JP2021016334A - Pawl monitoring system for agricultural implement - Google Patents

Abstract

To provide a pawl monitoring system for an agricultural implement, capable of accurately monitoring the state of pawls which an agricultural implement mounted on a tractor includes, and outputting the information.SOLUTION: A pawl monitoring system for an agricultural implement, applied to an agricultural implement 2 mounted on a tractor 1 and performing agricultural work by rotating pawls includes a calculation part 21 capable of acquiring a torque value related to the rotation power of the pawls of the agricultural implement 2. The calculation part 21 determines a state of the pawls from the acquired torque value, and outputs information of the state determination in accordance with the result. Furthermore, the calculation part 21 calculates an initial value from a torque value measured at first, calculates a current value from a current torque value, calculates a limit value smaller than the initial value by using a coefficient predetermined onto the initial value, and outputs information of the state determination of the pawls when the current value is equal to or less than the limit value or the current value is lower than the limit value.SELECTED DRAWING: Figure 1

Description

The present invention relates to a claw monitoring system for agricultural work machines, and more particularly to a claw monitoring system for agricultural work machines that monitors the state of claws of an agricultural work machine attached to a tractor.

Agricultural work machines attached to tractors often have claws on rotating shafts and the like. Then, by rotating the shaft, the claws also rotate and the farm work is performed while being in contact with the soil in the field. At this time, as the work is performed, the nails wear due to friction with the soil. If it wears more than a certain amount, it will have an adverse effect on farm work, so the nails will be replaced. In this case, in most cases, the limit of use of nails is determined based on the experience and intuition of workers and the like based on the appearance of worn nails and the condition of the field after work. In addition to wear, the nail may fall off or be damaged.

Further, Patent Document 1 describes a configuration in which a concave line groove is formed on a tillage claw as a claw wear limit display portion by a press, a punch or the like, and the degree of wear can be confirmed by this.

Jitsukaisho 53-77805

However, when judging the usage limit for the worn state of the nail based on human experience and intuition, there are cases where it is not possible to make an accurate judgment because it varies from person to person. There is also the possibility of overlooking signs of worn nails, if one decides. In addition, there is a good chance that you will not notice if your nails fall off or break.

Further, in the cultivated claw described in Patent Document 1, it is necessary to confirm the indication on the cultivated claw for the degree of wear. Soil is often attached to the cultivated claws, and it is necessary to carefully remove the soil from the cultivated claws in order to perform this confirmation work. Therefore, it is expected that there is a high possibility of oversight or forgetting to confirm, especially in the busy season.

In view of the above problems, an object of the present invention is to provide a claw monitoring system for agricultural work machines capable of accurately monitoring the state of the claws of the agricultural work machine attached to the tractor and outputting the information.

In order to achieve the above object, one of the representative claw monitoring systems for agricultural work machines of the present invention is a claw monitoring system for agricultural work machines which is attached to a tractor and is applied to an agricultural work machine for performing agricultural work by rotating the claws. A calculation unit capable of acquiring a torque value related to the rotational power of the claw of the agricultural work machine is provided, and the calculation unit determines the state of the claw from the acquired torque value and outputs the state determination information according to the result. It is characterized by that.
Further, in one of the claw monitoring systems for agricultural work machines of the present invention, the calculation unit calculates an initial value from the torque value first measured, calculates the current value from the current torque value, and presets the initial value. A limit value smaller than the initial value is calculated using the coefficient, and information for determining the state of the nail is output when the current value is equal to or less than the limit value or when the current value is less than the limit value. It is characterized by doing.

Further, one of the claw monitoring systems for agricultural work machines of the present invention is characterized in that the current value is calculated by correcting the current torque value according to the current working conditions.
Further, one of the claw monitoring systems for agricultural work machines of the present invention is characterized in that the initial value is calculated by correcting the torque value at the time of the first measurement according to the working conditions at that time.
Further, one of the claw monitoring systems for agricultural work machines of the present invention is characterized in that the working conditions include at least one of the working depth of the agricultural work machine, the hardness and softness of the working soil, and the traction resistance of the tractor. To do.

Further, in one of the claw monitoring systems for agricultural work machines of the present invention, the calculation unit calculates and outputs the wear progress calculated according to how much the current value is reduced with respect to the initial value. It is characterized by that.
Further, in one of the claw monitoring systems for agricultural work machines of the present invention, the calculation unit calculates and outputs the claw residual ratio calculated according to how close the current value is to the limit value. It is a feature.
Further, in one of the claw monitoring systems for agricultural work machines of the present invention, the calculation unit integrates the working time of the agricultural work machine to calculate the claw usage time, and the usage time, the initial value, and the like. It is characterized in that the usable time of the nail is calculated and output using the current value and the limit value.

Further, one of the claw monitoring systems for agricultural work machines of the present invention includes a display unit capable of communicating with the calculation unit and displaying based on the information output from the calculation unit, and outputs the state determination information. If so, the display unit is characterized in that it displays information about the nail based on the information.
Further, one of the claw monitoring systems for agricultural work machines of the present invention is provided with an operation unit capable of communicating with the calculation unit, and the operation unit can be reset.
Further, in one of the claw monitoring systems for agricultural work machines of the present invention, the display unit and the operation unit are integrally configured as a display operation unit including a display screen composed of a touch panel, and the display operation unit is integrally configured. It is characterized in that it can communicate with the arithmetic unit via wireless communication.
Further, in one of the claw monitoring systems for agricultural work machines of the present invention, the claws of the agricultural work machine are rotated by using the power of the PTO of the tractor, and the calculation unit uses the torque value related to the rotational power of the claws from the tractor. It is characterized in that the data of the output PTO torque value is acquired.

According to the present invention, in a claw monitoring system for an agricultural work machine that monitors the state of the claws of an agricultural work machine attached to a tractor, the state of the claws can be accurately monitored and the information can be output.
Issues, configurations and effects other than those described above will be clarified by the following description of the embodiments.

