JPH0965726A - Abnormality detection device for agricultural work machines - Google Patents

Abstract

(57) [Summary] [Purpose] Multiple sensors that detect the state of the controlled object,
In an agricultural working machine equipped with an actuator for changing the state of the controlled object, a control device for receiving an input from a sensor and outputting to the actuator, and a setting means for setting the set value of the control device to be changeable, In detecting the abnormality of the plurality of sensors, the operation of the abnormality detection by the operator is simplified and the abnormality detection is facilitated. In the agricultural work machine having the above-mentioned configuration, the control device includes an abnormality detection unit of a sensor, and when the abnormality detection unit is in a detection operation state, the setting unit can change the target of abnormality detection. The feature is an abnormality detection device for agricultural work machines.

Description

Detailed Description of the Invention

[0001]

This invention relates to a tractor, a rice transplanter,
The present invention relates to an abnormality detection device for a farm work machine such as a combine harvester.

[0002]

2. Description of the Related Art Conventionally, as disclosed in Japanese Patent Laid-Open No. 6-245610, a sensor for detecting the state of a controlled object, an actuator for changing the state of the controlled object, and an actuator for receiving an input from the sensor. There is an agricultural working machine provided with a control device for outputting the data to a computer, the control device being provided with abnormality detecting means for the sensor. In addition, this configuration
When the abnormality detecting means is brought into the detection operation state, the operator is notified of the input change state of the control device along with the output change operation of the sensor.

[0003]

In the above-mentioned prior art, when detecting an abnormality in a plurality of sensors, an operator must move to each sensor section in order to change the output of each sensor. It takes a lot of time to detect and makes it troublesome. Further, when the number of sensors for detecting an abnormality increases, an abnormality detection omission of an object for detecting an abnormality may occur.

[0004]

The present invention takes the following technical means to solve the above-mentioned problems. That is, in an agricultural work machine equipped with a plurality of sensors for detecting the state of the controlled object, an actuator for changing the state of the controlled object, and a control device for receiving the input from the sensor and outputting to the actuator, the control The control device is provided with setting means for changing the set value of the device, and the control device is provided with an abnormality detecting means for the sensor. When the abnormality detecting means is put into a detection operation state, the target for detecting the abnormality by the setting means is changed. An abnormality detection device for agricultural work machines, which is characterized by being configured as possible.

[0005]

The abnormality detecting device of the present invention detects the abnormality of the sensor by setting the abnormality detecting means in the detection operation state. The change of the abnormality detection target is performed by operating the setting means.

[0006]

The abnormality detecting apparatus of the present invention enables abnormality detection of a plurality of sensors by changing the target of abnormality detection by setting means operated during normal work.
It is not necessary for an operator to move to each sensor unit, and it is possible to easily detect an abnormality in the sensor. Also,
The setting means can also be used as a change means for an abnormality detection target, and since the change means is not specially provided, the operation target of the control device is simplified.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of a rice transplanter according to the present invention will be described with reference to the drawings. FIG. 1 shows a riding type rice transplanter 1 as an example of an agricultural working machine. The rice transplanter includes a traveling vehicle body 2, a 6-row planting section 3 and a fertilizer application device 4. The traveling vehicle body 2 is equipped with a pair of left and right front wheels 5, 5 and rear wheels 6, 6 and drives the front and rear wheels to travel.
A driver's seat 7 is provided in the lateral center of the traveling vehicle body 2, a steering handle 8 is provided in front of the driver's seat 7, and a control box 9 is provided on the right side of the driver's seat 7. Further, the seedling planting section 3 is attached to the rear part of the traveling vehicle body 2 via a link mechanism 10 which is a parallel link, and is vertically movable by expanding and contracting the hydraulic lifting cylinder 11.

The link mechanism 10 includes the seedling planting portion 3
A link sensor 12 for detecting the ascending / descending position is provided.
In addition, in the upper fulcrum portion of the link mechanism 10 on the seedling planting portion side, a fulcrum pin is provided by a long hole so as to slide in the front-rear direction. The seedling planting part 3 is configured to be rotatable around the fulcrum. Further, the seedling planting section 3 is configured to operate by transmitting power from the traveling vehicle body side.

