JP2000276204A - Control unit for work machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable another information input part to input information for control to be inputted by any broken one of plural information input parts when the information input part is broken and input operation can not be performed. SOLUTION: This device is provided with a switching means 100 which can be freely switched to the regular input state of inputting the input signal of at least one information input part MU2 or MU3 among plural information input parts MU1-MU3 to a control part CU as the input signal of information for control corresponding to the information input part MU2 or MU3 and the substitutive input state of inputting the signal to the control part CU while substituting it for the input signal of information for control to be originally inputted by the other information input parts MU2 and MU3.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control unit for executing a plurality of types of control, and a plurality of control units for manually inputting control information for the plurality of types of control to the control unit. The present invention relates to a work machine control device provided with an information input unit, and a combine provided with the work machine control device.

[0002]

2. Description of the Related Art In the above-described work machine control device, for example,
Cutting height control,
Various controls such as threshing control, unloader control for grain discharge, and attitude control of the aircraft are performed. Conventionally, control information necessary for each control (control start information, control conditions, control conditions, etc.) A plurality of information input units each provided with a manual switch or the like for manually inputting setting information or the like for each of the control units. Controller) to input control information.

[0003]

However, according to the above-mentioned prior art, if one of the information input units cannot be operated due to a failure of a switch or the like, control based on control information input at the information input unit cannot be performed. State
Further, depending on the type of control, it may be difficult to continue the operation. For example, in the combine, if the information input unit for inputting control information for controlling the unloader for discharging the grain breaks down, the grain recovered in the tank by the unloader cannot be discharged to the outside. It becomes difficult to continue. SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object, in order to avoid the above-mentioned disadvantages of the prior art, when one of the information input units fails to perform an input operation, the failure occurs. The point is that control information to be input by the information input unit can be input by a non-failed information input unit.

[0004]

According to a first aspect of the present invention, in the control device for a work machine described at the beginning, an input signal of at least one of the plurality of information input units is input to the information input unit. Switching means capable of switching between a normal input state as an input signal of the control information corresponding to the unit and a substitute input state to substitute for the input signal of the control information which should be originally input at another information input unit. Is provided. In other words, when a plurality of information input units for manually inputting control information for each control to a control unit that executes a plurality of types of controls can perform a normal input operation, a normal input state is established. Switching, the normal control information corresponding to each information input section is input by each input signal of the information input section and the other information input section which are switched between the normal input state and the substitute input state. If the information input section of the information input section has failed, the information input section is switched to the substitute input state, and the control information that should be input at the failed information input section is substituted by the input signal of the information input section that is switched to the both states. While switching to the normal input state, the information input unit which can be switched to the both states can input the corresponding normal control information. Therefore, when the information input unit breaks down as in the related art, control cannot be performed based on the control information input at the information input unit, and further, depending on the type of control, it becomes difficult to continue the work. In response to this, control information can be input in place of the failed information input unit, and control based on the control information can be performed, thereby appropriately avoiding the problem that it is difficult to continue work. Can be done.

According to a second aspect, in the first aspect, the information input section that can be switched between the normal input state and the substitute input state has the same specification as the other information input section. Therefore, since the information input unit for substituting the input of the control information and the information input unit to be substituted are configured to have the same specification, the substitution of the control information by the substitute information input unit is performed. For example, if both information input units are configured to have different specifications, the input operation is not easy because the trouble of confirming to perform the input operation without error is increased. Can be input as a substitute, and the preferable means of claim 1 can be obtained.

According to a third aspect of the present invention, in the first or second aspect, the switching means includes an information input section for switching between the normal input state and the substitute input state, the information input section being controlled by the control section. The normal input state is switched to the normal input state when connected to the normal connection section for connecting the other information input section to the control section. Is configured to be able to be switched to the substitute input state when the connection part is replaced and connected. Therefore, when the information input section for switching and other information input sections are normal, each information input section is connected to a regular connection section corresponding to each information input section, and each control information is transmitted to the control section. Input, and when the other information input unit fails, the switching information input unit is replaced with another connection unit corresponding to the failed other information input unit and connected, and the failure occurs. While the control information to be input at the information input unit is input in place of the switching information input unit, the switching information input unit is connected to a regular connection unit corresponding to the information input unit. Since the control information to be input at the information input unit can be connected to the control unit, the normal input state and the substitute input state can be accurately identified by replacing the connection unit with the control unit. The state can be switched without fail. , Suitable means of claim 1 or 2 is obtained.

According to a fourth aspect, in the third aspect, each of the information input sections shares a manual operation section for inputting the control information by manual operation and input information of the manual operation section. A communication processing unit for transmitting the control information to the control unit via the communication line, wherein the switching unit is provided in the communication processing unit provided in the switching information input unit. The communication processing unit provided in the switching information input unit, when the switching information input unit is connected to the regular connection unit, the communication processing unit, the input information of the manual operation unit, Executing a communication process of transmitting as the control information corresponding to the information input unit, and when the switching information input unit is connected to the other connection unit, The input information corresponds to the other information input section. It is configured to perform a communication process to be transmitted as the control information. Therefore, while the input information from the manual operation unit provided in each of the plurality of information input units is subjected to communication processing by the communication processing unit provided in each information input unit and transmitted to the control unit via a common communication line, When the switching information input section is connected to another connection section corresponding to the failed other information input section and connected, the communication processing section automatically changes the input information of the switching manual operation section to another failed information input section. Since the communication processing is performed so as to be transmitted to the control unit as control information of the unit, for example, while simplifying the wiring compared to a case where each information input unit is individually connected to the control unit, the normal input state and the substitute The switching of the input state can be appropriately performed, and the preferable means of claim 3 can be obtained.

According to a fifth aspect, in the first aspect, there is provided switching command means for issuing a switching command to the normal input state or the substitute input state based on a manual operation command, and the switching means comprises: When a switching information input unit for switching between the normal input state and the substitute input state is connected to the control unit, and a switch to the normal input state is issued by the switching instruction unit, It is configured to be switched to the normal input state, and to be switched to the substitute input state when a switch to the substitute input state is instructed by the switching instruction means. Therefore, when the switching information input section and the other information input section are normal, the switching command means instructs switching to the normal input state, and the switching information input section connected to the control section. Unit and the other information input unit, each control information corresponding to each information input unit is input, and when the other information input unit fails, the switching instruction means switches to the substitute input state. Switching is commanded, and the control information to be input at another failed information input unit is input in the switching information input unit instead, and the normal input is performed by the switching instruction unit. Since the switching to the state is instructed and the control information corresponding to the information input section is input at the information input section for switching, it is troublesome to change the connection between each information input section and the control section. Without performing any operation, a switch command means such as a switch The regular input state at switching operations and substitute input state can be easily switched, with it, suitable means of claim 1 is obtained.