It is a block diagram which shows one Embodiment of the claw monitoring system for agricultural work machines of this invention. It is a top view which shows one Embodiment of the claw monitoring system for agricultural work machines of this invention. It is a top view which shows the example of the agricultural work machine applicable to the claw monitoring system for agricultural work machine of this invention. It is a side view which shows the example of the agricultural work machine applicable to the claw monitoring system for agricultural work machine of this invention. It is a flowchart which shows the example of the initial setting of the claw monitoring system for agricultural work machine of this invention. It is a flowchart which shows the 1st example of the wear determination of the claw monitoring system for agricultural work machines of this invention. It is a flowchart which shows the 2nd example of the wear determination of the claw monitoring system for agricultural work machines of this invention. It is a flowchart which shows the 3rd example of the wear determination of the claw monitoring system for agricultural work machines of this invention. It is a 1st flowchart which shows 4th example of the wear determination of the claw monitoring system for agricultural work machines of this invention. It is a 2nd flowchart which shows 4th example of the wear determination of the claw monitoring system for agricultural work machines of this invention. It is a figure which shows the example of the display part and the operation part in the claw monitoring system for agricultural work machines of this invention.

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

FIG. 1 is a block diagram showing an embodiment of the claw monitoring system for agricultural work machines of the present invention.

In the embodiment of FIG. 1, as a claw monitoring system for agricultural work machines, a calculation unit 21, a recording unit 22, a control unit 23, and an input / output unit 24 are provided. These can be provided in the control box 20. The control box 20 can be covered with a case to have a dustproof / waterproof function. Further, in the embodiment of FIG. 1, a display unit 31 and an operation unit 32 are provided. Further, a configuration in which information is output from the tractor control unit 11 provided in the tractor 1 can be used. Further, the work equipment sensor unit 26 may be provided.

Here, the control box 20 and the work machine sensor unit 26 are provided on the farm work machine 2 side to be mounted on the tractor 1. Further, the display unit 31 has a configuration that can be remotely displayed based on the information from the control box 20. The operation unit 32 has a configuration capable of remotely transmitting operation information to the control box 20. Therefore, the display unit 31 and the operation unit 32 can be arranged near the driver's seat of the tractor 1. Further, the display unit 31 and the operation unit 32 can be integrally configured.

The agricultural work machine 2 attached to the tractor 1 is provided with claws, which are in contact with the soil of the field for performing agricultural work. In particular, the claws provided on the shaft or the like are rotated by using the rotational power of the tractor 1 such as the PTO (Power take-off) to perform agricultural work. The claws are, for example, tillage claws and shaving claws.

The tractor control unit 11 performs processing for controlling the tractor 1 side, and a tractor 1 provided in advance can be used. Then, the information about the tractor can be output from the tractor control unit 11 and used for the processing of the calculation unit 21 of the control box 20. The information output from the tractor 1 is, for example, the PTO torque value of the tractor 1, the PTO rotation speed, the position (angle) of the lower link, the slip ratio, the vehicle speed, the position information, and the like. For example, in the case of the lower link position, a signal at the upper and lower positions of the lower link (for example, a signal indicating a percentage when the highest is 100% and the lowest is 0%) is output.

The calculation unit 21 acquires information from the tractor control unit 11 and the work equipment sensor unit 26, and performs processing for calculating the state of the claws. Further, the calculation unit 21 can receive information on the operation by the operation unit 32 and use it for processing. In addition, the calculation unit 21 can also perform necessary processing for display on the display unit 31. The calculation unit 21 is composed of an electronic device or the like necessary for calculation or the like of a CPU or the like. It also has a timer and the like as needed.

The recording unit 22 can record information such as information calculated by the calculation unit 21, information from the work machine sensor unit 26, display information of the display unit 31, and operation information of the operation unit 32. It consists of the devices required for this purpose.

The control unit 23 controls operations for the calculation unit 21, controls input / output of information to the calculation unit 21 and the recording unit 22, controls input of information from the work equipment sensor unit 26, and controls output of information to the display unit 31. Input control of operation information from the operation unit 32 and the like are performed. The control unit 23 is composed of electronic devices and the like necessary for controlling the CPU and the like. The calculation unit 21 and the control unit 23 can be integrally configured as a processing unit.

The input / output unit 24 inputs / outputs information to / from the tractor control unit 11, the work equipment sensor unit 26, the display unit 31, and the operation unit 32. FIG. 1 shows an example in which the input / output unit 24 is wiredly connected to the tractor control unit 11, the work equipment sensor unit 26, the display unit 31, and the operation unit 32, respectively. On the other hand, the display unit 31 and the operation unit 32 may be configured to exchange information with the control box 20 by wireless communication. In this case, the input / output unit 24 functions as a wireless transmission / reception unit. Further, the tractor control unit 11 and the control box 20 may also be configured to exchange information by wireless communication. In this case, the input / output unit 24 functions as a wireless transmission / reception unit.

The work machine sensor unit 26 is a sensor used to detect the state of the agricultural work machine 2. In particular, a sensor for detecting the torque of the agricultural work machine 2, a sensor for detecting the inclination of the agricultural work machine 2 in the front-rear direction, a sensor for detecting the vibration of the agricultural work machine, and the like can be used as needed. Specifically, as the sensor of the work equipment sensor unit 26, a torque sensor, an acceleration sensor, an angular velocity sensor (gyro sensor), a vibration sensor, a multi-axis sensor, an inclination sensor, a geomagnetic sensor and the like can be used. In addition to this, the sensor of the work machine sensor unit 26 may include, for example, a rotation sensor, a potentiometer, a limit switch, a stroke sensor, and other sensors that detect the state of the agricultural work machine. The work equipment sensor unit 26 can also be provided in the control box 20 depending on the type of sensor.

The display unit 31 can display the nail state such as the nail wear determination output, the nail wear progress, the nail residual ratio, the nail usable time, and the integrated time, which will be described later. The display unit 31 includes, for example, a display screen using a liquid crystal, an organic EL, an LED, or the like, and performs necessary display here. In addition, a lighting display using a lamp such as an LED may be used. In addition, the state of the agricultural work machine other than the claw may be displayed together. The integrated time display is a display of the total integrated time from the initial stage, a display of the integrated time after reset, and the like. Here, the integrated time after the reset becomes the usage time of the nail by resetting when the nail is replaced.

The operation unit 32 sets the display of the display unit 31 to ON (ON) or OFF (OFF), inputs and resets necessary settings, switches between the display of the total integrated time from the initial stage and the display of the integrated time after reset, and the like. It is equipped with switches for performing the above. The reset is assumed to be performed at the time of nail replacement, and includes resetting for nail wear determination output, nail wear progress, nail residual rate, nail usable time, integrated time, and the like.

