. It is a figure which shows the example of the detection direction by the multi-axis sensor used with the sensor system for agricultural machines of Example 2. FIG. It is a block diagram which shows the connection relation of the sensor and control part in the past.

  A mode for carrying out the present invention will be described.

  FIG. 1 is a block diagram showing an embodiment of a sensor system for agricultural machinery according to the present invention. The agricultural machine sensor system includes a control unit 10 and a sensor 11 in an agricultural machine that is attached to a tractor and performs agricultural work. The control unit 10 and the sensor 11 are connected by a connection line 12. The control unit 10 and the sensor 11 are formed on the same substrate 20, and the connection line 12 is also formed by the substrate 20. Further, the display unit 15 and the output unit 16 are provided as necessary, and the display unit 15 is displayed under the control of the control unit 10, and the output unit 16 is controlled under the control of the control unit 10.

  The sensor 11 is a sensor installed on the agricultural machine side, and various types of sensors are applied according to the necessity of the agricultural machine. The sensor 11 is, for example, an acceleration sensor, an angular velocity sensor, a tilt sensor, a geomagnetic sensor, a rotation sensor, a potentiometer, a limit switch, or the like. Here, the sensor 11 is a sensor that outputs a digital signal.

  The control unit 10 performs arithmetic processing for displaying information on the display unit 15 and arithmetic processing for controlling the output unit 16. In this case, the control unit 10 performs processing using information obtained from the sensor 11 as necessary. Furthermore, the control unit 10 may perform the above processing using information from an operation unit (not shown). Moreover, the control part 10 may have a memory | storage part which memorize | stores the data required for control as needed. The control unit 10 is configured by an electronic device such as a CPU and a memory necessary for control and calculation.

  The sensor 11 and the control unit 10 are connected by a connection line 12. Information from the sensor 11 is sent as a digital signal, and the control unit 10 receives the digital signal. Then, the control unit 10 performs necessary arithmetic processing using the digital signal from the sensor 11. The sensor 11 and the control unit 10 are installed on the same substrate 20. For this reason, unlike the conventional configuration in which wiring is connected at a distant position, communication using an analog signal is not required. Moreover, the sensor 11 and the control part 10 can be stored and comprised in the same control box. Here, a printed circuit board can be applied as the substrate 20. The printed circuit board is one in which printed wiring is formed on an insulating substrate. In this case, the connection line 12 can be formed by printed wiring.

  The display unit 15 displays the state of the farm work machine calculated by the control unit 10 with lamps, characters, numbers, pictures (drawings), and the like. The display unit 15 can employ various display means such as an LED lamp, 7-segment (7-segment), liquid crystal, organic EL, and touch panel display. Moreover, a means by sound or voice may be included. The display unit 15 is preferably configured to be able to communicate with the control unit 10 remotely so that it can be disposed in the vicinity of the driver seat of the tractor. The display unit 15 and the control unit 10 may be connected by wire or may exchange information by wireless communication.

  The output unit 16 includes an actuator installed on the farm machine side and a display device installed on the farm machine side. Various actuators can be applied as the actuator according to the purpose, such as a hydraulic cylinder, an electric hydraulic cylinder, a motor, and the like. Various display devices can be applied as the display device according to the purpose. For example, display is performed on the agricultural machine side by an LED lamp, 7-segment, or the like. These output units 16 are controlled by the control unit 10.

  In addition, you may provide the operation part which can exchange information remotely with the control part 10 by radio | wireless or wired as needed. The operator can set and operate the output unit 16 by operating the operation unit. If the control unit 10 receives a signal from the operation unit as a digital signal, the control unit 10 can perform the processing using the digital signal as it is.

  FIG. 2 is a rear view illustrating an example of an agricultural machine applied in the agricultural machine sensor system according to the first embodiment. FIG. 3 is a side view illustrating an example of an agricultural machine applied in the agricultural machine sensor system according to the first embodiment. The farm work machine here is the plucking work machine 100. Hereinafter, the traveling direction of the scraping work machine 100 is described as the forward direction, and the direction orthogonal to the traveling direction is described as the lateral direction (left-right direction). The horizontal direction in FIG. 2 is the horizontal direction, and the left side in FIG. 3 is the traveling direction.

