JP7162323B2 - Display method - Google Patents

Description

The present invention relates to a display method. In particular, the present invention relates to a method of displaying a field state determined based on a change in vertical movement of a grounding member provided on a work machine attached to the rear of a tractor.

Currently, in order to reduce the working hours of agricultural work, automaticization of working machines is promoted, and various working machines are being developed. In particular, work machines (cultivators and puddling machines) that are attached to the rear of a traveling machine such as a tractor and that can be exchanged according to the type of work such as tillage and puddling are attached to the traveling machine such as a tractor. It is possible to respond to various farm work just by exchanging, which greatly contributes to the cost reduction of farm work.

In addition, traditional farm work relied on the experience and intuition of each farmer. Therefore, the efficiency of farm work varies from farmer to farmer, resulting in variations in yield and quality of agricultural products. Furthermore, when each farmer changes generations, it is difficult for the new generation of farmers to take over all of their experience and intuition, and the accumulation of farming experience is not utilized.

When plowing or puddling a field with a cultivator or puddling machine, it is necessary to grasp the leveling state and the size of the soil mass after tilling or puddling. However, since it is not possible to check the leveling state and the size of the soil mass of the entire field, it is only possible to obtain information on a limited area of the field. For this reason, workers have been estimating the leveling state and the size of the soil mass by visually observing the vibration transmitted to the working machine during work and the state of the field after work. As a method for evaluating the state of a field after tillage or puddling, an angle sensor 22 is arranged at the rotation base of the rear cover 21, and a method of detecting the tillage depth by rotation of the rear cover 21 is used (for example, Patent document 1).

JP-A-9-28109

However, with the structure disclosed in Patent Literature 1, it is not possible to evaluate the detailed leveling state of the field and the size of the soil mass. Furthermore, the work machine having the structure disclosed in Patent Document 1 cannot manage the field state of the entire field, and the field state at each position of the field depends on the memory of the operator. SUMMARY OF THE INVENTION The present invention has been made in view of such problems, and it is an object of the present invention to display a field state obtained as a result of the work while working in the field so that the worker can easily visually recognize it.

A display method according to an embodiment of the present invention displays, on the same screen, a work route of a work machine traveling in a field and a determination result of determining the state of the field worked by the work machine.

The determination result may be displayed along the work path.

The determination result may be determined based on a change in vertical movement with respect to the field of a ground contacting member provided in the work machine and in contact with the field.

The work route may be determined based on the past determination result.

A display method according to an embodiment of the present invention displays, for each work section, the result of block determination for determining the state of a field for each work section worked by a work machine traveling in the field.

A real-time determination result for determining the state of the field in a section shorter than the work section may be displayed in a region different from the field map on which the block determination result is displayed.

The block determination result may be a determination result based on information obtained by statistically processing the information used for the real-time determination.

The block determination and the real-time determination may be performed based on a change in vertical movement of a contacting member, which is provided in the work machine and is in contact with the field, with respect to the field.

The operator may be notified of guidance for changing the working conditions of at least one of the working machine and the traveling machine body that tows the working machine according to the result of the real-time determination.

The results of the real-time determination include a first determination result, a second determination result, and a third determination result according to the field state, and the first determination result is defined as a result indicating a relatively good field state. The third determination result is defined as a result indicating a relatively poor field condition, and the second determination result indicates a field condition between the first determination result and the third determination result. When the real-time determination result is the first determination result or the third determination result, the operator is not notified of the guidance, and when the real-time determination result is the second determination result, the Guidance may be communicated to the operator.

An agricultural field judgment result for the agricultural field derived based on a ratio of results judged to be rejected based on pass/fail judgment criteria among results of the block judgment for the agricultural field may be displayed.

Advantageous Effects of Invention According to the working machine of the present invention, it is possible to display the state of a field obtained as a result of the work while the field is being worked so that the worker can easily visually recognize it.

1 is a schematic diagram showing the overall configuration of a traveling machine body and a working machine according to an embodiment of the present invention; FIG. 1 is a block diagram showing functional configurations of a traveling machine body and a working machine according to an embodiment of the present invention; FIG. BRIEF DESCRIPTION OF THE DRAWINGS It is a top view which shows the whole structure of the working machine which concerns on one Embodiment of this invention. 1 is a side view showing the overall configuration of a leveler angle detection mechanism of a work machine according to one embodiment of the present invention; FIG. It is a figure which shows the operation|movement flow of the determination method of an agricultural field state using the working machine which concerns on one Embodiment of this invention. FIG. 10 is a diagram showing an example of an interface displayed on an agricultural field registration screen in the method for determining an agricultural field state according to an embodiment of the present invention; It is a figure which shows the determination method of the agricultural field state which concerns on embodiment of this invention. It is a figure which shows the determination method of the agricultural field state which concerns on embodiment of this invention. It is a figure which shows the determination method of the agricultural field state which concerns on embodiment of this invention. FIG. 10 illustrates an interface associated with a lookup table (LUT) used to determine field conditions according to an embodiment of the present invention; It is a figure which shows an example of the data obtained by the determination method of the agricultural field state which concerns on embodiment of this invention. It is a figure which shows an example which displays the determination result of an agricultural field state on a monitor which concerns on embodiment of this invention. It is a figure which shows an example which displays the determination result of an agricultural field state on a monitor which concerns on embodiment of this invention. FIG. 10 is a diagram showing an example of a method of notifying a worker of work guidance for changing work conditions in the method of displaying determination results of field conditions according to the embodiment of the present invention. It is a figure which shows an example which displays a proper working route using the determination result of an agricultural field state which concerns on embodiment of this invention. It is a figure which shows an example of the method of changing the reference|standard of the determination result of an agricultural field state which concerns on embodiment of this invention. FIG. 4 is a side view showing the details of the leveler angle detection mechanism of the working machine according to the embodiment of the present invention; FIG. 3 is a top view showing details of a leveler angle detection mechanism of the working machine according to one embodiment of the present invention; FIG. 2 is a side view showing a state in which the telescopic rod is most extended in the working machine according to the embodiment of the present invention; FIG. 4 is a side view showing a state in which the telescopic rod is most contracted in the working machine according to the embodiment of the present invention; It is a figure which shows an example of the management method of the data obtained by the determination method of the agricultural field state which concerns on embodiment of this invention. It is a figure which shows an example of the determination method (A) of a field state, and the mapping data (B) of a yield which concern on embodiment of this invention. It is the figure which divided the mapping data of the yield which concerns on embodiment of this invention by the boundary of the block of the determination method of an agricultural field state. It is a figure which shows an example which displays the determination result of an agricultural field state on a monitor which concerns on embodiment of this invention. It is a figure which shows an example of the real-time determination result of an agricultural field state which concerns on embodiment of this invention. FIG. 10 is a diagram showing an example of an interface displayed on an agricultural field registration screen in the method for determining an agricultural field state according to an embodiment of the present invention; It is a figure which shows an example which displays on a monitor the determination result of the agricultural field state with respect to the whole agricultural field which concerns on embodiment of this invention.

A work machine according to the present invention will be described below with reference to the drawings. However, the work machine of the present invention can be implemented in many different aspects, and should not be construed as being limited to the descriptions of the embodiments shown below. In the drawings referred to in this embodiment, the same parts or parts having similar functions are denoted by the same numerals, or the same numerals are followed by alphabetical characters, and repeated description thereof will be omitted. For convenience of explanation, the terms upward (upper) and downward (lower) will be used. Indicate the direction (see Figure 1). Similarly, when describing using the terms forward (front side) or rearward (rear side), the front (front side) indicates the direction of the traveling machine body that tows the work machine with respect to the work machine, and the rear (rear side) indicates the direction. The orientation of the work implement with respect to the traveling machine body is shown (see FIG. 1).

<First embodiment>
In the present embodiment, a configuration in which a puddling machine is used as a work machine for determining the state of a field is exemplified, but the configuration is not limited to this. For example, as a work machine for judging the field state, a work machine having a grounding member that can come into contact with the field during work can be used in addition to the puddling machine. For example, a cultivator, a soil crusher, a plow, or the like may be used as such a working machine. In this embodiment, since a puddling machine is used as a working machine, the grounding member corresponds to a leveling member (leveler).

[overall structure]
FIG. 1 is a schematic diagram showing the overall configuration of a traveling machine body and a working machine according to one embodiment of the present invention. As shown in FIG. 1, a working machine 20 is attached to the rear of a traveling machine body 10 that travels in a field. However, when the working machine 20 is provided with a self-propelled mechanism, the traveling machine body 10 can be omitted. In this case, each function of the traveling machine body 10 for realizing the embodiment of the present invention described below is provided in the working machine 20. FIG.