Here, the display unit 31 and the operation unit 32 may be integrated to form a display screen by adopting a touch panel method in order to facilitate operation. For example, a general-purpose portable terminal such as a smartphone or a tablet computer can be applied. You can install an application here to display a display about the condition of your nails and a reset button.

FIG. 2 is a schematic plan view showing an embodiment of the claw monitoring system for agricultural work machines of the present invention.

In FIG. 2, a tractor control unit 11 is provided on the tractor 1 side, and a display operation unit 40 is arranged. The display operation unit 40 integrally comprises the display unit 31 and the operation unit 32. The control box 20 and the work machine sensor unit 26 are wiredly connected to the farm work machine 2 side. The wiring 12 is connected to the tractor control unit 11, and the end of the wiring is a connector 12a. The wiring 28 is connected to the control box 20, and the end of the wiring is a connector 28a. The connector 12a and the connector 28a are detachable connectors, and are connected in the vicinity between the tractor 1 and the agricultural work machine 2. As a result, the tractor control unit 11 and the control box 20 are connected by wire. Further, the display operation unit 40 and the control box 20 are configured so that information can be exchanged by wireless communication.

The calculation unit 21 in the control box 20 calculates the state of the claws of the agricultural work machine 2 based on the information from the tractor control unit 11 and the work machine sensor unit 26. The calculated information is transmitted to the display operation unit 40 via wireless communication. The display operation unit 40 displays the state of the nail based on the received information. Further, the control box 20 may calculate a state related to the agricultural work machine 2 other than the claws, wirelessly transmit the information to the display operation unit 40, and display the information on the display operation unit 40.

(Example of agricultural work machine)
FIG. 3 is a plan view showing an example of an agricultural work machine applicable to the claw monitoring system for agricultural work machines of the present invention. FIG. 4 is a side view showing an example of an agricultural work machine applicable to the claw monitoring system for agricultural work machines of the present invention. 3 and 4 show an embodiment using the rotary work machine 100 as the agricultural work machine 2 to be mounted on the tractor 1. Hereinafter, the traveling direction of the rotary working machine 100 will be described as the forward direction. The left-right direction of FIG. 3 is the lateral direction (left-right direction) of the rotary work machine 100, and the vertical direction of FIG. 3 is the front-back direction of the rotary work machine 100. The horizontal direction in FIG. 4 is the front-rear direction of the rotary work machine 100, and the vertical direction in FIG. 4 is the vertical direction of the rotary work machine 100. Further, in FIG. 3, the illustration of the tractor 1 is omitted, and in FIG. 4, the illustration of the tractor 1 is simplified and only the rear side portion is shown.

The PTO power output from the output shaft 19 of the tractor 1 is input from the input shaft 101 via a joint (not shown) or the like, and the transmission mechanism such as gears and shafts in the mission case 102 and the left frame pipe 103. It is transmitted to the cultivated portion 130 located under the cultivated portion cover 112 via the shaft of the cultivated portion and the chain in the chain case 105. The tilling portion 130 is composed of a tilling shaft 131 or the like having a plurality of tilling claws 132 (only one is shown in FIG. 4), and by rotating the tilling shaft 131, the tilling claw 132 is rotated to perform the tilling work.

Here, the left frame pipe 103 is provided on the left side of the mission case 102, and the chain case 105 is attached to the left end portion thereof. A right frame pipe 104 is provided on the right side of the mission case 102, and a bracket 107 is attached to the right end portion thereof. The chain case 105 and the bracket 107 are provided downward and extend to the side surfaces of both ends of the tillage shaft 131. A mounting plate 108 is provided in the middle of the left frame pipe 103 and the right frame pipe 104 toward the front, and a lower arm 122 is mounted on the front side thereof. Below the mission case 102, the left frame pipe 103, and the right frame pipe 104, a tillage cover 112 is provided between the chain case 105 and the bracket 107. Further, on the rear side of the tillage cover 112, the ground leveling body 114 is rotatably attached to the tillage cover 112 in the lateral direction as a rotation axis via a hinge 115 which is a connecting member toward the rear lower side. Has been done. Further, ground pressure adjusting means 116 is provided so as to connect the left and right frame pipes 103 and 104 and the ground leveling body 114, respectively. Further, gauge wheels 117 are provided on the left and right sides of the front side of the tillage portion 130, respectively. Further, the side covers 118 are attached to the left and right sides behind the chain case 105 and the bracket 107, respectively.

Here, in FIGS. 3 and 4, the control box 20 shown in FIGS. 1 and 2 is attached to the upper surface of the tillage cover 112. In FIG. 3, it is mounted on the tillage cover 112 under the left frame pipe 103 near the left mounting plate 108. The control box 20 shown in FIGS. 3 and 4 is provided with a work machine sensor unit 26 inside, and in this case, the work machine sensor unit 26 is a sensor for detecting vibration or a sensor for detecting posture. Can be configured with. In particular, the position is suitable for detecting vibration during work. The work equipment sensor unit 26 may be provided at a different position if necessary.

As shown in FIG. 4, the rotary work machine 100 is mounted on the rear part of the tractor 1. At this time, the mounting portion 120 having the mast 121 and the lower arm 122 is mounted on the connecting portion 9 attached to the rear portion on the tractor 1 side. The connecting portion 9 is attached to the tractor 1 side via the top link 15 and the lower link 16 on the tractor 1 side. Here, the top link 15 is arranged above the lower link 16. When the operator operates the lower link 16 from the driver's seat of the tractor 1, the lower link 16 rotates around the fulcrum 16a on the tractor 1 side, and the top link 15 also rotates around the fulcrum 15a on the tractor 1 side. As a result, the connecting portion 9 moves up and down, so that the rotary working machine 100 can be moved up and down. At this time, the link mechanism of the top link 15 and the lower link 16 is configured so that the rotary work machine 100 is tilted forward as the rotary work machine 100 is raised. This also applies to the other agricultural work machine 2. The top link 15 is provided near the center of the left and right of the connecting portion 9, and the lower link 16 is provided on the left and right of the connecting portion 9.

(Example of initial setting)
FIG. 5 is a flowchart showing an example of initial setting of the claw monitoring system for agricultural work machines of the present invention. Here, the processing by the calculation unit 21 of FIG. 1 is shown.

When the power is turned on (S101), it is determined whether or not the initial information is recorded (S102). This corresponds to the case where the initial setting data (initial value, limit value, etc.) is not recorded in the recording unit 22, the case where the torque data, etc. has not been recorded so far, and the like. If there is a record of initial information, go to S103, and if there is no record of initial information, go to S104.

