JP7321590B2 - Information processing device, program and method - Google Patents

Description

The present invention relates to a working machine and a determination method. In particular, the present invention relates to a working machine mounted on the rear part of a tractor and a method for determining a field state using the working machine.

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 among farmers, and thus the yield and quality of agricultural products also vary. 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 of evaluating the state of a field after tillage or puddling, there is a technique in which an angle sensor 22 is arranged at the rotation base of the rear cover 21 and the tillage depth is detected by the rotation of the rear cover 21 (see, 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. The present invention has been made in view of such a problem, and an object of the present invention is to evaluate the field state obtained as a result of the work while working the field.

A determination method according to an embodiment of the present invention detects a change in vertical movement of a ground contacting member in contact with the farm field with respect to the farm field, which is provided in a work machine attached to the rear of a traveling machine that travels in the farm field. A field condition obtained by the operation of the working machine is determined based on the change in .

The determination of the field state may be performed for each work section of the field.

Furthermore, the determination result of the field state for each work section may be stored in association with information regarding the change in vertical movement for each work section.

Further, the field state associated with the stored information on the change in vertical movement may be re-determined according to the operator's instruction to change the determination criteria.

A working machine according to one embodiment of the present invention is mounted on the rear of a traveling machine body that travels in a field, and detects a contacting member in contact with the field and a change in vertical movement of the contacting member caused by unevenness of the field. and a control unit that transmits information about the change in vertical movement detected by the detector to a determination device that determines a field state.

A working machine according to one embodiment of the present invention is mounted on the rear of a traveling machine body that travels in a field, and detects a contacting member in contact with the field and a change in vertical movement of the contacting member caused by unevenness of the field. and a control unit that determines the state of the field obtained by the work based on the change in the vertical movement.

The control unit may determine the state of the agricultural field based on a change in the vertical motion for each work section of the agricultural field.

The farm may further include a storage unit that stores the field state for each work section in association with information on the change in vertical movement for each work section.

The control unit receives a determination criterion change instruction from an operator, and based on the determination criterion change instruction, uses the information on the change in vertical movement for each work interval stored in the storage unit to The field state may be re-determined.

A work machine according to one embodiment of the present invention includes a frame, a rotor attached to the frame and having working claws, a cover member rotatably connected to the frame, and a rotor for the cover member. a grounding member rotatably connected to a field and capable of coming into contact with a field; and a detection member connected to the grounding member for detecting a change in rotation angle of the grounding member with respect to the frame or the cover member. Prepare.

The detection member has an angle detector and a telescopic rod, the angle detector is installed on the frame or the cover member, and the telescopic rod connects the angle detector and the ground member. good.

The rotation of the grounding member may cause the telescopic rod to extend and contract when the angle detector is about to rotate beyond the movable range of the angle detector.

The telescopic rod includes a first arm portion, a second arm portion and an elastic portion, the first arm portion and the second arm portion are slidably connected to each other, and the elastic portion comprises the telescopic rod. An elastic force may be applied to each of the first arm portion and the second arm portion in both the extending direction and the contracting direction.

According to the working machine of the present invention, it is possible to evaluate the state of the field obtained as a result of the work while working the field.

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. 4 is a diagram showing an example of an interface displayed on a screen in the method for determining the state of an agricultural field according to one 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 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 of a field state, and the mapping data 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.

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, 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 the terms forward (front side) and rearward (rear side) are used for description, the forward (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).

<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 determining 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.

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 . 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, a cover member (apron 220), and a leveling member (leveler 230). 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 and receives various information to and from the control unit 191 via the communication unit 121 . 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), or Bluetooth (registered trademark) 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 control unit 191, the display unit 193, and the position detection unit 195 are wired or wirelessly connected by CAN, Wi-Fi, or Bluetooth 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 motion 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 wired or wirelessly connected by CAN, Wi-Fi, or Bluetooth 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 .

The central work station 300 has a central shield cover 310 , a central grading member (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 portion of the connecting portion is fixed to one of the two members connected by the connecting portion, the columnar portion penetrates the inside of the cylindrical portion, and both ends of the columnar portion 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. Central leveler 330 levels the soil that has been tilled or agitated by the work of rotor 207 . 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, the extension leveler 430 levels the soil plowed or agitated by the work of the rotor 207 arranged in the extension work part 400 in the same way as the central apron 320 . 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 an 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 the 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.