The traveling body 10 includes a vehicle body 100 , a monitor 110 and a three-point link mechanism 120 . Monitor 110 is provided in front of vehicle body 100 . The three-point link mechanism 120 is provided behind the vehicle body 100 . As will be described later, the monitor 110 displays information such as screens for setting various conditions, the rotation angle of the leveling member in contact with the field, and the determination result of the state of the field. Note that the monitor 110 is preferably a display with a touch sensor. In this embodiment, the monitor 110 is provided in the traveling body 10, but the monitor 110 can be replaced with a communication terminal (for example, a smart phone, a mobile phone, a tablet PC, a PDA, a notebook PC, and a PHS) owned by the worker. can be done. Work implement 20 is connected to three-point link mechanism 120 . The traveling machine body 10 can change the height of the working machine 20 with respect to the traveling machine body 10 by controlling the three-point link mechanism 120 . Note that the traveling machine body 10 may be provided with a function for adjusting the height of the working machine 20 . With this adjustment function, for example, the height of work implement 20 may be automatically adjusted so that the angle of apron 220 with respect to shield cover 210, which will be described later, is kept constant. Since the structure of the three-point link mechanism 120 is well known, detailed description thereof will be omitted.

In this embodiment, the working machine 20 is a puddling machine. The working machine 20 includes a frame 200, a rotor 207, a shield cover 210, an apron 220 (cover member), and a leveler 230 (leveling member). Rotor 207 is rotatably attached to frame 200 . The rotor 207 has a plurality of working claws, and the working claws are rotated and applied to the field to plow or agitate the field. The apron 220 is provided behind the rotor 207 so as to be rotationally movable (rotatable) with respect to the frame 200 and the shield cover 210 . Since the positional relationship between the shield cover 210 and the frame 200 is fixed, the shield cover 210 can be regarded as a part of the frame 200, and the apron 220 can rotate with respect to the frame 200. can also be said to be connected to Leveler 230 is provided rotatably with respect to apron 220 . The apron 220 and the leveler 230 contact the field to level the field roughened by the work of the rotor 207 .

FIG. 2 is a block diagram showing the functional configuration of the traveling machine body and working machine according to one embodiment of the present invention. As shown in FIG. 2 , the traveling body 10 has a control section 191 , a display section 193 and a position detection section 195 . The work machine 20 has a control section 291 and a detection section 293 . Control unit 191 and control unit 291 are connected by communication unit 121 . The control unit 291 transmits or transmits/receives various types of information to/from the control unit 191 via the communication unit 121 . For example, as will be described later, the control unit 291 can transmit information regarding changes in vertical movement of the leveler 230 to the control unit 191 . Also, the control unit 291 can receive information set by the height adjustment function from the control unit 191 . The communication unit 121 may be wired or wireless. As a communication method of the communication unit 121, for example, CAN (Controller Area Network), Wi-Fi (registered trademark), Bluetooth (registered trademark), or the like can be used. When the monitor 110 is replaced with a communication terminal owned by an operator, at least the control unit 191 and the display unit 193 are implemented by the central processing unit (CPU) of the communication terminal. Of course, the position detector 195 may be provided in the communication terminal.

The display unit 193 is controlled by the control unit 191 and displays an image on the monitor 110 so that the operator can visually recognize it. However, as described above, the display unit 193 may display the image on the communication terminal held by the worker instead of displaying the image on the monitor 110 provided on the traveling machine body 10 . A position detection unit 195 detects the current position of the traveling body 10 . The position information detected by the position detector 195 is transmitted to the controller 191 . As the position detector 195, for example, a global navigation satellite system (GNSS) can be used. As GNSS, a satellite positioning system such as GPS, GLONASS, Galileo, Quasi-Zenith Satellite (QZSS) can be used. However, the position detection unit 195 is not limited to GNSS, and other equipment that detects the position information of the traveling body 10 can be used. The position detection unit 195 may be provided in the working machine 20 instead of being provided in the traveling machine body 10 , or may be provided in both the traveling machine body 10 and the working machine 20 . The control unit 191, the display unit 193, and the position detection unit 195 are connected by wire or wirelessly as described above.

The detector 293 detects the rotation angle of the leveler 230 with respect to the apron 220 . In other words, the detection unit 293 detects a change in vertical movement of the leveler 230 with respect to the field. A change in vertical movement of the leveler 230 detected by the detector 293 is transmitted to the controller 291 . As the detector 293, for example, a potentiometer can be used, although the details will be described later. However, the detector 293 is not limited to a potentiometer, and other devices that detect changes in vertical movement of the leveler 230 can be used. The control unit 291 and the detection unit 293 are connected by wire or wirelessly as described above.

The information about the change in vertical movement of the leveler 230 transmitted to the control section 291 is transmitted to the control section 191 via the communication section 121 . The control unit 191 analyzes the information about the change in vertical movement of the leveler 230 to determine the state of the field. The details of the method for determining the field state will be described later. However, the control unit 291 may analyze information on changes in vertical movement of the leveler 230 to determine the state of the field. Note that the control unit 191 and the control unit 291 may communicate with a server via a network. In other words, information regarding the change in vertical movement of the leveler 230 detected by the detection unit 293 may be transmitted from the control unit 191 or the control unit 291 to the server, and the server may analyze the information to determine the state of the field.

Although the details will be described later, the position information detected by the position detection unit 195 is not only used to display the current position of the traveling body 10, but also based on the change in vertical movement of the leveler 230 detected by the detection unit 293. It is displayed on the monitor 110 together with the determination result of the field state obtained by the above.

[Configuration of working machine 20]
FIG. 3 is a top view showing the overall construction of the working machine according to one embodiment of the present invention. As shown in FIG. 3 , work machine 20 has frame 200 , central work section 300 , extension work section 400 , leveler extension section 490 , leveler angle detection mechanism 500 , and leveler control section 600 . The working machine 20 is attached to the rear of the traveling body 10 . Although details will be described with reference to FIG. 4, a rotor 207 having a plurality of working claws is provided below each of the central working portion 300 and the extended working portion 400 .

The frame 200 has a main frame 201 , a transmission frame (the frame on which the chain case 203 is provided), and side frames 205 . The main frame 201 extends in the longitudinal direction of the working machine 20 (direction perpendicular to or simply intersecting with the traveling direction of the traveling machine body). A chain case 203 and side frames 205 are arranged at both left and right ends of the main frame 201 . A rotor 207 is rotatably supported with respect to the frame 200 between the chain case 203 and the side frames 205 . Specifically, the rotor 207 is attached below each of a central shield cover 310 and an extension shield cover 410 which will be described later. That is, the plurality of working claws provided on rotor 207 are arranged in the longitudinal direction of working machine 20 .

Central work station 300 has a central shield cover 310 , a central apron 320 and a central leveler 330 . The central shield cover 310 and the central apron 320 are connected with a first connecting portion (not shown) as an axis of rotational movement (rotating axis). Also, the central apron 320 and the central leveler 330 are connected with the second connecting portion 332 as a rotation axis. The first connection portion and the second connection portion 332 have hinge-like hinges. That is, each of the first connecting portion and the second connecting portion 332 has a cylindrical portion and a columnar portion. Here, the cylindrical part of the connecting part is fixed to one of the two members connected by the connecting part, the columnar part penetrates the inside of the cylindrical part, and both ends of the columnar part are connected to the other of these members. fixed to

The central shield cover 310 and the central apron 320 suppress the scattering of debris caused by the operation of the rotor 207 from being released to the outside. In other words, the central shield cover 310 and the central apron 320 can be called cover members. The central leveler 330 contacts the field plowed or agitated by the work of the rotor 207 to level the field. In other words, the central leveler 330 can be called a leveling member or a grounding member.

The extension working part 400 is provided at both left and right ends of the central working part 300, and switches between a stored state (not shown) in which the central working part 300 is folded upward and a working state in which it is unfolded as shown in FIG. It is connected to the central working part 300 as possible.

The extension work part 400 has an extension shield cover 410 , an extension apron 420 and an extension leveler 430 like the central work part 300 . The extension shield cover 410 and the extension apron 420 are connected with the connecting portion 422 as a rotation axis. Further, the extension apron 420 and the extension leveler 430 are connected with the connecting portion 432 as a rotation axis. The connection portions 422 and 432 have the same structure as the first connection portion and the second connection portion 332 described above.

The extended shield cover 410 and the extended apron 420 , like the central shield cover 310 and the central apron 320 , suppress the scattering of debris caused by the operation of the rotor 207 arranged in the extended working part 400 . In other words, the extended shield cover 410 and the extended apron 420 can be called cover members. Further, like the central apron 320 , the extension leveler 430 contacts the field plowed or stirred by the work of the rotor 207 arranged in the extension work part 400 to level the field. In other words, the extension leveler 430 can be called a leveling member or a grounding member. Although not shown, an apron pressure mechanism is provided between the extended shield cover 410 and the extended apron 420 . The apron pressing mechanism presses the extension apron 420 so that the extension apron 420 rotates downward with respect to the extension shield cover 410 .