In S103, it is determined whether or not to reset. This can be done based on the information from the operation unit 32. For example, when the operation unit 32 performs a reset operation after exchanging the claws, the reset is performed. When resetting, the initial settings up to now are cleared and the process goes to S104. When resetting is not performed, the process goes to S112 and the process ends.

In S104, it is determined whether or not the torque / working condition data has been input. The determination here is made based on the information from the tractor control unit 11 or the information from the work equipment sensor unit 26. As for the information from the tractor control unit 11, examples of the data related to the tractor 1 include PTO torque value, PTO rotation speed, lower link height (angle), slip ratio, vehicle speed, and position information. Further, as for the information from the work machine sensor unit 26, for example, information such as torque value, inclination angle, frequency, amplitude, and acceleration can be given as information on the agricultural work machine 2. The torque value is a torque value related to the rotational power of the claw. For the tractor control unit 11, the PTO torque value, for the rotary work machine 100, the torque value input from the PTO, the torque value applied to the tillage shaft 131, the torque value of the transmission mechanism in the middle, and the like. The working condition data is data necessary for use in the correction of S106. Which data is required can be set according to the conditions to be calculated in advance. In S104, it is determined whether or not the necessary data has been acquired. If it is determined that the torque / working condition data has been input, the process goes to S105, and if it is determined that the torque / working condition data has not been input, S104. Will remain.

In S105, torque data per fixed time is recorded. Here, using the PTO torque value input from the tractor control unit 11, the torque value input from the work equipment sensor unit 26, or both, the torque data per predetermined time period is recorded in the recording unit 22. .. Since the torque data here assumes the torque data during the work of the agricultural work machine 2, the torque data assumed to be during the work is recorded.

Here, an example of torque data that is assumed to be working will be described. As a first example, there is a case where the torque value is equal to or higher than a predetermined value, which is assumed to be during work. As a second example, there is a case where the agricultural work machine 2 is lowered below a predetermined height. The third example is the case where the vibration of the agricultural work machine 2 is equal to or higher than a predetermined value. These conditions may be combined. Examples of these operations will be specifically described in S502 of FIG. 9 described later. Here, processing according to the contents is possible.

Next, the initial value is calculated (S106). Here, the torque data recorded in S105 and the working condition data input in S104 are used. For example, the initial value can be set by obtaining the average value, the median value, or the like of the torque from the torque data recorded in S105. Further, since the working conditions depend on the state of the field, the state of the tractor 1, the state of the agricultural work machine 2, etc., they often differ for each work, and there is a high possibility that the torque value is also affected by this. Therefore, when calculating the initial value, it is possible to perform correction based on these working conditions and standardize the torque value. The standardization here is to make corrections according to the standard working conditions. As a result, even if the working conditions are different, the standardized torque value can be calculated to obtain an initial value that facilitates more accurate comparison. An example of data correction and standardization will be described below.

In the first example, the correction is performed according to the working depth of the agricultural work machine 2. For example, it is assumed that the torque increases when the working depth is deep, and the torque decreases when the working depth is shallow. Therefore, the torque value of the standard working depth is corrected. For the measurement of the working depth of the agricultural work machine 2, for example, the working depth of the agricultural work machine 2 can be calculated from the information on the vertical position of the lower link 16 from the tractor control unit 11. Further, it can be calculated by using a sensor that detects the inclination of the agricultural work machine 2 in the front-rear direction by the work machine sensor unit 26. Further, it may be calculated using both the information of the work equipment sensor unit 26 and the tractor control unit 11.

The second example is to make a correction according to the hardness and softness of the soil in the field to be worked. For example, it is assumed that the torque increases when the soil is hard, and the torque decreases when the soil is soft. Therefore, the torque value based on the standard soil hardness is corrected. The measurement of soil hardness and softness can be calculated from, for example, information on the tractor slip ratio from the tractor control unit 11, information on vibration, amplitude, acceleration, etc. from the work equipment sensor unit 26, and the like. At least one of these pieces of information may be used for calculation, and a plurality of these pieces of information may be used for more accurate calculation.

In the third example, the correction is performed according to the traction resistance of the tractor 1. For example, it is assumed that if the traction resistance is large, the torque is large, and if the traction resistance is small, the torque is small. Therefore, the torque value due to the standard traction resistance is corrected. The traction resistance can be measured from information such as vehicle speed, slip ratio, and position information from the tractor control unit 11, for example. At least one of these pieces of information may be used for calculation, and a plurality of these pieces of information may be used for more accurate calculation. If the vehicle speed and position information can be obtained from the work equipment sensor unit 26, it may be used.

At least one or more of the first to third examples can be used. In addition, other examples may be used separately from or additionally of the first to third examples. For the correction of S106, the degree of correction (formula or coefficient) can be determined from the data obtained by an experiment or the like conducted in advance. Further, depending on the type of nail used, it may be possible to select or change the correction / standardization pattern. In this case, the operation unit 32 can select the type of claw.

Next, the initial value is recorded (S107). For this, the initial value calculated in S106 may be recorded in the recording unit 22.

Next, it is determined whether or not to change the limit coefficient (S108). The limit coefficient is what percentage of the initial value can be used, and can be determined in advance before calculating the limit value. The limit factor is at least greater than 0 and less than 1. For example, a value greater than 0.3 and less than 0.9, a value greater than 0.5 and less than 0.8, and the like. At first, the limit coefficient determined by a test or the like can be recorded. Then, it can be arbitrarily changed by operating the operation unit 32. S108 is determined to change the limit coefficient when the operator performs a change operation by the operation of the operation unit 32. In S108, if the limit coefficient does not change, it goes to S110, and if it changes, it goes to S109.

In S109, the limit coefficient is input. This can be input from the operation unit 32.

In S110, the limit value is calculated. The limit value can be calculated by multiplying the initial value calculated in S106 by the limit coefficient (initial value × limit coefficient). The limit value is smaller than the initial value.

Next, the limit value is recorded (S111). For this, the limit value calculated in S110 may be recorded in the recording unit 22.

Initial setting is completed by these processes (S112).

(First example of wear determination)
FIG. 6 is a flowchart showing a first example of wear determination of the claw monitoring system for agricultural work machines of the present invention. Here, the processing by the calculation unit 21 of FIG. 1 is shown.

