JPH04155506A - Self-diagnosis controller for traveling vehicle for working - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a self-diagnosis control device for a working vehicle such as a tractor.

[Prior art and problems to be solved by the invention] Generally,
A work vehicle that performs automatic control includes an actuator that operates based on an operation command from a control unit and a sensor that feeds back the operating state of the actuator to the control unit. Since proper control cannot be performed, it is necessary to check the operation of the actuator and the input of sensor values as appropriate. Therefore, in the past, a check mode was provided in the control mode to perform the above checks, but in the conventional check mode, the operator had to operate the operating tool corresponding to the actuator one by one, making the check work extremely complicated. Unfortunately, if there are a plurality of actuators, there is a risk that a check may be omitted, and as a result, the actual situation is that a reliable check cannot be performed.

[Means for Solving the Problems] In view of the above-mentioned circumstances, the present invention was devised for the purpose of providing a self-diagnosis control device for a work vehicle that can eliminate these drawbacks. an actuator that operates based on an operation command from a control unit;
A work vehicle comprising a sensor that feeds back the operating state of the actuator to a control unit, wherein a self-diagnosis operation is configured to automatically sequentially output self-diagnosis operation commands set in advance for the actuator to the control unit. a command output means, a sensor value determination means for determining whether a sensor value fed back while outputting a self-diagnosis operation command is a normal value, and an abnormality notification for reporting an abnormality when the sensor value is not a normal value. The invention is characterized in that it is provided with means.

According to the present invention, with this configuration, it is possible to extremely easily check the operation of the actuator and check the input of sensor values without omitting any checks.

C Embodiment] Next, an embodiment of the present invention will be described based on the drawings. In the drawing, reference numeral 1 denotes a traveling body of a tractor, and a rotary type working section 3 is connected to the rear part of the traveling body 1 via an elevating link mechanism 2, and the working section 3 is vertically movable. , the lift arm 5 moves up and down as the hydraulic cylinder 4 expands and contracts, and the lift arm 5 moves up and down, and the lift rod 6 that connects the lift arm 5 and the lift link mechanism 2 moves up and down, causing the lift rod 6 to tilt left and right. Same as before.

Reference numeral 7 denotes a side panel disposed on the side of the driver's seat 8, and the side panel 7 includes a lift lever 9 for raising and lowering the working section 3, a lift switch 10, a mode changeover switch 11, etc. Equipment is provided.

12 is a control unit assembled to the side panel 7,
The control section 12 is a control unit composed of a microcomputer or the like, and includes an arm angle detection sensor 13 that detects the operation signal from the operation tool and the swing angle of the lift arm 5. Detection signals from sensors such as a rod length detection sensor 14 that detects the operating length of the lift rod 6 and an engine rotation sensor 15 that detects the engine rotation speed are input, and based on judgments based on these input signals, the hydraulic cylinder 4, Operation commands are output to actuators such as the lift rod 6, monitor lamp L, buzzer Bz, etc.

Next, initial control and self-diagnosis control in the control section 12 will be explained based on the drawings. First, in the initial control shown in FIG. 4, the monitor lamp L is turned on for a predetermined period of time after the key switch is turned on. However, if the mode selector switch 11 is in the check position, the timer is set to T1 after the monitor lamp L is turned on. (1 second in the example) and T
It is determined whether the lifting switch 10 is turned on before the working time elapses. If the lift switch 10 does not turn on at this point, input/output check control (conventional self-diagnosis control), which is defined separately, is turned on. However, if the lift switch 10 turns on within time T1, The timer is set to T2 (1 second in the example), and the lift switch 10 is turned ON and L twice before 12 hours elapse.
The lift switch 10 is turned on twice.
When the determination result is L, self-diagnosis control, which will be described later, is turned on. In other words, the self-diagnosis control requires operating the lift switch 10 in the T factory after the monitor lamp L has finished lighting due to turning on the key switch, and then operating the lift switch 10 at least twice within 12 hours. It is scheduled to be held in

On the other hand, in self-diagnosis control, the self-diagnosis control is
After confirming that the engine is in the N position, the buzzer B2 is turned on, and after determining whether the engine speed is high or low, the self-diagnosis is preset according to the engine speed. An operation command for the lift arm 5 (hydraulic cylinder 4) and lift rod 6 is output. In other words, in order to suppress changes in the hydraulic operating speed of the lift arm 5 and lift rod 6 due to changes in the engine speed, in the case of a high engine speed range, as shown in FIG. ) ascending command, inching lowering command of the lift arm 5, inching extension command of the lift rod 6, and inching reduction command of the lift rod 6 for a predetermined time (5 to 10 seconds in the example).
(by outputting regardless of the sensor value, it is possible to determine whether the abnormality is in the hydraulic system or the sensor system). On the other hand, when the engine speed is in the low speed range, the , a continuous ascending command for the lift arm 5, an inching descending command for the lift arm 5 (the descending is not affected by the engine rotation speed because it is a drop in its own weight), a continuous extension command for the lift rod 6, and a continuous contraction command for the lift rod 6 are respectively predetermined. After each operation command is output, it is determined whether the sensor values input from the arm angle detection sensor 13 and the rod length detection sensor 14 are normal values corresponding to the operation command, and if there is an abnormality. In some cases, abnormality flags ■ to ■ are set. After these diagnostic procedures are completed, the end of self-diagnosis control is notified by turning off the buzzer Bz, and if an abnormality flag is set, the corresponding monitor lamp L is turned on to indicate an abnormality. It is designed to notify the location.

