JPH11224120A - Work machine control device - Google Patents

Abstract

(57) [Summary] [Problem] To quickly and easily add a control after shipping, etc. while eliminating the need to input data such as the model name and format, thereby reducing the labor of the operator. In order to cope with the above, a control content to be selected from a plurality of control contents is automatically determined. SOLUTION: Of a plurality of operating state detecting means S1 to S11 which can be installed corresponding to each machine part and detect the operating state of each machine part, actually installed operating state detecting means S1 to S11. Based on the presence or absence of each piece of detection information, the control means 100 determines control contents to be selected from among a plurality of control contents provided as control contents for each of the machine parts. The control content selected based on this is executed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a plurality of operating state detecting means for detecting an operating state of each section of a machine, wherein each of the plurality of operating state detecting means is provided so as to correspond to each section of the machine. With multiple controls for
The present invention relates to a work machine control device provided with control means configured to execute a control content selected from the plurality of control contents.

[0002]

2. Description of the Related Art In a control device for a working machine, a harvesting unit, a threshing unit, etc., based on detection information from various sensors and the like (corresponding to operating state detecting means) in a combine for agricultural work, which is an example of a working machine. When controlling the operation of each part of the machine, the control unit composed of a microcomputer etc. selects the control contents to be executed from a plurality of control contents based on the model and format data input through the connector etc. Had been
In the case of an input signal from such a connector or the like, if a failure such as a disconnection occurs, there is a possibility that an incorrect control content is selected. By pressing a switch in a state where the corresponding model name or the like is displayed, accurate model data or the like is input, and control contents can be selected accurately based on the data (for example, Japanese Patent Laid-Open No. 9-6231).
No. 1).

[0003]

However, in the above-mentioned prior art, it is necessary to input information such as a model name for selecting control contents at the time of shipment or the like. (In this case, since the control content that can be selected according to the model, format, and the like is predetermined, a sensor that obtains detection information for the control is additionally provided.) In such a case, it is necessary to change the model and format by re-inputting the data of the model and the like corresponding to the control configuration after adding the option.

The present invention has been made in view of the above circumstances, and has as its object to select control contents from a plurality of control contents without inputting data such as a model name and a format. Is automatically determined, and the above-mentioned disadvantage of the related art is solved.

[0005]

According to the first aspect of the present invention, among a plurality of operating state detecting means which can be installed corresponding to each machine part and detect the operating state of each machine part, the one actually installed is provided. Based on the presence or absence of each piece of detection information of the operating state detecting means, a control content to be selected from among a plurality of control contents provided as control contents for each of the machine parts is determined. The control content selected based on this is executed.

Accordingly, the control content to be executed among a plurality of control contents is automatically determined from the presence or absence of the detection information of the operation state detecting means installed corresponding to each machine part. By inputting model data, etc. through the connector, it is possible to properly avoid the disadvantage that the control content may be selected incorrectly due to device complexity and disconnection, etc. It is possible to quickly and easily cope with a case where a control different from the initial specification is added as an option, while reducing the labor of the operator as compared with the case of inputting while inputting.

According to a second aspect of the present invention, in the first aspect, the control mode is configured to be switchable between a normal control mode and a control content determination mode. Based on the information of the determination result read out from the non-volatile storage unit, information of the determination result is stored in the non-volatile storage unit. The control content to be controlled is selected, and the selected control content is executed.

Therefore, in the control content determination mode, if the information of the result of the determination of the control content to be selected is stored in the non-volatile storage means, the information is saved even after the power is turned off. In the normal control mode, the control content to be executed can be accurately selected by a simple and quick process that simply reads out the determination result stored in the nonvolatile storage means. Suitable measures are obtained.

According to a third aspect of the present invention, in the second aspect, the control content determination mode is constituted by a reference value storage mode. The reference value information for obtaining the actual operation state of each part of the machine from the detection information of the operation state detection means is stored in the non-volatile storage corresponding to each detection information of the operation state detection means at that time. Means, and information on the result of the determination of the control content is stored in the non-volatile storage means. In the normal control mode, the control should be executed based on the information on the result of the determination read from the storage means. The control contents are selected, and the actual operation state of each part of the machine is obtained based on the detection information of the operation state detection means and the information of the stored reference value. Wherein the selected control content is performed based on the information of the created state.

