JP2022139476A - Agricultural work machine - Google Patents

Abstract

To provide an agricultural work machine for automating correction due to inclination.SOLUTION: An agricultural work machine includes a machine frame, an inclination detector, and a control part, the inclination detector is composed of a GNSS receiver and a vertical displacement detector, the machine frame supports the GNSS receiver, the vertical displacement detector and a work part, the GNSS receiver detects at least altitude information, the vertical displacement detector detects vertical displacement of the work part as a height or angle, and the control part has an inclination calculation part for calculating an inclination detection value of the work part on the basis of the altitude information and the vertical displacement information, and performs lift control of the work part according to the inclination detection value.SELECTED DRAWING: Figure 3

Description

The present invention relates to an agricultural working machine.

Conventionally, there has been known an agricultural working machine for cutting the roots of onions, as disclosed in Patent Document 1. This is an agricultural work machine that cuts the roots of onions planted in rows with a root cutting blade. A root cutting blade is inserted under the ridge, and the onion whose root has been cut is lifted to the upper surface of the ridge while cutting the root of the onion.

Japanese Utility Model Publication No. 2-3711

Fields are not always flat, and there are recesses and muddy places. For example, if the wheels of the onion root-cutting machine pass over the concave portion while the vehicle is traveling across a ridge, the onion root-cutting machine inclines in the front-rear direction with respect to the traveling direction, and the position of the root-cutting blade is unstable. was there.
In addition, the shorter the root, the less time and effort is required for post-harvest preparation.
This is not limited to root cutting, but occurs in a wide range of agricultural machinery, and the vertical movement of the working unit affects harvesting and soil work in general.
SUMMARY OF THE INVENTION It is an object of the present invention to provide an agricultural work machine in which tilt correction is automated.

The present invention comprises a machine frame, a tilt detector, and a control unit, wherein the tilt detector comprises a GNSS receiver and a vertical displacement detector, and the machine frame includes the GNSS receiver and the vertical displacement detector. The working unit is supported, the GNSS receiver detects at least altitude information, the vertical displacement detector detects vertical displacement of the working unit as height or angle, and the control unit comprises the An agricultural working machine comprising: an inclination calculating section for calculating an inclination detection value of the working section based on altitude information and vertical displacement information; and controlling elevation of the working section according to the inclination detection value. solved the problem.

The position of the working part could be stabilized.

Explanatory drawing of an onion root cutter (agricultural machine). (A) Perspective view of the onion root cutter seen from the tractor side. (B) Side view. The bottom view of the onion root cutter (agricultural implement) 1. FIG. The conceptual diagram of the control which combined the GNSS receiver and the vertical displacement detector. The conceptual diagram of the control which combined two GNSS receivers. Explanatory drawing of elevator wheel raising and lowering. (A) Perspective view seen from the front. (B) Perspective view seen from the rear.

The present invention is not limited to the onion root cutting machine (agricultural working machine) 1, and is an invention of a general agricultural working machine. The following examples show an onion root cutter (agricultural implement) 1 as an example.
Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same reference numerals in different figures denote portions having the same function, and duplication of description in each figure will be omitted as appropriate.

(Example)

FIG. 1 is an explanatory diagram of an onion root cutter (agricultural machine) 1, FIG. 1(A) is a perspective view of the onion root cutter (agricultural machine) 1 viewed from the tractor side, and FIG. ) is a side view. Hereinafter, the direction in which the tractor travels is forward, and left and right when viewed from the tractor side.
Conventionally, the tilt sensor has been provided on the tractor side. If there is a drive unit such as a motor on the work machine side, the tilt sensor detects vibrations of the drive unit, which may generate a lot of noise and make detection of tilt difficult. In addition, particularly with light work machines such as seeders, vibrations due to unevenness of the ground surface are detected properly, resulting in a lot of noise, and there is little merit in installing a tilt sensor on the work machine side. Furthermore, since the position of the working machine can be controlled by raising and lowering the link, there is little merit in intentionally providing a tilt sensor on the working machine side.
Although an inclination sensor is often provided on the tractor side, there is also the problem that the inclination of the tractor changes depending on the relationship between the wheels of the tractor and the field and does not reflect the inclination of the work machine attached to the tractor.
Furthermore, when an ultrasonic distance sensor (vertical displacement detector 65) is used to detect the inclination, weeds growing in furrows may be mistakenly detected as the ground surface. There is also the problem that such erroneous detection is difficult to eliminate.
The embodiments are intended to solve the above problems in addition to the problems described above.