In an embodiment of the invention constructed as described.

With the mode selector switch 11 operated to the check position, turn the key switch ONL, and after the monitor lamp L turns OFF when the key switch is turned ON, if the lift switch 10 is operated three times within a predetermined time, the self-diagnosis control state is entered. becomes. In this state, the operator can check the operation by visually observing whether the lift arm 5 and lift rod 6 are automatically raised/lowered or expanded/contracted by self-diagnosis control. You will be able to check.

As described above, the present invention includes a check mode for checking actuator operation and sensor value input, but the check mode also includes a separate self-diagnosis control that is executed by predetermined operations. In the self-diagnosis control, the actuator operation check and the like are performed based on the automatic operation of the various actuators based on the self-diagnosis operation commands output from the control unit 12 without the operator having to operate the various actuators in particular. This allows you to check the input of sensor values.

Therefore, it is possible to significantly improve the workability of the check work compared to conventional methods that require operator operations, and to perform highly reliable check work by eliminating human errors such as omission of checks. I can do it.

Furthermore, the self-diagnosis control of the present invention is performed when the key switch is turned on.
L, the lift switch 10 is turned O a predetermined number of times within a short time after
Since it is executed by determining whether the input/output is N, there is no inconvenience caused by incorrect operation, but there is a possibility that the waiting time for other controls (input/output check control in the embodiment) will be particularly extended. No inconvenience.

Moreover, in the embodiment, instead of determining whether the lift switch 10 is turned on a predetermined number of times within a single timer period, it is first determined whether or not there is a first operation within a first timer period; is set to execute self-diagnosis control by setting the second timer time and determining the remaining operations only when YES is set, so the waiting time when not performing self-diagnosis control is the first timer time. As a result, there is almost no influence on other controls.

In addition, in self-diagnosis control, the operating command output to the actuator is switched based on the engine speed, so changes in hydraulic operating speed due to changes in engine speed can be suppressed as much as possible. It is possible to eliminate inconveniences such as the possibility that the actuator does not operate and the self-diagnosis control makes a mistake in judgment.

Furthermore, since the buzzer B2 issues a warning while the self-diagnosis control is being executed, safety can also be improved.

It should be noted that the present invention is of course not limited to the above embodiments, and includes, for example, an operating tool for performing self-diagnosis control, the number of times the operating tool is operated, a timer time for determining the number of operations, and a self-diagnosis control tool. The actuators, sensors, etc. to be diagnosed can be changed as appropriate.

[Operations and Effects] In summary, since the present invention is constructed as described above, the present invention includes a sensor that checks the operation of an actuator that operates based on an operation command from a control section, and that feeds back the operating state of the actuator to the control section. However, the self-diagnosis operation commands that are output to the actuator are automatically output one after another without the operator having to operate the operating tools one by one as in the past. Therefore, the operator can perform various checks based on the operation of the actuator based on the above-mentioned automatic operation command.As a result, the workability of the check work is improved compared to the conventional method that requires operator operations. Is it a scam that can significantly improve
It is possible to perform highly reliable check work by eliminating human errors such as omissions in checks.

[Brief explanation of the drawing]

The drawings show an embodiment of the self-diagnosis control device for a work vehicle according to the present invention, in which Fig. 1 is a side view of the tractor, Fig. 2 is a plan view of the side panel, and Fig. 3 is a side view of the tractor. A block diagram of the control mechanism, Figure 4 is a flowchart of initial control,
FIG. 5 is a flowchart of self-diagnosis control, FIG. 6 is a timing chart for high rotation, and FIG. 7 is a timing chart for low rotation. In the figure, 1 is the traveling body, 3 is the working part, 4 is the hydraulic cylinder,
5 is a lift arm, 6 is a lift arm, 10 is a lift switch, 12 is a control unit, 13 is an arm angle detection sensor, 14 is a rod length detection sensor, L is a monitor lamp, Bz
is a buzzer. Figure 3↓

Claims (1)

[Claims] In a work vehicle comprising an actuator that operates based on an operation command from a control unit and a sensor that feeds back the operating state of the actuator to the control unit, the control unit has a control unit configured to set the actuator in advance. a self-diagnosis operation command output means for automatically sequentially outputting self-diagnosis operation commands; a sensor value determination means for determining whether a sensor value fed back while outputting the self-diagnosis operation command is a normal value; 1. A self-diagnosis control device for a work vehicle, comprising: an abnormality notification means for notifying an abnormality when a sensor value is not a normal value.