The central shield cover 310 and the extended shield cover 410 are simply referred to as the shield cover 210 when not specifically distinguished. The central apron 320 and the extension apron 420 are simply referred to as the apron 220 when not specifically distinguished. The central leveler 330 and the extended leveler 430 are simply referred to as the leveler 230 when not specifically distinguished.

At the end of the extension leveler 430, a leveler extension 490 is provided to further increase the width of the ground that can be leveled. Leveler extension 490 is pivotally connected to extension leveler 430 . Further, the leveler extension portion 490 has a guide surface 491 that is inclined toward the traveling machine body with respect to the longitudinal direction of the working machine 20 .

The leveler angle detection mechanism 500 is connected to the control box 501 . A control box 501 is provided above the central shield cover 310 . The control box 501 has the function of the control unit 291 in FIG. 2, and transmits the rotation angle of the central leveler 330 with respect to the central apron 320 detected by the leveler angle detection mechanism 500 to the control unit 191 provided in the traveling body 10. do.

Leveler control 600 controls the angle of central leveler 330 with respect to central apron 320 . The extension leveler 430 is controlled to have the same angle as the central leveler 330 in conjunction with the central leveler 330 . For example, in the working state, the leveler control unit 600 pushes the central leveler 330 downward, so that the central leveler 330 and the extension leveler 430 rotate downward with respect to the central apron 320 and the extension apron 420 (earth pile state). can be realized.

A detailed configuration of the leveler angle detection mechanism 500 will be described with reference to FIG. FIG. 4 is a side view showing the overall configuration of the leveler angle detection mechanism of the working machine according to one embodiment of the present invention. As shown in FIG. 4, the detection member (leveler angle detection mechanism 500) includes an angle detector (potentiometer 510), a first arm portion 520, a second arm portion 530, a first elastic portion 540, and a second elastic portion 550. have The first arm portion 520 , the second arm portion 530 , the first elastic portion 540 , and the second elastic portion 550 may be collectively referred to as a telescopic rod 590 . Potentiometer 510 is fixed to a pedestal 314 provided on central shield cover 310 . Potentiometer 510 and first arm portion 520 are rotatably connected. The second arm portion 530 is fixed to a pedestal 334 provided on the central leveler 330 . The second arm portion 530 and the base 334 are rotatably connected. In other words, the telescopic rod 590 connects the potentiometer 510 and the central leveler 330 .

The first arm portion 520 and the second arm portion 530 are slidably connected to each other. The first elastic part 540 applies elastic force to the first arm part 520 and the second arm part 530 in the direction in which the telescopic rod 590 contracts. Meanwhile, the second elastic part 550 applies elastic force to the first arm part 520 and the second arm part 530 in the direction in which the extensible rod 590 extends. A more detailed structure of the leveler angle detection mechanism 500 will be described later.

When the potentiometer 510 is provided with an elastic portion for return to origin, the elastic modulus of each of the first elastic portion 540 and the second elastic portion 550 is larger than that of the elastic portion for return to origin. . Therefore, when the central leveler 330 rotates with respect to the central apron 320 due to the unevenness of the field, the potentiometer 510 is rotated through the first arm portion 520 and the second arm portion 530 as the central leveler 330 rotates. works. As described above, the rotation angle of central leveler 330 with respect to central apron 320 can be detected by potentiometer 510 .

Since the extension leveler 430 is connected to the central leveler 330 and rotates together with the central leveler 330 , the rotation angles of the central leveler 330 and the extension leveler 430 (leveler 230 ) can be detected by the potentiometer 510 . In other words, the leveler angle detection mechanism 500 can be used to detect changes in vertical movement of the leveler 230 .

4, central leveler 330 rotates relative to central apron 320, and central apron 320 rotates relative to central shield cover 310, so potentiometer 510 controls rotation of both central apron 320 and central leveler 330. In FIG. will detect. However, only the rotation of the central leveler 330 can be detected by performing arithmetic processing on the data obtained by the potentiometer 510 to eliminate the influence of the rotation of the central apron 320 .

In the present embodiment, the configuration in which the leveler angle detection mechanism 500 detects the rotation angle of the leveler 230 (central leveler 330) with respect to the apron 220 (central apron 320) was exemplified, but the configuration is not limited to this. For example, in a configuration in which a grounding member contacting the field is rotatably connected to the frame 200 or the shield cover 210 (for example, the central shield cover 310), the rotation angle of the grounding member may be detected. Note that the grounding member does not have to rotate with respect to the frame 200 or the shield cover 210 . However, in that case, instead of the potentiometer 510, a detector capable of detecting a change in vertical movement of the grounding member is provided.

[Method for judging field conditions]
5 to 10, a method for judging the field state using the working machine 20 of the present embodiment will be described. FIG. 5 is a diagram showing an operation flow of a method for determining a field state using a working machine according to one embodiment of the present invention. A program operation is started when an operator operates the monitor 110 and starts a field state determination program.

When the program operation starts, a menu screen is displayed on the monitor 110 (S601). 'Field registration' is selected from the menu screen, and the position and size of the field are registered (S603). By registering field information in advance, it is possible to display the determination results at each position in the field. When "field registration" is selected, the screen shown in FIG. FIG. 6 is a diagram showing an example of an interface displayed on the screen in the field state determination method according to the embodiment of the present invention. As shown in FIG. 6, an input area 611 and a position selection area 613 are displayed on the monitor 110 .

The input area 611 is provided with an input frame 615 for inputting the field name, long side size, and short side size. The field name, long side size, and short side size are stored in association with each other. For example, by selecting the field name in a pull-down format, the pre-registered long side size and short side size are automatically changed. may be entered.

In the position selection area 613, a schematic diagram of a rectangular field and an icon of the traveling machine body 10 are displayed. The operator selects an image corresponding to the positional relationship between the traveling machine 10 and the field while moving the traveling machine 10 to the corner of the field. When the image is selected, the position information of the traveling machine body 10 is detected by the GNSS provided in the traveling machine body 10, and the position information of the outer edge of the farm field is obtained based on the position information and the size of the farm field entered in the input frame 615. is registered. The position information of the field may be stored in a memory provided in the traveling machine 10, or may be registered in an external storage of a server related to this program via the Internet. Thus, the position information of the field is registered.

As shown in FIG. 5, when traveling is started in the field registered in S603 while performing work by the work machine 20 (S605), the leveler 230 moves up and down (rotates relative to the apron 220) due to unevenness in the field. do. The change in vertical movement (change in the angle of rotation of the leveler 230 with respect to the apron 220) is detected using the potentiometer 510 (S607), and the change in vertical movement is analyzed to determine the state of the field after work. (S609).

7 to 10, a detailed description will be given of the method of determining the state of the field based on the change in vertical movement of the leveler 230 in S609. 7 to 9 are diagrams showing a method for determining the field state according to the embodiment of the present invention. FIG. 10 is a diagram illustrating an interface associated with a lookup table (LUT) used to determine field conditions according to an embodiment of the present invention. First, as shown in FIG. 7, based on the position information detected by the GNSS provided on the traveling machine body 10 and the change in the vertical movement of the leveler 230 detected by the leveler angle detection mechanism 500 provided on the working machine 20, Then, the change in vertical motion of the leveler 230 with respect to the position of the traveling body 10 is plotted. In FIG. 7, the field is divided into work zones L1, L2 and L3. The plot data shown in FIG. 7 are analyzed for each of the work sections L1, L2, and L3 of the field, and determination results are derived for each section. The example shown in FIG. 7 shows an example of analyzing plot data for each fixed work interval. However, the intervals between the work sections to be analyzed need not be constant.

A method of analyzing plot data obtained by detecting vertical movement of the leveler 230 will be described with reference to FIG. Determination of the field state is performed based on the magnitude of change in unevenness. Specifically, the field state is determined based on the difference between adjacent peaks and valleys detected in the plot data. A difference between adjacent peaks and valleys is called an adjacent PV (Peak to Valley) value. Adjacent PV values in one work section are calculated, and the field state is determined based on statistical values for these adjacent PV values. Specifically, PV1 is the difference between the first peak p1 and the first valley v1 (magnitude of change in vertical movement of the leveler 230), and PV1 is the difference between the first valley v1 and the second peak p2. Let PV2 be the difference between the second peak p2 and the second valley v2 as PV3. Then, for example, determination is made based on the average value of PV1 to PV3. The details of the determination method based on this adjacent PV value will be described later.

When detecting peaks and troughs in the above analysis, for example, filter processing is performed so as to ignore micro-vibration regions r1 and r2. As this filter processing, for example, low-pass filter processing may be used. As another filtering process, when an adjacent PV value is smaller than a predetermined value, processing may be performed while ignoring peaks and valleys related to the adjacent PV value.

A method for detecting work stoppage will be described with reference to FIG. While the work machine 20 is working in the field, the leveler 230 moves up and down within a certain range. It rotates downward and hardly moves up and down. For example, as shown in FIG. 9, when the work implement 20 is lifted upward, the plot data drops to near the lower limit and hardly moves up and down (symbol z1 in FIG. 9). When the plot data shows such a specific behavior, it may be determined that the work has been stopped. When it is determined that the work should be stopped, the acquisition of plot data may be interrupted. Further, only the information before the position (marked z2 in FIG. 9) at which the state where it is determined that the work is stopped may be analyzed.