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 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 .

In FIG. 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 . will detect. However, by subjecting the data obtained by the potentiometer 510 to arithmetic processing to eliminate the influence of the rotation of the central apron 320, only the rotation of the central leveler 330 can be detected.

In this 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) has been 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 a traveling machine 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 the memory of the traveling machine 10, or may be registered in the external storage of the 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. The plot data shown in FIG. 7 are analyzed for each of the work sections L1, L2, and L3 of the field. 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. In FIG. 7, the field is divided into work zones L1, L2 and L3. In the field state determination method of the present embodiment, the plot data is analyzed in each of the work sections L1, L2, and L3, and determination results are derived for each section.

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 adjacent PV value statistic value (hereinafter referred to as the 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 judgment result 631 has three items of "insufficient", "optimal", and "excessive", as well as 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 is well crushed or leveled, but the soil mass is smaller than necessary. 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", or may refer to a state close to "optimal" within the range of "excessive". Similarly, "good 2" may refer to a state between "optimal" and "deficient", or a state close to "optimal" within the range of "deficient". 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. .

When the judgment result is "Good 1" or "Good 2", work operation guidance such as "Please increase the vehicle speed" or "Please slow down the vehicle speed" is displayed to the operator via the monitor 110. good too. 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". Operation guidance may be displayed. By slowing down the vehicle speed of the traveling machine body 10 or increasing the rotation speed of the rotor 207, the effect of the rotor 207 on the field is increased, and the soil crushability of the field surface can be improved. As a result, the field condition can be changed from "good 2" to "optimal". On the other hand, by increasing the vehicle speed of the traveling body 10 or decreasing the rotation speed of the rotor 207, the work on the field by the rotor 207 is reduced, and the soil crushability of the field surface can be reduced. As a result, the field condition can be changed from "good 1" to "optimal". If the judgment result is "Good 1", the speed can be increased, so the working efficiency is improved.

As work operation guidance different from the above, when the judgment result is "Good 1" or "Good 2", the operator is instructed via the monitor 110 to "pressurize the apron" or "increase the pressure on the apron". work operation guidance such as "please release the apron pressurization" or "reduce the apron pressurization". 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, the apron 220 rotates downward with respect to the shield cover 210 , so soil or the like in the field stays on the apron 220 . As a result, the effect of the rotor 207 on the field is increased, and the soil crushability of the field surface can be improved. On the other hand, when the pressurization of the apron 220 is released, it becomes difficult for soil and the like to stay, so the work on the field by the rotor 207 is reduced, and the soil crushability of the field surface can be reduced.

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 indicated. 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 and 13. FIG. FIG. 12 is a diagram showing an example of displaying a field state determination result on a monitor according to the embodiment of the present invention. FIG. 13 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.

As shown in FIG. 12, the monitor 110 displays a field map 650, a real-time determination result 660, and various information 670. 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. In the farm field map 650, each work section for which work and field state determination has been completed is visually identifiable with a pattern or color. 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". 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. The determination result displayed on the farm field map 650 in FIG. 11 is the determination result 631 checked in the selection 633 in FIG. 10 . That is, in the selection 633 of FIG. 10, three items of "excessive", "insufficient", and "optimal" are checked, so 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 . 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 addition to the three types of determination results described above, the determination results of “good 1” and “good 2” shown in FIG. 10 may be displayed. In addition, when "Good 1" and "Good 2" are checked in the selection 633 of FIG. "Increase the vehicle speed" or "Slow the vehicle speed", "Reduce the rotation speed of the rotor" or "Increase the rotation speed of the rotor", or "Please pressurize the apron". Alternatively, work operation guidance such as "Please release the apron pressurization" may be displayed.

Various information 670 is displayed on the upper right of the field map 650 . The miscellaneous information 670 displays the predicted work completion time, the work completed area, and the remaining work area. However, the various information 670 shown in FIG. 12 is merely an example, and information other than the above information may be displayed.

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 recognize at a glance the areas where the work is insufficient and the areas where no more work is required.