(connection with tractor)
A machine frame 2 of an onion root cutter (agricultural work machine) 1 is composed of a horizontal support member 27 and a pair of L-shaped members 26 attached to appropriate portions of the horizontal support member 27 . The L-shaped member 26 has a side extending toward the tractor and a side extending upward. A side of the L-shaped member 26 extending toward the tractor is provided with a link attachment portion (running vehicle connection portion) 21 that connects with a tractor link (not shown). The three-point link of the tractor (not shown) is connected to the tractor by attaching the upper link of the tractor to the upper link connecting portion 211 and attaching the lower link to the pair of lower link connecting portions 212 on the left and right. An actuator support portion 523 is bridged and fixed on the tip side of the side extending above the pair of L-shaped members 26 .

(Soil work department)
The machine frame 2 has a pair of left and right support plates 24 . The support plate 24 has an arcuate shape that curves forward, and is mounted downward on both the left and right sides of the machine frame 2 . A pair of left and right disc coulters 8 are attached via disc coulter attachment members 25 at intermediate positions in the height direction of the support plate 24 . A root cutting blade (working portion) 3 is attached to the lowermost portion of the support plate 24 so as to bridge between the pair of support plates 24 . The root cutting blade (working part) 3 is arranged so that the disk coulter 8, the root cutting blade (working part) 3, and the lifting wheel 5 are arranged in this order from the front, and is provided adjacently behind the disk coulter 8. ing.
When cutting roots, first, a pair of disk coulters 8 vertically cuts the soil at both ends of the ridge. When mulch is applied, the disk coulter 8 cuts the mulch at the same time and acts so that the onion root cutter (agricultural work machine) 1 is not entangled with the mulch. The depth setting value of the root-cutting blade (working part) 3 is set in advance so as to provide an appropriate depth (root-cutting position) with respect to the ridge before work. Next, the root cutting blade (working part) 3 provided at a position slightly higher than the bottom of the disk coulter 8 crosses the ridge and sinks into the soil to cut the onion roots. Since the preceding disc coulter 8 cuts into the soil, the onion is lifted so as to float on the ridge after the root cutting blade (working part) 3 passes through.

In this work, if the onion root cutter (agricultural implement) 1 is tilted in the front-rear direction, the depth of the root cutter (working part) 3 will change (the set depth cannot be maintained), and the length of the root will vary. appears, and the workability of the subsequent work is lowered.

(GNSS receiver)
The GNSS receiver 6 will be explained. GNSS (Global Navigation Satellite System) is a general term for satellite positioning systems such as GPS in the United States, Quasi-Zenith Satellite Michibiki (QZSS) in Japan, GLONASS in Russia, and Galileo in the European Union. A GNSS receiver measures an accurate position by receiving radio waves transmitted from satellites. In addition to latitude and longitude, altitude can also be measured. Furthermore, the multi-GNSS technique is a technique that uses multiple types of GNSS simultaneously. For example, by combining GPS and QZSS, it is possible to increase the number of satellites that can be received at once. This can significantly improve the positioning accuracy.
The GNSS receiver 6 can detect positioning information such as latitude and longitude. Further, although details will be described later in the item (control), the GNSS signal 61 from one GNSS receiver 6 can be processed by the positioning unit 72 of the control unit 7 to obtain altitude information 722 .
If one GNSS receiver 6 is used, the inclination can be obtained from the time series change of the altitude information 722 .

(vertical displacement detector)
The vertical displacement detector 65 measures the vertical displacement of the onion root cutter (agricultural implement) 1, and may be an angle sensor, for example. Further, an ultrasonic distance sensor or the like may be used to detect the height of the field and the onion root cutter (agricultural implement) 1 .
A general vertical displacement detector 65 has a large amount of noise in the detected value due to vibration caused by agricultural work. In addition, the general vertical displacement detector 65 is likely to shift its zero point under the influence of vibration, and may require frequent calibration. The validity of the detection value of the general up-and-down displacement detector 65 can only be confirmed by stopping, which is a time-consuming task.
On the other hand, positioning by the GNSS receiver 65 is advantageous for obtaining the altitude information 722 because it is resistant to noise and has high accuracy.
The embodiment is intended to utilize the features of the GNSS receiver 65 and the features of the vertical displacement detector 65 and combine them.