The seedling planting section 3 is provided with a seedling placing table 13, a planting transmission section 14 and a planting device 15 for each row, and the planting clutch case 16 and planting are provided by the power from the running vehicle side. The planting device 15 of each line is operated via the transmission unit 14. In addition, a center float 17 and side floats 18, 18 on both sides are provided at the bottom of the seedling planting section 3, and the floats 17, 18, 18 are configured to slide in a field scene. is there. still,
The center float 17 is provided with a float interception angle sensor 19, which is a potentiometer that rotates about a lateral pivot axis and detects an interception angle of the float 17 with respect to the airframe. . The float interception angle sensor 19 is configured to detect from the front part of the center float via a link and an arm.

The side floats 18, 18 are side flows for detecting the grounding state of the floats 18, 18.
Both sensors 20, 20 are provided.
The inclination of the seedling planting section 3 with respect to the field scene is detected based on the difference in the detection. In addition, the seedling planting unit 3 laterally moves the seedling placing table 13 by the power from the planting transmission unit 14 in accordance with the operation of the planting device 15, and the seedling planting device 15 separates the mat-shaped seedlings one by one. It is a scraping structure. The seedling placing table 13 has a known structure in which mat seedlings are sequentially transferred to the planting device side by the seedling feeding belt 21a of the seedling feeding device 21 at the end of the lateral movement. In addition, a seedling reduction switch 22 that is a limit switch is provided at an appropriate position in each row of the seedling placement table 13 to detect the reduction of seedlings on the seedling placement table 13.

Further, a planting position lever 23 is provided on the right side of the cockpit 7 so that the seedling planting section 3 can be turned on and off and can be moved up and down. In order to detect the position of the planting position lever 23, a planting position lever sensor 24, which is a potentiometer, is provided, and the raising / lowering position of the seedling planting section 3 is controlled corresponding to the lever position. Also serves as a position control lever.

The seedling planting section 3 is turned on and off by a planting clutch built in the planting clutch case 16. In the seedling planting section 3, as shown in FIG.
A rolling rope sensor 25 for detecting the left and right rolling angles of the seedling planting section 3 is provided. The inclination of the seedling planting part 3 detected by the rolling rope sensor 25 depending on the field conditions or the like indicates the inclination adjustment dial 6 of the control box 9.
Rolling control to make the inclination set value set in 5 and the left and right heights of the seedling planting part 3 with respect to the surface soil surface detected by the side float sensors 20, 20 become the same height. The rolling control to be performed is selected and set by the operator, and the left and right rolling of the seedling planting section 3 can be controlled by the set control. In other words, the rolling motor 26 of the seedling planting section is controlled by the control device 27 based on the input from the rolling rope sensor 25 or the side float sensors 20, 20.

Further, a pitching sensor 28 for detecting the front-back inclination of the seedling planting section 3 is provided, and in order to make the posture of the seedling planting section 3 proper, a hydraulic lifting cylinder based on an input value from the sensor 28. 11 is configured to be controlled by the control device 27. In addition, between the respective floats, the auxiliary wheels 29, 29 mounted inside the rear wheels 6, 6 are provided behind the auxiliary wheels 29, 29.
A rake 30 for leveling the wheel marks of 29 is provided, and to the left and right which are the fulcrums of the planting depth adjusting lever 32 for adjusting the height of the pivoting fulcrum 31 of each of the floats 17, 18, 18. The extended shaft 33 has a rake mounting member 34 having a mounting shaft 34a, and the mounting pipe 30a of the rake 30 is inserted into the mounting shaft 34a and is mounted by a mounting pin. The mounting shaft 34a and the mounting pipe 30a of the rake are provided with a plurality of mounting pin insertion holes 34b and 30b at the top and bottom to enable the height of the rake 30 to be adjusted. Further, the rake 30 is formed in a comb shape so that the ground leveling portion becomes rearward from the side portion of the rake 30 toward the center.