Therefore, in the reference value storage mode, the reference value information for determining the actual operation state of each section of the machine based on the detection information of each of the operation state detection means, the discrimination information of the control content to be executed, and Then, if both information are stored in the non-volatile storage means, the information is stored even after the power is turned off, so that in a normal control mode, the information is stored in the non-volatile storage means. The simple and quick process of reading the information of the reference value and the control content discrimination information allows the user to accurately select the control content and control the machine components while accurately judging the actual operation state of each machine component. It can be carried out appropriately, so that the preferred measure of claim 2 is obtained.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a combine for agricultural work as a working machine will be described below with reference to the drawings. The combine is, as shown in FIGS. 1 and 2, a pair of right and left crawler traveling devices 11.
A cutting unit 12 is attached to a front portion of a body V having a vertical swinging operation around a horizontal axis X by a lifting cylinder M3. A control unit 13 and a cutting grain culm are provided behind the cutting unit 12. A threshing unit 14 for threshing / sorting, a grain tank 15 for storing grains supplied from the threshing unit 14, an unloader 9 for discharging grains in the grain tank 15, and the like. Here, the machine body V, the mowing unit 12, the threshing unit 14, the unloader 9, and the like correspond to each unit of the machine.

The cutting section 12 receives a weeding tool 16 attached to the tip, a grain stalk raising device 17, a cutting blade 18 for cutting the root of the caused grain stalk, and a cut grain culm on the tip side. And a transporting device 19 for transporting to the threshing unit 14. A mowing elevating position sensor S11 that detects the elevating position of the mowing unit 12 with respect to the machine body V based on the swing angle around the horizontal axis X is provided as a potentiometer, and is provided.
Further, an ultrasonic sensor S1 for detecting the height of the cutting unit 12 from the ground and a stock sensor S2 for turning on when the grain stalk touches to detect that the cutting operation is being performed are provided. The height information from the ground by the ultrasonic sensor S1 is used for cutting height control when cutting a culm, and the stock sensor S
The detection information of No. 2 is used as one of the control activation conditions.

In order to maintain the handling depth in the threshing unit 14 in an appropriate state, a head sensor S3 for detecting the position of the head of a transported grain culm sandwiched by the transport unit 19 in the transport unit 19 is provided.
A pair (see FIG. 6) is provided in the length direction of the culm (the spike side and the root side). It is adjusted so that the tip of the grain stem is positioned between the pair of tip sensors S3. Here, an electric motor or the like for swinging the transfer device 19 is provided.
The actuator M1 for adjusting the handling depth is configured (see FIG. 7).

In the second weeding tool 16 from the left as viewed from the front of the fuselage, a culm carrying path L between the plurality of weeding tools 16 is provided.
In order to detect the horizontal position of the body V with respect to the row of cereals introduced into 1, L2, and L3, a detection bar that is rotatable around the vertical axis and is urged to return to the body horizontal position. And a pair of left and right direction sensors S10 provided with.
That is, the position of the machine V in the machine body lateral direction with respect to the grain culm row is detected by the rotation angle at which the detection bar contacts the grain stalk and rotates about the vertical axis. Then, based on the detection information of the left and right direction sensors S10, the left and right steering clutches are operated so as to intermittently operate the power transmission to the left and right crawler traveling devices 11 so that the body V travels along the grain culm row. The steering cylinder or the like to be operated constitutes the direction control actuator M2 (see FIG. 7).

The left and right crawler traveling devices 11 are configured to be able to be individually driven up and down with respect to the body V, and a rolling sensor S4 for detecting the inclination of the body V with respect to the horizontal is provided. Irrespective of this, the rolling control for keeping the body V horizontal or at the set angle is enabled. Then, based on the detection information of the rolling sensor S4, a lifting cylinder or the like that moves the left and right crawler traveling devices 11 up and down with respect to the machine body V constitutes a rolling control actuator M4 (see FIG. 7).