When the power is turned on (S201), it is determined whether or not the torque / working condition data has been input (S202). Here, since it is the same as S104 described with reference to FIG. 5, the description thereof will be omitted. If it is determined in S202 that the torque / working condition data has been input, the process goes to S203, and if it is determined that the torque / working condition data has not been input, the status remains in S202.

In S203, torque data per fixed time is recorded. Here, since it is the same as S105 described with reference to FIG. 5, the description thereof will be omitted.

Next, the current value is calculated (S204). Here, the torque data recorded in S203 and the work condition data input in S202 are used. For example, the current value can be obtained by obtaining the average value, the median value, or the like of the torque from the torque data recorded in S203. On the other hand, the working conditions are often different for each work, and this is likely to affect the torque value as well. Therefore, when calculating the current value, it is possible to perform correction based on these working conditions and standardize the torque value. Since the correction and standardization based on these working conditions are the same as in S106 described with reference to FIG. 5, the description thereof will be omitted.

Next, it is determined whether or not the current value is below the limit value (S205). Here, the wear of the nail is determined (state determination). It is determined whether or not the current value calculated in S204 is lower than the limit value recorded in S110 of FIG. 5 (whether or not "limit value> current value"). Here, if the current value of torque is below the limit value, it is assumed that the wear of the nail has progressed to the usage limit. If it is determined that the current value is below the limit value, the process proceeds to S206, and if it is determined that the current value is not below the limit value, the process returns to S202.

In S206, wear determination output is performed. The information of the result of the wear determination output here is sent to the display unit 31, and the display unit 31 displays the information on the wear. The display method is to notify that the wear has reached the limit, and the operator can somehow know that the nail is worn to the limit of use and that the nail needs to be replaced. Is displayed. For example, a lamp lighting display by an LED or the like, a character display by a liquid crystal or the like, a display by a figure, or the like can be mentioned. The process ends with the output of this wear determination (S207).

(Second example of wear judgment)
FIG. 7 is a flowchart showing a second example of wear determination of the claw monitoring system for agricultural work machines of the present invention. Here, the processing by the calculation unit 21 of FIG. 1 is shown.

S301 to S304 are the same as S201 to S204 described with reference to FIG.

In the next S305, the wear progress is calculated. The wear progress is a value calculated according to how much the current value is reduced with respect to the initial value. Specifically, it can be calculated by the ratio of "initial value-current value" to "initial value-limit value", and can be calculated by the following formula.
Wear progress (%) = {(initial value-current value) / (initial value-limit value)} x 100 (Equation 1)
Here, the current value is the value calculated in S304, and the limit value is the value calculated in S110 of FIG. This wear progress is 0% when the current value is the initial value, and as the current value decreases, the value of the wear progress increases and becomes 100% when the current value reaches the limit value. This makes it possible to know how much wear has progressed.

Next, it is determined whether or not the wear progress has reached 100% (S306). Here, the wear determination (state determination) of the nail is performed. If the wear progress calculated in S305 reaches 100% (that is, if it becomes 100% or more), it goes to S308, and if it does not reach it, it goes to S307.

In S307, the wear progress (%) is output. The output here is performed by the display unit 31. The display unit 31 can inform the operator of the degree of wear by expressing the wear progress (%) with at least one or a plurality of numerical values, graphs, figures, and the like. After that, it returns to S302.

In S308, wear determination output is performed. This is the same as S206 described with reference to FIG. 6, and it is possible to output that the wear progress has reached 100%. The process ends in S308 (S309). When the wear progress reaches 100%, it corresponds to the case where the current value is equal to or less than the limit value.

(Third example of wear judgment)
FIG. 8 is a flowchart showing a third example of wear determination of the claw monitoring system for agricultural work machines of the present invention. Here, the processing by the calculation unit 21 of FIG. 1 is shown.

S401 to S404 are the same as S201 to S204 described with reference to FIG.

In the next S405, the nail residual rate is calculated. The nail residual rate is a value calculated according to how close the current value is to the limit value. Specifically, it can be calculated by the ratio of "current value-limit value" to "initial value-limit value", and can be calculated by the following formula.
Nail residual rate (%) = {(current value-limit value) / (initial value-limit value)} x 100 (Equation 2)
Here, the current value is the value calculated in S404, and the limit value is the value calculated in S110 of FIG. This nail residual rate is 100% when the current value is the initial value, and as the current value decreases, the value of the nail residual rate decreases and becomes 0% when the current value reaches the limit value. This will give you an idea of how much nails are left.

Next, it is determined whether or not the nail residual rate has reached 0% (S406). Here, the wear determination (state determination) of the nail is performed. If the nail residual rate calculated in S405 reaches 0% (that is, if it becomes 0% or less), it goes to S408, and if it does not reach it, it goes to S407.

In S407, the nail residual ratio (%) is output. The output here is performed by the display unit 31. On the display unit 31, the degree of nail remaining can be notified to the operator by expressing the nail residual rate (%) with at least one or a plurality of numerical values, graphs, figures and the like. After that, it returns to S402.

In S408, wear determination output is performed. This is the same as S206 described with reference to FIG. 6, and it is possible to output that the nail residual ratio has reached 0%. The process ends in S408 (S409). When the nail residual rate reaches 0%, it corresponds to the case where the current value is equal to or less than the limit value.

(Fourth example of wear judgment)
FIG. 9 is a first flowchart showing a fourth example of wear determination of the claw monitoring system for agricultural work machines of the present invention. FIG. 10 is a second flowchart showing a fourth example of wear determination of the claw monitoring system for agricultural work machines of the present invention. Here, the processing by the calculation unit 21 of FIG. 1 is shown.

S501 to S507 shown in FIG. 9 are processes for measuring and outputting the usage time of the nail.

When the power is turned on (S501), it is determined whether or not the work is in progress (S502). Here, if it is determined that the agricultural work machine 2 is working, the process proceeds to the next S503, and if it is determined that the agricultural work machine 2 is not working, the determination of S502 is performed again. Next, an example of determining whether or not the work of S502 is in progress will be described.

In the first example, it can be determined that the work is in progress when the acquired torque value is a torque value equal to or higher than a predetermined value. This is because it is assumed that a torque value equal to or higher than a predetermined value is applied during the work. As the torque value here, the PTO torque value input from the tractor control unit 11 or the torque value input from the work equipment sensor unit 26 can be used.