(Control by GNSS receiver and vertical displacement detector)
FIG. 3 is a conceptual diagram of control in which the GNSS receiver 6 and vertical displacement detector 65 are combined.
A GNSS signal 61 received by the GNSS receiver 6 is sent to a positioning unit 72 of the control unit 7 installed inside the control box 9 . The positioning unit 72 derives at least altitude information 722 from the GNSS signals 61 of each GNSS receiver 6 .
On the other hand, if the vertical displacement detector 65 is an angle sensor, it outputs the tilt angle of the onion root cutter (agricultural implement) 1 as a detection signal 651 . Also, if the vertical displacement detector 65 is an ultrasonic distance sensor, the height of the onion root cutter (agricultural implement) 1 from the field is output as a detection signal 651 .

[Calculation of inclination by GNSS receiver and ultrasonic distance sensor]
If there is one GNSS receiver 6, it is possible to detect the onion root cutter (agricultural implement) 1 from the time series change of the altitude information 722, but the accuracy and time resolution may be low.
On the other hand, the ultrasonic distance sensor (vertical displacement detector 65) tends to pick up noise, and the detected value may drift (phenomenon such as the zero point itself fluctuating and always outputting 10 mm plus). Drift is sometimes called common mode noise, and is difficult to remove by the ultrasonic distance sensor (vertical displacement detector 65) alone. In the embodiment, since the absolute altitude information 722 is obtained from the GNSS receiver 6, it is possible to calibrate the vertical displacement information 723 with the zero point shifted on the basis of this during operation.
The ultrasonic distance sensor (vertical displacement detector 65 ) sends vertical displacement information 723 to the tilt calculator 71 . Also, altitude information 722 obtained from the GNSS receiver 6 is sent to the inclination calculator 71 . The inclination calculator 71 calculates an inclination detection value 711 by combining the altitude information 722 of the GNSS receiver 6 and the vertical displacement information 723 (height information from the field).
Various means are available for calculating the tilt detection value 711 . When the time resolution of the altitude information 722 from the GNSS receiver 6 is poor, the inclination calculator 71 adds the altitude information 722 data to the vertical displacement information 723 from the ultrasonic distance sensor (vertical displacement detector 65). height information), continuous tilt detection values 711 can be calculated. Conversely, when the noise in the vertical displacement information 723 (height information from the field) from the ultrasonic distance sensor (vertical displacement detector 65) is large, it is also possible to correct it with the altitude information 722 from the GNSS receiver 6. is.
Furthermore, the ultrasonic distance sensor (vertical displacement detector 65) may erroneously detect weeds growing in furrows as the ground surface. In such a case, the vertical displacement information 723 abruptly fluctuates. If the altitude information 722 from the GNSS receiver 6 does not detect this change, it can be regarded as an erroneous detection and the vertical displacement information 723 from the ultrasonic distance sensor (vertical displacement detector 65) can be discarded.

[Calculation of inclination by GNSS receiver and angle sensor]
When an angle sensor (vertical displacement detector 65) is used, the vertical displacement information 723 can obtain real-time angle information.
When a sudden change in inclination is detected from the angle sensor (vertical displacement detector 65), the tilt calculator 71 preferentially uses the angle sensor (vertical displacement detector 65) over the altitude information 722 obtained from the GNSS receiver 6. It is also possible to adopt the angle information from , and output the tilt detection value 711 .

Calculation of the above-described inclination may be various depending on the type of the vertical displacement detector 65 . The tilt calculator 71 preferably outputs the tilt detection value 711 so as to take advantage of the respective advantages of the GNSS receiver 6 and the vertical displacement detector 65 . Alternatively, the altitude information 722 and the vertical displacement information (angle information) 723 may be weighted and the tilt detection value 711 may be output.
Furthermore, if the vertical displacement detector 65 tends to pick up noise, it is possible to determine a threshold value so that fluctuations within a predetermined range are not reflected in the tilt detection value 711 .