The unloader 9 has a discharge port 9a with a downward attitude at the distal end, and is supported by a support 10 with its base end swinging up and down around a horizontal axis Z.
Are pivotally supported by the body V in a state in which they can be turned around the vertical axis Y by an unloader control actuator M5 composed of an electric motor for turning operation and the like. Then, a potentiometer for detecting the turning position of the support portion 10 is provided, and the potentiometer constitutes an unloader position sensor S6 for detecting the turning position of the unloader 9 (see FIG. 7). FIG. 2 shows a state in which the unloader 9 has been moved to the storage home position during a mowing operation or the like.

The threshing unit 14, as shown in FIG.
1, a feed chain 22 for transporting grain culms supplied from the mowing unit 12, a sorting device B including a torsion 23 and a rocking sorting plate 24, a first port 2 for grain recovery.
5, and a second port 26 for collecting a mixture of grain and straw waste. Of the processed material threshed in the handling room A, the single-grained product is supplied to the receiving net 2 provided at the lower part of the handling room A.
7 and leaked to the sorting device B,
7 falls into the sorting device B from the rear end.

The swinging sorting plate 24 of the sorting device B includes
3 includes a Glen pan 28 located above, a chaff sheave 29 located behind and a Glen sheave 30 located below. The chaff sheave 29 is operated such that a plurality of strip-shaped members juxtaposed in the processing object transfer direction are swung by a chaff opening adjustment motor M6 so as to simultaneously change the angle around the horizontal axis, and the adjacent strips are rotated. The gap (referred to as chaff opening) of the member is changed, and a chaff opening sensor S8 (FIG. 7) using a potentiometer for detecting the chaff opening is used.
Reference).

The turtle 23 is for blowing off the straw debris on the swinging sorting plate 24, and its opening is opened and closed by opening and closing the rear fan case cover 23a with the turtle wind power adjusting motor M7. The wind force exerted on the processed material on the swinging sorting plate 24 (referred to as toumi wind force) is changed so that the wind force toward the front side decreases as the size increases, and the opening degree of the fan case cover 23a is detected to detect the to wind force. Is provided.

With respect to the sorting device B, a control (selection) for adjusting the chaff opening degree and the turtle wind in accordance with the type of the crop selected by the crop selection dial S12 to be described later, the amount of the processed material, the humidity and the like. Control) is performed. The grains leaking from the Glen Sheave 30 are collected from the foremost port 25 provided below the swinging sorting plate 24, stored in the Glen tank 15, and fall from the rear end of the chaff sheave 29 or the rear end of the Glen Sheave 30. The mixture of the grain and the straw waste is recovered from the second port 26 and returned to the swinging sorting plate 24.

Next, a power transmission system is shown in FIG. The output of the engine E mounted on the machine body V is transmitted to the threshing unit 14 via the threshing clutch 31 and the traveling clutch 32
The output transmitted to the mission unit 34 of the crawler traveling device 11 via the continuously variable transmission 33 and a part of the output transmitted to the mission unit 34 is transmitted to the reaping unit 12 via the reaping clutch 35. S7 is a threshing switch for detecting the on / off state of the threshing clutch 31, and S5 is an engine E
A magnetic field is applied to the flywheel ring gear to obtain a sine wave having a frequency corresponding to the number of teeth per unit time. Here, as the load on the engine E increases, the rotational speed of the engine E decreases.
Is determined.

As shown in FIG. 5, a display panel unit C for displaying various types of control information is provided at a position where the operator of the control unit 13 can easily see and operate.
In the upper part on the front side of the display panel unit C, a fir / horizontal display section 4a for displaying the amount of grains in the tank or the tilt state of the machine, and a chaff / load display section 4b for displaying the chaff opening or the engine load. And a sheave / tow display unit 4c for displaying the amount of the processed material or the wind force on the swing sorting plate 24, and the display units 4a and 4b at the right end of the panel.
fir / horizontal display switching key 3a for switching the display of the fir / horizontal display section 4a of the b and 4c, and chaff / load display switching key 3 for switching the display of the chaff / load display section 4b.
b and a sheave / tow display switch key 3c for switching the display of the sheave / tow display unit 4c.
The switched character is illuminated from the back side so that it can be confirmed. Each of the display units 4a, 4b, and 4c is constituted by a liquid crystal segment type display unit that changes in 1 to 5 stages. As the detected value is larger, the number of display segments increases from the left end to the right. On the left side of the panel C, there is provided an engine tachometer 5 for displaying the engine speed detected by the speed sensor S5 by the deflection of a hand.
In the center, lamps 6 for displaying the remaining fuel amount and other information are provided.