In the second example, when the agricultural work machine 2 is lowered to a predetermined height or less, it is determined that the work is in progress. This is because it is assumed that the agricultural work machine 2 is lowered to a predetermined height or less during the work to work on the field. This state can be detected when it is detected that the position of the lower link 16 (FIG. 4) in the vertical direction is lowered to a predetermined value or less based on the information from the tractor control unit 11. Further, there is a case where the sensor of the work machine sensor unit 26 capable of detecting the angle in the front-rear direction detects that the angle in the front direction of the agricultural work machine 2 is equal to or less than a predetermined value. Examples of the sensor include an acceleration sensor, an angular velocity sensor (gyro sensor), an inclination sensor, a geomagnetic sensor, and the like.

The third example is the case where the vibration of the agricultural work machine 2 is equal to or higher than a predetermined value. This is because it is assumed that the agricultural work machine 2 vibrates more than a predetermined amount during the work, for example, when the claws of the agricultural work machine 2 come into contact with the soil in the field and receive resistance. The detection of this state can detect the case where the vibration value of the agricultural work machine 2 is assumed to be a predetermined value or more by the sensor of the work machine sensor unit 26 capable of detecting the vibration. Examples of the vibration value include an amplitude value, an acceleration value, a velocity value, a frequency, and the like in the vibration. Examples of the sensor include an acceleration sensor, an angular velocity sensor, a vibration sensor and the like.

In the above three examples, two or more may be combined to make a more accurate determination. For example, in the case of the combination of the first example and the second example, it is determined whether or not the work is being performed only by the information from the tractor control unit 11 without providing the work machine sensor unit 26. Can be done.

In S503, the signal input time is integrated. That is, the time during work is counted, and the process of accumulating this time is performed. As a result, it is possible to measure the working time more accurately (that is, the usage time of the nail) by omitting the time when it is assumed that the work is not performed.

Next, the usage time is recorded (S504). Here, the usage time, which is the time accumulated in S503, is recorded in the recording unit 22.

Next, it is determined whether or not to reset the usage time (S505). The reset here can be determined by whether or not an operation signal for reset is input from the operation unit 32. For example, if there is an input of an operation signal due to touching or pressing the reset button of the operation unit 32, the reset is performed. When resetting the usage time, the usage time is set to 0 (h), 0 is output (S506), and the process returns to S502. As a result, the usage time is calculated from 0 again. If the usage time is not reset, the process goes to S507.

In S507, data is output. As for the output here, the calculated usage time is output to the display unit 31 through the control unit 23 and the input / output unit 24. The display unit 31 displays the usage time according to the display format of the display screen based on the input data. Further, the usage time is output to S605. Then return to S502.

S601 to S610 shown in FIG. 10 are processes for calculating the usable time, determining the wear, and outputting the wear.

S601 to S604 are the same as S201 to S204 described with reference to FIG.

In the next S605, it is determined whether or not the usage time data is input. The usage time here is the usage time output in S507 of FIG. If this usage time has been calculated, it can be automatically entered. If it is determined that the usage time data is input, the process goes to S606, and if it is determined that the usage time data is not input, the data remains at S605.

In S606, the usable time of the nail is calculated. The usable time can be calculated by the following formula using the "usable time", "initial value", "current value", and "limit value".
Usable time (h) =
{(Current value-Limit value) x Usage time} / (Initial value-Current value) (Equation 3)
Here, the current value is the value calculated in S604, and the limit value is the value calculated in S110 of FIG. The usage time is the usage time of the nail up to the present input in S605. The usable time is a calculation of the remaining time that the nail can be used up to the limit value. When the current value reaches the limit value, the usable time becomes 0 hours (h).

The calculation of the above equation 3 will be described. For the nails currently in use, the amount of decrease in torque due to the "use time" up to now is the "initial value-current value". Then, the amount of decrease in torque due to the "total usage time" becomes the "initial value-limit value". Here, when the usage time is proportional to the decrease in torque, "" usage time ":" initial value-current value "=" total usage time ":" initial value-limit value "", and the total usage time will be from now on. It is required as follows.
Overall usage time = {(initial value-limit value) / (initial value-current value)} x usage time (Equation 4)
Here, since the "usable time" is "total usage time-usage time", the above formula 3 is calculated by substituting the formula 4 into the "usable time".

Next, it is determined whether or not the usable time has reached 0 (h) (S607). Here, the wear determination (state determination) of the nail is performed. If the usable time of the nail (remaining nail time) calculated in S606 reaches 0 (h) (that is, if it becomes 0 (h) or less), it goes to S609, and if it does not reach it, it goes to S608. ..

In S608, the usable time (h) is output. The output here is performed by the display unit 31. The display unit 31 can inform the operator of the remaining usable time of the nail by expressing the usable time with at least one or a plurality of numerical values, graphs, figures and the like. After that, the process returns to S602.

In S609, wear determination output is performed. This is the same as S206 described with reference to FIG. 6, and can output that the usable time has reached 0 (h). The process ends in S609 (S610). When the usable time reaches 0 (h), it corresponds to the case where the current value becomes equal to or less than the limit value.

FIG. 11 is a diagram showing an example of a display unit and an operation unit in the claw monitoring system for agricultural work machines of the present invention.

(Example of display operation unit)
FIG. 11 shows a specific example of the display operation unit 40 in which the display unit 31 and the operation unit 32 are integrally configured as shown in FIG. The display operation unit 40 has a function of remotely communicating wirelessly and has a portable configuration. For example, the display operation unit 40 can be arranged near the driver's seat of the tractor 1 to check the display contents. Here, the display screen 40a of the display operation unit 40 is composed of a touch panel. As the display operation unit 40 in this case, for example, a general-purpose smartphone or tablet computer having a touch panel function can be applied, and by introducing an application here, the display and operation shown in FIG. 11 can be realized.

The ODO display 41, the TRIP display 42, and the reset display 43 are displayed on the display screen 40a of the display operation unit 40. In the example of FIG. 11, these displays are displayed side by side in the upper part of the display screen 40a. Further, on the display screen 40a, a nail wear progress display 46 and a nail residual rate display 47 are displayed. These displays are displayed in the frame as the claw state display 45 arranged side by side at the lower part of the display screen 40a.

The ODO display 41 displays the integrated time from the initial stage. This can be calculated from the integration time in S501 to S507 of FIG. 9 when no reset is performed. The integrated time is calculated by the calculation unit 21, and the information is wirelessly transmitted to the display operation unit 40 via the control unit 23 and the input / output unit 24 and displayed here. In the display of FIG. 11, it is displayed in units of HR (time).