  The scraping work machine 100 is configured to be able to fold side working parts 105 provided on both sides of the central working part 104. The scraper working machine 100 mounts a mast 121 and a left and right hitch 122, which are mounting units, provided on the front side of the central working unit 104 to the rear part of the tractor. The scraper work machine 100 is provided on the lower side of the transmission case 131 through the transmission mechanism in the transmission case 131, the left frame pipe 132, and the chain case 133 by inputting the power from the tractor to the input shaft 101. Is transmitted to the scraper 108 on the lower side of the cover 102. The scraping unit 108 performs a scraping operation by rotating by the transmitted power of the scraping shaft 108a to which a plurality of scraping claws 108b (simply shown in FIG. 3 is only one) is attached. A first leveling body 103 is provided behind the cover 102 so as to be rotatable in the vertical direction with respect to the cover 102. Further, a second leveling body 115 is provided behind the first leveling body 103 so as to be rotatable in the vertical direction with respect to the first leveling body 103. With these configurations, the scraping work machine 100 can perform the work of leveling the surface.

  As the cylinder expands and contracts, the electro-hydraulic cylinder 106 can act on the rotation mechanism 107 to fold the side working portion 105 inward, thereby shortening the overall width of the scraping work machine 100. The extended leveling body driving device 110 rotates the extended leveling body 111 provided at both ends via the arm 112 and the wire 113 around the rotation shaft 111a as the internal motor rotates, thereby extending the extended leveling body 111. Can be selected to extend outward or fold inward. As the internal motor rotates, the second leveling body driving device 116 rotates the second leveling body 115 via the second leveling body link means 117 and is fixed in the earthing state. It is possible to select whether to make a normal scratching state where the rotation is not fixed. The second leveling body driving device 116 may be provided integrally with the control box 150.

  The mast 121 is attached to the upper part of the mission case 131. The mast 121 includes a mounting portion 121a provided at the front upper end, and the upper portion of the connecting portion on the tractor side is connected thereto. The mast 121 includes a frame part 121b formed of a plate-like member or the like, and the frame part 121b is formed between the attachment part 121a and the transmission case 131.

  The left and right hitches 122 are respectively attached to a left frame pipe 132 connected to the left and right of the mission case 131 and a mounting plate 136 formed forward from the right frame pipe 135. The front end of the hitch 122 is provided with a mounting portion 122a, to which the left and right lower portions of the connecting portion on the tractor side are connected. The hitch 122 includes a frame portion 122b formed of a plate-like member or the like, and a frame portion 122b is formed between the mounting portion 122a and the mounting plate 136.

  The control box 150 is attached to the mast 121. Specifically, the control box 150 is attached along the lateral side surface of the frame portion 121b of the mast 121 in parallel with the side surface. That is, the control box 150 is attached along a plane orthogonal to the lateral direction. 2 and 3, an example in which the control box 150 is provided on the left side of the mast 121 is shown. The configuration in the control box 150 will be described with reference to FIG.

  FIG. 4 is a block diagram illustrating a configuration example of a control box used in the agricultural machine sensor system according to the first embodiment. FIG. 4 is a diagram showing the inside of the control box 150.

  The control box 150 is formed in a box shape whose outside is covered with a wall surface made of a material such as resin or aluminum. Inside, the wireless module 151, the multi-axis sensor module 152, and the control unit 155 are placed on the same substrate 160. Is provided. Here, the substrate 160 corresponds to the substrate 20 of FIG.

  The wireless module 151 is a module that can transmit and receive information to and from the outside wirelessly. It is connected to the control unit 155 and can transmit the contents processed by the control unit 155 or receive an operation signal from the outside. The wireless module 151 is a module that supports standards such as the 920 MHz band, the 2.4 GHz band, and Bluetooth (registered trademark). The wireless module 151 is preferably arranged at a high position in the control box 150, thereby improving the sensitivity of radio wave transmission / reception. Two or more wireless modules 151 can be provided. In this case, the versatility of communication can be improved by supporting a plurality of wireless modules 151 with different standards.

  The multi-axis sensor module 152 corresponds to the sensor 11 of FIG. The multi-axis sensor module 152 is a module including a multi-axis sensor. The multi-axis sensor is a sensor capable of sensing in a plurality of axial directions, for example, 2 axes or more, 3 axes or more, 4 axes or more, 5 axes or more, 6 axes or more, and the like. A 6-axis sensor or the like is applied. The multi-axis sensor is, for example, an acceleration sensor, an angular velocity sensor, a tilt sensor, a geomagnetic sensor, or the like, and may be a sensor using these in combination. The angular velocity sensor includes a gyro sensor.

