JP6916544B2 - Guidance system for agricultural work machines - Google Patents

Description

The present invention relates to a guidance system for agricultural work machines, and more particularly to a guidance system for agricultural work machines that can be attached to a tractor to guide the operation of a work machine capable of moving forward and backward.

A work machine attached to a tractor for agricultural work is capable of various agricultural work, but there is also a work machine capable of moving the tractor backward for work, in particular, in addition to the case where the tractor is advanced for work. In this case, the worker performs the reverse work while operating the tractor and the working machine.

For example, Patent Document 1 describes a ridge coating machine capable of advancing work and retreating work.

Japanese Unexamined Patent Publication No. 2003-199404

However, when switching from forward work to reverse work, or when switching from reverse work to forward work, the tractor is visually moved by the operator's driving operation to switch the work direction and align the work direction. Therefore, when the skill and proficiency of the worker are insufficient, it is difficult to move the tractor accurately with respect to the target position and direction. In this case, the next farm work cannot be performed accurately.

In view of the above problems, an object of the present invention is to provide a guidance system for agricultural work machines, which can be attached to a tractor to more accurately guide the operation of a work machine capable of moving forward and backward. ..

In order to achieve the above object, one of the guidance systems for agricultural work machines of the present invention is a system that guides a work machine attached to a tractor to perform agricultural work, and the work machine is at least in a forward work state and a reverse work state. It has a control unit and a display unit that can be displayed remotely, and the control unit displays the display unit on the display unit from the forward work end position to the next reverse work start position in the agricultural work of the work machine. until, from the reverse work end position to the next forward work start position, for at least one of the tractor and to display the guidance of the operation of the working machine, the display of the guidance of the operation of the working machine, forward Guidance from the work end position to the next reverse work start position includes guiding the change from the forward work state to the reverse work state, and guides from the reverse work end position to the next forward work start position. In the case of doing so, it is characterized in that it includes guiding a change from the reverse working state to the forward working state.

Further, one of the guidance systems for agricultural work machines of the present invention is characterized in that the control unit causes the display unit to display guidance for operations from the forward work end position to the next reverse work start position .
Further, one of the guidance systems for agricultural work machines of the present invention is characterized in that the control unit causes the display unit to display guidance for operations from the reverse work end position to the next forward work start position .

Further, one of the guidance systems for agricultural work machines of the present invention is characterized in that the guidance by the display unit moves backward from the forward work end position, then turns, and then moves backward to guide to the reverse work start position. do.
Further, one of the guidance systems for agricultural work machines of the present invention is characterized in that the guidance by the display unit is turned from the reverse work end position and then moved backward to guide to the forward work start position .

Further, one of the guidance systems for agricultural work machines of the present invention is provided with a sensor, and the control unit is characterized in that the display unit displays the guidance using information from the sensor.
Further, one of the guidance systems for agricultural work machines of the present invention is characterized in that the control unit displays the guidance on the display unit using information from the tractor .

According to the present invention, in the guidance system for agricultural work machines, it is possible to more accurately guide the operation of the work machine that can be attached to the tractor and can perform forward and reverse work.

It is a block diagram which shows one Embodiment of the guide system for agricultural work machines of this invention. It is a top view which shows an example of the work machine applied to the guide system for agricultural work machine of this invention. It is a figure for demonstrating the reference position of the forward state in the work machine of FIG. It is a figure for demonstrating the reference position of the reverse state in the work machine of FIG. It is a top view which shows an example of the operation | display part applied to the guide system for agricultural work machines of this invention. It is an enlarged view of the display part in the operation | display part of FIG. It is a flowchart which shows an example of the control of the guide [1] of the guide system for agricultural work machines of this invention. It is a figure which shows the example at the time of completion of the forward work in the guide system for agricultural work machines of this invention. It is a figure which shows the example at the time of ending the reverse guide 1 in the guide system for agricultural work machines of this invention. It is a figure which shows the example in the turning guide 2 in the guide system for agricultural work machines of this invention. It is a figure which shows the example at the time of the end of the turning guide 2 in the guide system for agricultural work machines of this invention. It is a figure which shows the example at the time of the end of the guide [1] in the guide system for agricultural work machines of this invention. It is a figure which shows the example at the time of completion of the reverse work in the guide system for agricultural work machines of this invention. It is a flowchart which shows an example of the control of the guide [2] of the guide system for agricultural work machines of this invention. It is a figure which shows the example from the start of a turning instruction to the start of a reverse guide 3 in the guide system for agricultural work machines of this invention. It is a figure which shows the example at the end of the guide [2] in the guide system for agricultural work machines of this invention.

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

FIG. 1 is a block diagram showing an embodiment of a guide system for agricultural work machines of the present invention. The present invention is a system for guiding the operation of a work machine attached to a tractor 1 for performing agricultural work and the traveling route of the tractor 1.

The present invention includes a GPS unit 11, an inertial sensor unit 12, an orientation sensor 13, an offset rotation amount sensor 14, a working unit rotation amount sensor 15, a control unit 20, a recording unit 21, an operation / display unit 26, and an offset rotation actuator 31. It has a working unit rotation actuator 32. Further, if necessary, the guide device 25, the data (input) output unit 22, the recording medium 41, and the PC / information terminal 42 may be used. Further, the tractor 1 may have a GPS unit 5, a guide device 6, and an automatic steering assist system 7, if necessary.

The user 201 is basically in the driver's seat of the tractor 1 and operates the handle 8 and the like of the tractor 1 by being guided by the operation / display unit 26 or the guide device 25. When using the automatic steering assist system, it may not be necessary to operate the steering wheel 8.

The GPS unit 11 is a system using GPS (Global Positioning System), and is a unit for receiving GPS signals from GPS satellites 301, performing signal processing, and specifying the current position. The GPS unit 11 can be installed on the working machine. However, if the tractor 1 has a GPS unit 5, it may be used instead. In addition to GPS, a system for identifying the current position can be used, and QZSS (Quasi-Zenith Satellite System), GLONASS (Global Navigation Satellite System), Galileo and the like may be used.

The inertial sensor unit 12 is a sensor used for detecting whether the work machine is stopped or moving, detecting how much the position of the work machine has changed, detecting a change in the posture of the work machine, and the like. .. For example, one that can detect the angular velocity in each axis of roll, pitch, and yaw and the acceleration in the three axes of x, y, and z can be used. The inertial sensor unit 12 can be installed on the working machine.

The directional sensor 13 is a sensor that detects the directional. For example, a geomagnetic sensor or the like can be used. The azimuth sensor 13 can be installed on the working machine.