In the embodiments, the focus has been on tilting (pitting), but the vertical displacement detector 65 can detect rotation (vertical displacement) about the yawing or rolling axis of the onion root cutter (agricultural implement) 1. may A vertical displacement detector 65 for detecting rotation (vertical displacement) around an axis provided on the onion root cutter (agricultural implement) 1 is affected by vibration when detecting rotation (vertical displacement) around the axis. . Using positioning information 721 and altitude information 722 obtained from the GNSS receiver 6, it is also one of preferable aspects to increase the accuracy of yawing, rolling or pitching detection.

[Aspect in which two or more GNSS receivers are provided]
It is also possible to use another GNSS receiver 6 as the vertical displacement detector 65 . A total of two GNSS receivers 65 are mounted on the onion root cutter (agricultural work machine) 1 . Since the vertical displacement detector 65 such as an ultrasonic distance sensor may erroneously detect weeds growing in furrows as the ground surface, erroneous detection may occur. In addition, the vertical displacement detector 65 such as an angle sensor is easily affected by vibration of the onion root cutter (agricultural work machine) 1 during agricultural work. In this regard, the GNSS receiver 6 can obtain more stable altitude information 722 than other vertical displacement detectors 65 . A mode in which a total of two GNSS receivers 65 are provided by using the vertical displacement detector 65 as another GNSS receiver 65 is a preferable mode for stable control.
Also, if necessary, the number of GNSS receivers 6 may be further increased to three or four. This makes it possible to improve accuracy.
FIG. 4 is a conceptual diagram of control in which two GNSS receivers 6 are combined.

GNSS signals 61 received by the two GNSS receivers 6 are sent to the positioning unit 72 of the control unit 7 installed in the control box 9 . The positioning unit 72 derives at least altitude information 722 from the GNSS signals 61 of each GNSS receiver 6 .

As shown in FIG. 1, the GNSS support section 23 is attached to an actuator support section 523 that spans a pair of L-shaped members 26 of the machine frame 2, and is an elongated plate-shaped member that extends horizontally. is. The GNSS support part 23 is integrated by being attached to the machine frame 2 . The GNSS support part 23 is above the root cutting blade (working part) 3 and is attached so as to extend in the front-rear direction. Two GNSS receivers 6 are attached to the front end and the rear end of the GNSS support portion 23 of the machine frame 2 , respectively.
In addition, since the GNSS receiver 6 receives GNSS signals 61 from a large number of satellites, it is preferable to install it on the top of the onion root cutter (agricultural implement) 1 .

A pair of GNSS receivers 6 provided spaced apart in the longitudinal direction receive GNSS signals 61 transmitted from a plurality of satellites, respectively, and output GNSS signals 61 toward the control box 9 . A positioning unit 72 in the control box 9 analyzes the signal sent from each GNSS receiver 6 and outputs altitude information 722 at which each GNSS receiver 6 is located. The output altitude information 722 is sent to the inclination calculator 71, and the inclination of the onion root cutter (agricultural implement) 1 in the longitudinal direction is calculated. Detailed control will be described later.

In principle, the more the pair of GNSS receivers 6 are separated from each other, the higher the accuracy of tilt detection in the front-rear direction.
It is also possible to arrange the GNSS receiver 6 in the horizontal direction and calculate the tilt in the horizontal direction. In addition, the GNSS receiver 6 can also calculate the tilt in the front-rear direction and the tilt in the left-right direction by providing the GNSS receiver 6 on the agricultural work machine so as to be spaced obliquely in the traveling direction.
The direction to be provided can be determined depending on the type of agricultural work machine, such as whether to perform height control in the front-rear direction or whether to perform height control in the left-right direction.

(Placement of GNSS receivers)
The GNSS receiver 6 is above the root cutter (working part) 3 . If a pair of GNSS receivers 6 are provided on the machine frame 2 so as to be separated from each other in the forward and backward direction when the traveling direction is forward, the tilt in the longitudinal direction can be obtained as the tilt detection value 711 . For example, the degree of inclination can be obtained as the inclination detection value 711 such that the onion root cutter (agricultural machine) 1 is lower in the forward direction in the traveling direction.
In order to associate the inclination detection value 771 obtained using the GNSS receiver 6 with the degree of inclination of the root cutting blade (working part) 3, the inclination of the GNSS receiver 6 and the root cutting blade (working part) 3 must be attached to the onion root cutting machine (agricultural work machine) 1 so that the relative position does not change due to Both are attached to the same machine frame 2 so that the positions of the GNSS receiver 6 and root cutting blade (working part) 3 do not change during farm work.