  By using the multi-axis sensor module 152, it is possible to detect the vertical tilt angle in the lateral direction of the scraping work machine 100 and the tilt angle in the front-rear direction of the scraping work machine 100. Here, the vertical inclination angle in the horizontal direction is an inclination angle when the longitudinal direction of the scraping work machine 100 is the central axis direction. The tilt angle in the front-rear direction is the tilt angle when the horizontal direction of the scraping work machine 100 is the central axis direction. If the multi-axis sensor module 152 is an inclination sensor, a method such as a magnetic method, an optical method, or a mechanical method is applied, and the inclination angle of the scraping work machine 100 is detected by detecting the inclination with respect to gravity. In the case of an angular velocity sensor, the angle is calculated from the change in angular velocity and the inclination angle of the scraping work machine 100 is detected. Moreover, if it is an acceleration sensor, an angle is calculated from the acceleration with respect to an angle, and the inclination angle of the scraping work machine 100 is detected.

  The control box 150 including the multi-axis sensor module 152 is independent of the mounting portion (mast 121, hitch 122) or the mounting portion to be mounted on the tractor during farm work in order to measure the inclination angle of the scraping work machine 100. Therefore, it is desirable to install in the part where the angle of the measurement direction does not change. By attaching the control box 150 to the mast 121 as described above, the tilt angle of the scraping work machine 100 can be accurately measured. Further, the control box 150 may be provided in the hitch 122 (particularly the frame portion 122b). In addition to this, as a part to which the control box 150 including the multi-axis sensor module 152 is attached, for example, on the cover 102 of the central working unit 104, the transmission case 131, the left frame pipe 132, the right frame pipe 135, the left and right attachments A plate 136, a chain case 133, and the like. These are portions where the angle does not change independently of the mounting portion.

  The output unit 170 corresponds to the output unit 16 of FIG. 1, and here, the electrohydraulic cylinder 106, the extended leveling body driving device 110 (the motor thereof), the second leveling body driving device 116 (the motor thereof) and the like correspond thereto. .

  The control unit 155 corresponds to the control unit 10 in FIG. Here, the control unit 155 can detect the inclination angle of the scraping work machine 100 based on information from the multi-axis sensor module 152. Further, based on information from the multi-axis sensor module 152, it can be detected whether the scraping work machine 100 is in a working state or a non-working state. Here, the working state is a state in which the scraping work machine 100 is lowered to work near the ground surface, and the non-working state is a state in which the scraping work machine 100 is lifted by a predetermined amount or more and not moved. These can be performed by detecting the tilt angle in the front-rear direction.

  Information processed by the control unit 155 based on information from the multi-axis sensor module 152 is wirelessly transmitted from the wireless module 151 to the display unit 15 shown in FIG. And the display part 15 displays the state of the scraping work machine 100 based on the information by the received digital signal. For example, the display includes a front-rear direction tilt angle, a horizontal direction up-down tilt angle, and whether or not a work state is set.

  The control unit 155 may acquire information for determining the reference angle via the wireless module 151, and may determine the angle detected from the multi-axis sensor module 152 at that time as the reference angle. In this case, the control unit 155 performs processing for calculating a difference between the angle detected based on information from the multi-axis sensor module 152 and the determined reference angle, and transmits the difference to the display unit 15. The display unit 15 displays information based on the current angle difference with respect to the reference angle. The information for determining the reference angle in this case includes information for determining the reference angle when the control unit 155 receives an operation signal of the switch, for example, by providing a switch for determining the reference angle on the display unit 15. To do.

  Further, the control unit 155 may acquire an operation signal from the operation unit via the wireless module 151 and may control the output unit 170 based on the operation signal. At this time, the control unit 155 may use information from the multi-axis sensor module 152.

  Here, the controller 155 and the multi-axis sensor module 152 are provided on the same substrate 160, and information can be exchanged between them by digital signals. The control unit 155 can also output information as a digital signal to the output unit 170. Further, the control unit 155 can input / output information to / from the wireless module 151 using a digital signal. As described above, by configuring the configuration including the control unit 155 and the multi-axis sensor module 152 on the same substrate 160, it is not necessary to perform analog conversion. For this reason, while being able to hold down cost, it is not necessary to provide the structure for attachment with a sensor alone.