The offset rotation amount sensor 14 is a sensor that can detect a change caused by the offset rotation actuator 31 and detect an offset amount and a state of a working portion. For example, a potentiometer can be used. In addition to this, when the offset rotation actuator 31 is a cylinder, a stroke sensor that detects the stroke of the cylinder can also be used. The offset rotation amount sensor 14 is installed in the working machine.

The work unit rotation amount sensor 15 is a sensor that can detect a change caused by the work unit rotation actuator 32 and detect a state of the work unit and an offset amount. A potentiometer can be used. In addition to this, when the working unit rotating actuator 32 is a cylinder, a stroke sensor that detects the stroke of the cylinder can also be used. Further, if only the forward work state, the retracted state, or the reverse work state is detected, the limit switch can be used.

The offset rotation amount sensor 14 and the work unit rotation amount sensor 15 detect the forward work state, the retracted state, and the reverse work state of the work machine, and the forward and reverse work positions (the forward ridge formation reference position and the reverse, which will be described later) from the reference position. It may be a sensor for specifying the distance to the ridge formation reference position), and a combination other than the above may be used in combination with a sensor as needed.

The control unit 20 inputs a signal of information detected by the GPS unit 11, the inertial sensor unit 12, the orientation sensor 13, the offset rotation amount sensor 14, and the work unit rotation amount sensor 15. In addition, a signal operated by the operation / display unit 26 is also input. Then, the necessary information is output to the operation / display unit 26 and the guide device 25. Further, the offset rotation actuator 31 and the work unit rotation actuator 32 are also controlled. When the tractor 1 has the GPS unit 5, the information signal detected from the GPS unit 5 is input as needed. When the tractor 1 has the guide device 6, necessary information is output to the guide device 6 as needed. The control unit 20 is composed of electronic devices and the like necessary for control, and can be stored in the box as a control box and made independent. The control unit 20 is set on the work machine side in order to perform the control described later. On the other hand, the control unit 20 is provided integrally on the operation / display unit 26 side or separately in the vicinity, and the GPS unit 11, the inertial sensor unit 12, the direction sensor 13, the offset rotation amount sensor 14, the work unit rotation amount sensor 15, It is also possible to connect the offset rotation actuator 31 and the working portion rotation actuator 32 by wire.

The recording unit 21 stores the information required by the control unit 20. Further, the information related to the past control may be stored and reflected in the control of the control unit 20. The recording unit 21 can also be integrally configured with the control unit 20.

The data (input) output unit 22 has the information stored in the recording unit 21 to be output to the external recording medium 41 or the PC / information terminal 42, and is integrally configured with the control unit 20 and the recording unit 21. You can also do it. This makes it possible to store and check data and output it with an external device.

The operation / display unit 26 can be arranged near the driver's seat of the tractor 1 and has an operation unit and a display unit. Then, by operating the operation unit, it is possible to remotely operate the actuators possessed by the work machine such as the offset rotation actuator 31 and the work unit rotation actuator 32. Further, it has a display unit for guiding the operation of the tractor 1 and the operation / operation of the display unit 26. Further, it may have a voice output unit for guiding by voice. A signal related to operation information from the operation / display unit 26 is sent to the control unit 20, and information on operation and operation guidance is sent from the control unit 20. At this time, information may be exchanged with the control unit 20 by wire or wirelessly.

The guide device 25 is installed by being externally attached to the operation / display unit 26 in addition to the operation / display unit 26, if necessary. For example, it may be used as a guide device 25 having a display unit in addition to the operation / display unit 26, or the display unit of the guide device 25 may be used instead of the display unit of the operation / display unit 26. In this case, the guide device 25 is a device having a guide function for guiding the operation of the tractor and the operation of the operation / display unit 26.

The offset rotation actuator 31 is an actuator for offsetting the working portion of a working machine that performs agricultural work.

The work unit rotation actuator 32 is an actuator for rotating the work unit of a work machine that performs agricultural work so that it can be rotated in the forward work direction or the reverse work direction.

The offset rotation actuator 31 and the work unit rotation actuator 32 are provided in the work machine and are controlled by the control unit 20. Examples of the actuator include an electro-hydraulic cylinder, a hydraulic cylinder, a motor and the like. It should be noted that these actuators may be any actuator for putting the work machine in the forward work state, the retracted state, and the reverse work state, and may not be limited to a combination thereof.

The GPS unit 5 can be used when the tractor 1 has the GPS unit 5. The basic configuration is the same as that of the GPS unit 11, but in the case of the GPS unit 5, it is necessary to confirm the mounting position on the tractor 1 and perform control based on the distance between the mounting position and the reference position.

The guide device 6 can be used when the tractor 1 has the guide device 6. The basic configuration is the same as that of the guide device 25, but if the tractor 1 has an automatic steering assist system 7, a steering signal may be transmitted to the tractor 1.

The automatic steering assist system 7 can be used when the tractor 1 has the automatic steering assist system 7. In this case, it is possible to receive a steering signal from the guide device 6 and automatically steer the tractor 1 based on the steering signal.

In the present invention, at least for a work machine that can be changed to a forward work state and a reverse work state, position detection and movement for specifying the current position by using the above-mentioned sensor and information from the tractor 1 if necessary are used. Movement distance detection to detect distance, stop detection to detect stop, direction detection to detect direction, attitude detection to detect the vertical attitude of the work machine with respect to the tractor, and at least the forward work state of the work machine. The work state detection that detects the reverse work state is performed, and the display unit 26 can be made to display the operation guidance by using these detections.

FIG. 2 is a plan view showing an example of a working machine applied to the guidance system for agricultural working machines of the present invention. This working machine is a ridge coating machine 50 that forms ridges. The ridge coating machine 50 can be changed to a forward work state, a retracted state, and a reverse work state, and FIG. 2 shows a stored state.

The ridge coating machine 50 attaches the attachment portion 51a and the attachment portion 51b on the front side of the attachment portion 51 to the connecting member of the tractor, and attaches the attachment portion 51 to the rear portion of the tractor 1. The mounting portion 51 and the intermediate frame 52 are connected by a horizontally rotatable fulcrum 52a (described in FIGS. 3 and 4), and the intermediate frame 52 and the working portion 58 are connected by a horizontally rotatable fulcrum 52b. Has been done. The first electro-hydraulic cylinder 54 is connected between the mounting portion 51 and the intermediate frame 52. The second electro-hydraulic cylinder 55 is connected between the working portion 58 and the link mechanism 53 interlocking with the intermediate frame 52.

The working unit 58 has a pretreatment unit 59, a tilling unit 56, and a disk unit 57 from the front side in the working direction. The pretreatment unit 59 is attached as needed, and is not shown except in FIG. During work, the pretreatment section 59 uses the power transmitted from the tractor 1 to perform pretreatment such as scraping the upper surface of the old ridge, the tillage section 56 raises the soil of the old ridge, and the disk section 57 rotates to form the ridge shape. To form. The disc portion 57 has a main body disc portion 57a forming the slope of the ridge and an upper surface disc portion 57c forming the upper surface of the ridge, and the lower side of the outer peripheral portion 57b of the main body disc portion 57a is the lower end portion of the ridge (the lower end portion of the ridge). Corresponds to the hem).