Using FIG. 10, a method of judging the field state based on the statistic value of adjacent PV values (hereinafter referred to as adjacent PV statistic value) shown in FIG. 8 will be described. As shown in FIG. 10, the interface related to the lookup table (the interface based on the LUT 630) has items of determination result 631, selection 633, and adjacent PV statistic value determination range 635. FIG.

The determination result 631 has three items of "insufficient", "optimal" and "excessive", and also includes items of "good 1" and "good 2". "Insufficient" refers to a state in which the soil mass on the surface is still large and the crushability of the surface of the field is poor or the leveling condition is poor. Specifically, a state in which the average value and the standard deviation of adjacent PV statistic values are relatively large is determined as “insufficient”. "Excessive" refers to a state in which the soil mass on the surface is small and the surface of the field has good crushability or is well leveled, but indicates a state in which the soil mass is smaller than necessary or the soil is well leveled. Reaching this "overage" condition takes a long time to work on the field and is not efficient. Therefore, the "excessive" item is provided in the sense that it is not necessary to work until the "excessive" state is reached. Specifically, a state in which the average value and standard deviation of adjacent PV statistic values are relatively small is determined as "excessive." "Optimal" is the region between "shortage" and "excess."

Here, "good 1" may refer to a state between "optimal" and "excessive" (a state in which the range of "good 1" does not overlap with the range of "excessive"). It may also refer to a state close to "optimal" within the range (a state in which the "good 1" range overlaps with the "excessive" range). Similarly, "good 2" may refer to a state between "optimal" and "deficient" (a state in which the "good 2" range does not overlap the "deficient" range). It may also refer to a state close to "optimal" within the range (a state in which the range of "good 2" overlaps the range of "insufficient"). The items of "Good 1" and "Good 2" refer to states in which the field state can be made "optimal" by slightly changing the working conditions, such as by slowing down or speeding up the traveling machine body 10. . As will be described later, when the judgment result is "Good 1" or "Good 2", work guidance such as "Please increase the vehicle speed" or "Please slow down the vehicle speed" is given to the worker via the monitor 110. may be displayed. Alternatively, when the judgment result is "Good 1" or "Good 2", the operator is instructed via the monitor 110 to "decrease the rotation speed of the rotor" or "increase the rotation speed of the rotor". Guidance may be displayed.

A selection 633 enables or disables the determination result of each item of the determination result 631 . For example, in the interface based on the LUT 630 shown in FIG. 10, since the items "excessive", "insufficient", and "optimal" are checked, only these three determination results are valid, and the determination result is "good 1". ” and “Good 2”.

The adjacent PV statistic value determination range 635 defines the range of adjacent PV statistic values for each determination result. That is, the adjacent PV statistic value determination range 635 is a determination criterion. Both upper and lower bounds are set in the adjacent PV statistic value determination range 635 for the items "Best", "Good 1", and "Good 2". At least an upper limit is set in the adjacent PV statistic value determination range 635 for the "excessive" item. At least the lower limit is set in the adjacent PV statistic value determination range 635 for the “insufficient” item. The adjacent PV statistic value determination range 635 may be changed by numerical input, or its value may be changed by the + and - buttons. Note that when the + button or - button is selected, both the upper limit and the lower limit of the adjacent PV statistical value determination range 635 change. That is, when the + or - button is selected, both the upper and lower limits change so that the difference between the upper and lower limits (ie, the width of the range) remains the same. However, when the + button or - button is selected, the upper limit and lower limit may change while the width of the range is changed, or only the upper limit or lower limit may change.

For example, when the adjacent PV statistics are calculated from the plot data shown in FIG. 8, the determination results are derived based on the adjacent PV statistics and the criteria displayed on the interface based on the LUT 630 of FIG. Thus, determination results are derived for each of the work sections L1, L2, and L3 shown in FIG. Then, as shown in FIG. 5, the derived determination result is displayed on the monitor 110 provided on the traveling body 10 (S611). The details of the method of displaying the determination result on the monitor 110 will be described later.

[Judgment results and data related to judgment results]
The determination results derived for each work section as described above are associated with the plot data (measurement data) in FIG. stored (see FIG. 11). FIG. 11 is a diagram showing an example of data obtained by the field state determination method according to the embodiment of the present invention. The above plot data and adjacent PV statistic values can be collectively referred to as "information on changes in vertical movement" of the leveler 230 with respect to the field. In other words, the determination result of the field state for each work section is stored in association with the information regarding the change in vertical movement of the leveler for each work section.

As shown in FIG. 11, the data table 640 has items of section 641 , plot data 643 , adjacent PV statistic value 645 , and determination result 647 . Section 641 corresponds to work sections L1, L2 and L3 shown in FIG. In addition, the information of the section 641 includes information specifying the field. That is, based on the section 641, it is possible to recognize which position of which field is shown. The plot data 643 is measurement data indicating vertical movement of the leveler 230 with respect to the traveling distance of the traveling body 10 . Adjacent PV statistics 645 are statistics calculated based on plot data 643 . Although average values and standard deviations are displayed as statistical values in FIG. 11, statistical values other than these may be used. A determination result 647 is derived based on the LUT 630 of FIG.

FIG. 11 exemplifies the configuration in which the above four items of information are stored in the data table 640, but the configuration is not limited to this. For example, information other than these items may be additionally stored. Alternatively, only part of the information of these items may be stored. The above storage device may be a storage device connected to the control unit 191 of the traveling machine body 10, or may be a storage device connected to the control unit 291 of the work machine 20. A storage device of a server connected to the communication unit of the machine body 10 or the work machine 20 or a storage device connected to the server via a network (for example, an external storage provided outside the server) may be used.

[How to display judgment results]
A method of displaying the determination result of the field state derived as described above will be described with reference to FIGS. 12 to 16. FIG.

FIG.12 and FIG.13 is a figure which shows an example which displays the determination result of an agricultural field state on a monitor which concerns on embodiment of this invention. As shown in FIG. 12, the monitor 110 displays a field map 650, a real-time determination result 660, various information display section 670, and a work route 677. FIG. The farm field map 650 is segmented into work sections based on the field position information registered by the "field registration" shown in FIG. 6 and the separately set information such as the working machine width. A traveling machine icon 657 is displayed on the farm field map 650, and the current position of the traveling machine 10 in the farm field where work is being performed can be recognized. Further, on the field map 650, a work route 677 is displayed that suggests a route for future work to the worker. In other words, work path 677 is a path along which work implement 20 travels. The field map 650 also displays the result of determination of the state of the field worked by the work machine 20 along with the work path 677 described above.

In the present embodiment, block determination is performed to determine the state of the field for each work section. As shown in FIG. 12 , on the farm field map 650 , the determination result of the farm field state is displayed along the working route 677 . For each work section for which work and field state determination have been completed, the determination result is displayed with a pattern or color so that it can be visually identified. The pattern or color applied to each work section reflects the determination result shown in FIG. For example, block 651 is an "excessive" work section. A block 653 is a work section whose determination result is "insufficient". A block 655 is the work section for which the determination result is "optimal". Since these determination results are derived for each block, they can be referred to as block determination results. The determination result displayed on the field map 650 of FIG. 12 is the determination result 631 checked in the selection 633 of FIG. That is, in the selection 633 of FIG. 10, three items of "excessive", "insufficient", and "optimal" are checked, and therefore these three determination results are displayed in FIG.

A real-time determination result 660 is displayed on the upper left of the field map 650 . The real-time determination result 660 is the result of real-time determination for determining a field in a section shorter than the work section in which block determination is performed. In the real-time determination result 660, the determination result is displayed in gradation. In other words, while the field map 650 displays only three types of determination results of "optimum", "excessive", and "insufficient", the real-time determination result 660 displays determination results of more levels. . For example, in the example of FIG. 12, the real-time determination results 660 are “excessive” 661, “good 1” 663, “optimal” 665 (first determination result), “good 2” 667 (second judgment result) and the judgment result of "insufficient" 669 (third judgment result) are displayed. "Optimal" 665 is defined as results that indicate relatively good field conditions. "Scarce" 669 is defined as a result that indicates relatively poor field conditions. "Good 2" 667 is defined as a result that indicates field conditions between these determination results. A cursor 666 is displayed below the real-time determination result 660 . A cursor 666 points to a location corresponding to the result of the real-time determination.