  Here, the surface of the substrate 160 is installed along the lateral side surface of the frame portion 121b of the mast 121 shown in FIGS. That is, the side surface of the frame part 121b of the mast 121 and the surface of the substrate 160 are installed in parallel, and the substrate 160 is installed along a plane orthogonal to the lateral direction.

  FIG. 5 is a diagram illustrating an example of detection directions by a multi-axis sensor used in the agricultural machine sensor system according to the first embodiment. As described above, since the multi-axis sensor module 152 is installed on the substrate 160, the direction of the angle and the angular velocity detected by the multi-axis sensor module 152 varies depending on the mounting direction of the substrate 160.

  In the first embodiment, the substrate 160 is attached to a plane orthogonal to the horizontal direction, and the multi-axis sensor module 152 is also attached on the same plane. Here, the case where the multi-axis sensor module 152 is a three-axis gyro sensor capable of detection in the three-axis directions of the X-axis, the Y-axis, and the Z-axis will be described. In FIG. 5, the direction away from the surface of the substrate 160 is the Z direction, the front side is the X direction, and the upper side is the Y direction. In this case, the vertical tilt angle in the horizontal direction of the scraping work machine 100 can be measured by detecting the angle around the X axis. Further, the inclination angle in the front-rear direction of the scraping work machine 100 can be measured by detecting the angle around the Z axis. Therefore, in this case, by using a two-axis multi-axis sensor capable of measuring the angles around the X axis and the Z axis, the inclination angle in the lateral direction and the front-rear direction of the scraping work machine 100 can be detected.

  Here, a case where the substrate 160 rotates along the surface of the substrate 160 in the direction of an arrow A in FIG. 5 will be described. In this case, the direction of the Z axis does not change, and the X axis and the Y axis rotate in the A direction around the Z axis. For this reason, the inclination angle in the front-rear direction of the scraping work machine 100 can be measured by detecting the angle around the Z axis. On the other hand, since the vertical tilt angle in the horizontal direction of the scraping work machine 100 does not coincide with the angle around the X axis, it cannot be directly detected. In this case, in addition to the angle around the X-axis, the angle around the Y-axis is also detected, and the vertical tilt angle in the horizontal direction of the scraping work machine 100 is calculated from these angles by the control unit 155, so that the accurate tilt can be obtained. An angle can be detected. Further, the same applies to the case where the substrate 160 is tilted in directions other than the A direction, and the tilt angle of the scraping work machine 100 can be calculated by using angles around a plurality of axes.

  Thus, by using the triaxial gyro sensor, the inclination angle of the scraping work machine 100 can be accurately detected even when the mounting angle of the substrate 160 is different. These can be measured not only with a gyro sensor but also with an acceleration sensor, a tilt sensor, a geomagnetic sensor, and the like, so that an accurate angle can be measured by sensing in three or more axial directions. Moreover, these can be similarly applied to detection of speed, distance, etc. other than the angle.

  FIG. 6 is a rear view illustrating an example of an agricultural machine applied in the agricultural machine sensor system according to the second embodiment. FIG. 7 is a side view illustrating an example of an agricultural machine applied in the agricultural machine sensor system according to the second embodiment. In the second embodiment, points different from the first embodiment will be mainly described, the same portions are denoted by the same reference numerals, and the same description is omitted for portions not specifically described.

  The farm work machine here is a rotary work machine 200. Hereinafter, the traveling direction of the rotary working machine 200 is described as the forward direction, and the direction orthogonal to the traveling direction is described as the lateral direction (left-right direction). The horizontal direction in FIG. 6 is the horizontal direction, and the left side in FIG. 7 is the traveling direction.

  The rotary working machine 200 mounts a mast 221 and left and right hitches 222, which are mounting portions provided on the front side, on the rear portion of the tractor. The rotary working machine 200 is provided on the lower side of the transmission case 231 through the transmission mechanism in the transmission case 231, the left frame pipe 232, and the chain case 233 by inputting power from the tractor to the input shaft 201. This is transmitted to the cultivator 208 below the cultivator cover 202. The cultivating unit 208 performs the cultivating work by rotating the cultivating shaft 208a to which a plurality of cultivating claws 208b (only one illustrated in FIG. 7 is simply illustrated) is attached to the transmitted power. At this time, the leveling body 203 is attached to the rear side of the tillage part cover 202 so as to be rotatable in the vertical direction with respect to the tillage part cover 202. With these configurations, the soil cultivated by the tillage unit 208 can be leveled. Further, extended leveling bodies 211 are provided on both sides of the leveling body 203, and can be rotated about the rotation center 211a to be in an extended state or a retracted state.