When the first electro-hydraulic cylinder 54 is extended from the state shown in FIG. 2, the forward working state is set (FIGS. 3, 8 and 16). Further, when the second electro-hydraulic cylinder 55 is extended from the state shown in FIG. 2, the reverse working state is set (FIGS. 4, 12, 13). Here, the offset rotation actuator 31 can correspond to the first electro-hydraulic cylinder 54, and the working unit rotation actuator 32 can correspond to the second electro-hydraulic cylinder 55.

In FIG. 2, the frame portion 51c of the mounting portion 51 includes a GPS unit 11, an inertial sensor unit 12, an orientation sensor 13, and a control unit 20. Further, the offset rotation amount sensor 14 is also provided in the frame portion 51c of the mounting portion 51, and can detect the rotation of the intermediate frame 52 with respect to the mounting portion 51. Further, the work unit rotation amount sensor 15 is attached to the frame unit 58a on the work unit 58 side, and can detect the rotation of the work unit 58 with respect to the intermediate frame 52. The mounting portion 51 is a member whose position with respect to the tractor 1 does not change even if the mounting portion 51 is changed to the forward work state, the retracted state, or the reverse work state.

FIG. 3 is a diagram for explaining a reference position in a forward state in the work machine of FIG. In FIG. 3, the tillage section 56 and the pretreatment section 59 are not shown. Here, an example of determining the forward ridge formation reference position, which is the reference of the ridge formation position during the forward work, with respect to the work machine reference position, which is the reference position of the work machine, is shown. The work equipment reference position is a position that does not move even when the forward, reverse, and retracted states are changed. In FIG. 3, the fulcrum 52a, which is the center of rotation of the intermediate frame 52 with respect to the mounting portion 51, is set as the working machine reference position P. Further, the center position of the outer peripheral portion 57b of the main body disk portion 57a in the forward working state is set as the forward ridge formation reference position Q. Then, the lateral distance from the working machine reference position P to the forward ridge formation reference position Q is Wf, and the distance from the working machine reference position P to the forward ridge formation reference position Q in the front-rear direction is Lf. Further, as the detection position G by the GPS unit 11, the lateral distance of the detection position G from the work machine reference position P is Xs, and the distance in the front-rear direction is Ys. Here, Gx is the lateral coordinate of the detection position G (the right side is positive), Gy is the coordinate in the front-back direction of the detection position G (the tractor side is positive), and Qx is the lateral coordinate of the forward ridge formation reference position Q, Qy. Is the coordinate in the front-rear direction of the forward ridge formation reference position Q, and if the detection position G is located on the tractor side and to the right of the work equipment reference position P,
Qx = Gx-Xs + Wf
Qy = Gy-Ys-Lf
Therefore, the forward ridge formation reference position Q can be determined with respect to the detection position G.

FIG. 4 is a diagram for explaining a reference position in the reverse state of the work machine of FIG. In FIG. 4, the tillage section 56 and the pretreatment section 59 are not shown. Here, an example of determining the reverse ridge formation reference position, which is the reference of the ridge formation position during the reverse work, with respect to the reference position of the working machine is shown. In FIG. 4, the detection position G and the work equipment reference position P are the same as in FIG. Further, the center position of the outer peripheral portion 57b of the main body disk portion 57a in the reverse working state is set as the reverse ridge formation reference position R. Then, the lateral distance from the working machine reference position P to the reverse ridge formation reference position R is Wr, and the distance from the working machine reference position P to the reverse ridge formation reference position R in the front-rear direction is Lr. Here, if Rx is the lateral coordinate of the reverse ridge formation reference position R and Ry is the front-back coordinate of the reverse ridge formation reference position R, then
Rx = Gx-Xs-Wr
Ry = Gy-Ys-Lr
Therefore, the reverse ridge formation reference position R can be determined with respect to the detection position G.

Here, if the GPS unit 5 included in the tractor 1 is used, if the lateral and front-back distances of the work equipment reference position P with respect to the detection position by the GPS unit 11 are used, the GPS unit can be used instead of the GPS unit 11. It is possible to determine the forward ridge formation reference position Q and the reverse ridge formation reference position R with respect to the detection position according to 5.

FIG. 5 is a plan view showing an example of an operation / display unit applied to the guidance system for agricultural work machines of the present invention.

The operation / display unit 60 has a power switch 61, a sprinkler switch 62, a return switch 63, a work switch 64, a storage switch 65, a guide [1] switch 66, a guide [2] switch 67, a mode switch 68, and a menu as operation units. Switch 69, up switch 70, down switch 71, enter switch 72, cancel switch 73, offset [large] switch 74, offset [small] switch 75, tillage depth [shallow] switch 76, tillage depth [deep] switch 77, dispersion It has a water amount [increase] switch 78, a watering amount [decrease] switch 79, and a pause / resume switch 80. These can employ pushbutton switches. Further, the operation / display unit 60 has a display unit 90.

The watering switch 62 is a switch for turning on and off watering when the ridge coating machine 50 has a watering device.

The return switch 63 is a switch for setting the reverse working state (FIGS. 4, 12, 13).

The work switch 64 is a switch for setting the forward working state (FIGS. 3, 8 and 16).

The storage switch 65 is a switch for setting the storage state (FIGS. 2, 9 to 11, 15).

The guide [1] switch 66 is a switch for starting the guidance control of the guide [1] described later.

The guide [2] switch 67 is a switch for starting the guidance control of the guide [2] described later.

The mode switch 68 is a switch that displays a required mode on the display unit 90. For example, in the manual mode, a response to the switch is made only while the switch is pressed, and in the automatic mode, a response to the switch is made to the end when a specific switch is pressed once.

The menu switch 69 is a switch that displays a necessary menu on the display unit 90.

The upper switch 70 and the lower switch 71 can select the mode displayed by the mode switch 68 and the menu displayed by the menu switch 69.

The determination switch 72 is a switch for determining the displayed information, and for example, the information selected by the upper switch 70 or the lower switch 71 can be determined.

The cancel switch 73 is a switch for canceling the displayed information, and for example, the information selected by the upper switch 70 or the lower switch 71 can be canceled.

The offset [large] switch 74 is a switch for adjusting the offset amount of the working unit 58 in a large direction. When this switch is pressed, the working portion 58 moves to the outside, that is, to the ridge side. This can be adjusted in forward and reverse working conditions.