In the present embodiment, determination results based on the adjacent PV values (PV1, PV2, PV3) described with reference to FIG. 8 are displayed as the real-time determination results 660 . For example, for each value of PV1, PV2, and PV3 in FIG. 8, a determination result is derived based on the criteria displayed in FIG. 10, and the derived determination result is displayed as a real-time determination result 660. However, as the real-time determination result 660, the determination result based on the adjacent PV statistic value for a section shorter than each block (651, 653, 655) may be displayed. In other words, as the real-time determination result 660, a determination result based on statistical values of a plurality of adjacent PV values (PV1, PV2, PV3) in a section shorter than each block may be displayed. Here, since the block determination result displayed on the field map 650 is the determination result based on the adjacent PV statistical value 645 of each block, the block determination result is based on the information (plot data 643) used for the real-time determination. It can be said that it is the determination result based on the processed information (neighboring PV statistic value 645).

In the example above, the cursor 666 points to one of five levels: "excess" 661, "good 1" 663, "best" 665, "good 2" 667, and "shortage" 669, but cursor 666 Depending on the adjacent PV values, it may refer to multiple stages greater than the five stages mentioned above. That is, the cursor 666 may display adjacent PV values in analog. In this case, the five-stage gauge may be displayed with a width corresponding to the width of each range of the adjacent PV statistical value determination range 635 shown in FIG. The above configuration will be described later in detail.

A variety of information display section 670 is displayed on the upper right of the field map 650 . In FIG. 12, the worked area is displayed in the various information display section 670 . The worked area corresponds to the area in which the working machine 20 has worked, and is an area determined by the width of the working machine 20, the amount of overlap with the work marks, and the traveling distance. A pull-down button 671 is provided in the information display section 670 . When the pull-down button 671 is selected, a pull-down menu 673 is displayed as shown in FIG. In this example, the pull-down menu 673 displays "work progress rate" and "work end time" in addition to the currently displayed "worked area". However, the pull-down menu 673 shown in FIG. 13 is merely an example, and information other than the above information may be displayed.

The currently displayed item (“work completed area”) is displayed in a form different from other items (“work progress rate” and “work completion time”) so that the worker can easily see it. When "work progress rate" is selected from the pull-down menu 673, the ratio of the worked area to the planned work area is displayed. When "work completion time" is selected, the expected work completion time calculated based on the remaining work area obtained by subtracting the completed work area from the work plan area and the current vehicle speed of the traveling body 10 is displayed. . When the pull-up button 672 is selected while the pull-down menu 673 is displayed, the pull-down menu 673 is retracted and the state shown in FIG. 12 is restored.

FIG. 14 is a diagram showing an example of a method of notifying a worker of guidance for changing work conditions in the method of displaying the field state determination result according to the embodiment of the present invention. As shown in FIG. 14, in the real-time judgment result 660, for example, "optimal" 665 (first determination result), the operator is notified of work guidance 675 for changing the work conditions of at least one of the traveling machine body 10 and the work machine 20 . In FIG. 14, the work guidance 675 is notified by displaying a telop on the screen, but the work guidance may be notified by voice instead of the telop.

Note that if the real-time determination result 660 is "insufficient" 669 (third determination result), this work guidance 675 need not be notified. The reason for this is that, in the case of "insufficient" 669, even if the work conditions are slightly changed, the "optimal" 665 cannot be achieved, so there is a possibility that changing the work conditions will have no effect. In such a case, the work may be continued without notification of the work guidance 675, and a work route may be proposed to preferentially work on the block of "insufficient" 669, as will be described later. Even when the real-time determination result 660 is "optimal" 665, the work guidance 675 is not notified. However, in the case of "insufficient" 669, the above work guidance 675 may be notified. The same is true for the "excess" 661 case.

FIG. 14A shows a work guidance notification method when the real-time determination result 660 is "good 2" 667. FIG. “Good 2” 667 is a judgment result of slightly worse soil crushability on the surface of the field than “optimal” 665 . In other words, by changing the working conditions to conditions that require a larger amount of work on the field than the current working conditions and improve the crushability of the surface of the field, there is a possibility that the “good 2” 667 will change to the “optimal” 665. be. In such a case, the work guidance 675 displays "Please reduce the vehicle speed" to prompt the operator to change the work conditions. By slowing down the vehicle speed of the traveling machine body 10, the effect of the rotor 207 on the farm field is increased, and the soil crushability of the farm field surface can be improved. As a result, the field condition can be brought closer from “Good 2” 667 to “Optimal” 665 .

In addition, instead of displaying "Please reduce the vehicle speed" in the work guidance 675, "Please increase the rotation speed of the rotor", "Please pressurize the apron", or "Increase the pressure applied to the apron". Please. It should be noted that even if the working conditions are changed or the work is performed multiple times on the field, it does not become "excessive" 661, "good 1" 663, and "optimal" 665, or the value of the potentiometer 510 is extremely small. In some cases, the height of the work implement 20 with respect to the traveling body 10 may be set at a position higher than the appropriate position, so "Please lower the work implement" may be displayed. . By increasing the rotational speed of the rotor 207, it is possible to improve the soil crushability of the surface of the farm field in the same manner as when the vehicle speed of the traveling machine body 10 is decreased. The apron is pressurized by an apron pressurizing mechanism provided between the extended shield cover 410 and the extended apron 420 . When the apron 220 is pressurized (or the pressurizing force of the apron 220 is increased), the apron 220 rotates downward with respect to the shield cover 210 , so soil and the like in the field stay on the apron 220 . As a result, it is possible to improve the earth crushability of the field surface in the same way as when the vehicle speed of the traveling machine body 10 is slowed down.

(B) of FIG. 14 shows a work guidance notification method when the real-time determination result 660 is “Good 1” 663 . “Good 1” 663 is a judgment result in which the crushability of the field surface is slightly excessively good compared to “optimum” 665 . In other words, by changing the working conditions to conditions that require less work on the field than the current working conditions and that the crushability of the surface of the field is reduced, there is a possibility that the "good 1" 663 will change to the "optimal" 665. be. In such a case, the work guidance 675 displays "Please increase the vehicle speed" to prompt the operator to change the work conditions. By increasing the vehicle speed of the traveling machine body 10, the effect of the rotor 207 on the farm field is reduced, and the soil crushability of the farm field surface can be reduced. As a result, the field condition can be brought closer from “good 1” 663 to “optimal” 665 . If the determination result is "good 1" 663, the speed of the traveling machine body 10 can be increased, and thus the work efficiency is improved.

In addition, instead of displaying "Please increase the vehicle speed" in the work guidance 675, "Please reduce the rotation speed of the rotor", "Please cancel the apron pressurization", or "Reduce the pressure applied to the apron". Please," may be displayed. By lowering the rotation speed of the rotor 207, it is possible to lower the soil crushability of the field surface in the same way as when the vehicle speed of the traveling machine body 10 is increased. When the pressurization of the apron 220 is released (or the pressurization force of the apron 220 is reduced), it becomes difficult for the soil or the like in the field to stay. can be reduced.

FIG. 15 is a diagram showing an example of displaying an appropriate work route using the field state determination result according to the embodiment of the present invention. The example shown in FIG. 15 is an example of determining the second work route 679 based on the determination result of the work after the field has been worked once. In particular, in this example, a work path 679 is shown that preferentially passes through blocks determined to be "insufficient" in the first work. In the example of FIG. 15, the work route 679 does not pass through columns (blocks aligned north and south) in which there are no blocks judged to be "insufficient", but passes only through columns in which blocks judged to be "insufficient" exist. there is Here, for convenience of explanation, the terms "first work path" and "second work path" are used, but this simply means the order of the work. In other words, the "first work route" is not limited to the route for working the field for the first time.

In FIG. 15, the second work route 679 is a route in which the traveling body 10 goes straight in the column direction (north-south direction) like the first work route 677 (see FIG. 12), but the second work route 679 is It may be a route in which the traveling body 10 goes straight in the row direction (east-west direction). Also, in FIG. 15, the second work path 679 moves straight in the column direction through all the blocks in the column direction, but the blocks in the column direction may be bent or turned back. Although not shown, when displaying the determination result of the field state by the second work, it is possible to overwrite the determination result of the field state by the first work. However, in order to make it possible to distinguish between the determination results of the first and second operations, for example, the determination results of the first operation may be displayed lightly or semi-transparently. Alternatively, the first determination result and the second determination result may be displayed in different windows.

Further, when determining each of the first work path 677 and the second work path 679, the work path can be determined including the unfolding or folding of the extended work portion 400 of the work machine 20. FIG. For example, the first work path 677 may be the work path with the extension work part 400 unfolded, and the second work path 679 may be the work path with the extension work part 400 folded. Of course, contrary to the above, the first work path 677 is the work path with the extension work part 400 folded, and the second work path 679 is the work path with the extension work part 400 unfolded. There may be.

In addition, if there are determination results from multiple operations in the past, the latest two determination results are displayed. However, it is also possible to read out determination results from arbitrary past work, depending on the operator's selection.

In this way, the worker can evaluate the field condition obtained as a result of the work while working the field. Furthermore, by displaying the determination result on the farm field map 650, the worker can easily visually recognize the areas where the work is insufficient and the areas where no more work is required at a glance. In addition, since the work route for the second and subsequent times is determined based on the field map 650 including the determination result, it is possible to display the work route for preferentially working the area that requires additional work. A work route can be proposed to the worker.