According to claim 6, in claim 5, each of the information input sections shares a manual operation section for inputting the control information by manual operation and input information of the manual operation section. A communication processing unit for transmitting the control information to the control unit via the communication line of the communication unit, wherein the switching unit is provided in the switching information input unit. And the switching instruction means is configured to instruct the switching instruction to the communication processing unit provided in the information input unit for switching, and is provided in the information input unit for switching. The communication processing unit, when a switch to the normal input state is commanded by the switch command unit, the input information of the manual operation unit as the control information corresponding to the information input unit for switching Execute communication process to send And a communication process of transmitting input information of the manual operation unit as the control information corresponding to the other information input unit when a switch to the substitute input state is instructed by the switch instruction unit. Configured to run. Therefore, switching is performed while input information from the manual operation unit provided in each of the plurality of information input units is processed by the communication processing unit provided in each information input unit and transmitted to the control unit via a common communication line. When a command to switch to the substitute input state is issued, the control unit automatically substitutes the input information of the manual operation unit provided for itself as control information of another failed information input unit. On the other hand, when the switch to the normal input state is instructed, the input information of the manual operation unit provided for itself is automatically transmitted to the control unit as its own control information. The switching between the normal input state and the substitute input state can be appropriately performed while simplifying the wiring as compared with the case where the wiring is individually connected to the control unit. Thus, the preferable means of claim 5 is obtained. .

According to a seventh aspect of the present invention, in the combine provided with the control device for a work machine according to any one of the first to sixth aspects, an operation of an unloader for discharging grains is used as the plurality of information input units. An unloader control input unit for inputting control information and an attitude control input unit for inputting attitude control information of the aircraft are provided. Therefore, for example, when the input unit for unloader control fails, by allowing the input for operation control of the unloader to be input instead by the input unit for attitude control, conventionally, when the input unit for unloader control fails, Even if the tank for storing the collected grains is full, the grains cannot be discharged to the outside, making it difficult to continue the harvesting work. By operating the unloader according to the operation control information, the grain in the tank can be discharged and the harvesting operation can be continued, and when the attitude control input unit fails, the unloader control input unit can be used. By inputting the posture control information instead, it is possible to perform appropriate posture control similarly,
A combine with better operability can be obtained.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A case where an embodiment of the present invention is applied to a combine as a working machine will be described below with reference to the drawings. As shown in FIGS. 1 to 3, the combine harvester is mounted on a front portion of a body V having a pair of right and left crawler traveling devices 30 in a state where the harvester can be vertically oscillated around a horizontal axis X by a harvester lifting cylinder 5. 1, a control unit 31, a threshing unit 2 for threshing and sorting the harvested culm, a tank 3 for storing grains supplied from the threshing unit 2, and a tank 3 in the tank 3. An unloader 32 for discharging the grains for discharging the grains is mounted.

As shown in FIG. 2, the reaper 1 has a weeding tool 33 attached to the tip, a grain stalk raising device 34, a cutting blade 35 for cutting the stem of the raised grain stalk, and a reaper. Auxiliary transport device 3 that collects and transports culms to the rear
7, a vertical transport device 36 for receiving the harvested culm on the tip side and transferring it to the feed chain 52 of the threshing unit 2. Also provided are an ultrasonic sensor S6 for detecting the height of the cutting unit 1 with respect to the ground, and a stock sensor S2 for turning on when the grain stem touches to detect that the cutting operation is being performed. Then, based on the information of the ultrasonic sensor S6, the cutting height control for controlling the operation of the cutting and lifting cylinder 5 is executed so that the ground height of the cutting unit 1 is maintained at the target set height.

The vertical transport device 36 (in FIG. 2, there is a portion that is partially different from FIG. 1 for explaining the function of the vertical transport device 36) It is composed of a stock feeder 36a for nipping and conveying, a head conveying device 36b for locking and conveying the front side of the grain culm, and a head guide plate 36c, and is swingable about the same axis as the swing axis X of the cutting unit 1. It is supported and is provided so as to be swingably adjustable by a handling depth motor M1, whereby the pinching point of the grain culm received from the auxiliary transport device 37 is changed in the culm length direction, and the handling depth in the threshing unit 2 is adjusted. It is configured to be able to. Also, in the transporting path of the harvested grain culm, it is juxtaposed at intervals in the culm length direction on the lower side in the conveying direction from the handling depth adjustment point by the handling depth motor M1 and swings when the grain culm contacts. Switch-type pair of tip sensors S8a, S8
b is provided. Then, the pair of head sensors S
The state in which the tip of the grain stem is located between 8a and S8b (the state in which the stock sensor S8b is on and the tip sensor S8a is off) is set as an appropriate handling depth state, and is maintained in the appropriate handling depth state. As described above, the depth control for controlling the operation of the depth motor M1 is executed.

As shown in FIG. 3, the second weeding tool 33 from the left as viewed from the front of the fuselage has a body lateral direction of the machine V with respect to the grain stalk row introduced between the plurality of weeding tools 33. A pair of left and right direction sensors S1 provided with a detection bar that abuts on the grain stalk and swings rearward of the machine body in order to detect the position at the position. Then, based on the information from the pair of direction sensors S1, the left and right steering for turning on / off the power transmission to the left and right crawler traveling devices 30 so that the traveling machine V automatically travels along the planted grain culm. Direction control for controlling the operation of the steering cylinders 9L, 9R (see FIG. 19) for operating the clutches 20L, 20R, respectively, is executed. That is,
Since the airframe V turns to the side of the left and right crawler traveling devices 30 to which power transmission has been cut off, if the aircraft V is displaced from the proper position, the power to the crawler traveling device 30 on the opposite side to the above-mentioned displacement is changed. In order to cut off the transmission, the steering cylinder 9
Activate L, 9R to correct the running direction.

Each of the left and right crawler traveling devices 30 has a left and right track frame 30d having a driving sprocket 30a, a tension wheel 30b, and a plurality of driven wheels 30c.
And the left and right track frames 30d
Is provided with a rolling cylinder 30e for individually driving the body V up and down, and the body V is provided with a rolling sensor S4 for detecting the inclination of the body with respect to the horizontal plane. Then, horizontal control for controlling the operation of the left and right rolling cylinders 30e is performed based on the information of the rolling sensor S4 so as to maintain the body attitude in a predetermined attitude such as a horizontal attitude regardless of the state of the ground. .

The unloader 32 has a discharge port 32a with a downward attitude at the distal end, and is supported by a support portion 32b in a state where the base end side is vertically swingable about a horizontal axis Z.
An unloader hydraulic cylinder 62 is provided for the vertical swing drive, and the support portion 32b is pivotally supported by the body V in a state where the support portion 32b can be turned around the vertical axis Y. Motor M3 is provided. or,
In order to detect the turning position of the support portion 32b, an unloader position sensor S3 including a potentiometer is provided. FIG. 3 shows a state in which the unloader 32 has been moved to the storage home position during a mowing operation or the like. Then, based on information such as the unloader position sensor S3 and a limit switch (not shown) for detecting a limit position of the ascending operation and the turning operation in the left-right direction, etc.
Unloader control for controlling the operation of the unloader 32 is executed.