The offset [small] switch 75 is a switch for adjusting the offset amount of the working unit 58 in a smaller direction. When this switch is pressed, the working portion 58 moves inward, that is, on the side away from the ridge. This can be adjusted in forward and reverse working conditions.

The tillage depth [shallow] switch 76 and the tillage depth [depth] switch 77 are switches that can adjust the depth of the tillage portion 56 when it has a function of adjusting the depth. When the tillage depth [shallow] switch 76 is pressed, the tillage portion 56 moves upward and the tillage depth becomes shallower, and when the tillage depth [depth] switch 77 is pressed, the tillage portion 56 moves downward and the tillage depth becomes deeper. In this case, the disc portion 57 may move up and down with respect to the tilling portion 56 to adjust the plowing depth.

The watering amount [increase] switch 78 and the watering amount [decrease] switch 79 are switches for adjusting the watering amount when the watering device is provided. Pressing the watering amount [increase] switch 78 increases the watering amount, and pressing the watering amount [decrease] switch 79 decreases the watering amount.

The pause / resume switch 80 is a switch for suspending or resuming an operating function. For example, press once to pause, press again to resume, and so on. It may be applied in the guide [1] or the guide [2].

FIG. 6 is an enlarged view of the display unit 90 in the operation / display unit of FIG. The display unit 90 can display the traveling position display 91, the guide display 92, the guide type display 93, the mode display 94, the offset display 95, and the plowing depth display 96. The display unit 90 can be displayed on a display board such as a liquid crystal display.

The traveling position display 91 is a display for the user 201 to operate (steer) the handle 8 of the tractor 1 to set a target of the traveling position in the left-right direction, the upper side is the target reference display 91a, and the lower side is the current position display. It is 91b. The target reference display 91a has a plurality of square mark displays on the side, and the center display indicates a target position. In FIG. 6, since 11 are arranged side by side, the sixth from the left is the center. To make it easier to understand, the width of the square is widened toward the center. The current position display 91b is a display showing the deviation in the left-right direction with respect to the current target, and in the figure, the triangular lighting portion (black-painted portion in the figure) indicates the current position of the ridge coating machine 50. The deviation may be displayed with respect to the target with the work machine reference position P as a reference. In FIG. 6, the current position display 91b exactly matches the target reference, but if the current position display 91b is on the left side, the user 201 operates the tractor 1 to the right side and the current position display 91b is in the center. You just have to come to.

The guide display 92 displays the guide to be performed by the user 201 in characters. For example, "Please move forward" or "Please stop". In FIG. 6, the display is 12 characters, but the display is not limited to this.

The guide type display 93 displays "guide [1]", "guide [2]", and the like, and displays the type of guide currently being performed.

The mode display 94 displays the mode determined by the mode switch 68 or the like.

The offset display 95 displays the current state of the offset amount that can be adjusted by the offset [large] switch 74 and the offset [small] switch 75. In FIG. 6, the upper side shows the current state and the lower side shows the adjustable range, and the right end of a plurality of rectangular lighting portions (black-painted portions in the figure) arranged in the horizontal direction on the upper side shows the current offset amount. From these, it is possible to know the current offset state and the range of adjustment that can be made from that state.

The tillage depth display 96 displays the current depth of the tillage portion 56 that can be adjusted by the tillage depth [shallow] switch 76 and the tillage depth [depth] switch 77. In FIG. 6, the left side shows the current state, the right side shows the adjustable range, and the lower end of a plurality of rectangular lighting portions (black-painted portions in the figure) arranged in the vertical direction shows the current tillage depth state.

FIG. 7 is a flowchart showing an example of control of the guide [1] of the guide system for agricultural work machines of the present invention. FIG. 8 is a diagram showing an example at the end of forward work in the guidance system for agricultural work machines of the present invention. FIG. 9 is a diagram showing an example at the end of the reverse guide 1 in the guide system for agricultural work machines of the present invention. FIG. 10 is a diagram showing an example in the turning guide 2 in the guide system for agricultural work machines of the present invention. FIG. 11 is a diagram showing an example at the end of the turning guide 2 in the guide system for agricultural work machines of the present invention. FIG. 12 is a diagram showing an example at the end of the guide [1] in the guide system for agricultural work machines of the present invention. FIG. 13 is a diagram showing an example at the end of reverse work in the guidance system for agricultural work machines of the present invention. This control is basically performed by the control unit 20. The guide [1] guides the user from the end position of the forward work to the start of the reverse work.

The user 201 who got on the tractor 1 forms a new ridge 102 in the forward working state of the ridge coating machine 50 along the old ridge 101. Then, when the farm is advanced to the edge of the field, the old ridge 111 on the other side makes it impossible to advance further, and the advance work usually ends there. The present invention can be applied even if the advancing work is completed in the middle without advancing the tractor 1 to the edge of the field.

After the control start (S101), the user 201 stops the traveling of the tractor 1 at the forward work end position (S102). It should be noted that the power of the operation / display unit 60 is turned on during the forward work.

FIG. 8 shows a state at the end of the forward work. At this time, the ridges due to the forward work can be formed up to the position T, which is the center of the disc portion 57. The position corresponding to Q described in FIG. 3 at the end of the forward work is T. Further, the tillage trace 105 formed by the tillage portion 56 is formed along the inside of the ridge 102 up to the position of the tillage portion 56 where the forward work is completed.

Next, in the tractor stop determination (S103), it is determined whether or not the tractor 1 is stopped. This determination can be determined as a stop if there is no change due to a change in the position per hour using the GPS unit 11. Further, if the inertial sensor unit 12 determines that the current speed is 0 based on the speed obtained from the acceleration, it can be determined that the vehicle has stopped. Further, the GPS unit 11 and the inertial sensor unit 12 can be used in combination to make a more accurate determination. In addition to this, when speed information can be obtained from the tractor 1, it can be determined that the vehicle has stopped if it is determined that the speed is 0 using the information.

Then, when it is determined that the tractor 1 is stopped, it is determined about the switch operation (S104), and when the input is made by the operation of the guide [1] switch 66 according to the input determination 1 (S105), the working machine state. Is determined (S106). When it is determined that the working machine state is the forward working state, the guide [1] is started (S107). Other than that, go to S149.

The determination of the working machine state (S106) determines whether or not the working machine state is the forward working state. The determination can be made if the rotation state of the intermediate frame 52 with respect to the mounting portion 51 and the rotation state of the work portion 58 with respect to the intermediate frame 52 are known from the information of the offset rotation amount sensor 14 and the work unit rotation amount sensor 15. ..