In this embodiment, the configuration for determining whether the field state is good or bad based on the change in vertical movement of the leveler 230 has been exemplified, but the configuration is not limited to this. For example, it may be determined whether or not the field condition is included in a specific condition based on the change in vertical movement of the leveler 230 . Further, in the present embodiment, the configuration for determining the state of the field based on the change in the vertical movement of the grounding member such as the leveler 230, that is, the size of the irregularities on the surface of the field was exemplified, but the present invention is not limited to this configuration. For example, a non-contact method may be used to evaluate the difference between the field conditions before and after the work by the working machine 20, and the field condition may be determined by determining the evaluation result. As a non-contact method, for example, image analysis of images taken with a camera, a rangefinder using ultrasonic waves or infrared rays, and a rangefinder using light (LiDAR: Light imaging Detection and Ranging) can be used. As another method, when the soil mass is large, the resistance of the work machine 20 to the work is large, so the torque of the PTO shaft is increased. Therefore, the field condition can be determined based on the torque fluctuation of the PTO shaft. Alternatively, the state of the field may be determined by measuring the vibration of a rake (rake or handle) attached to the lower portion of the apron 220 .

FIG. 16 is a diagram showing an example of a method for changing the criteria for determination results of field conditions according to the embodiment of the present invention. (A) of FIG. 16 is a display screen before changing the criterion, and (B) is a display screen after changing the criterion. The display screen shown in (A) of FIG. 16 is similar to the display screen of FIG. 12, but differs from the display screen of FIG. 12 in that a reference change 680A is displayed at the lower left of the field map 650A. Other points are the same as those of the display screen of FIG. 12, so description thereof will be omitted.

Criteria for judging the field state are defined by the LUT 630 shown in FIG. 10, and the judgment results are displayed as shown in FIG. 16(A). However, some workers may desire a determination result different from the determination result defined by the LUT 630 . For example, even if the field condition is determined to be "excessive" according to the predetermined criteria, the operator may prefer the field condition. In such a case, the criterion can be automatically changed by the method described below.

When the operator selects the change reference 680A, the range of the adjacent PV statistical value determination range 635 of the LUT 630 is changed so that the state of the field currently being worked on is included in the "optimal" determination result. In this change, the difference between the upper limit value and the lower limit value of the adjacent PV statistical value determination range 635 associated with the “optimal” determination result, that is, the width of the range of the adjacent PV statistical value determination range 635 determined to be “optimal” is maintained, and both the upper and lower limits are changed. Along with this change, the adjacent PV statistical value 645 of the data table 640 shown in FIG. Based on the re-determination result of this determination result 647, the field map 650B shown in (B) of FIG. 16 is updated. Reflection of the redetermined result to the field map 650B is limited to the field currently being worked on. However, the reflection of the determination result may be applied to fields other than the field currently being worked on. It should be noted that the change in the determination criteria described above is performed by the control unit 191 or the control unit 291 shown in FIG. As described above, adjacent PV statistics 645 may be re-determined and the results overwritten in data table 640 when change reference 680A is selected, along with the information before change reference 680A was selected. Then, the information after criteria change 680A is selected may be saved in data table 640. FIG.

Some of the work sections determined as "excessive" in the farm field map 650A of FIG. 16A are changed to be determined as "optimal" in the farm field map 650B of FIG. 16B. In addition, some of the work sections determined to be "optimal" in the farm field map 650A are changed to "insufficient" in the farm field map 650B. Then, after selecting the change criteria 680A, the determination result based on the determination criteria changed as described above is displayed. In this manner, even during work, the determination criteria can be changed simply by selecting the change criteria 680A without manually changing the set values of the LUT 630 .

In this embodiment, when the change reference 680A is selected, the determination result of the area determined so far is updated based on the determination criterion changed by the selection of the change reference 680A. It is not necessary to update the determination result determined before the selection of . Further, in the present embodiment, when the standard change 680A is selected, the LUT 630 is changed so that the field state currently being worked on is included in the determination result of "optimal", but after selecting the standard change 680A The LUT 630 may be changed by selecting a block of field conditions to be included in the “optimum” determination result.

[Configuration of Leveler Angle Detection Mechanism 500]
A detailed configuration of the leveler angle detection mechanism 500 will be described with reference to FIGS. 17 and 18. FIG. FIG. 17 is a side view showing details of the leveler angle detection mechanism of the working machine according to one embodiment of the present invention. FIG. 18 is a top view showing details of the leveler angle detection mechanism of the working machine according to one embodiment of the present invention. In the following description, for convenience of explanation, the potentiometer 510 and the connecting rotating member 560 are drawn with thicker lines than the other members.

First, the connection structure between the first arm portion 520 and the second arm portion 530 will be described in detail. As shown in FIG. 18 , a first arm connecting portion 521 extending from the first arm portion 520 to the second arm portion 530 is connected to the first arm portion 520 . A second arm connecting portion 523 is connected to the tip of the first arm connecting portion 521 . The second arm connecting portion 523 is tubular, and the second arm portion 530 is inserted into the hollow portion of the tubular. With such a configuration, the first arm portion 520 and the second arm portion 530 are slidably connected.

A first stopper 531 and a second stopper 533 are provided on the second arm portion 530 . The first elastic portion 540 is provided between the first stopper 531 and the second arm connecting portion 523 . The second elastic portion 550 is provided between the second stopper 533 and the second arm connecting portion 523 . Since the first elastic part 540 and the second elastic part 550 are arranged at these positions in a contracted state, the first elastic part 540 moves toward the first arm part 520 and the second arm part in the contracting direction of the extensible rod 590 . The second elastic portion 550 applies elastic force to the first arm portion 520 and the second arm portion 530 in the direction in which the extensible rod 590 extends. When the first elastic portion 540 and the second elastic portion 550 are collectively referred to as the elastic portion, the elastic portion is the first arm portion 520 and the second arm portion in both the extending direction and the contracting direction of the telescopic rod 590. It can be said that each of 530 is provided with an elastic force.

Although omitted in the description of FIG. 4 , the leveler angle detection mechanism 500 further includes a connecting rotating member 560 , a bracket 570 and a rotating shaft 580 as shown in FIGS. 17 and 18 . The connecting rotating member 560 is rotatably connected to the first arm portion 520 via a rotating shaft 580 . Also, the connecting rotating member 560 is rotatably connected to the bracket 570 . Potentiometer 510 is attached to bracket 570 . Bracket 570 is attached to pedestal 314 by fixing portion 575 . Note that the potentiometer 510, the connecting rotating member 560, the bracket 570, and the rotating shaft 580 may be collectively referred to as an angle detector.

The connecting rotating member 560 has a third arm portion 561 and a rotating shaft 563 . An opening 565 is provided in the third arm portion 561 . The third arm portion 561 is rotatably connected to the first arm portion 520 by passing the rotating shaft 580 through the opening 565 . Bracket 570 has a first stopper 571 and a second stopper 573 . Also, the bracket 570 is provided with an opening 577 . It should be noted that the connecting rotating member 560 is rotatably connected to the bracket 570 by passing the rotating shaft 563 through the opening 577 . The first stopper 571 restricts rotation of the connecting rotating member 560 by coming into contact with the rotating shaft 580 when the connecting rotating member 560 rotates in the R1 direction. A state in which rotation of the connecting rotating member 560 is restricted by locking the rotating shaft 580 to the first stopper 571 is referred to as a first rotation limit. The second stopper 573 restricts the rotation of the connecting rotating member 560 by coming into contact with the third arm portion 561 when the connecting rotating member 560 rotates in the R2 direction. A state in which rotation of the connecting rotating member 560 is restricted by the third arm portion 561 being locked to the second stopper 573 is referred to as a second rotation limit.

As described above, the elastic modulus of each of the first elastic portion 540 and the second elastic portion 550 is larger than the elastic modulus of the elastic portion of the potentiometer 510 for returning to the origin. In the rotation range of the connecting rotating member 560 between the motion limits, the connecting rotating member 560 rotates following the vertical movement of the central leveler 330 . On the other hand, when the central leveler 330 moves up and down so that the connecting rotating member 560 rotates beyond the first rotation limit or the second rotation limit, the first elastic portion 540 or the second elastic portion 540 moves as described below. As the elastic portion 550 expands and contracts, the expandable rod 590 expands and contracts, and damage to the leveler angle detection mechanism 500 is suppressed.

FIG. 19 is a side view showing a state in which the telescopic rod is stretched to the maximum in the work machine according to the embodiment of the present invention. The state shown in FIG. 19 corresponds to the earthing state of the leveler. When the central leveler 330 rotates downward so that the connecting rotating member 560 rotates beyond the first rotation limit, the first elastic portion 540 contracts and the second elastic portion 550 expands, causing the telescopic rod 590 to move. extend.