The TRIP display 42 displays the integrated time calculated in the processes of S501 to 507 of FIG. Since it has a reset function here, the total integrated time from the time of the previous reset is displayed on the TRIP display 42. The integrated time is calculated by the calculation unit 21, and the information is wirelessly transmitted to the display operation unit 40 via the control unit 23 and the input / output unit 24 and displayed here. In the display of FIG. 11, it is displayed in units of HR (time).

The reset display 43 corresponds to the reset switch of the operation unit 32, and is a display for performing a reset operation. When the reset display 43 is touched, the information is transmitted to the calculation unit 21 via the input / output unit 24 and the control unit 23 by wireless transmission. At this time, the reset processing of S505 and S506 shown in FIG. 9 is performed, the integration time becomes 0, and the integration of time is started again. Therefore, when the reset operation of the reset display 43 is performed, the display of the TRIP display 42 becomes 0 once. Further, by this reset operation, the reset process of S103 shown in FIG. 5 is performed.

The claw wear progress display 46 displays the wear progress calculated in S305 of FIG. 7. The wear progress is calculated by the calculation unit 21, and the information is wirelessly transmitted to the display operation unit 40 via the control unit 23 and the input / output unit 24 and displayed here. The display of FIG. 11 is a display by a scale, and shows that the scale is gradually reduced by changing the color or erasing the scale as the wear progresses. In addition, the claw replacement display 46a is displayed in characters on the last scale portion, so that it can be understood that the claw replacement is necessary.

The nail residual rate display 47 displays the nail residual rate calculated in S405 of FIG. The claw residual ratio is calculated by the calculation unit 21, and the information is wirelessly transmitted to the display operation unit 40 via the control unit 23 and the input / output unit 24 and displayed here. In the display of FIG. 11, it is a display by a number (%).

Further, in FIG. 11, a horizontal state display 50 and a depth state display 60 are displayed side by side in the horizontal direction under the ODO display 41, the TRIP display 42, and the reset display 43. These display the state of the agricultural work machine 2. Information from the tractor control unit 11 or the work equipment sensor unit 26 is used for displaying these statuses. If the horizontal state display 50 is used, information on the height difference between the left and right lower links 16 (FIG. 4) from the tractor control unit 11 and information on the left and right inclination from the work equipment sensor unit 26 can be used. With the depth state display 60, information on the vertical position of the lower link 16 from the tractor control unit 11 and information on the inclination in the front-rear direction from the work equipment sensor unit 26 can be used.

The horizontal state display 50 shows the tilted state of the agricultural work machine 2 in the horizontal direction with respect to the horizontal. The title display 51 (“horizontal” in FIG. 11) is displayed at the upper part, and the reference setting display 52 and the setting are canceled at the lower part. Display 53 is displayed. When the reference setting display 52 is touched, the current horizontal reference is set as the horizontal reference, and when the setting release display 53 is touched, the current horizontal reference is released. Inside the frame display 54 indicating the range of the block of the horizontal state display 50, the figure display 56 is displayed on the upper side and the state display 58 is displayed on the lower side thereof. The figure display 56 displays the current tilted state of the agricultural work machine 2 with respect to the horizontal by a figure or a picture. The status display 58 displays the current tilted state with respect to the horizontal in an easy-to-understand manner by combining numerical values and scales.

The depth status display 60 shows the working depth status of the agricultural work machine 2, with the title display 61 (“depth” in FIG. 11) at the top, the reference setting display 62 at the bottom, and the setting cancellation on the side thereof. Display 63 is displayed. When the reference setting display 62 is touched, the processing based on the current working depth is performed, and when the setting cancellation display 63 is touched, the processing based on the current working depth is performed. In the frame display 64 indicating the block range of the depth state display 60, the figure display 66 is displayed on the left side and the state display 68 is displayed on the right side. The figure display 66 displays the state of the current working depth of the agricultural work machine 2 with a figure or a picture. The state display 68 displays the state of the current working depth in an easy-to-understand manner by combining numerical values and scales.

(effect)
As described above, in the embodiment of the present invention, the state of the claws can be accurately monitored by calculating the state of wear of the claws in the agricultural work machine 2 using the torque value. Furthermore, the wear state of the nail can be calculated more accurately by making corrections based on the working conditions. Further, by outputting the information on the wear state of the nail and displaying it on the display unit 31, the operator can check the state of the nail at hand. Further, when the wear of the nail has progressed more than a predetermined value, the worker can accurately replace the nail by notifying the operator. In addition, the wear state of the nail is output as various information such as wear progress, nail residual rate, usable time, etc., and the operator can grasp the state of the nail by a desired display and can make a multifaceted judgment. It becomes. Further, the operation unit 32 can remotely set a set value such as a limit coefficient, and can perform processing such as wear determination according to the intention of the operator. In addition, since it is expected that the torque value will decrease even if the nail is dropped or damaged, these can be monitored in the same manner as the wear of the nail.

Further, the above-mentioned claw state can be dealt with only by the information from the tractor control unit 11, and can be achieved by omitting the work equipment sensor unit 26 and suppressing the cost. Further, the above-mentioned claw state can be dealt with only by the information from the work equipment sensor unit 26, and can correspond to the tractor having no output from the tractor control unit 11.

Further, as shown in FIG. 11, by using the touch panel with the display unit 31 and the operation unit 32 as the display operation unit 40, it becomes easier to handle, and by using a general-purpose smartphone or tablet computer, only the application can be used. It can be configured by application and the cost can be suppressed. Further, by displaying the state of the claw together with the ODO display 41, the TRIP display 42, the horizontal state display 50, the depth state display 60, etc., the worker can grasp the state of the agricultural work machine 2 from various angles. it can.

Although the embodiments of the present invention have been described as described above, the present invention is not limited to the above-described embodiments, and various modifications other than those described above are also included. For example, the present invention is not limited to the one including all the configurations provided in the above-described embodiment. It is also possible to delete a part of the configuration of one embodiment, replace it with another configuration, or add the configuration of another embodiment to the configuration of one embodiment.

For example, in the above embodiment, the rotary working machine 100 is shown as an example of the agricultural working machine, but the present invention also includes, for example, a puddling work machine, a ridge coating machine, a fertilizer sowing machine, a fertilizer application machine, and a mower. It can be applied to agricultural work machines to be attached to tractors such as.