As shown in FIG. 4, the threshing unit 2 includes
A, a feed chain 52 that transports the stalks supplied from the reaper 1, a turtle 53 and a rocking sorter 5
4, a first port 55 for collecting kernels, and a second port 56 for recovering a mixture of kernels and straw waste.
Etc. are provided. Then, among the processed products threshed in the handling room A, the single-grained products are leaked to the sorting device B from the receiving net 57 provided at the lower part of the handling room A, and the other processed products are received by the receiving net 57. From the rear end to the sorting device B.

As shown in FIG. 2, a pinch rail 52a is opposed to the feed chain 52 in a state where the pinch rail 52a is pressed and urged toward the feed chain 52, and the feed chain 52 and the pinch rail 52a are driven to rotate. Thus, the base of the culm is held and transported. However, the holding rail portion located on the front side of the handling room A is configured to be movable to an upper position separated from the feed chain 52 by the rail lifting motor M2 or the like. Thereby, together with the normal state of threshing while nipping and transporting the cut culm on the lateral side of the handling room A, and when the culm length of the cut grain culm is extremely short, the entire culm of the grain culm is transferred to the handling room A. It is configured such that rail control for driving the rail raising motor M2 and the like can be executed so as to be turned on.

The swing sorting plate 54 of the sorting device B is
3 is provided with a Glen pan 58 located above, a chaff sheave 59 located behind, and a Glen sheave 61 located below. The chaff sheave 59 is composed of a plurality of band-shaped members arranged side by side in the processing object transfer direction, and the interval (chaff opening) between the adjacent band-shaped members is changed by the chaff opening adjustment motor M4. Have been. S10 is a sheave sensor that detects the thickness of the processed material on the swing sorting plate 54. The toumi 53 is for blowing off the straw debris on the swing sorting plate 54, and the rear fan case cover 53a is attached to the toumi wind power adjusting motor M.
By performing the opening / closing operation at 5, the wind force (Tomi wind force) applied to the processed material on the swing sorting plate 54 is changed. In other words, the larger the degree of opening of the cover, the smaller the wind force on the front side, and accordingly, the smaller the wind power of the toumi.

Then, in order that the sorting process in the sorting device B is performed properly, the sorting process is performed in accordance with the amount of the material to be leaked from the handling room A.
Chaff opening degree adjusting motor M4 and Toumi wind force adjusting motor M
The threshing control for controlling the operation of No. 5 is executed. Here, when the traveling speed increases, the amount of cut cereal culm supplied to the handling room A increases, and the amount of treated material leaking from the handling room A increases.
The control is performed such that the greater the amount of grain culm supplied to the handling room A, which is determined based on the information from the vehicle speed sensor S7 described later, the greater the chaff opening and the turtle wind force.

Next, a power transmission system is shown in FIG. The output of the engine E mounted on the body V is transmitted to the threshing unit 2 via the threshing clutch 37 and the traveling clutch 38
The transmission is transmitted to the transmission section 40 of the crawler traveling device 30 via the continuously variable transmission 39. The output transmitted to the transmission unit 40 is transmitted to the crawler traveling device 30 via an auxiliary transmission (not shown) provided in the transmission unit 40, and is transmitted to the reaping unit 1 via the reaping clutch 47. S9 is a threshing switch for detecting the on / off state of the threshing clutch 37, S7 is a vehicle speed sensor for detecting the running speed based on the number of revolutions input to the transmission unit 40, and S5 is an electromagnetic pickup type engine. It is a rotation speed sensor. Further, a shift motor M6 for shifting the continuously variable transmission 39 and a hydraulic clutch (not shown) for shifting the auxiliary transmission are provided. Here, since the engine speed decreases as the load on the engine E increases, the load on the engine E is determined based on the amount of decrease in the engine speed from the engine speed under no load (reference speed). Then, in order to make the most of the capacity of the engine E, the vehicle speed sensor S7 is used.
Under the condition that the traveling speed detected at does not exceed the set upper limit speed, the engine load determined based on the information of the engine speed sensor S5 is maintained in an appropriate range.
Vehicle speed control for controlling the operation of the speed change motor M6 is executed.

Next, information such as start commands for the various controls described above (cutting height control, depth control, direction control, horizontal control, unloader control, rail control, threshing control, etc.) and control target values are input. Information input means and various information display means will be described. As shown in FIG. 6 and FIG.
A basic switch module MU1 (see FIG. 8) provided with a start switch for each control and an adjustment volume and the like in order from the side close to the seat on the left side of the first seat 31A, and a start switch and a manual operation switch for horizontal control. And a horizontal control switch module MU3 (see FIG. 10) provided with a manual shift lever 7 for shifting the running speed.
It is provided in a state of being located above U1. The speed change motor M6 is operated in accordance with the operation of the manual speed change lever 7.
Is driven. On the other hand, a loading / unloading section 31B is provided on the front right side of the seat 31A, and an unloader switch module MU2 (see FIG. 9) including a switch for operating the unloader 32 is disposed at a rear right position of the seat. I have.

On the right front side of the maneuvering section 31, a cross-operation-type mowing mechanism configured to serve as a mowing elevating lever for manually raising and lowering the mowing section 1 and a steering lever for manually turning the traveling body V left and right. A high steering lever 8 is provided.
That is, when the cutting height steering lever 8 is pivoted rearward, the cutting unit 1 is raised, and when the cutting height steering lever 8 is pivoted forward, the cutting unit 1 is lowered, and the cutting height steering lever 8 is pivoted leftward. When operated, the aircraft turns left, while when swinging to the right, the aircraft turns right. In order to detect the amount of swing operation of the cutting height steering lever 8 in each direction of the mowing elevation and the steering operation,
A mowing lift detection sensor S12 and a steering operation detection sensor S13 each composed of a potentiometer are provided. A display module MU4 for displaying various information is provided on the left front panel of the control unit 31 (see FIG. 11).
Is provided.

The basic switch module MU1 includes:
As shown in FIG. 8, an operation unit 41 for threshing and handling depth control, an operation unit for vehicle speed control 42, an operation unit for direction control 43, an operation unit for cutting height control 44, an operation unit for rail control 45 and a spare operation unit 46 are provided. The spare operation unit 46 is used as an operation unit when control other than the above is added.

In the operation unit 41 for threshing and handling depth control, one crop condition is selected from a starting switch 41a for handling depth control constituted of an illuminated push button switch, wheat, rice and wet. Crop switching volume 41b,
A chaff volume 41c for adjusting the chaff opening,
And toumi volume 4 for adjusting toumi wind
1d is integrally formed. Here, in the one crop condition, as the chuff volume 41c is turned to the open side, the control state of the chaff opening degree with respect to the cereal culm supply amount is changed and adjusted as a whole to the open side, and
As d is turned to the higher side, the control state of the wind power of the turtle with respect to the grain culm supply amount is changed and adjusted as a whole to the higher side. or,
By the selection of crop conditions, the control state of the chaff opening degree is changed and adjusted to the open side as a whole in the order of wheat, rice, wetness,
The control state of the wind power is changed and adjusted as a whole to the strong side.