When measuring the tilt in the front-rear direction, it is not preferable to pick up noise due to the tilt of the onion root cutter (agricultural implement) 1 in the left-right direction. A case in which a straight line connecting one GNSS receiver 6 and the other GNSS receiver 6 is positioned directly above the left disk coulter 8 and the left elevator wheel 5 will be described. When both the left disk coulter 8 and the left elevator wheel 5 enter the dent, the altitude of the pair of GNSS receivers 6 is greatly displaced despite the fact that the front-rear tilt is almost the same as described above, and the noise from the left-right tilt is generated. easier to pick up.
FIG. 2 is a bottom view of the onion root cutter (agricultural implement) 1. FIG. In the embodiment, as shown in FIG. 2, in order to make it difficult to pick up laterally slanting noise, the GNSS receiver 6 is connected to the part where the width of the root cutting blade (working part) 3 is divided into 1:1. A straight line (a straight line indicated by a dashed line in the figure) is made to pass through. Even if both the left disc coulter 8 and the left elevating wheel 5 enter the dent of the ridge, the entire onion root cutter (agricultural work machine) 1 tilts slightly with the left side down, but the front-back tilt changes almost. None.
When the onion root cutter (agricultural work machine) 1 is tilted in the left-right direction, the location where the width is divided into 1:1 has the smallest change in altitude although the direction of the GNSS receiver 6 changes. (Working part) 3 is arranged so that the straight line passes through the part (the center of the width) that divides the width of 3 at 1:1.
If the GNSS receiver 6 cannot be arranged in such a way, when the width of the working part in the horizontal direction is 5, the width between 5:2 and 5:3 is "the GNSS receiver 6 spaced in the front and back". It is preferable that it is arranged so that a straight line connecting between the two passes through, because it is less susceptible to the noise of the left-right tilt.

(control)
FIG. 4 is a conceptual diagram of control in which two GNSS receivers 6 are combined. 3, which is a conceptual diagram of control in which the vertical displacement detector 65 is not the GNSS receiver 6, is different until the tilt detection value 711 is calculated, but the control after that is the same.
A GNSS signal 61 received by the GNSS receiver 6 is sent to a positioning unit 72 of the control unit 7 installed inside the control box 9 . The positioning unit 72 derives at least altitude information 722 from the GNSS signals 61 of each GNSS receiver 6 . It should be noted that it does not prevent the positioning information 721 (altitude/latitude/longitude) including the altitude information 722 from being derived at the same time. The obtained altitude information 722 is sent to the tilt calculator 71 . Also, the positioning information 721 including the altitude information 722 is sent to the storage unit 74 and stored as time-series data. Furthermore, the depth setting value set at the start of work can also be stored in the storage unit 74 .
Furthermore, the tilt calculator 71 calculates a tilt detection value 711 in the longitudinal direction based on the altitude information 722 derived by the positioning unit 72 . The calculated tilt detection value 711 is sent to the storage unit 74, linked with the positioning information 721, and stored as time-series information.
The elevator wheel height control unit 73 outputs a height control signal 731 based on the calculated tilt detection value 711 . The actuator 52 is driven by the output height control signal 731 to raise and lower the elevator wheel 5 . The control unit 7 controls the depth of the root cutting blade (working unit) 3 that has changed due to the forward and backward inclination to return to the set depth.

For the purpose of explanation, the control unit 7 was described as being divided into the tilt calculation unit 71, the positioning unit 72, and the elevator wheel height control unit 73, but they may be attached to one control board or housed in one chip. may have been The tilt calculator 71, the positioning unit 72, and the elevator wheel height controller 73 may be software modules. Furthermore, the inclination calculator 71 , the positioning unit 72 and the elevator wheel height controller 73 may be distributed on a network and need not be mounted on the onion root cutter (agricultural work machine) 1 .
Furthermore, the positioning unit 72 and the like of the control unit 7 may be provided inside the GNSS receiver 6, and the position of the control unit 7 is appropriate.
Similarly, the storage unit 74 may be provided anywhere.