When the guide [1] is started (S107), the descending state reference setting (S108) is performed. It is possible to move the work machine up and down with respect to the tractor 1 by operating the tractor 1 side. Since the work machine such as the ridge coating machine 50 is usually lowered to perform the work, it is in the lowered state at the end of the forward work. This state is set as a descending state reference and stored in the recording unit 21. The descending state reference setting is information on one or both of the vertical positions of the ridge coating machine 50 obtained from the information on the angular velocity of the inertial sensor unit 12 or the information on the acceleration of the inertial sensor unit 12. From, the reference of the descending state can be set. In addition to this, when information on the angle of the lower link or the like for raising or lowering the working machine (ridge coating machine 50) can be obtained from the tractor 1, the reference for the descending state can be set using the information.

Next, GPS position information storage (S109) is performed. This stores the current position specified by the GPS unit 11 in the recording unit 21.

Next, the offset rotation amount / working unit rotation amount storage (S110) is performed. This stores the current rotation amount detected from the offset rotation amount sensor 14 and the working unit rotation amount sensor 15 in the recording unit 21.

Next, the point of action reference position calculation / storage (S111) is performed. The reference position of the action point corresponds to the forward ridge formation reference position Q described with reference to FIG. Here, Wf, Lf, and the like can be obtained from the amount of rotation of S110. This information is stored in the recording unit 21.

Next, the work machine orientation, work locus, and work direction storage (S112) are performed. As for the work machine orientation, the recording unit 21 stores the detection of the orientation of the ridge coating machine 50 by the orientation sensor 13. As the work locus, the locus at the time of forward work detected by the GPS unit 11 is stored in the recording unit 21. The inertial sensor unit 12 may improve the correctness by adding information on the change in position obtained from the front-back and left-right accelerations. Further, the work direction is stored in the recording unit 21 by obtaining the work direction from the obtained work locus. This is in consideration of the fact that the ridge coating machine 50 may perform the work while being tilted with respect to the traveling direction, and the direction of the locus differs depending on the direction of the ridge coating machine 50 by the directional sensor 13 and the work.

Next, the work equipment lifting / moving storage state operation instruction information output (S113) is performed. Here, the ridge coating machine 50 is displayed on the guide display 92 of the display unit 90 so as to be raised. For example, "Please raise the work machine". Further, the guide display 92 of the display unit 90 is displayed so that the ridge coating machine 50 is in the stored state. For example, "Please put the work machine in the stowed state". Based on this information, the user 201 operates the tractor 1 to raise the ridge coating machine 50, operates (presses) the storage switch 65 of the operation / display unit 60, and stores the ridge coating machine 50. And.

Next, the posture of the working machine is determined (S114). This determination is made from the angle of the ridge coating machine 50 obtained from the information on the angular velocity of the inertial sensor unit 12 or the information on one or both of the vertical positions of the ridge coating machine 50 obtained from the information on the acceleration of the inertial sensor unit 12. It is possible to determine whether the work machine attitude is on the upper side or the lower side. In addition to this, when information on the angle of the lower link for raising and lowering the work machine (ridge coating machine 50) can be obtained from the tractor 1, it is used to determine whether the work machine posture is on the upper side or the lower side. Can be determined.

Then, if the working machine posture is in the raised state (upper side), the process goes to S115 to determine the working machine state. If it is in the lowered state (lower side), it is displayed on the guide display 92 of the display unit 90 so as to go to S113 and raise the ridge coating machine 50 upward.

The determination of the working machine state (S115) determines whether or not the working machine state is the stored state. The determination can be made if the rotation state of the intermediate frame 52 with respect to the mounting portion 51 and the rotation state of the work portion 58 with respect to the intermediate frame 52 are known from the information of the offset rotation amount sensor 14 and the work unit rotation amount sensor 15. ..

Then, if the working machine state is the retracted state, the process proceeds to S116 and the reverse guide 1 is started. If it is in any other state, it goes to S113 and is displayed on the guide display 92 of the display unit 90 so that the ridge coating machine 50 is in the retracted state.

When the reverse guide 1 is started (S116), first, the reverse distance A is set (S117). When the reverse movement distance A is the state in which the forward work of FIG. 8 is completed, the tractor 1 cannot turn in the forward direction, so that the tractor 1 moves backward once. On the other hand, if the vehicle moves backward too much, the rear tire 2a of the tractor 1 on the ridge side enters the tillage trace 105, which hinders accurate operation. Therefore, the reverse distance A for stopping and turning 105 before the tillage mark is set. This distance can be set in advance because the distance between the rear tire 2a of the tractor 1 and the cultivated portion 56 of the ridge coating machine 50 can be estimated based on the information of the tractor 1. The tires 2a and 2b of the tractor 1 may be crawlers.

Next, the reverse instruction information is output (S118). Here, the tractor 1 is displayed on the guide display 92 of the display unit 90 so as to move backward. For example, "Please back the tractor". The user 201 backs up the tractor 1 based on this information.

Next, the reverse distance is determined (S119). The reverse movement distance can be determined by detecting the change in position with the GPS unit 11. Further, the inertial sensor unit 12 can be used to calculate a more accurate moving distance from the acceleration in the front-rear direction. Moreover, you may use these together.

Then, when the reverse travel distance reaches A, the vehicle goes to S120 and outputs stop instruction information. If the reverse distance is less than A, the guide display 92 of the display unit 90 is displayed so as to go to S118 and move the tractor 1 backward.

In the stop instruction information output (S120), the guide display 92 of the display unit 90 is displayed so as to stop the tractor 1. For example, "Please stop the tractor". The user 201 stops the tractor 1 based on this information.

Next, the tractor stop determination (S121) is performed. Here, it is determined whether or not the tractor 1 is stopped. This determination is the same as in S103.

Then, if it is determined that the tractor 1 is stopped, it goes to S122 and ends the reverse guide 1. If it is determined that the tractor 1 is not stopped, the process goes to S120, and the guide display 92 of the display unit 90 is displayed so as to stop the tractor 1.

FIG. 9 shows a state in which the reverse guide 1 is completed.

When the reverse guide 1 is completed (S122), the turning guide 1 is started (S123).

Next, steering guidance information is output (S124). The steering guidance information output indicates the turning direction by the traveling position display 91 of the display unit 90. That is, when turning to the left, the current position display 91b is on the right side, and the user 201 turns the handle 8 of the tractor 1 to the left.

Next, forward instruction information is output (S125). Here, the guide display 92 of the display unit 90 is displayed so as to move the tractor 1 forward. For example, "Please move the tractor forward." The user 201 advances the tractor 1 while turning the steering wheel 8 while looking at the traveling position display 91.

Next, the tractor turning angle is determined (S126). Here, the tractor turning angle can be determined by the directional sensor 13.

Then, if it is determined that the turning angle is 180 ° or more, the process proceeds to S127 and the turning guide 1 is terminated. If it is determined that the turning angle is less than 180 °, the process returns to S124, the traveling position display 91 of the display unit 90 indicates the turning direction, and the guide display 92 of the display unit 90 indicates that the tractor 1 is advanced.