The fertilizer application device 4 is provided with hoppers 35, 35, 35 for storing the fertilizer to be applied to the field, and the hoppers 35, 3 are provided.
Feeding rollers 36 of feeding portions 36, ...
By rotating a, ..., Fertilizer is supplied in a predetermined amount to the guide pipes 37, ... Which guide the transfer of fertilizer through the feeding ports 36b ,. Is conveyed to the fertilizer application port 39, ... Provided at the end of the guide pipe via the guide pipes 37 ,. The feeding roller 36a of the feeding unit 36 uses the power from the planted clutch case 16 to apply the fertilizer rod 40,
It is adapted to be rotationally driven via the fertilizer application shaft 41. Incidentally, there are fertilizer reduction detection sensors 42, ... By pressure detection at arbitrary positions in the hopper, and the sensor-4
The detection of 2 prompts the worker to replenish the fertilizer.

The traveling vehicle body 2 has an engine 4 as a power source.
3, HST that shifts the power output from the engine 43
A main transmission case 45 for transmitting power from the case 44 and the HST case 44 to the traveling wheels 5, 6 and the seedling planting section 3 is provided, and as shown in FIG. 3, an engine output shaft 43a is provided. Power is input to the input shaft 44a of the HST case 44 through the belt 46 and pulley. Furthermore, HST case 4
Power is input to the input shaft 45a of the main transmission case 45 from the output shaft 44b of No. 4 via the belt 47 and pulley. Power is transmitted from the main transmission case 45 to front wheel drive shafts 48, 48 protruding to the left and right of the main transmission case 45 and rear wheel transmission cases 49, 49 provided to drive rear wheels 6, 6. Rear wheel transmission shaft 5
0, 50, the power is transmitted to the planted transmission shaft 51 that transmits power to the planted clutch case 16.

The HST case 44 is a hydraulic continuously variable transmission, which is provided with a gear shifting operation arm 44c on the upper portion thereof and can be gear-shifted by an HST lever 52 provided on the right side of the steering wheel 8. . The HST lever 52 is capable of continuously variable operation from the forward traveling of the traveling vehicle body 2 to the backward traveling,
It is provided so that the traveling vehicle body 2 is stopped, that is, the crankshaft is operated at a neutral position where the output shaft 44b of the HST case 44 is stopped, and the return operation from forward or reverse to neutral is facilitated. The rotating portion 52a of the HST lever 52 has an HST lever sensor 5 for detecting the lever position.
3 is provided, and the shift operation rod 54 is provided with an electric cylinder 55. Normally, the control device 27 controls the electric cylinder 55 by an input signal from the HST lever sensor 53. The electric cylinder 55 is
The control device 27 can also be operated automatically regardless of the input signal of the HST lever sensor 53.

On the left side of the steering handle 8, there is a main gearshift lever 56 which is a stepped gearshift operation, and drives the traveling vehicle body 2 (that is, the front and rear wheels 5, 6) with the seedling planting portion 3 stopped. Moving position, traveling car body 2, seedling planting section 3
Neutral position where both power transmission is cut off, planting position where both traveling vehicle body 2 and seedling planting part 3 are driven, PT where only seedling planting part 3 is driven
The O position is provided, and the transmission in the main transmission case is switched via the main transmission rod 57 and the shifter 58.
Further, the main transmission case is output from the output shaft 44b of the HST case 44.
A clutch pedal 59 for cutting off the transmission of power to the shoe 45 and a brake for operating the main transmission case to brake the rear wheels 6, 6.
Key pedals 60, 60 are provided.