  The mast 221 is attached to the upper side of the mission case 231. The left and right hitches 222 are respectively attached to a left frame pipe 232 on the left side of the mission case 231 and a mounting plate 236 formed forward from the right frame pipe 235 on the right side.

  The control box 250 is provided along the upper surface of the tillage unit cover 202. The control box 250 is formed in a box shape whose outside is covered with a wall surface made of a material such as resin or aluminum. The inside is the same as the control box 150 (FIG. 4) of the first embodiment, and the wireless module 151, the multi-axis sensor module 152, and the control unit 155 are provided on the same substrate 160. Here, the surface of the substrate 160 inside the control box 250 is provided substantially parallel to the upper surface of the tillage unit cover 202. The position of the control box 250 is provided in the vicinity of the mission case 231 and near the lower side of the left frame pipe 232 (between the mission case 231 and the mounting plate 236).

  The control unit 155 in the control box 250 can detect the tilt angle of the rotary working machine 200 based on information from the multi-axis sensor module 152. Further, based on the information from the multi-axis sensor module 152, it can be detected whether the rotary working machine 200 is in a working state or a non-working state from the tilt angle in the front-rear direction. Information processed by the control unit 155 based on information from the multi-axis sensor module 152 is transmitted wirelessly from the wireless module 151 to the display unit 15 shown in FIG. And the display part 15 displays the state of the rotary working machine 200 based on the information by the received digital signal. For example, the display includes a front-rear direction tilt angle, a horizontal direction up-down tilt angle, and whether or not a work state is set. Further, the determination of the reference angle and the processing based on it in the control unit 155 are the same as in the first embodiment.

  In addition, the control box 250 including the multi-axis sensor module 152 is desirably installed at a portion where the angle in the measurement direction does not change independently with respect to the mounting portion (mast 221 and hitch 222) or the mounting portion. By installing the control box 250 on the tillage unit cover 202 as described above, the angle of the rotary working machine 200 can be accurately measured without changing the angle independently of the mounting unit. Other parts to which the control box 250 is attached include, for example, a mounting portion such as a mast 221 and a hitch 222 that are mounting portions, and a transmission case 231, a left frame pipe 232, a chain case 233, a right frame pipe 235, and the like. In contrast, the angle does not change independently.

  In the rotary working machine 200, the output unit 170 is provided as necessary, and the control unit 155 controls the output unit 170 based on an operation signal from the operation unit obtained via the wireless module 151. Processing may be performed. At this time, information of the multi-axis sensor module 152 may be used for control.

  FIG. 8 is a diagram illustrating an example of detection directions by a multi-axis sensor used in the agricultural machine sensor system according to the second embodiment.

  In the second embodiment, when the top surface of the tillage unit cover 202 is horizontal, the substrate 160 is attached to a horizontal plane perpendicular to the vertical direction, and the multi-axis sensor module 152 is also attached on the same plane. Here, the case where the multi-axis sensor module 152 is a three-axis gyro sensor will be described. Here, a direction away from the surface of the substrate 160 is a Z direction, a front side is an X direction, and a lateral side is a Y direction. In this case, the vertical tilt angle in the horizontal direction of the rotary working machine 200 can be measured by detecting the angle around the X axis. Further, the tilt angle in the front-rear direction of the rotary working machine 200 can be measured by detecting the angle around the Y axis. For this reason, in this case, by using a biaxial sensor capable of measuring the angles around the X axis and the Y axis, the tilt angle of the rotary working machine 200 in the lateral direction and the front-rear direction can be detected.

  Here, the case where the board | substrate 160 inclines in the direction of the arrow of B of FIG. 8 because the tilling part cover 202 inclines is demonstrated. In this case, the direction of the Y axis does not change, and the X axis and the Z axis rotate in the B direction around the Y axis. At this time, the tilt angle in the front-rear direction of the rotary working machine 200 can be measured by detecting the angle around the Y axis. On the other hand, the vertical tilt angle in the horizontal direction of the rotary working machine 200 does not coincide with the angle around the X axis, and thus cannot be directly detected. In this case, in addition to the angle around the X-axis, the angle around the Z-axis is also detected, and the tilt angle in the front-rear direction of the rotary working machine 200 is calculated from these angles by the control unit 155, so that an accurate tilt angle can be obtained. It becomes possible to detect. This is the same when the substrate 160 is tilted in directions other than the B direction, and the tilt angle of the rotary working machine 200 can be calculated by using angles around a plurality of axes.