When the turning guide 1 is completed (S127), the turning guide 2 is started (S128).

The state in the middle of the turning guide 2 is shown in FIG.

After starting the turning guide 2, the forward traveling guide path / forward distance B + α is calculated (S129). The distance B is the distance in the front-rear direction from the stored position T to the target position to be advanced after turning. This distance is set to a distance suitable for subsequent control. For example, it is 2 to 5 m. Further, α is the distance in the front-rear direction from the position U where the tractor 1 and the ridge coating machine 50 are turned 180 ° to the stored T. Further, the forward traveling guidance route is a route for guiding so that the distance becomes N in parallel from the hem of the ridge at the end of the forward movement of the forward distance B + α. This is a position toward the start of the reverse work so that the work machine reference position P is separated from the ridge 102 by M as compared with the forward work. Here, N can be, for example, Wf + 100 to 300 mm, that is, M can be about 100 to 300 mm.

Next, steering guidance information is output (S130). The steering guidance information output indicates the turning direction by the above-mentioned forward traveling guidance path by the traveling position display 91 of the display unit 90. That is, when turning from left to right, the current position display 91b is on the left side, and the user 201 turns the handle 8 of the tractor 1 to the right.

Next, forward instruction information is output (S131). Here, the guide display 92 of the display unit 90 is displayed so as to move the tractor 1 forward. For example, "Please move the tractor forward." The user 201 advances the tractor 1 while turning the steering wheel 8 according to the traveling position display 91.

Next, the forward distance is determined (S132). The determination of the forward distance can be performed by detecting the change in position with the GPS unit 11. Further, the inertial sensor unit 12 can be used to calculate a more accurate moving distance from the acceleration in the front-rear direction. Moreover, you may use these together.

Then, when the forward distance reaches B + α, the vehicle goes to S133 and outputs stop instruction information. If the forward distance is less than B + α, the vehicle returns to S130, the traveling position display 91 of the display unit 90 indicates the direction in which the steering wheel 8 is operated, and the guide display 92 of the display unit 90 indicates that the tractor 1 is advanced.

Next, the tractor stop determination (S134) is performed. Here, it is determined whether or not the tractor 1 is stopped. This determination is the same as in S103.

Then, if it is determined that the tractor 1 is stopped, it goes to S135 and ends the turning guide 2. If it is determined that the tractor 1 is not stopped, the process returns to S133, and the guide display 92 of the display unit 90 is displayed so as to stop the tractor 1.

FIG. 11 shows a state in which the turning guide 2 is completed.

When the turning guide 2 is completed (S135), the reverse work state operation instruction information is output (S136).

The reverse work state operation instruction information output (S136) is displayed on the guide display 92 of the display unit 90 so that the ridge coating machine 50 is in the reverse work state. For example, "Please put the work machine in the reverse work state". Based on this information, the user 201 operates (presses) the return switch 63 of the operation / display unit 60 to put the ridge coating machine 50 into the reverse working state.

Next, the working machine state is determined (S137). Here, it is determined whether or not the working machine state is the reverse working state. The determination can be made if the rotation state of the intermediate frame 52 with respect to the mounting portion 51 and the rotation state of the work portion 58 with respect to the intermediate frame 52 are known from the information of the offset rotation amount sensor 14 and the work unit rotation amount sensor 15. ..

Then, if the working machine state is the reverse working state, the process proceeds to S138 and the reverse guide 2 is started. If it is in any other state, the process returns to S136 and the ridge coating machine 50 is displayed on the guide display 92 of the display unit 90 so as to be in the reverse working state.

When the reverse guide 2 is started (S138), the reverse travel guide route / reverse distance BD is calculated (S139). The distance D is a constant distance returned to the front side from the stored position of T. This is a distance set so that there is no unpainted portion by overlapping the ridges 102 due to the forward work, and the distance D is, for example, 0.5 to 1.5 m, more preferably 1 to 1.5 m. be.

Next, steering guidance information is output (S140). The steering guidance information output indicates the direction in which the steering wheel is turned by the traveling position display 91 of the display unit 90. At this time, the working portion 58 of the ridge coating machine 50 is guided so as to be at a position along the ridge 102 at the reverse work start point V at the end of the reverse movement of the reverse distance BD. Then, preferably, the direction is indicated so that the angle C is attached at the reverse work start point V. The angle C is an angle of incidence on the ridge 102 in consideration of the reaction force during work by the ridge coating machine 50, and is set to, for example, about 2 to 10 °.

Next, the reverse instruction information is output (S141). Here, the guide display 92 of the display unit 90 is displayed so that the tractor 1 is moved backward. For example, "Please move the tractor backward". The user 201 moves the tractor 1 backward while turning the steering wheel 8 by the traveling position display 91.

Next, the reverse distance is determined (S142). The determination of the reverse travel distance is the same as that of S119.

Then, when the reverse travel distance reaches BD, the vehicle goes to S143 and outputs stop instruction information. If the reverse distance is less than BD, the vehicle returns to S140, the traveling position display 91 of the display unit 90 indicates the direction in which the steering wheel is operated, and the guide display 92 of the display unit 90 indicates that the tractor 1 is to be moved backward.

The stop instruction information output (S143) is the same as that of S120.

Next, the tractor stop determination (S144) is performed. Here, it is determined whether or not the tractor 1 is stopped. This determination is the same as in S103.

Then, if it is determined that the tractor 1 is stopped, the process proceeds to S145 and the reverse guide 2 is terminated. If it is determined that the tractor 1 is not stopped, the process returns to S143, and the guide display 92 of the display unit 90 is displayed so as to stop the tractor 1.

When the reverse guide 2 is completed (S145), the work equipment lowering operation instruction information is output (S146).

The work machine lowering operation instruction information output (S146) is displayed on the guide display 92 of the display unit 90 so as to lower the ridge coating machine 50 downward. For example, "Please lower the work machine". Based on this information, the user 201 operates the tractor 1 to lower the ridge coating machine 50.

Next, the posture of the working machine is determined (S147). This determination is made from the angle of the ridge coating machine 50 obtained from the information on the angular velocity of the inertial sensor unit 12 or the information on one or both of the vertical positions of the ridge coating machine 50 obtained from the information on the acceleration of the inertial sensor unit 12. It is possible to determine whether the working posture of the working machine is other than the working posture of the upper side or the working posture of the lower side. In addition to this, when information on the angle of the lower link for raising and lowering the work machine (ridge coating machine 50) can be obtained from the tractor 1, the work machine posture is other than the upper work posture or the lower side using the information. It is possible to determine whether or not the working posture is.