The actuator 52 may be a mechanical one such as an electric cylinder, a hydraulic cylinder, or a rack and pinion mechanism.
Furthermore, in the control box 9, accessories such as a battery and a hydraulic tank for operating the actuator 52 may be arranged.

(elevating wheel)
5A and 5B are explanatory views of the lifting and lowering of the elevating wheel 5, FIG. 5A being a perspective view seen from the front, and FIG. 5B being a perspective view seen from the rear. The elevator frame 51 is a laterally extending member. The actuator 52 has one end attached to the intermediate portion of the elevator frame 51 and the other end attached to an actuator support portion 523 attached to the machine frame 2 . The actuator 52 expands and contracts to move the elevator frame 51 , and in conjunction with this, moves the position of the elevator wheel 5 pivotally supported by the elevator wheel holding portion 55 , which is L-shaped in side view. can be displaced. Manual adjustment units 53 each having a handle are attached to the right and left ends of the elevator frame 51 . The manual adjustment unit 53 has a threaded portion 531 and is connected via the threaded portion 531 to the elevator wheel holding portion 55 which is L-shaped in side view. When the handle of the manual adjustment portion 53 is rotated, the screw portion 531 rotates and the position of the lifting wheel holding portion 55 moves up and down. By moving the lifting wheel holding part 55, the height of the lifting wheel 5 changes, and fine adjustment can be made so that the root cutting blade (working part) 3 is horizontal.

(lifting guide)
FIG. 5A does not show some members such as the control box 9 for the sake of explanation. Curved plates 56 are fixed to the left and right ends of the elevator frame 51 . The elevator wheel holding portion 55 that supports the elevator wheel 5 is L-shaped, and the upper end thereof is attached to the manual adjustment portion 53 . A rotating shaft 551 for rotating the elevator wheel holder 55 is provided at the lower end of the L-shaped elevator wheel holder 55 . The curved plate 56 attached to the elevator frame 51 is on the inside, the support plate 24 attached to the machine frame 2 is on the outside, and a rotating shaft 551 penetrates between them. The curved plate 56 and the support plate 24 are brought into close contact with each other by bolting the rotating shaft 551 . Thereby, the stationary support plate 24 serves as a guide member, and the outer surface 561 of the curved plate 56 functions as a guide surface that slides against the inner surface of the support plate 24 .
A pair of curved plates 56 provided on the elevator frame 51 have an arrangement relationship such that they are sandwiched between a pair of support plates 24 provided on the machine frame 2 .

(lifting of elevator wheels)
The elevating wheel 5 ascends and descends so as to draw an arc around the rotating shaft 551 . As described above, the elevator wheel height control unit 73 outputs the height control signal 731 based on the calculated tilt detection value 711 to drive the actuator 52 and adjust the height of the elevator wheel 5 with respect to the machine frame 2. change.
When it is detected that the root cutting blade (working portion) 3 is tilted forward downward, the depth of the root cutting blade (working portion) 3 becomes shallow. ) is lowered from the ridge.
Further, when it is detected that it is tilted upward forward, the depth of the root cutting blade (working part) 3 becomes deeper, so the elevator wheel 5 is lowered to bring the root cutting blade (working part) 3 closer to the ridge surface. such control.

In addition, since the embodiment is an onion root cutting machine (agricultural machine) 1, it is preferable to provide a lifting wheel 5. However, in other agricultural machines, it is not always necessary to provide a lifting wheel 5. The present invention also includes a device that controls the elevation of the working unit.

(Use of memory function)
As described above, the positioning information 721 (longitude/latitude/altitude) and the tilt detection value 711 obtained using the GNSS receiver 6 can be stored in the storage unit 74 .
This information can be used to determine whether the set depth is appropriate by comparing it with the previous year's data. In addition, the stored information can be used as basic data for automatic driving (including unmanned and manned) and remote control from the next year onwards.
Also, the tilt detection value 711 stored as time-series information can be used in the following automatic return function.
In addition, the data of the saved positioning information 721 and the tilt detection value 711 are linked to the positioning information 721 (longitude, latitude, altitude) and stored. It can be used for a wide range of purposes, such as setting the automatic traveling route of the tractor during harvesting work, and adjusting the position of the work machine. In addition, it can be used as data for automatic driving (including unmanned and manned) and remote control by other work machines, such as the next year's seeding work.