The control device 27 is capable of controlling pitching, rolling, raising and lowering of the seedling planting section 3. In the upper part of the control box 9, an abnormality of the control device 27, an abnormality indicating normality, automatic lamps 61 and 62, and a prohibiting state of the raising and lowering operation of the seedling planting section 3 by the planting position lever 23 at the time of engine starting are shown. Safety lamp 6 to display
3. Sensitivity adjustment dial 64, which is a multi-step selection type of 7-point click for adjusting the control target value of the attack angle of the center float 17, and the control target value of the left and right rolling angles of the seedling planting section 3 are adjusted. The tilt adjusting dial 65, the rolling switch 66 for turning on / off the automatic control of the left and right rolling, and the rolling manual switch 67 for manually operating the left and right rolling are provided, and the dials and the switches 64 to 67 described above are provided. A cover 68 for covering the above is provided. Control box 9
A check switch 69 and the like for checking an abnormal portion due to a disconnection of the control device 27 and the like are provided in the lower part of the control device. Since the check switch 69 and the like are provided in the lower part, the cover 71 under the cockpit is opened around the pivot fulcrum 70. It can be operated with.

When the check switch 69 of the control box 9 is turned on to activate the abnormality detecting means, the setting value of the control device 27 is set to changeable. The automatic lamp 62 is turned on so that the abnormal portion can be identified. In this embodiment, in response to a seven-point click on the sensitivity adjustment dial 64, the float interception angle sensor 19, the link sensor 12, the rolling drop sensor 25, the pitching sensor 28, the planted position lever sensor 24, and the HST lever. The sensor 53 and the side-float sensor 20 are configured to perform abnormality detection by associating seven sensors, which are the objects of abnormality detection, with each other. That is, the check switch 69
In the ON state, the sensitivity adjustment dial 64 is adjusted to each adjustment position, that is, each click position, and the automatic lamp 62 is turned on to determine an abnormal portion due to a disconnection or the like. For example, when the sensitivity adjustment dial 1 position corresponds to the abnormality detection of the float interception angle sensor 19, the check switch is turned on, and when the automatic lamp 62 is turned on at the sensitivity adjustment dial 1 position, the float interception angle sensor 19 is abnormal. You can tell that.

Therefore, the multistage selectable sensitivity adjusting dial 6
Since 4 is used, the sensitivity adjusting dial 64, which is a setting means for setting the setting value of the control device 27 to be changeable, can also be used as a changing means for changing the target of abnormality detection, and corresponds to the adjustment position of the dial 64. By doing so, it is possible to determine whether the plurality of detection sensors are normal or abnormal. Further, the sensitivity adjustment dial 64 can detect abnormality of a plurality of sensors near the control box 9, and it is possible to prevent the abnormality detection omission of the abnormality detection target.

In this embodiment, the sensitivity adjusting dial 6
4 is used, it is possible to determine whether each sensor is normal or abnormal by using other dials such as the tilt adjusting dial 65 in a multi-stage selection type. Further, in this embodiment, the automatic lamp 62 is used as the notification means for notifying the abnormality of the sensor, but other lamps or signal sounds may be used. In addition, although the above-mentioned embodiment described the rice transplanter in detail, the present invention can be applied to other agricultural working machines.

By the way, in this riding type rice transplanter, the traveling vehicle body 2 and the seedling planting section are operated by the input of the seedling non-sensing by the seedling reduction switch 22 of the seedling placing table 13 of the seedling planting section 3 accompanying the decrease of the seedlings. In order to decelerate and stop No. 3, the control device 27 outputs to operate the electric cylinder 55 of the shift operation rod 54 of the HST. When a new seedling is detected on the seedling placing table 13,
In order to automatically start or accelerate the running car body 2 and the seedling planting section 3,
It outputs so as to operate the electric cylinder 55. Specifically, the main shift lever 56 is set at the planting position, and the HST lever 5 is set.
When the seedling reduction switch 22 of the seedling placement table 13 does not sense any seedlings during the rice planting work at an arbitrary position on the forward side of No. 2 regardless of the planting line, the output signal from the control device 27 changes the HST speed. The electric cylinder 55 of the operating rod 54 is operated to control the traveling vehicle body 2 and the seedling planting portion 3 so as to decelerate or stop the traveling vehicle body 2. When the operator supplies the seedlings from the preliminary seedling placement table 72 to the seedling placement table 13 of the seedling planting section 3 and the seedling reduction switch 22 detects the seedlings from the non-sensing state, the electric cylinder 55 is output by the control device 27. Is operated to control the HST, which is the transmission, so as to operate to the speed increasing side.
When there is a decrease in the number of seedlings on the seedling placing table 13 due to a plurality of planting lines, there is a method of automatically starting and accelerating even if one of the seedlings is newly detected. At this time, the speed-increasing characteristics are distinguished between when the new seedlings are newly detected on all the rows of the seedling placing table 13 and when there is a planting section that does not detect the new seedlings on the seedling placing table 13. It can also be controlled by the control device 27. The speed-up characteristic is, for example, set to a lower speed or acceleration of the traveling vehicle body 2 and the seedling planting section 3 when there is a planting strip that does not sense a new seedling than when a new seedling is sensed in all the strips. To do. This makes it possible to gradually start or speed up while supplying seedlings to the seedling placing table 13 and prevent danger to the operator due to sudden start or speedup during seedling supply.