The vehicle speed control operation unit 42 is integrally formed with a vehicle speed control start switch 42a constituted by an illuminated push button switch and a vehicle speed limit volume 42b for setting an upper limit vehicle speed. The direction control operation unit 43 is integrally formed with a direction control start switch 43a configured as an illuminated push button switch and a turning force switching volume 43b for adjusting the turning force. Here, when the turning force switching volume 43b is turned to the large side, the steering cylinder 9 driven by the duty is driven.
The ratio of the ON time to the OFF time of L and 9R (the duty ratio) is changed to a large side to increase the turning force, and when the L and 9R are turned to a small side, the duty ratio is changed to a small side and the turning force is reduced. The cutting height control operating unit 44 is integrally formed with a cutting height control start switch 44a configured as an illuminated push button switch and a cutting height adjustment volume 44b for setting a target cutting height. ing. The rail control operation unit 45 is integrally formed with a start switch 45a for turning on / off the rail control and a rail control lamp 45b for displaying the on / off state of the rail control. FIG. 8 exemplifies a case (with a click) in which each switching by the chaff volume 41c, the tongue volume 41d, the vehicle speed limiting volume 42b, the turning force switching volume 43b, and the cutting height adjustment volume 44b can be adjusted in seven stages.

As shown in FIGS. 9 and 27, the unloader switch module MU2 has an automatic / stop switch 50a for automatically operating or stopping the unloader 32, which is constituted by an illuminated push button switch, and an illuminated push button. A manual operation switch 50d configured as a switch, including a tank overhanging open switch 50b and a tank overhanging close switch 50c, and a cross operation key for manually operating the unloader 32 to ascend, descend, turn right, and turn left; and A stop position selection volume 50 for selecting the target stop position of the unloader 32 from the left side of the body, the rear side of the body, and the right side of the body.
e is integrally formed.

The horizontal control switch module MU3 includes:
As shown in FIGS. 10 and 28, an automatic switch 6 for starting horizontal control, which is configured as an illuminated push button switch, is used.
0a, a horizontal mode changeover switch 60b configured as an illuminated push button switch for switching a horizontal control mode between an up reference and a down reference, a reverse vehicle lift switch 60c configured as an illuminated push button switch, a cross control key And a manual operation switch 60d for operating the attitude of the body in the right-up, left-up, up, and down states, and a horizontal adjustment volume for setting a target tilt state when the horizontal control is activated (automatic mode). 60e are integrally formed.

From the above, each of the switch modules MU1 to MU1
The MU3 constitutes a plurality of information input sections for individually inputting the control information for the plurality of types of control by manual operation, and the manual switch and the adjustment volume are used to manually control their operation. This corresponds to the manual operation unit SS for inputting information. The horizontal control switch module MU3 constitutes an attitude control input unit MU3 for manually inputting the attitude control information of the body V by manual operation, and the switches and the volumes are manually operated to control the attitude control information. This corresponds to the manual operation unit SS for inputting information. Further, the unloader switch module MU2 constitutes an unloader control input unit MU2 for manually inputting operation control information for controlling the unloader 32 by manual operation, and the switch and the volume are manually operated. It corresponds to the manual operation section SS for inputting the operation control information for the unloader.

As shown in FIG. 11, the display module MU4 includes a pointer-type fuel meter 70a, a pointer-type tachometer 70b, a water temperature meter 70c, and a fir LCD 70d for displaying the amount of fir in the tank 3. A main LCD 70e for displaying various messages, graphs, and the like is provided. Further, left and right turn signal lamps 70f, various alarm lamps 70g for charge (charge), brake, oil, and check, and the above-described auxiliary transmission device are provided. The switching state is fast,
An auxiliary speed change lamp 70h is provided to indicate whether the vehicle is in the normal, lodging, or neutral state. In the figure, a bar graph showing the load level of the engine is shown on the upper side of the main LCD 70e, and a bar graph showing the amount of the processed material on the swing sorting plate 54 of the threshing unit 2 detected by the sheave sensor S10. What is displayed is illustrated on the lower side.

Then, as shown in FIGS. 12 and 13,
Central control unit C for centrally executing control of the entire combine
U and a plurality of terminal control units LU (LU1) that are distributed and arranged in each section of the machine such as the reaping section 1, the threshing section 2, the tank section (including the tank 3 and the unloader 32), and the main body section 4.
To LU5) and MU (MU1 to MU4) are connected to the communication line T.
1 and T2 so as to be communicable with each other. here,
Using the central control unit CU, the plurality of types of control (cutting height control, depth control, direction control, horizontal control, unloader control,
A control unit for executing rail control, threshing control, etc.) is configured.

The actuators AK for work and the sensors SW for detecting control information are provided with the plurality of terminal control units L.
It is configured to be connected to any one of U and MU and to input and output signals to and from the connected terminal control units LU and MU. The actuators AK include the hydraulic cylinder and the electric motor for operating a working device provided in each part of the body, and the sensors SW are switches for detecting various control information as ON / OFF binary information. Etc. Specifically, as illustrated in FIG.
A drive signal for the handling depth motor M1 is output from the terminal control unit LU3 arranged in the mowing unit 1, and
Detection signals of the direction sensor S1, the stock sensor S2, and the tip sensors S8a and S8b are input to the terminal control unit LU3. A drive signal is output from the terminal control unit LU4 disposed in the threshing unit 2 to the rail lifting motor M2, the chaff opening degree adjustment motor M4, and the turtle wind adjustment motor M5.

Two terminal control units L arranged in the main unit 4
A drive signal for the speed change motor M6 is output from one terminal control unit LU2 among U1 and U2, and the terminal control unit LU2 is used to switch the speed change state of the threshing switch S9 and the auxiliary transmission. A signal from a sub-transmission switch (not shown) is input, and the other terminal control unit LU1 is configured as a terminal control unit exclusively for hydraulic output.
The steering cylinders 9L and 9R, the rolling cylinder 30e, and the unloader hydraulic cylinder 62
Each drive signal for each solenoid for driving the motor is output. Terminal control unit LU5 arranged in the tank unit
Thus, a drive signal for the turning motor M3 is output, and a detection signal of the fir sensor S11 for detecting the amount of grains stored in the tank 3 is input to the terminal control unit LU5.

A high-speed communication line T1 for high-speed communication and a low-speed communication line T2 for low-speed communication are connected to the central control unit CU, and among the plurality of terminal control units LU and MU, actuators AK are connected. Terminal control units (hereinafter referred to as high-speed terminal units) LU1 to LU5 for inputting / outputting a signal requiring high-speed communication processing for driving are connected to the high-speed communication line T1, while signals for which high-speed communication processing is not required. Are connected to the low-speed communication line T2.