FIG. 20 is a side view showing a state in which the telescopic rod is contracted to the maximum in the working machine according to the embodiment of the present invention. The state shown in FIG. 20 corresponds to a state in which the leveler runs over a ridge or the like. When the central leveler 330 rotates upward so that the connecting rotating member 560 rotates beyond the second rotation limit, the first elastic portion 540 expands and the second elastic portion 550 contracts, whereby the extensible rod 590 moves. Shrink.

As described above, even when the leveler moves up and down such that the connecting rotating member 560 rotates beyond the first rotation limit or the second rotation limit, the rotation of the leveler is restricted. Therefore, damage to the leveler angle detection mechanism 500 can be suppressed.

In the present embodiment, the field state determination result may be recorded together with the registered field position information. That is, the field state determination result may be recorded as mapping data. The mapping data of the determination result in this case is recorded in association with other mapping data.

The mapping data of the determination result of the field state obtained as described above is associated with other mapping data to manage how the field state affects crops produced in the field. can be done. FIG. 21 is a diagram showing an example of a method of managing data obtained by the method of determining the field state according to the embodiment of the present invention. As shown in FIG. 21, in addition to the various data shown in FIG. 11, plowing depth 691C, yield 693C, and fertilizer application amount 695C are associated with each other and stored in data table 640C. The plowing depth 691C, the yield 693C, and the fertilizer application amount 695C may be average values or standard deviations in the section 641C, like the adjacent PV statistical values 645C.

The plowing depth 691</b>C can be obtained, for example, based on the height of the work implement 20 with respect to the traveling machine body 10 and the rotation angle of the apron 220 with respect to the shield cover 210 . Further, the plowing depth 691C may be obtained based on the rotation angle of the leveler 230 with respect to the apron 220 in addition to the rotation angle described above.

The yield 693C is, for example, data obtained when crops are harvested using a harvester. The data of the yield 693C are mapping data as well as the determination result of the field state. Since the device that acquires the yield 693C is different from the working machine 20 of the present embodiment, the block size of the determination result 647C and the block size of the yield obtained by the harvester may differ. An example is shown in FIGS. 22 and 23. FIG. (A) of FIG. 22 is a field map 650C displaying the mapping data of the determination result 647C. (B) of FIG. 22 is a field map 700C displaying mapping data of a yield of 693C.

In FIG. 22A, block 651C is the work section judged as "excessive", block 653C is the work section judged as "insufficient", and block 655C is the work section judged as "optimal". is. In FIG. 22B, block 701C is a work section with a "high" yield, block 703C is a work section with a "low" yield, and block 705C is a work section with a "normal" yield. The field maps 650C and 700C indicate the same field and have the same field size. The field map 650C has a horizontal:vertical ratio of 8:6, but the field map 700C has a horizontal:vertical ratio of 5:4. That is, the size of one block of each of the field map 650C and the field map 700C is different.

In this way, when the size of one block is different in different field maps, as shown in FIG. 23, the mapping data of the yield 693C is divided by the block boundary (dotted line in FIG. 23) of the judgment result 647C. In the case of FIG. 23, the yield data of block 703C is recorded in the data table 640C as the data of yield 693C corresponding to the determination result 647C of block 651C. The average value of the yield data of blocks 703C and 705C is recorded in the data table 640C as the data of the yield 693C corresponding to the determination result 647C of the block 653C. The average value of the yield data may be a weighted average obtained by weighting the ratio of the occupied area of the yield data of the block 703C and the occupied area of the yield data of the block 705C in the block 653C.

As described above, when the block corresponding to the determination result 647C includes multiple yield data, the average or weighted average of the yield data is treated as the yield data of the block. However, when one block includes a plurality of yield data as described above, any one of the plurality of yield data may be treated as the yield data of the block. As a method of selecting one yield data from a plurality of yield data, the yield data with the largest occupied area in the block may be adopted, or the yield data with the largest or smallest yield may be adopted.

As described above, when there is a plurality of mapping data for one field, the information is displayed to the worker in response to the worker's request. When displaying these pieces of information to the operator, they may be displayed side by side as shown in FIGS. 22A and 22B, or may be displayed in an overlapping manner as shown in FIG. The operator may check the above display and change the determination criteria as shown in FIG. 16 so that, for example, the determination result of the field state of the block with high yield is included in "optimal".

Although the yield 693C has been described above, the plowing depth 691C and the fertilizer application amount 695C can also be processed in the same manner as described above.

Data related to the data table 640C shown in FIG. Alternatively, it may be stored in a storage device of a server connected to the communication unit of the traveling machine body 10 or the working machine 20 via a network, or in an external storage connected to the server via a network.

When acquiring field mapping data with a harvester or other working machine, the field information registered by the field registration shown in FIGS. 5 and 6 can be used. For example, since the registered field information includes the position information of the field, based on the current position of the harvester or other working machine, the field to be worked from now on can be specified, or the candidate field can be identified. May be displayed to the operator.

Data associated with the data table 640C shown in FIG. 21 may be read the next time the field is worked. If the criteria are not changed as described above, for example, work with blocks that have an "optimal" judgment result but a "normal" or "low" yield (a block that does not have the best yield). ``Increase the vehicle speed'', ``Slow the vehicle speed'', and ``Rotor rotation'' so that the judgment result of that block approaches the judgment result of the block with a high yield. Work operation guidance such as "Please slow down" or "Increase rotor speed" or "Please pressurize apron" or "Please release apron pressurization" may be displayed.

<Second embodiment>
In this embodiment, a configuration will be described in which the determination criteria for the real-time determination result 660 are changed depending on the soil quality of the field. The soil is roughly classified into sandy soil, sandy loam, loam, clay loam, and clayey soil. Sandy soil refers to a state of almost only sand. On the other hand, clay soil refers to the state of almost only clay. Loam soil is approximately half sand and half clay. Sandy loam refers to a state in which sand and clay are mixed and the proportion of sand is high. Clay loam is a mixture of sand and clay with a high proportion of clay. In the case of sandy soil, it is relatively easy to change "insufficient" to "optimal" even in a field judged to be "insufficient" in the real-time judgment result. On the other hand, clay-rich soils require more work than sandy soils to turn "poor" into "optimal." Therefore, it is preferable to change the criterion for the real-time determination result according to the soil quality. In particular, as shown in FIG. 14, it is preferable to change the criteria for judging "Good 1" 663 and "Good 2" 667, which are the judgment results when notifying work guidance 675, according to the soil quality. This embodiment will be described below with reference to FIGS. 24 and 25. FIG.

FIG. 24 is a diagram showing an example of displaying a field state determination result on a monitor according to the embodiment of the present invention. The display screen shown in FIG. 24 is similar to the display screen shown in FIG. 12, but differs from the display screen shown in FIG. 12 in the display of the soil properties on the monitor 110D and the display of the real-time determination result 660D.

As shown in FIG. 24, a soil display section 710D is provided on the left side of the real-time determination result 660D. In addition, the width of the gauge of each determination result (“excessive” 661D, “good 1” 663D, “optimal” 665D, “good 2” 667D, and “insufficient” 669D) of the real-time determination result 660D is the adjacent width shown in FIG. Different widths are displayed according to the range of each determination result in the PV statistical value determination range 635 . The cursor 666D is analog-displayed according to the adjacent PV values (PV1, PV2, PV3) in FIG. In this embodiment, the cursor 666D is analog-displayed, and the real-time determination results 660D are displayed with different gauge widths, but the present invention is not limited to this configuration. For example, in the configuration shown in FIG. 12, the range of each determination result of the real-time determination result 660 may differ according to the soil quality. That is, as shown in FIG. 12, the width of the gauge for each determination result of the real-time determination result 660 may be the same, and the cursor 666 may indicate one of the determination results according to the determination result.

The soil display section 710D displays one of sandy soil, sandy loam, loam, clay loam, and clayey soil. The above soil properties are determined by the operator's settings. However, the above soil properties are managed by location information detected by GNSS provided in the traveling machine body 10D or the working machine 20D and a server published on the WEB or connected to the communication unit of the traveling machine body 10D or the working machine 20D. It may be determined automatically based on soil information for each region to be used. Also, the number of soil classifications may be less than or more than the above five types. Alternatively, the soil quality may be classified by items different from the above.

The gauge width of the real-time determination result 660D in FIG. 24 will be described in detail using FIG. FIG. 25 is a diagram showing an example of a real-time determination result of field conditions according to the embodiment of the present invention. FIG. 25A shows the real-time determination result 660D when the soil is clayey soil, and FIG. 25B shows the real-time determination result 660E when the soil is sandy soil.