(auto return function)
Even if the onion root cutter (agricultural machine) 1 of the embodiment is lifted up using the link of the tractor, the root cutting blade (working part ) 3 is lifted down. The automatic return function can be used for work such as lifting up the onion root cutting machine (agricultural machine) 1 in order to turn on the headland and perform the next ridge work, and then lift it down at the beginning of the next ridge. The boundaries between the ground and furrows are often sloping, and if the headland is uncultivated, the furrows and the boundary may form steps. The boundary is also a location where the onion root cutter (agricultural implement) 1 changes its altitude abruptly.
When turning on the headland and lifting down to the next ridge, the depth of the root cutting blade (working part) 3 does not reach the set depth due to the longitudinal inclination. The automatic return function is a function that automatically lifts down to the set depth in consideration of the slope at the beginning of the next ridge.
The positioning information 721 of the GNSS receiver 6 can be used to detect that the onion root cutter (agricultural implement) 1 has turned toward the next ridge. When the control unit 7 detects a turn at the headland from the positioning information 721, the control unit 7 reads out the tilt detection value 711 immediately before lift-up from the storage unit 74 stored as time-series information. Then, if the detected tilt value 711 at the time of lift-up is forward-up, the tilt direction is changed so that the tilt-detected value 711 is forward-down at the time of lift-down, and the tilt detection value obtained by changing the tilt direction at the start end of the next ridge. 711 is used to automatically lift down to the set depth.

(noise removal)
A moving average can be used on the positioning information 721 including altitude information 722 obtained from the GNSS receiver 6 to remove noise. Further, assuming that it is not necessary to follow minute changes in inclination, a threshold value may be set so that control below the threshold value is not performed.
Furthermore, the accuracy can be improved by combining with tilt detectors based on various principles. Each tilt detector has advantages and disadvantages depending on its principle, and the advantages can be utilized to complement the accuracy of tilt detection using the GNSS receiver 6 .
For example, when a large change is detected instantaneously, processing for excluding it as an abnormal value can be performed. It is rare for a plurality of detectors with different principles to detect abnormal values at the same time, and when only the GNSS receiver 6 detects an abnormal value, the data can be used to exclude the data.

In addition, the tilt detection value of the tilt detector attached to a portion other than the onion root cutter (agricultural work machine) 1 can also be effectively used. For example, when a tractor wheel passes a recess, it can be detected by a tilt detector (not shown) on the tractor side. When the tilt detector on the tractor detects a large recess (rapid forward/backward tilt), the disk coulter 8 and the lifting wheel 5 of the onion root cutter (agricultural implement) 1 pass through the recess later than that point. It will be done. Since it is possible to know in advance that there is a large recess, the above-described process of eliminating as an abnormal value is stopped, the moving average time interval is shortened in preparation for sudden fluctuations, and the positioning time by the GNSS receiver 6 It can also be used to increase accuracy, such as by shortening the interval.

Of course, the tilt detection value of the tilt detector on the tractor side (the tilt of the tractor is detected) is replaced with the tilt detection value 711 by the GNSS receiver 6 that detects the tilt of the onion root cutter (agricultural work machine) 1 in consideration of the time delay. In this case, it is possible to correct the tilt detection value 711 by the GNSS receiver 6 by weighting each tilt detection value.

The onion root cutter (agricultural work machine) 1 is provided with another type of tilt detector, and the tilt detection value 771 from the other type of tilt detector and the tilt detection value 711 obtained from the GNSS receiver 6 are combined depending on the situation. Either one of the tilt detection values 771 may be used. It is a preferable mode to combine the tilt detection value 711 obtained from the GNSS receiver 6 by making use of the tilt detection target (tractor or agricultural implement) and the principle and characteristics of the tilt detector.

(setting function)
In the embodiment, a setting/monitoring interface (display or touch panel) (not shown) is provided for automatic control.
(1) Set the depth of the root cutting blade (working part) 3 before work.
(1-1) The automatically controllable range is shown in green.
(1-2) Displayed in red when the automatic control range is exceeded. (The operator is encouraged to adjust the height by raising and lowering the tractor link.)
(2) monitoring of set depth and working depth;
etc. can be done.