On the left side of the seat of the control unit 13, command information such as start / stop of the above-mentioned respective controls (depth control, cutting height control, rolling control, direction control, sorting control, etc.) and threshing control An operation unit is provided for inputting crop information and the like for the crop. The operation unit includes, as shown in FIG.
The C key is for directional control, the ATC key is for horizontal control, and so on. The control on / off key 2 having a plurality of keys corresponding to each control and the type of grain culm to be cut are selected from among rice, wheat, and soybean. A crop selection dial S12 for selection is provided. Here, every time the control ON / OFF key 2 is pressed,
A push button key that alternately switches between a push-up state and a push-down state is configured. The control is stopped in the push-up state, and the control is activated in the push-down state. , And corresponds to automatic control instruction means for instructing execution of automatic control for the corresponding machine parts. Although not shown, in addition to the control on / off key 2, a mowing lift switch for automatically raising the mowing unit 12 to the upper limit position and a mowing switch for automatically operating the unloader 9 to a home position for storage. An unloader automatic switch or the like is provided as another automatic control instruction means.

FIG. 7 shows a control structure of the combine. A meter controller 7 and a control unit 8 each using a microcomputer are connected to an RS48.
It is provided so as to be able to communicate with each other in five interface formats,
Stock sensor S2, head sensor S3, rotation speed sensor S5 and threshing switch S7 among the sensors S1 to S11.
, The information from the display switching keys 3a to 3c and the control on / off key 2, and the crop selection dial S1.
2 is input to the meter controller 7, and among the sensors S1 to S11, the ultrasonic sensor S1, the rolling sensor S4, and the unloader position sensor S
6, the detection information of the chaff opening degree sensor S8, the turtle wind sensor S9, the direction sensor S10, and the cutting and lifting position sensor S11 are input to the control unit 8. Further, the meter controller 7 includes a memory 7A such as an EEPROM as a nonvolatile storage means.

Here, the sensors S1 to S11 correspond to a plurality of operating state detecting means for detecting the operating states of the above-mentioned respective parts of the machine. Accordingly, there are cases in which automatic control is performed on each part of the machine and cases in which automatic control is not performed (for example, manual operation), so that each of the sensors S1 to S11 is
It is provided so that it can be installed for each machine part.

An OFF position (OFF state) for turning off power supply from a drive power supply (not shown) to each section of the machine, an ON position (ON state) for turning on the power supply, and an engine E
A key-type main switch MW is provided which can be switched to a start position for starting operation of the main switch. The switching position information of the main switch MW is also input to the meter controller 7. Although not shown, the Glen tank 1
The respective detection information of the fir sensor for detecting the amount of grain in 5 and the sheave sensor for detecting the amount of the processed material on the swing sorting plate 24 is input to the control unit 8.

On the other hand, the meter controller 7 outputs drive signals for the display units 4a to 4c and the actuator M1 for adjusting the handling depth, and the control unit 8 outputs the direction control actuator M2 (for steering). Cylinder), a cutting height control actuator M3 (the lifting cylinder M3), and a rolling control actuator M4.
And an actuator M5 for controlling the unloader, and electric motors M6-
A drive signal for M7 is output.

A plurality of control contents for each of the machine parts are provided by using the meter controller 7 and the control unit 8, and the control contents selected from the plurality of control contents are executed. The control means 100 is configured to select control contents from among the plurality of control contents based on the presence or absence of detection information of each of the plurality of sensors S1 to S11. Is determined. That is, if detection data other than the detection value (for example, 0 volt or 5 volt) when there is no detection data is obtained from each of the sensors S1 to S11, it is determined that the corresponding control is provided. For example, if detection data is obtained from the rolling sensor S4, it is determined that horizontal control of the body V is performed. If detection data is obtained from the direction sensor S10, it is determined that directional control of the body V is performed. Sensor S6
If the detection data is obtained from the above, it is determined that the specification is a Glen tank specification for performing an automatic storing operation to the home position. If the detection data is obtained from the tip sensor S3, it is determined that the handling depth control is present. If the detection data is obtained from the ultrasonic sensor S1, it is determined that the cutting height control is performed. Further, if predetermined data is obtained from the crop selection dial S12, it is determined that threshing control is performed.