As shown in FIG. 13, the central control unit CU is provided with a microcomputer CPU for control processing, and the microcomputer CPU is connected to the high-speed communication line T1.
And a gate array GA1 for relaying data transfer between the two. Here, the microcomputer C
Data transfer between the PU and the gate array GA1 is performed via an 8-bit bus line. On the other hand, each of the high-speed terminals LU1 to LU5 connected to the high-speed communication line T1 includes a gate array GA2 that relays data exchange between the sensors SW and the actuators AK and the high-speed communication line T1.

Microcomputer CPU for control
An analog input signal from an analog sensor that detects continuously changing information, such as a potentiometer, and a pulse input signal from a pulse sensor that detects the number of revolutions, etc., are input via a signal processing circuit. Port Port
A drive signal is input from the output port PORT4 to the engine stop solenoid SOLe for inputting the fuel to the engine E and stopping the fuel supply to the engine E to stop the engine. As the analog input signal, respective detection signals from the unloader position sensor S3, the rolling sensor S4, the ultrasonic sensor S6, the sheave sensor S10, the cutting and lifting detection sensor S12, and the steering operation detection sensor S13 are input. As a pulse input signal, a detection signal from the vehicle speed sensor S7 is input, and further, a signal from a power-on main switch MW is input.

The control microcomputer C
A non-volatile memory MEM such as an EEPROM is connected to the PU, and various error information and the like are stored in the memory MEM. In the drawing, PS1 is a DC voltage source that supplies a power supply voltage and a reset signal when the power is turned on to the microcomputer CPU, the gate array GA1, and the like.

As shown in FIG. 13, each high-speed terminal unit LU1
4 harnesses A that generate address signals for
D1 to D4 are provided by combining a low-level voltage harness connected to the ground and a non-connected harness, and the harness AD1 to 4, the sensors SW and the actuators AK are integrally formed in a connector CN. Is connected to each of the high-speed terminal units LU1 to LU5. The harnesses AD1 to AD4 are connected to address setting external terminals A0 to A3 of the gate array GA2, and
A low-level voltage signal is supplied from the level voltage harness, and a high-level voltage signal that is pulled up to the power supply side inside the gate array GA2 is supplied to the unconnected harness. Address is set. In the example of FIG. 13, the high-speed terminal unit LU3 is configured such that all of the external terminals A0 to A3 are LOW.
Level and set as address 0. The sensors SW and the actuators AK are connected to an input / output port of the gate array GA2 via a signal processing circuit and a drive circuit, respectively. In the figure, PS2 is a gate array G
A DC voltage source that supplies a power supply voltage to A2 and the like.

The high-speed communication line T1 is, for example, RS485
As shown in FIG. 13, each gate array GA1 is connected to a contact between the two-wire communication line Ln and the communication line Ln in the central control unit CU and each of the high-speed terminals LU1 to LU5. And the transmission data received from RS
485, etc., and converts the signal into a signal conforming to the communication line Ln.
While the signal on the communication line Ln is input,
A communication driver DR for outputting the received data to each of the gate arrays GA1 and GA2 is provided.

The gate array GA1 on the center side and the gate array GA2 on the terminal side are configured to switch the mode of the gate array GA formed on the communication IC having the same specifications. Hereinafter, a specific description will be given based on FIG.

As shown in FIG. 14A, when the MODE terminal is set to LOW level, the internal circuit is switched to the master mode in which the internal circuit functions as the gate array GA1 on the center side.
The gate array GA includes an input / output buffer 11 for holding data input / output via the CPU and the bus line, a transmission buffer 13 for holding parallel data for transmission from the input / output buffer 11, and a transmission buffer 13 for the transmission buffer 13. P / S for converting parallel data into serial data
A communication control circuit 16 for transmitting the serial data from the P / S converter 14 with CRC data for error detection from a CRC generator 15 as transmission data; S / P converter 18 for serial-to-parallel conversion, error detector 17 for checking the received serial data for CRC and the like to detect the presence or absence of a communication error, and parallel data and error detector from S / P converter 18 A reception buffer 19 for holding the error data from 17 and outputting it to the input / output buffer 11, and an R / W (read / write) signal and an STB (data strobe) signal, which are control signals for data input / output, are input from the CPU. Interrupt to CPU
The configuration includes a CPU I / F unit 12 that outputs a T signal.

The gate array GA is shown in FIG.
As shown in (b), when the MODE terminal is set to the HIGH level, the internal circuit is switched to the slave mode functioning as the gate array GA2 on the terminal side. In this slave mode, the gate array GA includes the sensors SW and the actuators AK. An input / output port 21 for inputting / outputting data to / from the input / output port; a transmission buffer 13 for holding detection signals from the sensors SW input via the input / output port 21 as parallel data; To convert serial data into serial data
An S conversion unit 14, a communication control circuit 16 for transmitting the serial data from the P / S conversion unit 14 plus CRC data for error detection from a CRC generation unit 15 as transmission data, An S / P converter 18 for converting the received serial data into a CRC and an address and detecting the presence or absence of a communication error;
The parallel data and error detector 17 from the converter 18
And a reception buffer 19 for holding the error data from the I / O port 21 and outputting it to the input / output port 21, and an address setting unit 22 for setting an address for each of the high-speed terminal units LU1 to LU5. In addition, the input / output port 21 has 8
The input / output buffer 11 in the master mode is shared with the port PB of the input / output port 21 in the slave mode.

The central control unit CU performs high-speed communication processing between the high-speed terminal units LU1 to LU5 connected to the high-speed communication line T1 via the gate arrays GA1 and GA2 and the high-speed communication line T1. Is configured to execute. More specifically, as shown in FIG. 15, the central control unit CU specifies an address set for each of the high-speed terminal units LU1 to LU5, and uses the polling selecting method to specify each of the high-speed terminal units LU1 to LU5. And multiplex communication. That is, the microcomputer CPU of the central control unit CU
A request signal (data input of each sensor SW or output request to each actuator AK) to each of the high-speed terminal units LU1 to 5 is output to the gate array GA1 by a transmission interrupt process at a set time interval, and each of the high-speed terminal units is output. Gate array GA receiving return signals (input data or ACK data of each sensor SW) from LUs 1 to 5
In response to the reception interrupt process started by the interrupt signal from No. 1, return signals from the high-speed terminal units LU1 to LU5 are received. The set time interval is set so that communication with all the high-speed terminal units LU1 to LU5 can be performed at the set polling cycle Tp (for example, 5 ms).

The microcomputer CPU of the central control unit CU has a serial communication interface function as a standard function. On the other hand, as shown in FIG. 17 and FIG.
The controller 29 for input / output signal processing provided in
Similarly, it is composed of a one-chip microcomputer having a serial communication interface function as a standard function.
That is, the communication processing for transmitting the input information of the manual operation unit SS including the switches and the volume to the central control unit CU as the control information via the common communication line T2 in each of the controllers 29. Each of the switch modules MU1 to MU3 is configured to include the manual operation unit SS and each controller 29 as the communication processing unit corresponding to the unit.