Therefore, when the seedling placing table 13 is replenished with seedlings, the seedling placing table 13 is automatically decelerated or stopped, and when the seedling placing table 13 is replenished with seedlings, the seedling placing table 13 is automatically started or accelerated. The operation at the time of supplying seedlings to the plant can be simplified, and the downtime and the low-speed working time can be shortened, and the working efficiency is improved. Further, even when the transmission is not limited to the hydraulic continuously variable transmission, but is a belt transmission or the like, similarly to the above, when seedlings are supplied to the seedling placement table 13, the speed is automatically reduced or stopped, and the seedling placement table is automatically stopped. It can be configured to automatically start when seedlings are supplied to 13.

The deceleration or stop and the start or acceleration of the above-mentioned transmission may be automatically controlled by detecting or not detecting the fertilizer by the fertilizer decrease detection sensor 42 of the fertilizer application device 4. Similar to the above, the operation at the time of replenishing the fertilizer to the fertilizer applicator 4 can be simplified, the stop time and the low speed work time can be shortened, and the work efficiency is improved.

[Brief description of drawings]

FIG. 1 is a side view of a riding rice transplanter.

FIG. 2 is a plan view of the same.

FIG. 3 is a side view in which each operating system such as an HST lever is made easy to understand.

FIG. 4 is a side partial cross-sectional view of a part of the seedling planting portion.

FIG. 5 is a plan view of a part of the seedling planting section.

FIG. 6 is a side view of the rake.

FIG. 7 is a plan view of the control box.

[Fig. 8] Bottom view of the same

FIG. 9 is a block diagram.

FIG. 10 is a front view of a part where the left and right rolling control of the seedling planting part is made easy to understand.

[Explanation of symbols]

1 ... Riding type rice transplanter, 2 ... Running car body, 3 ... Seedling planting section, 4
... fertilizer applicator, 12 ... link sensor, 19 ... float interception angle sensor, 20, 20 ... side float sensor, 24 ...
Positioning position sensor with plant, 25 ... Rolling slot
Sensor, 27 ... control device, 28 ... pitching sensor,
53 ... HST lever sensor, 64 ... Sensitivity adjustment dial,
69 ... Check switch

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Mitsutaka Izumi, No. 1 Hachikura, Tobe-cho, Iyo-gun, Ehime Prefecture, Engineering Department, Iseki Agricultural Machinery Co., Ltd. (72) Inventor Takashi Suzuki, No. 1 Yakura, Tobe-cho, Iyo-gun, Ehime Prefecture, Iseki Agricultural Machinery Co., Ltd. (72) Inventor Takuya Okada, No. 1, Yakura, Tobe-machi, Iyo-gun, Ehime Prefecture

Claims (1)

[Claims] 1. An agricultural working machine comprising a plurality of sensors for detecting the state of a controlled object, an actuator for changing the state of the controlled object, and a control device for receiving an input from the sensor and outputting it to the actuator. A setting means for changing the set value of the control device is provided, the control device is provided with an abnormality detecting means for the sensor, and when the abnormality detecting means is in a detection operation state, the setting means detects an abnormality. An abnormality detection device for an agricultural work machine, characterized in that the target can be changed.