The control means 100 is configured to be switchable between a normal control mode and a control content discrimination mode. In the control content discrimination mode, the control means 100 discriminates the control content, and outputs information on the discrimination result. Is stored in the memory 7A, and in the normal control mode, based on the information of the determination result read from the memory 7A,
The control content to be executed is selected.

Specifically, the control content determination mode is
The actual operation of each machine component is determined based on the detection information of each of the sensors S1 to S11 in correspondence with the detection information of each of the sensors S1 to S11 when the machine component of interest is in the reference state. The control means 100 is constituted by a reference value storage mode (hereinafter also referred to as a fine adjustment mode) for storing information of a reference value for obtaining a state.
Stores the reference value information and the determination result information in the memory 7A in the reference value storage mode, and based on the determination result information read from the memory 7A in the normal control mode. In addition to selecting the control content to be executed, each of the sensors S1 to S1
1 to determine the actual operation state of each section of the machine based on the detection information of the first and the reference value information stored in the memory 7A, and to execute the selected control content based on the information of the actual operation state. ing.

The reference value storage processing is configured to store the reference values for all of the machine parts to be stored by collective processing. For example, when the machine V is placed in a horizontal state, Rolling sensor S
4, the detection value of each direction sensor S10 in a state where the detection bar of the left and right direction sensor S10 has returned to the initial position,
The detection value of the cutting elevating position sensor S11 when the cutting unit 12 is raised to the upper limit position, the detection value of the unloader position sensor S6 when the unloader 9 is operated to the home position for storage, and the threshing unit 14 Each detection of the chaff opening sensor S8 when the chaff opening adjustment motor M6 is operated and the chaff opening is sequentially operated in the fully open state and the fully closed state (full open state and fully closed state). The value is stored in the memory 7A as reference value information.

In the normal control mode, the meter controller 7 and the control unit 8 correct each of the detection information of the sensors S1 to S11 with the fine adjustment data while communicating with each other, and The actual operation state is determined, the operation state of each part of the machine is determined based on the information of the actual operation state, and each of the actuators M1 to M5 and the electric The above-described controls are executed by driving the motors M6 to M7 and the like.

Next, the control operation of the combine will be described with reference to the control flowcharts shown in FIGS. In the main flow (FIG. 8), when the main switch MW is turned on to start the control, first, in an initial routine, the system is initialized, and the input signal from the sensor and the like and the output signal to the actuator and the like are initialized. And so on. Next, the chaff / load display switching key 3b
When the fine adjustment mode is determined by turning on the main switch MW in a state where both of the sheave and toumi display switching keys 3c are pressed, in the fine adjustment routine, the determination of the control contents and the fine adjustment are performed. When the main switch MW is turned off by executing the program for the storage process, the fine adjustment mode end process is performed and the control is ended. When the fine adjustment mode is not determined, the mode is the normal mode. In the normal control routine, each control program for each section is executed. When the main switch MW is turned off, the normal mode end processing is performed and the control is ended. .

In the fine adjustment routine (FIG. 9), as described above, the control content is determined based on the presence or absence of the detection data from each of the sensors S1 to S11. In the drawing, first, after clearing each control determination flag, if the detection data is input from the rolling sensor S4, the horizontal control flag is set, and if the detection data is input from the direction sensor S10, the direction control flag is set. The processing of setting a Glen tank flag when detection data is input from the unloader position sensor S6 and setting a threshing control flag when predetermined data is input from the crop selection dial S12.