  As described above, by using the three-axis gyro sensor, the tilt angle of the rotary working machine 200 can be accurately detected even when the mounting angle of the substrate 160 is different. These can be measured not only with a gyro sensor but also with an acceleration sensor, a tilt sensor, a geomagnetic sensor, and the like, so that an accurate angle can be measured by sensing in three or more axial directions. Moreover, these can be similarly applied to detection of speed, distance, etc. other than the angle.

  As described above, the embodiments of the present invention have been described, but the present invention is not limited to the above-described examples, and includes various modifications. For example, the present invention is not limited to the one having all the configurations provided in the above-described embodiments. It is also possible to delete a part of the configuration of a certain embodiment, replace it with the configuration of another embodiment, or add the configuration of another embodiment to the configuration of a certain embodiment.

  For example, it has been described that the control unit 10 and the sensor 11 are installed on the same substrate 20. As a result, it is possible to use a digital signal without converting it to an analog signal, and to reduce the cost. However, if they are configured in the same control box, even if the substrates are not the same, they are very close distances, and can be configured without being converted into analog signals. Moreover, as long as it is on the same board | substrate 20, it can also be set as the structure which exchanges between the control part 10 and the sensor 11 with an analog signal even if it is not a digital signal. In this case, the cost can be reduced because the same substrate is used.

  In the above-described embodiment, examples of the scraping work machine and the rotary work machine are shown as examples of the farm work machine. However, the present invention is not limited thereto, and any farm work machine that is attached to a tractor and uses a sensor may be applied. can do. For example, a wrinkle coater.

DESCRIPTION OF SYMBOLS 10 Control part 11 Sensor 15 Display part 16 Output part 20 Board | substrate 100 Pitching work machine 106 Electric hydraulic cylinder 108 Pitching part 110 Extended leveling body drive apparatus 116 2nd leveling body drive apparatus 121 Mast 150 Control box 151 Wireless module 152 Multi-axis sensor Module 155 Control unit 160 Substrate 170 Output unit 200 Rotary work machine 202 Tillage unit cover 250 Control box

Claims (9)

In the agricultural machine sensor system used for agricultural machines that are attached to tractors and perform agricultural work,
Comprising a control box provided in the agricultural machine;
The control box includes a sensor and a control unit,
The information from the said sensor is sent to the said control part with a digital signal, The sensor system for agricultural machines characterized by the above-mentioned. The sensor system for agricultural machinery according to claim 1,
The sensor system for agricultural machinery, wherein the sensor and the control unit are provided on the same substrate. In the sensor system for agricultural machines according to claim 1 or 2,
The sensor system for agricultural machinery, wherein the sensor is a multi-axis sensor capable of sensing in a plurality of axial directions. In the agricultural machine sensor system according to claim 3,
The multi-axis sensor is a sensor for agricultural machinery, which is capable of sensing in directions of three or more axes. In the agricultural machinery sensor system according to claim 3 or 4,
The multi-axis sensor is a sensor system for agricultural machinery, comprising at least one of an acceleration sensor, an angular velocity sensor, a tilt sensor, and a geomagnetic sensor. In the sensor system for agricultural machines according to any one of claims 3 to 5,
The said control part performs the process which detects the inclination of the said agricultural machine from the information of the said multi-axis sensor, The sensor system for agricultural machines characterized by the above-mentioned. In the agricultural machinery sensor system according to any one of claims 1 to 6,
A display unit, a wireless module in the control box, information from the control unit is wirelessly transmitted to the display unit via the wireless module, and the display unit performs display based on the transmitted information A sensor system for agricultural machines. In the sensor system for agricultural machines according to any one of claims 1 to 7,
The sensor system for agricultural machinery, wherein the control box is installed in a mounting portion for attaching the agricultural machinery to the tractor or a portion where the angle in the measurement direction does not change independently with respect to the mounting portion. In the agricultural machine sensor system used for agricultural machines that are attached to tractors and perform agricultural work,
Comprising a control box provided in the agricultural machine;
The control box includes a sensor and a control unit,
Information from the sensor is sent to the control unit, and the sensor and the control unit are provided on the same substrate.

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