(Application to agricultural machinery other than onion root cutters)
The influence of the inclination of the agricultural working machine is not limited to the onion root cutting machine 1, but occurs in a wide range of agricultural working machines in general, and affects the harvesting, soil work, and the like in general. Depending on the type of agricultural implement, it is possible to control not only the front-rear tilt but also the left-right tilt, and the aspect of controlling the left-right tilt is also included in the present invention.
The present invention also includes application to agricultural machinery other than the onion root cutter 1 .

Also, the farm implement may be towed or mounted on a tractor. Also, it may be self-propelled. In the case of the self-propelled type, it is necessary to attach the GNSS receiver 6 to the machine frame 2 that supports the working part. When the traveling part and the working part are integrated and always have the same inclination, the traveling part and the working part are mounted on the same machine frame 2, so the GNSS is attached to the machine frame 2 that supports the working part. There is no change in that the receiver 6 is attached.

As described above in detail in the embodiments, by combining the GNSS receiver 6 and the vertical displacement detector 65, it is possible to improve the measurement accuracy and stabilize the measurement. As a result, the control is stabilized. This also leads to a reduction in the workload of the operator who operates the onion root cutting (agricultural implement) 1 and an improvement in the quality of the harvested product (onions).

The specific configuration is not limited to the above-described embodiment, and the present invention includes any modification of the design without departing from the gist of the present invention.

In addition, the above-described various aspects can be combined by diverting each other's techniques as long as there is no particular contradiction or problem in the purpose, configuration, or the like.

1: Onion root cutter (agricultural machine)
2: machine frame 21: link mounting portion (running vehicle connecting portion)
211: Upper link connection part 212: Lower link connection part 23: GNSS support part 24: Support plate 25: Disk coulter mounting member 26: L-shaped member 27: Horizontal support member 3: Root cutting blade (working part)
5: Elevator wheel 51: Elevator frame 52: Actuator 521: Motor 522: Cylinder 523: Actuator support part 53: Manual adjustment part 531: Screw part 55 Elevator wheel holding part 551 Rotating shaft 56 Curved plate 561 Outer surface 6 GNSS receiver 61 GNSS signal 65 vertical displacement detector 7 control unit 71 tilt calculator 711 tilt detection value 72: positioning unit 721: positioning information 722: altitude information 723: vertical displacement information 73: elevator wheel height controller 731: height control signal 74: Storage unit 8: Disk coulter 9: Control box

Claims (6)

Equipped with machine frame, tilt detector and control unit,
The tilt detector is composed of a GNSS receiver and a vertical displacement detector,
The machine frame supports the GNSS receiver, the vertical displacement detector, and a working unit,
the GNSS receiver detects at least altitude information;
The vertical displacement detector detects the vertical displacement of the working unit as a height or an angle,
The control unit
a tilt calculation unit that calculates a tilt detection value of the working unit based on the altitude information and the vertical displacement information;
An agricultural working machine, wherein the working unit is controlled to move up and down in accordance with the detected inclination value.
The agricultural implement, wherein the vertical displacement detector is another GNSS receiver.
The GNSS receiver,
When the direction of travel of the agricultural implement is forward,
It is above the working part and is provided on the machine frame with a space in the front and back,
located above the working station and spaced left and right on the machine frame, or
3. The agricultural working machine according to claim 2, which is provided on the machine frame above the working part and obliquely spaced from the working part.
The GNSS receiver,
is above the working part and is provided on the machine frame with a space in the front-rear direction;
When a straight line is connected between the GNSS receivers separated in the front and rear,
4. The straight line is arranged to pass between 5:2 and 5:3 when the width of the working portion in the horizontal direction is 5. 1. The agricultural working machine according to Item 1.
Equipped with lifting wheels,
The agricultural work machine according to any one of claims 1 to 4, wherein the control unit controls the elevation of the working unit by raising and lowering the elevating wheel according to the detected inclination value. .
Equipped with a storage unit,
The storage unit stores at least time-series data of detected tilt values,
When the working unit is lifted down after the working unit is lifted up, the control unit reads out the tilt detection value immediately before the lifting up from the storage unit, and reads out the read tilt detection value. The agricultural work machine according to any one of claims 1 to 5, wherein the lifted-down working part is controlled to rise and fall according to the value.

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