The low-speed communication line T2 is connected to the high-speed communication line T
1, the communication line Ln ′ is configured using, for example, the RS485 standard, and as shown in FIG.
And the transmission data received from the CPU of the central control unit CU and each controller 29 is transmitted to each contact between the CPU of the central control unit CU and the communication line Ln 'in each of the modules MU1 to MU4.
485, etc., and converts the signal to a signal conforming to the standard.
A communication driver DR 'is provided for outputting a signal on the communication line Ln' and outputting the received data to the CPU of the central control unit CU and each controller 29 while outputting the signal on the communication line Ln '.

The microcomputer C on the center side
Using both the serial communication interface functions provided in the PU and the controller 29 on each module side, the central control unit CU directly performs low-speed communication processing with each of the modules MU1 to MU4 via the low-speed communication line T2. Is configured to execute. Specifically, as shown in FIG. 16, the central control unit CU sequentially designates addresses set for the modules MU1 to MU4 and sequentially receives addresses from the modules MU1 to MU4 by the polling selecting method. Input of data (data of each manual switch and adjustment volume) and output of data to each of the modules MU1 to MU4 (display data of each lamp and display unit) are performed.
That is, the microcomputer CPU of the central control unit CU
Transmits a request signal to each of the modules MU1 to MU4 by a transmission interrupt process at a set time interval, and activates a reception interrupt in response to receiving a return signal from each of the terminal control units LU1 to LU5. Reply signals are received from the modules MU1 to MU4 in the reception interrupt processing. If the timing of the communication process on the low-speed communication line T2 and the timing of the communication process on the high-speed communication line T2 are simultaneous, the communication process on the high-speed communication line T2 is executed with priority. Here, a process of transmitting a request signal to one of the modules MU1 to MU4 and a process of receiving a response signal from one of the modules MU1 to MU4 take about 15 ms.
The set time interval is set so that communication with all of the three modules MU1 to MU4 is performed within a predetermined time (up to 60 ms).

Each of the manual switches provided in each of the switch modules MU1 to MU3 is connected to the ground when the switch is pressed, inputs a LOW level signal (0 volt), and outputs a HIGH level signal (for example, 5 V) when the switch is not pressed. bolt)
Enter Each of the adjusting knobs receives an analog signal that changes within a range of 0 to 5 volts when operated from the lower limit position to the upper limit position of the adjustment range. Then, as shown in FIG. 17, the controllers 29 of the switch modules MU1 to MU3 process the input signals from the manual switches as binary (ON / OFF) digital signals, and convert the analog signals from the respective adjustment volumes. Is subjected to AD conversion processing to 8-bit digital data. On the other hand, controller 2
Numeral 9 outputs a drive signal to each lamp based on the display data transmitted from the central control unit CU to perform a display operation.

As shown in FIG. 18, the display module M
In U4, the controller 29 includes a fuel (fuel) sensor, a water temperature sensor, the engine speed sensor S
5, the respective detection signals from the oil switch, and the output voltage of the alternator are input. The controller 29 determines the fuel meter 70a, the tachometer based on these input signals and the display data transmitted from the central control unit CU. 7
0b, water temperature meter 70c, fir LCD 70d, main LCD
70e, auxiliary speed change lamp 70h, and alarm lamp 70g
Activate the display of the check lamp. The controller 29 transmits detection information from the engine speed sensor S5, the fuel sensor, the water temperature sensor, and the like in response to a transmission request from the central control unit CU. On the other hand, the left and right turn signal lamps 70f are turned on by turning on each of the turn signal switches, and the charge lamps of the alarm lamps 70g are:
The lamp is turned off by the output voltage from the alternator, the brake lamp is turned on by turning on the brake switch, and the oil lamp is turned on by turning on the oil switch.

Each of the modules MU1 to MU4 is connected to a communication line Ln ′ through a dedicated connector,
Using the wiring of the connector, each module MU1
4, an address signal is input. More specifically, as shown in FIG. 27, the unloader switch module MU2 is connected to a communication line L via a connector CN2.
n ', the high-level address signal ad1 from the connector CN2 and the open address signal ad2 are input to the controller 29, and the address 1 is set. Also, as shown in FIG.
The horizontal control switch module MU3 is connected to the connector CN3.
Is connected to the communication line Ln 'via the controller CN3, and an open address signal ad1 and a high-level address signal ad2 are transmitted from the connector CN3.
9, the address 2 is set. Although not shown, similarly, the basic switch module MU1 is set to address 0, and the display module MU4 is set to address 3.

The unloader switch module MU2
The horizontal control switch module MU3 and the horizontal control switch module MU3 are configured so that they can be installed at the other party's position.
Specifically, as shown in FIG.
2 and MU3 are formed in a box of the same size with a snap-in structure that can be attached to and detached from the body V. Then, for example, when the unloader switch module MU2 breaks down, as shown in FIG. 29, the horizontal control switch module MU3 is replaced at the position of the unloader switch module MU2 and connected to the connector CN2 for the unloader switch module. Then, the information of the address 1 is input to the controller 29 of the horizontal control switch module MU3, and the horizontal control switch module MU3 enters a state of functioning as the unloader switch module MU2. That is, the horizontal automatic switch 60a of the horizontal control switch module MU3 is connected to the unloader automatic / stop switch 50a by the horizontal mode switch 6a.
0b is set to the tank extension switch 50b, the reverse vehicle lift switch 60c is set to the tank extension switch 50c,
The horizontal adjustment volume 60e is the stop position selection volume 5
0e, a cross-operated manual operation switch 60
The rise, fall, right rise, and left rise of d function in correspondence with the rise, fall, right turn, and left turn of the manual operation switch 50d, respectively. In addition, the horizontal automatic lamp 60a corresponds to the unloader automatic lamp 50a, the horizontal mode lamp 60b corresponds to the tank extension opening lamp 50b, and the vehicle body rising lamp 60c during reverse movement corresponds to the tank extension closing lamp 50c. Conversely, when the horizontal control switch module MU3 has failed, the unloader switch module MU2 is similarly replaced at the position of the horizontal control switch module MU3.
When connected to the connector CN3 for the horizontal control switch module, the information of the address 2 is input to the controller 29 of the unloader switch module MU2, and the unloader switch module MU2 enters a state of functioning as the horizontal control switch module MU3.

As described above, at least one of the information input sections (each of the switch modules MU1 to MU3) (specifically, for example, the horizontal control module MU3)
And the other information input unit (specifically, for example, the unloader switch module MU2), using the input signal of (1) as an input signal of the control information (for horizontal control) corresponding to the information input unit. A switching means 100 is provided which is capable of switching to a substitute input state which substitutes for an input signal of the control information (for unloader control) which should be originally input.

The switching information input unit (horizontal control switch module MU3) for switching between the normal input state and the substitute input state has the same specifications as the other information input units (unloader switch module MU2). That is, a binary digital signal is input as an input signal of the control information by a manual switch and a cross switch provided in each of the three modules described above, and the analog signal is input by a volume provided by each one. Is input as an input signal of the control information. The switching means 100 is connected to the switching information input unit (horizontal control switch module MU).
3) is switched to the normal input state when the switch module is connected to a normal connection section (connector CN3) for connecting the switch module to the control section CU, and the information input section for switching (horizontal control) Switch module M
In the case where U3) is connected to another connection section (connector CN2) for connecting the other information input section (unloader switch module MU2) to the control section CU, the state is switched to the substitute input state. Is configured.