FIG. 13 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. 13 is the display screen before the change of the criterion, and (B) is the display screen after the change of the criterion. The display screen shown in (A) of FIG. 13 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 field conditions are specified by the LUT 630 shown in FIG. 10, and judgment results are displayed as shown in FIG. 13(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 statistic value determination range 635 associated with the “optimal” determination result, that is, the range of the adjacent PV statistic value determination range 635 that is determined to be “optimal” is maintained. Both the upper and lower bounds are changed while the 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 the determination result 647, the field map 650B shown in FIG. 13B 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 noted above, adjacent PV statistics 645 may be re-determined and the results overwritten when change-reference 680A is selected, along with the information before change-reference 680A is selected. Information may be saved after 680A is selected.

Some of the work sections determined as "excessive" in the field map 650A are changed to be determined as "optimal" in the field map 650B. 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 work section whose field conditions are to be included in the “optimal” 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. 14 and 15. FIG. FIG. 14 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. 15 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. 15 , 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 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. 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, as shown in FIGS. 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. 16 is a side view showing a state in which the extensible rod is stretched to the maximum in the working machine according to the embodiment of the present invention. The state shown in FIG. 16 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, so that the extensible rod 590 moves. extend.

FIG. 17 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. 17 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. 18 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. 18, 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, yield 693C, and fertilizer application amount 695C may be average values or standard deviations in the section 641C, similar to the adjacent PV statistical value 645C.

The plowing depth 691</b>C can be obtained based on, for example, 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. 19 and 20. FIG. (A) of FIG. 19 is a field map 650C displaying the mapping data of the determination result 647C. (B) of FIG. 19 is a farm field map 700C displaying mapping data of a yield of 693C.

In FIG. 19A, 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. 19B, 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, the mapping data of the yield 693C is divided by the block boundary (dotted line in FIG. 20) of the determination result 647C, as shown in FIG. In the case of FIG. 20, 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 farm field, such information is displayed to the worker in response to the worker's request. When these pieces of information are displayed to the operator, they may be displayed side by side as shown in FIGS. 19A and 19B, or may be displayed overlappingly as shown in FIG. The operator may confirm the above display and change the determination criteria as shown in the example shown in FIG. 13 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.

The data associated with the data table 640C shown in FIG. 18 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.

As described above, the present invention has been described with reference to the drawings, but the present invention is not limited to the above 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, 210: Shield cover, 220: Apron, 230: Leveler, 291: Control unit, 293: Detection unit, 300: Central operation unit, 310: Central shield cover 314, 334: Pedestal 320: Central apron 330: Central leveler 332: Second connection part 400: Extension work part 410: Extension shield cover 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: Rotating 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 statistical value determination range 640: data table 641: section 643: plot data 645: adjacent PV Statistical value 647: Judgment result 650, 700C: Field map 651, 653, 655, 701C, 703C, 705C: Block 657: Running machine icon 660: Real-time judgment result 670: Various information 680A: Standard change , 691C: Plowing depth, 693C: Yield, 695C: Fertilization amount

Claims (9)

An information processing device connected to a display unit, wherein the state of crushed soil or evenness of the field obtained by the work of the work machine is displayed based on a change in vertical movement of a grounding member of the work machine in contact with the field with respect to the field. An information processing device that determines a farm field state indicating a flat state and displays the result of the determination on the display unit. The information processing apparatus according to claim 1, wherein the display unit displays the determination result obtained by analyzing the change in the vertical motion for each work section of the field. The information processing apparatus according to claim 1 or 2, wherein the display unit displays the determination result of the field state for each work section of the field. The information processing apparatus according to claim 1, wherein the display unit displays an interface for receiving a change of a criterion for determining the determination result of the agricultural field state together with the determination result of the agricultural field state. The information processing apparatus according to claim 4, wherein the change of the criterion is performed based on the current agricultural field state. 2. The method according to claim 1, wherein when there is a plurality of mapping data indicating the determination result of the field state for the field, the display unit displays the plurality of mapping data side by side or superimposed according to a worker's request. Information processing equipment. The information processing apparatus according to any one of claims 1 to 6, which is connected to the working machine by wire or wirelessly. Based on the change in the vertical movement of the grounding member of the working machine in contact with the field with respect to the field, the judgment result of the field state indicating the soil crushing state or the leveling state of the field obtained by the work of the working machine is displayed on the display unit. A program that causes a computer to do what you want it to display. Based on the change in the vertical movement of the grounding member of the working machine in contact with the field with respect to the field, the judgment result of the field state indicating the soil crushing state or the leveling state of the field obtained by the work of the working machine is displayed on the display unit. How to make it appear in .

Images