As shown in FIG. 25A, the width of "good 2" 667D is displayed smaller than the width of "excessive" 661D, "good 1" 663D, and "best" 665D, and the width of "insufficient" 669D is displayed large. As shown in the soil display section 710D, the soil of the field shown in FIG. 24 is clayey soil. As described above, clay soil is mostly clay, and more work is required than in other cases in order to crush the soil until the lumps of soil become fine. In other words, among the conditions deviating from the "optimal" 665D to the "insufficient" 669D side, only the conditions close to the "optimal" 665D can be changed to the "optimal" 665D by changing the work conditions, and the conditions away from the "optimal" 665D cannot take effect of changes in working conditions. For this reason, the width of "good 2" 667D is displayed relatively small, and the width of "missing" 669D is displayed relatively large.

As shown in FIG. 25B, the widths of "excessive" 661E, "good 1" 663E and "insufficient" 669E are displayed smaller than the width of "best" 665E and "good 2" 667E. . Unlike the clay soil described above, sandy soil can be crushed relatively easily. In other words, most soil clods are finely crushed by one operation. Further, by changing the work conditions, even if the conditions deviate from the "optimal" 665E to the "insufficient" 669E side, they can be easily changed to the "optimal" 665E. Therefore, the range determined as "optimum" 665E is set wide. For this reason, as noted above, the widths of "best" 665E and "good 2" 667E are displayed relatively large, while the widths of "excess" 661E, "good 1" 663E and "shortage" 669E are relatively large. is displayed in small size.

As described above, the gauge width of each determination result in the real-time determination result 660D of FIG. 24 differs depending on the soil properties displayed in the soil display section 710D. In other words, the range of each determination result in the adjacent PV statistical value determination range 635 shown in FIG. 10 differs depending on the soil quality. In other words, the LUT 630 is set for each soil type, and the LUT 630 used as the determination criterion is switched according to the switching of the soil type in the soil display section 710D, and the adjacent PV statistical value determination range 635 of the switched LUT 630 is changed. A gauge width for each determination result of the real-time determination result 660D is determined. Here, in the data tables 640 and 640C shown in FIGS. 11 and 21, the above soil information may be stored together with each determination result.

As described above, by changing the determination criteria of the real-time determination result 660 depending on the soil quality, it is possible to notify the worker of the working conditions suitable for the field in which the work is to be performed.

<Third embodiment>
In this embodiment, a field registration method different from that of the first embodiment will be described. In FIG. 6 of the first embodiment, by inputting the size of each of the long side and short side of the farm field and selecting an image corresponding to the positional relationship between the traveling machine 10 and the farm field, the position information of the farm field is registered. Showed how to register. In the present embodiment, a method of inputting the sizes of two sides and registering the position information of the field based on the moving direction of the traveling machine 10 that has entered the field will be described with reference to FIG. 26 .

FIG. 26 is a diagram showing an example of an interface displayed on the screen in the field state determination method according to the embodiment of the present invention. FIG. 26A shows the interface displayed on monitor 110F. (B) of FIG. 26 shows a method of determining the position information of the field based on the moving direction of the traveling machine body 10 .

The interface of FIG. 26A is similar to the interface of FIG. 6, but an input area 611F and an entrance start button 720F are displayed on the monitor 110F, and the position selection area 613 as shown in FIG. not The input area 611F is provided with an input frame for a field name 617F, an input frame for a first side size 618F, and an input frame for a second side size 619F. An arbitrary name is entered in the field name 617F input frame. In the input frame for the first side size 618F, the size of the side (first side) of the farm field in the traveling direction of the traveling machine body 10 when the traveling machine body 10 enters the farm field is inputted. The input frame for the second side size 619F is used to input the size of the side (second side) intersecting the first side. The entry start button 720F is a button that is pressed before the traveling machine body 10 enters the field.

In this embodiment, the positional information of the farm field is determined based on the moving direction of the traveling machine body 10 after the entrance start button 720F is pressed. First, based on the size relationship between the first side size 618F and the second side size 619F, among the four states shown in FIG. is selected. For example, if the first side size 618F is greater than the second side size 619F, state A or B is selected. On the other hand, if the first side size 618F is smaller than the second side size 619F, state C or D is selected. When the traveling machine body 10 moves to the right after entering the farm field with state A or B selected, state B is selected and the position information of the farm field is determined. On the other hand, in a state where state A or B is selected, if the traveling machine body 10 moves leftward after entering the field, state A is selected and the position information of the field is determined. In this way, the operator can determine the position information of the field only by entering the size of the two sides of the field and moving the traveling machine 10 into the field. In other words, the operator's operation burden can be reduced. Note that the icons A to D shown in FIG. 26B are displayed on the monitor 110F, and after the operator inputs the first side size 618F and the second side size 619F, one of the icons A to D By selecting the position information of the field may be determined.

<Fourth embodiment>
In this embodiment, a field determination method different from the first embodiment and the second embodiment will be described. In the present embodiment, unlike the above-described block determination and real-time determination, field determination of the entire field will be described. As shown in FIG. 27, the field determination result for the entire field (field determination result) is derived based on the ratio of blocks determined to be "insufficient" to all blocks in the field. In other words, the farm field determination result is derived based on the percentage of results determined to be unacceptable based on the pass/fail determination criteria (block pass/fail determination criteria) among the above block determination results. The block pass/fail judgment criteria are criteria for judging pass/fail of each block, which are derived based on the judgment result (“optimal”, “excessive”, or “insufficient”) of each block. In the following explanation, the block judgment result judged as "optimal" and "excessive" is accepted, and the block judgment result judged as "insufficient" is rejected. An example of However, the block pass/fail judgment criteria are not limited to this example, and can be freely set by the operator.

For example, if the total number of blocks in a field is 50, if the number of blocks judged to be "insufficient" is 5 or less (that is, the percentage of blocks judged to be "insufficient" is 10% or less), the field judgment The result can be judged as "pass". On the other hand, if the number of blocks determined to be "insufficient" is 6 or more (that is, the percentage of blocks determined to be "insufficient" is greater than 10%), the field determination result is determined to be "failed". be able to. When the field determination result is "accepted", as shown in FIG. 27, a notification of the field determination result 730G such as "the work was completed normally" is displayed on the screen. On the other hand, when the field determination result is "failed", a notification such as "Please perform the work again" is displayed instead of the above notification. In addition, the operator can freely set the judgment criteria for "pass" and "failure" (failure judgment criteria for field).

As described above, the present invention has been described with reference to the drawings, but the present invention is not limited to the above-described embodiments, and can be modified as appropriate without departing from the scope of the present invention.

10: traveling machine body 20: work machine 100: vehicle body 110: monitor 120: three-point link mechanism 121: communication unit 191: control unit 193: display unit 195: position detection unit 200: frame 201: Main frame 203: Chain case 205: Side frame 207: Rotor Shield cover 210 220: Apron 230: Leveler 291: Control unit 293: Detection unit 300: Central working unit 310: Center Shield cover 320: Central apron 330: Central leveler 332: Second connection part 400: Extension working part 410: Extension shield cover 414, 434: Pedestal 420: Extension apron 422, 432: Connection part 430: Extension leveler 490: Leveler extension part 500: Leveler angle detection mechanism 501: Control box 510: Potentiometer 520: First arm part 521: First arm connection part 523: Second arm connection part 530: second arm portion 531: first stopper 533: second stopper 540: first elastic portion 550: second elastic portion 560: connecting rotating member 561: third arm portion 563: rotation Driving shaft 565: Opening 570: Bracket 571: First stopper 573: Second stopper 575: Fixed part 577: Opening 580: Rotating shaft 590: Telescopic rod 611: Input area 613: Position selection area 615: Input frame 630: LUT 631: Determination result 633: Selection 635: Adjacent PV statistic value determination range 640: Data table 641: Section 643: Plot data 645: Adjacent PV statistics Value 647: Judgment result 650, 700C: Field map 651, 653, 655, 701C, 703C, 705C: Block 657: Traveling machine icon 660: Real-time judgment 670: Various information display section 680A: Standard change 691C: Plowing depth 693C: Yield 695C: Fertilizer application amount 710D: Soil quality display section 720F: Entry start button 730G: Field judgment result

Claims (5)

a work path along which a work machine running in a field will work from now on;
A determination result obtained by determining a state of a field indicating a state of soil crushing of the field in which the work was performed by the work machine, the field being obtained by the work machine by a contact or non-contact method with respect to the field. A field state display method for displaying on the same screen the judgment result obtained by evaluating the measurement data regarding the unevenness of the surface of the field. 2. The display method according to claim 1, wherein said determination result is displayed along said work path. 3. The display method according to claim 2, wherein said determination result is determined based on a change in vertical movement with respect to said field of a ground contacting member provided in said working machine and in contact with said field. 4. The display method according to claim 3, wherein said work route is determined based on said past determination result. a work path along which a work machine running in a field will work from now on;
Measurement of surface unevenness of the field obtained by the working machine by a method of contact or non-contact with the field in which the work is performed by the working machine, and which is the crushed soil state of the field in each work zone. A field state display method for determining the state of the field indicating the crushed soil state obtained by evaluating the data and displaying the result of the block determination displayed for each work section on the same screen.

Images