Then, if the working machine posture is in the lowered working posture, the guide [1] is completed by going to S148. If it is in a state other than the raised working posture, it returns to S146 and displays on the guide display 92 of the display unit 90 so as to lower the ridge coating machine 50 downward.

The state at the end of the guide [1] is shown in FIG.

Next, the reverse work start position / tractor travel locus memory (S149) is performed, and the control ends (S150). As the reverse work start position, the current position V is stored in the recording unit 21. In addition, the running record up to now in the guide [1] is also stored in the recording unit 21. This travel record can be a locus recorded by the GPS unit 11 or a locus complemented by adding information on a change in position by the inertial sensor unit 12.

From the state of FIG. 12, the user 201 can perform the reverse operation of the ridge coating machine 50 until the old ridge 111 is reached while the tractor 1 is backed up.

FIG. 13 shows a state at the end of the reverse work. By performing the reverse work from the guided reverse start position, the ridges 102 due to the forward work and the ridges 103 due to the reverse work can be formed up to the vicinity of the corner of the field. Here, the reverse work end position is W.

FIG. 14 is a flowchart showing an example of control of the guide [2] of the guide system for agricultural work machines of the present invention. FIG. 15 is a diagram showing an example from the start of a turning instruction to the start of the reverse guide 3 in the guide system for agricultural work machines of the present invention. FIG. 16 is a diagram showing an example at the end of the guide [2] in the guide system for agricultural work machines of the present invention.

When the control is started (S201), the power of the operation / display unit 60 remains ON. Then, the user 201 who got on the tractor 1 performs the reverse work by the ridge coating machine 50 and stops the running of the tractor 1 at the reverse work end position as shown in FIG. 13 (S202).

Next, in the tractor stop determination (S203), it is determined whether or not the tractor 1 is stopped. This determination method is the same as S103.

Then, when it is determined that the tractor 1 is stopped, it is determined about the switch operation (S204), and when the input is made by the operation of the guide [2] switch 67 according to the input determination 2 (S205), the working machine state. Is determined (S206). When it is determined that the work machine state is the reverse work state, the guide [2] is started (S207). If the working machine state is other than that, go to S240.

The determination of the working machine state (S206) determines whether or not the working machine state is the reverse working state. The determination is the same as in S137.

When the guide [2] is started (S207), GPS position information storage (S208) is performed. The method here is the same as that of S109.

Next, the offset rotation amount / working unit rotation amount storage (S209) is performed. The method here is the same as that of S110.

Next, the point of action reference position calculation / storage (S210) is performed. The reference position of the action point here is the forward ridge formation reference position R described with reference to FIG. 4, and here, Wr, Lr, and the like can be obtained from the rotation amount of S209. This information is stored in the recording unit 21.

Next, the work machine orientation, work locus, and work direction storage (S211) are performed. The method here can be performed according to S112. Here, the work locus stores the locus at the time of reverse work.

Next, the work equipment lifting / moving storage state operation instruction information output (S212) is performed. The method here is basically the same as that of S113.

Next, the posture of the working machine is determined (S213). This determination is the same as in S114.

Then, if the working machine posture is in an elevated state, the process goes to S214 to determine the working machine state. If it is in the lowered state, it returns to S212 and is displayed on the guide display 92 of the display unit 90 so as to raise the ridge coating machine 50 upward.

The determination (S214) regarding the working machine state is the same as that of S115.

Then, if the working machine state is the retracted state, it goes to S215 and starts the turning instruction. If it is in any other state, it returns to S212 and is displayed on the guide display 92 of the display unit 90 so that the ridge coating machine 50 is in the retracted state.

The state at the time of starting the turning instruction is the figure on the right of FIG.

When the turning instruction is started (S215), the steering instruction information output (S216) and the forward instruction information output (S217) are performed. The steering instruction information output displays an instruction to operate the handle 8 so that the vehicle body of the tractor 1 is parallel to the old ridge 111 on the next work surface and the outer end of the tire is aligned with the hem position 111a to stop. To do. Here, the traveling position display 91 of the display unit 90 is not used, and the guide display 92 displays for this purpose. This is in consideration of the fact that the shape of the old ridge 111 cannot always be specified. Further, the forward instruction information output causes the guide display 92 to indicate that the tractor 1 is to be advanced. The steering instruction information output and the forward instruction information output may be displayed in the order of operations of the user 201, or may be repeatedly displayed at regular intervals. Based on this information, the user 201 operates the tractor 1 to the target position.

Next, the user 201 stops the tractor running at a position along the next work surface (S218). This state is the left figure of FIG.

Next, in the tractor stop determination (S219), it is determined whether or not the tractor 1 is stopped. This determination method is the same as S103.

Then, when it is determined that the tractor 1 is stopped, the stop position confirmation instruction information is output (S220). This is a display in which the tractor 1 is stopped at the guide display 92 of the display unit 90, and confirmation is made at this position. For example, "The tractor has stopped. Is this stop position okay?"

Next, the "decision" switch operation instruction information is output (S221). This is a guide display 92 of the display unit 90, which indicates that a switch operation for confirming whether or not the stop position is acceptable is performed. For example, "If you like this position, press the" Enter "button. "Etc. If this position is acceptable, the user 201 presses the decision switch 72 of the operation / display unit 60.

Next, the switch operation is determined (S222), and when the input is input by the operation of the determination switch 72 by the input determination 3 (S223), the GPS position information is stored (S224).

The method of GPS position information storage (S224) here is the same as that of S109.

Next, the work machine orientation memory (S225) is performed. The detection and storage of the work machine orientation here is the same as the detection and storage of the work machine orientation in S112.

Next, the calculation and storage of the assumed hem line is performed (S226). One of the hem assumption lines corresponds to the hem 111a in the old ridge 111 of FIG. In this determination, first, the center of the tractor 1 is specified by the working machine reference position P described with reference to FIG. Then, the distance from the center of the tractor 1 to the outer end of the tire 2a is stored in the recording unit 21 from the operation / display unit 60 or the like in advance, and based on this information, the orientation of the orientation sensor 13, and the current position information. The line along the front-rear direction of the ridge coating machine 50 at the outer end of the tire 2a of the tractor 1 is the assumed hem line. Then, this is stored in the recording unit 21. On the other hand, the other hem assumption line corresponds to the hem 103a in the ridge 103 of the reverse work performed from the position guided by the guide [1]. This means that the hem 103a can be specified if the locus of the reverse ridge formation reference position R described with reference to FIG. 4 can be calculated during the reverse work.

Next, the reverse travel guidance route / reverse distance E is calculated (S227). The reverse distance E is the reverse movement of the ridge coating machine 50 from the current position (left side in FIG. 15) based on the intersection X of the assumed hem 111a hem line and the assumed hem 103a hem line calculated above. The distance to the forward ridge work start position (FIG. 16) can be calculated. In addition, the reverse travel guidance route is also calculated so as to move backward and reach an appropriate forward ridge work start position.