More specifically, the switching means 100 is connected to the switching information input unit (horizontal control switch module MU).
3) The information input unit (horizontal control switch module MU3) for switching is constituted by the controller 29 provided in 3).
When the information input unit for switching (horizontal control switch module MU3) is connected to the regular connection unit (connector CN3),
Executes a communication process of transmitting input information of the manual operation section SS provided in the horizontal control switch module MU3 as the control information (for horizontal control) corresponding to the switch module; and inputting the switching information When the unit (horizontal control switch module MU3) is connected to the other connection unit (connector CN2) by replacement,
A communication process for transmitting input information of the manual operation unit SS provided in the horizontal switch module MU3 as the control information (for unloader control) corresponding to another information input unit (unloader switch module MU2) is executed. It is configured.

Then, the central control unit CU, based on the input data of the sensors SW and the switches transmitted from the high-speed terminal units LU1 to 5 and the modules MU1 to MU4, based on the input data of the actuators AK. The proper drive contents for all are determined, and the proper drive contents are transmitted as control data to the high-speed terminals LU1 to LU5 to which the actuators AK are connected, while the high-speed terminals to which the actuators AK are connected Unit LU1-5
Is configured to output a drive signal to the actuators AK based on the control data received from the central control unit CU.

Next, as a specific example of the drive control of the actuators AK, a high-speed terminal LU1 provided in the main unit 4 will be described.
A description will be given of a drive configuration for the cutting and raising / lowering cylinder 5 and a pair of left and right steering cylinders 9L and 9R. As shown in FIG.
Is supplied with hydraulic oil from a three-position switching hydraulic control valve 6 operated by a pair of solenoids L1 and L2. The drive terminals (one end) of the solenoids L1 and L2 are connected to the collector terminals of the drive transistors Tr1 and Tr2, respectively. The outputs of the two AND circuits 25 and 26 are connected to the respective bases of the transistors Tr1 and Tr2. One input side of each of the AND circuits 25 and 26 is connected to the port output terminals a and b of the gate array GA2. The other input side is connected to the collector terminals of the transistors Tr2 and Tr1 opposite to the transistors Tr1 and Tr2 to which the outputs of the AND circuits 25 and 26 are connected. Thereby, the transistors Tr1 and Tr
2 are not turned on at the same time, and solenoids L1 and L
2 is driven in accordance with the output of the port output terminals a and b. However, the hydraulic control valve 6
Is biased to return to the center position when neither of the solenoids L1 and L2 is driven.

On the other hand, as shown in FIG. 20, the left and right steering cylinders 9L, 9R are connected to a pair of solenoids L3, L4.
Pressure oil is supplied from a three-position switching type hydraulic control valve 10 that is operated by the controller, and the drive terminals (one end) of the solenoids L3 and L4 are connected to the collector terminals of the drive transistors Tr3 and Tr4, respectively. I have. Two AND circuits 27 and 2 are provided at each base of the transistors Tr3 and Tr4.
8 are connected, one input side of each AND circuit 27, 28 is connected to the port output terminal c, d of the gate array GA2, and the other input side is each AND circuit 2
Transistor Tr to which outputs of 7, 28 are connected
Transistors Tr4 and Tr3 opposite to Tr3 and Tr4
Connected to the collector terminal. Thus, the transistors Tr3 and Tr4 are not turned on at the same time, and one of the solenoids L3 and L4 is driven according to the output of the port output terminals c and d. However, when none of the solenoids L3 and L4 is driven, the hydraulic control valve 10 is biased to return to the center position.

In the above configuration, the central control unit CU
By communication with the basic switch module MU1,
When it is determined that the start switch 44a of the cutting height control provided in the cutting height control operation unit 44 is on, the target height information input by the cutting height adjustment volume 44b and the ultrasonic sensor S6. The proper driving content for the cutting elevating cylinder 5 for maintaining the mowing height at the target height is determined based on the ground height information, and the mowing elevating cylinder 5 is connected with the proper driving content as control data. It is transmitted to the high-speed terminal unit LU1. Then, the high-speed terminal unit LU1 outputs the HI signal from one of the port output terminals a and b of the gate array GA2 according to the received control data.
A GH signal is output from the other, and a LOW signal is output from the other to drive one of the solenoids L1 and L2, thereby causing the mowing cylinder 5 to move up and down.

Similarly to the above, when the central control unit CU determines that the direction control start switch 43a provided in the direction control operation unit unit 43 is on by communication with the basic switch module MU1. Based on the ON / OFF information of each of the direction sensors S1 and S2 received from the high-speed terminal unit LU3 arranged in the mowing unit 1, the combiner adjusts the turning force set by the turning force switching volume 43b while combining. Is determined for the pair of left and right steering cylinders 9L and 9R for causing the vehicle to travel along the planted grain culm row, and the appropriate drive content is used as control data to control the speed of the steering cylinders 9L and 9R. It is transmitted to the terminal unit LU1. Then, the high-speed terminal unit LU1
Is the gate array GA according to the received control data.
A HIGH signal from one of the port output terminals c and d of
The other side outputs a LOW signal to output the solenoids L3 and L
4 to drive one of the pair of steering cylinders 9L and 9R. As a result, the aircraft is steered to the operated steering cylinder 9L, 9R side (for example, to the left if the left steering cylinder 9L is operated).

The central control unit CU provides a display means such as a lamp based on the input data of the sensors SW and the switches transmitted from the high-speed terminal units LU1-5 and the modules MU1-4. The appropriate display contents to be displayed are determined and transmitted as the display data to the respective modules MU1 to MU4. On the other hand, the respective modules MU1 to MU4 determine the appropriate display contents received from the central control unit CU. It is configured to output a drive signal to display means such as the lamp based on the application data.

More specifically, the case of the cutting height control will be described. The central control unit CU checks the ON state of the cutting height control start switch 44a based on the data received from the basic switch module MU1. Command data for turning on the start switch 44a configured as an illuminated switch is transmitted to the MU1, and the main L is transmitted to the display module MU4.
A display command for displaying a cutting height control activation message is transmitted to the CD 70e. And the basic switch module MU
1 turns on the cutting height control start switch 44a in accordance with the lighting command data received from the central control unit CU, and the display module MU4 controls the main LCD 70e according to the display command received from the central control unit CU. The message "Cut height automatic [on]" is sent for a predetermined time (for example, 5
Display for seconds). When the start switch 44a for cutting height control is turned off, a message of "cutting height automatic [off]" is displayed on the main LCD 70e for a predetermined time (for example, 5 seconds).
When the target height information is changed by operating the cutting height adjustment volume 44b, the central control unit C is displayed.
Based on the communication between U and the display module MU4, the value of the target cutting height changed by the cutting height adjustment volume 44b is displayed as a bar graph on the main LCD 70e.