When the process for determining whether or not control has been completed is completed,
Next, a process of checking whether or not the fine adjustment data (detected values of the sensors S1 to S11) obtained for each machine component is normal as the fine adjustment data is performed for all the machine components to be processed. Is satisfied, the process waits until the fine adjustment routine is completed in this state. On the other hand, when the detection value of each sensor is out of the normal range as the fine adjustment data, error processing (detection of any sensor is not normal) Is stored and displayed), and the process waits until normal data is obtained. When the machine is started in the fine adjustment mode, it is necessary that each part of the machine is operated in advance so as to be in the reference state.

In the ending process of the fine adjustment mode (FIG. 10),
Except when the detected value of the sensor is not normal as the fine adjustment data, a process of storing the fine adjustment data is performed, and a process of storing the content of the determined control determination flag is performed.

[Alternative Embodiment] In the above embodiment, the control content is determined based on the presence / absence of detection information of each (one) of the plurality of operating state detecting means S1 to S11. From the presence or absence of a plurality of pieces of detection information of the means S1 to S11, for example, if detection data is obtained from both the ultrasonic sensor S1 and the mowing lift switch, it is more accurately determined that the cutting height control is performed. It is also possible to determine the contents of control.

In the above embodiment, the control mode can be switched between the normal control mode and the control content determination mode. However, it is not always necessary to provide the control content determination mode.
In the normal control mode, at the time of starting the control, a process of determining the control content based on the presence or absence of the detection information of the operation state detecting means S1 to S11 may be performed. Also, when the control content determination mode is provided, it is not necessary to configure in the reference value storage mode, and a dedicated control content determination mode may be provided in addition to the reference value storage mode. It should be noted that the storage process of the reference value may not be performed.

In the above embodiment, the information of the reference value is
Although the detection value itself of the operation state detection means for detecting the operation state of each part of the machine in the reference state is stored,
Instead of the detected value itself, information on a difference between a standard detected value obtained from the operation state detecting means when each machine part is in the reference state and an actual detected value in the reference state may be stored.

In the above-described embodiment, an example in which the present invention is applied to a combine for agricultural work as a working machine is illustrated. However, the present invention is also applied to various work machines for agricultural work other than combine and construction machines for civil engineering work. it can.

[Brief description of the drawings]

FIG. 1 is a side view of a combine.

FIG. 2 is a plan view of the combine.

FIG. 3 is a side perspective view of the threshing unit of the combine.

FIG. 4 is a power transmission diagram of the combine.

FIG. 5 is a front view of a display panel.

FIG. 6 is a plan view of an operation unit.

FIG. 7 is a block diagram of a control configuration.

FIG. 8 is a flowchart of a control operation.

FIG. 9 is a flowchart of a control operation.

FIG. 10 is a flowchart of a control operation.

[Explanation of symbols]

 7A Storage means 100 Control means S1 to S11 Operating state detecting means

Claims (3)

[Claims] 1. A plurality of operating state detecting means for detecting an operating state of each section of a machine are provided so as to be installed in correspondence with each section of the machine, and a plurality of control contents for each section of the machine are provided. A work machine control device provided with control means configured to execute a control content selected from the plurality of control contents, wherein the control means includes A control device for a work machine configured to determine a control content to be selected from the plurality of control contents based on presence / absence of each detection information of a state detection unit. 2. The control means includes a normal control mode,
The control content discrimination mode is configured to be freely switchable. In the control content discrimination mode, the control content is discriminated, information of the discrimination result is stored in nonvolatile storage means, and the normal control mode is set. 2. The control device according to claim 1, wherein a control content to be executed is selected based on the information on the determination result read from the storage unit.
A control device for a working machine according to the above. 3. The control content determination mode is configured to correspond to respective detection information of the operation state detection means when each of the target machine parts among the machine parts is in a reference state,
A reference value storage mode for storing information of a reference value for obtaining an actual operation state of each section of the machine from the detection information of the operation state detection means, wherein the control means is configured to store the reference value in the reference value storage mode. And the information of the determination result are stored in the nonvolatile storage means, and in the normal control mode,
The control content to be executed is selected based on the information of the determination result read from the storage unit, and the machine is selected based on the detection information of the operation state detection unit and the reference value information stored in the storage unit. 3. The work machine control device according to claim 2, wherein the control unit is configured to obtain an actual operation state of each unit and execute the selected control content based on the information of the actual operation state.