Next, the reverse guide 3 is started (S228).

Next, the forward work state operation instruction information is output (S229). This is displayed on the guide display 92 of the display unit 90 so that the ridge coating machine 50 is in the forward working state. For example, "Please put the work machine in the forward work state". Based on this information, the user 201 operates (presses) the work switch 64 of the operation / display unit 60 to put the ridge coating machine 50 into the forward work state.

Next, the working machine state is determined (S230). Here, it is determined whether or not the working machine state is the forward working state. The determination is the same as in S106.

Then, if the working machine state is the forward working state, the vehicle goes to S231 and outputs steering guidance information. If it is in any other state, it returns to S228 and displays on the guide display 92 of the display unit 90 so that the ridge coating machine 50 is in the forward working state.

The steering guidance information output (S231) indicates the direction in which the steering wheel 8 is turned by the traveling position display 91 of the display unit 90. At this time, the working portion 58 of the ridge coating machine 50 is guided so as to be at a position along the ridge 111 at the forward work start position Y at the end of the reverse movement of the reverse distance E (not shown). Further, the tip end side of the tractor 1 may be tilted toward the old ridge 111 at the forward work start position Y. This is to prevent the tractor 1 from separating from the old ridge 111 due to the reaction force from the working unit 58. The angle at this time can be, for example, 0 to 5 °, more preferably 1 to 3 °.

Next, the reverse instruction information is output (S232). This is the same as S141.

Next, the reverse distance is determined (S233). The method for determining the reverse travel distance is the same as that for S119.

Then, when the reverse travel distance reaches E, the vehicle goes to S234 and outputs stop instruction information. If the reverse distance is less than E, the vehicle returns to S231, the traveling position display 91 of the display unit 90 indicates the direction in which the steering wheel is operated, and the guide display 92 of the display unit 90 indicates that the tractor 1 is to be moved backward.

The stop instruction information output (S234) is the same as that of S120.

Next, the tractor stop determination (S235) is performed. Here, it is determined whether or not the tractor 1 is stopped. This determination method is the same as S103.

Then, if it is determined that the tractor 1 is stopped, the process proceeds to S236 and the reverse guide 3 is terminated. If it is determined that the tractor 1 has not stopped, the system returns to S234 and displays on the guide display 92 of the display unit 90 so as to stop the tractor 1.

When the reverse guide 3 is completed (S236), the work equipment lowering operation instruction information is output (S237).

The work equipment lowering operation instruction information output (S237) is the same as in S146.

Next, the posture of the working machine is determined (S238). This determination method is the same as in S147.

Then, if the working machine posture is in the lowered working posture, the guide [2] is completed by going to S239. If it is in a state other than the lowered working posture, it returns to S237 and displays on the guide display 92 of the display unit 90 so as to lower the ridge coating machine 50 downward.

FIG. 16 shows a state when the guide [2] is completed.

Next, the forward work start position / tractor travel locus memory (S240) is performed, and the control ends (S241). The forward work start position Y is stored in the recording unit 21. In addition, the running record up to now in the guide [2] is also stored in the recording unit 21. The method of specifying the running record is the same as that of S149.

From the state of FIG. 16, the user 201 can advance the ridge coating machine 50 along the old ridge 111 while advancing the tractor 1.

Although the guidance using the operation / display unit 60 has been described with reference to FIGS. 7 to 16, if the tractor 1 has the guide device 6, it may be output to the guide device 6. Further, when the tractor 1 has the automatic steering assist system 7, the automatic steering may be performed according to the guidance. At this time, the steering wheel 8 can be automatically steered according to the traveling position display 91. In addition, in FIGS. It is calculated at the machine reference position P, but it may be calculated at the center between the rear tires 2a and 2b.

As described above, the embodiment of the present invention has been described, but the present invention is not limited to the ridge coating machine, but the work machine attached to the tractor to perform agricultural work can be changed into a forward work state and a reverse work state. Can be applied to. For example, a digging machine. When it is possible to change to the stored state, it is preferable to use the stored state when moving or the like as in the control described above. Further, a partial configuration of the above-described embodiment may be replaced with a partial configuration of another embodiment and applied, or may be used in combination with another configuration if necessary.

1 Tractor 5, 11 GPS unit 6, 25 Guide device 12 Inertial sensor unit 13 Orientation sensor 14 Offset rotation amount sensor 15 Work unit rotation amount sensor 20 Control unit 21 Recording unit 26, 60 Operation / display unit 31 Offset rotation actuator 32 Work Part rotation actuator 50 Ridge coating machine 51 Mounting part 52 Intermediate frame 54 First electro-hydraulic cylinder 55 Second electro-hydraulic cylinder 56 Tilling part 57 Disc part 58 Working part 66 Guide [1] Switch 67 Guide [2] Switch 90 Display part 91 Driving position display 92 Guide display 93 Guide type display

Claims (7)

It is a system that guides the work machine that is attached to the tractor and performs agricultural work.
The work machine can be changed to at least a forward work state and a reverse work state.
It has a control unit and a display unit that can be displayed remotely.
The control unit displays at least one of the forward work end position to the next reverse work start position and the reverse work end position to the next forward work start position in the agricultural work of the work machine. , Display the operation guidance of the tractor and the work machine ,
The display of the operation guidance of the work machine includes guiding the change from the forward work state to the reverse work state when guiding from the forward work end position to the next reverse work start position. A guidance system for agricultural work machines, which includes guiding a change from the reverse work state to the forward work state when guiding from a work end position to the next forward work start position. In the guidance system for agricultural work machines according to claim 1,
The control unit is a guidance system for agricultural work machines, characterized in that the display unit displays guidance for operations from a forward work end position to a next reverse work start position. In the guidance system for agricultural work machines according to claim 1 or 2.
The control unit is a guidance system for agricultural work machines, characterized in that the display unit displays guidance for operations from a reverse work end position to a next forward work start position. In the guidance system for agricultural work machines according to claim 2.
The guidance system for agricultural work machines is characterized in that the guidance by the display unit moves backward from the forward work end position, then turns, and then moves backward to guide to the reverse work start position. In the guidance system for agricultural work machines according to claim 3,
The guidance system for agricultural work machines is characterized in that the guidance by the display unit is turned from the reverse work end position and then moved backward to guide to the forward work start position. In the guidance system for agricultural work machines according to any one of claims 1 to 5.
A guidance system for agricultural work machines, comprising a sensor, wherein the control unit displays the guidance on the display unit using information from the sensor. In the guidance system for agricultural work machines according to any one of claims 1 to 6.
The control unit is a guidance system for agricultural work machines, characterized in that the guidance is displayed on the display using information from a tractor.

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