Further, although the reset by the operation has been described in S103 of FIG. 5, a function of automatically resetting may be provided in addition to the above. For example, when the current value calculated in FIGS. 6 to 9 rises by a predetermined value or more, the reset can be automatically determined on the assumption that the claw has been replaced.

Further, in S106 of FIG. 5, an accurate value can be set as the initial value based on the actual torque data, but when the torque data cannot be acquired, a standard value recorded in advance may be used.

Further, in S206, S308, S408, and S608 of FIG. 6, the wear determination output has been described, but since it is assumed that the torque is reduced even if the nail is dropped or damaged other than the wear, the nail wear determination is performed on the nail. It can be a state judgment.

Further, the wear progress of FIG. 7, the claw residual rate of FIG. 8, and the usable time of FIG. 10 may be calculated by one process. Further, these may be displayed in parallel on the display unit 31 and the display operation unit 40. Further, it is also applicable to a method of switching between these displays in one display range by using a changeover switch or the like provided in the operation unit 32 or the display operation unit 40.

Further, the calculation of the wear progress of FIG. 7, the nail residual rate of FIG. 8, and the usable time of FIG. 10 is performed on the premise that the current value of the torque decreases in proportion to the wear degree of the nail. However, in reality, it is assumed that the proportion is not perfect, so correction may be performed. The correction can be performed by determining a coefficient or a function by determining in advance the relationship such as the progress of the degree of wear of the nail with respect to the decrease in the current value by an experiment or the like.

Further, although it has been described that the control box 20 is provided in the agricultural work machine 2, it is also possible to provide the control box 20 on the tractor 1 side by making a wired connection or the like.

Further, in addition to the notification by the display of the display unit 31, the notification by sound may be performed. For example, when the wear determination output (S206, S308, S408, S608) is output, it is notified by sound or voice that the wear has reached the limit. These functions may be provided in the display unit 31 or may be provided separately.

Further, although the display operation unit 40 has been described with reference to FIG. 11, the display content similar to this may be displayed on the display device provided in the tractor 1. In this case, the data is sent from the calculation unit 21 to the display device via the control unit 23 and the input / output unit 24. The display device provided in the tractor 1 can display and operate based on these data by introducing an application.

Further, the information calculated by the calculation unit 21 described in the above embodiment may be transmitted to a server or the like separately provided via the input / output unit 24 of the control box 20, the display operation unit 40, or the like via the Internet. It is also possible to manage each farm work machine there. Here, the data for each agricultural work machine is aggregated. As a result, maintenance can be managed for each farm work machine owned by the customer, and usage data for each farm work machine can be accumulated and used for future development. For example, in the case of the rotary work machine 100, it is possible to notify the customer of the replacement time of the tillage claw 132 and the like. In addition, it is possible to accumulate data on these usage statuses.

1 Tractor 2 Agricultural work machine 11 Tractor control unit 16 Lower link 20 Control box 21 Calculation unit 22 Recording unit 23 Control unit 24 Input / output unit 26 Work equipment Sensor unit 31 Display unit 32 Operation unit 40 Display operation unit 45 Claw status display 46 Claw wear Progress display 47 Claw residual rate display 100 Rotary work machine 132 Tillage claw

Claims (12)

In the claw monitoring system for agricultural work machines, which is applied to agricultural work machines that are attached to tractors and rotate the claws to perform agricultural work.
A calculation unit capable of acquiring a torque value related to the rotational power of the claw of the agricultural work machine is provided.
The calculation unit is a claw monitoring system for agricultural work machines, characterized in that the claw state is determined from the acquired torque value and the state determination information is output according to the result. In the claw monitoring system for agricultural work machines according to claim 1.
The calculation unit calculates an initial value from the torque value first measured, calculates a current value from the current torque value, and uses a predetermined coefficient for the initial value to limit a value smaller than the initial value. Is calculated, and when the current value is equal to or less than the limit value or when the current value is less than the limit value, information for determining the state of the nail is output. In the claw monitoring system for agricultural work machines according to claim 2.
The claw monitoring system for agricultural work machines is characterized in that the current value is calculated by correcting the current torque value according to the current working conditions. In the claw monitoring system for agricultural work machines according to claim 2 or 3.
The claw monitoring system for agricultural work machines is characterized in that the initial value is calculated by correcting the torque value at the time of the first measurement according to the working conditions at that time. In the claw monitoring system for agricultural work machines according to claim 3 or 4.
The working condition is a claw monitoring system for a farming machine, which comprises at least one of the working depth of the farming machine, the hardness and softness of the soil to be worked on, and the traction resistance of the tractor. In the claw monitoring system for agricultural work machines according to any one of claims 2 to 5.
The calculation unit is a claw monitoring system for agricultural work machines, which calculates and outputs a wear progress calculated according to how much the current value is reduced with respect to the initial value. In the claw monitoring system for agricultural work machines according to any one of claims 2 to 6.
The calculation unit is a claw monitoring system for agricultural work machines, which calculates and outputs a claw residual ratio calculated according to how close the current value is to the limit value. In the claw monitoring system for agricultural work machines according to any one of claims 2 to 7.
The calculation unit calculates the claw usage time by integrating the working time of the agricultural work machine, and uses the claw using the usage time, the initial value, the current value, and the limit value. A claw monitoring system for agricultural work machines, which is characterized by calculating and outputting the possible time. In the claw monitoring system for agricultural work machines according to any one of claims 1 to 8.
A display unit capable of communicating with the calculation unit and displaying based on the information output from the calculation unit is provided, and when the state determination information is output, the display unit displays information on the claw based on the display unit. Claw monitoring system for agricultural work machines, which is characterized by In the claw monitoring system for agricultural work machines according to any one of claims 1 to 9.
A claw monitoring system for agricultural work machines, which comprises an operation unit capable of communicating with the calculation unit, and the operation unit can be reset. In the claw monitoring system for agricultural work machines according to claim 10, which cites claim 9.
The display unit and the operation unit are integrally configured as a display operation unit including a display screen composed of a touch panel, and the display operation unit can communicate with the calculation unit via wireless communication. A featured claw monitoring system for agricultural work machines. In the claw monitoring system for agricultural work machines according to any one of claims 1 to 11.
The claw of the agricultural work machine is rotated by using the power of the PTO of the tractor, and the calculation unit acquires data of the PTO torque value output from the tractor as a torque value related to the rotational power of the claw. Claw monitoring system for agricultural work machines.