Similarly to the above, in the case of directional control,
The central control unit CU includes the basic switch module MU1.
Start switch 4 for direction control according to the received data from
When the ON state of the switch 3a is confirmed, command data for turning on the start switch 43a configured as an illuminated switch is transmitted to the basic switch module MU1, and the main LCD 70 is transmitted to the display module MU4.
A display command for displaying a direction control activation message is transmitted to e. Then, the basic switch module MU1 turns on the start switch 43a of the direction control according to the lighting command data received from the central control unit CU, and the display module MU4 operates according to the display command data received from the central control unit CU. On the main LCD 70e, a message of "direction automatic [on]" is displayed for a predetermined time (for example, 5 seconds). When the direction control start switch 43a is turned off, a message of "direction automatic [off]" is displayed on the main LCD 70e for a predetermined time (for example, 5 seconds).
When the information of the turning force is changed by operating the turning force switching volume 43b, the central control unit C is displayed.
Based on the communication between U and the display module MU4, the value of the turning force changed by the turning force switching volume 43b is displayed on the main LCD 70e as numerical information.

Next, a control operation in the central control unit CU will be described based on flowcharts shown in FIGS. When the main switch MW is turned on and the power is turned on to supply power to the central control unit CU (at this time, power is also supplied to each of the high-speed terminal units LU1 to LU5 and each of the modules MU1 to MU4). ) First, CP
The reset state of U is released and the control starts. Then, after performing the initialization processing, a set time interval (5
ms), the input processing of the analog signal from the analog sensor and the pulse signal from the pulse sensor is performed, and the operation of all the high-speed terminal units LU1 to LU5 and the modules MU1 to MU4 are stabilized after the main switch is turned on. The low-speed communication processing between the modules MU1 to MU4 is stopped until the time required for the operation (e.g., 250 ms) elapses, and the gate array GA1 is held in the reset state to communicate with the high-speed terminal units LU1 to LU5. The high-speed communication process is stopped (# 1 to # 6).

When the time necessary for stabilizing the operation of all the high-speed terminal units LU1 to LU5 and the modules MU1 to MU4 elapses, the CPU starts low-speed communication processing with each of the modules MU1 to MU4. Together with the gate array GA
1 is released, and high-speed communication processing with each of the high-speed terminal units LU1 to LU5 is started (# 7 to # 8). Here, the low-speed communication process and the high-speed communication process are performed by the interrupt process as described above. In the transmission interrupt process, as shown in FIG. 22, a request signal for input or output to each high-speed terminal LU and module MU is provided. In the reception interruption process, as shown in FIG. 23, a reception process for receiving a reply signal from each high-speed terminal LU and module MU is performed.

By the low-speed communication processing and the high-speed communication processing, the CPU sufficiently accumulates input data from the sensors SW, the manual switch, the adjustment volume, and the like, and confirms the start-up of the system. Of the actuators AK and display means H based on the
An arithmetic process for determining the display content of S is performed (# 5,
# 9). The drive data and display data obtained by this calculation are transmitted to each high-speed terminal unit LU and module MU in low-speed communication processing and high-speed communication processing.

When the main switch MW is turned off to stop the operation of the combine, the CPU stops the low-speed communication processing and resets the gate array GA1 to stop the high-speed communication processing (# 4, # 10 ~ #
11). Then, for 5 seconds after the main switch is turned off,
A solenoid for stopping the engine is driven to shut off fuel supply to the engine, and detection data, manual switches, and adjustments of the sensors in the terminal control units LU and MU stored in a memory such as a RAM in the CPU. A process of writing data such as volume (information of a control target and a control state) in the memory MEM is collectively performed, and after 5 seconds, the driving of the solenoid is stopped (# 12 to # 1).
5). The information on the control target and the control state written in the memory MEM is used as reference data at the start of the next control.

Based on the flowchart shown in FIG.
Control operations in the high-speed terminal units LU1 to LU5 will be described. First, it is determined whether or not it is a polling signal for itself based on an address in received data. If it is determined that the signal is a polling signal for itself, it is determined whether it is a request for input data from the sensors SW or an output request for the actuators AK. In the case of an input request, a detection signal from the sensors SW is input, and sensor data for return is created based on the input signal. On the other hand, in the case of an output request, the received data is used as a drive signal for the actuators AK. Output and create ACK data for reply. Then, the sensor data or ACK data created above is transferred to the central control unit C.
Send to U.

Based on the flowchart shown in FIG.
The control operation in each of the modules MU1 to MU4 will be described. First, it is determined whether or not the polling signal is for itself based on the address in the received data. If it is determined that the polling signal is for itself, a request for input data from a manual switch, an adjustment volume, or the like, a display lamp, a meter, an LCD, or the like is made. Judge whether it is an output request to the display, and in the case of an input request, input a detection signal from a manual switch or an adjustment volume, etc., and create reply data based on it, while in the case of an output request, A drive signal is output to a display lamp, a meter, or an LCD display based on the received data, and ACK data for reply is created. Then, the created reply data is transmitted to the central control unit CU.

[Another Embodiment] In the above embodiment, two information input units (specifically, the unloader switch module MU2 and the horizontal control switch module MU3)
It is configured to the same specifications, that is, as the manual operation unit SS,
A case has been described in which three push button switches, one cross-shaped switch, and one volume are provided, and the input signals of all the switches and volumes can be substituted between the modules. , Manual operation section S
A configuration in which only part of S is substituted may be used.

Hereinafter, the horizontal control switch module MU3
Is not the same as the unloader switch module MU2, with reference to FIG. This horizontal unloader switch module MU2 includes a manual operation switch 5 for ascending, descending, right turning, and left turning of a cross operation key type as a manual operation unit SS having the same configuration as that of the above embodiment.
1c, and as a manual operation unit SS having a configuration different from that of the above-described embodiment, an automatic switch 51a for automatically operating the unloader 32, a stop switch 51b for stopping the unloader 32, and a fir discharge configured as an illuminated push button switch. The target stop positions of the switch 51d, the tank overhanging open switch 51e, the tank overhanging close switch 51f, and the unloader 32 are set to the left side of the machine, the rear side of the machine,
Stop position selection volume 5 to be selected from the right side of the aircraft
1 g is provided. Then, only the function of the manual operation switch 51c is configured to be input by the manual operation switch 60d of the horizontal control switch module MU3 instead.

Next, another embodiment of the switching means 100 will be described. In the above embodiment, the connection positions of the two information input units (the unloader switch module MU2 and the horizontal control switch module MU3) to the control unit CU are switched to switch between the normal input state and the substitute input state, respectively. In the following, another embodiment in which switching is performed without replacement will be described. That is, there is provided switching command means KS for issuing a switching command to a normal input state or a substitute input state based on a manual operation command, and the switching means 100 is provided with the switching information input unit (for example, the horizontal control switch module MU3). ) Is connected to the control unit CU and the switching command means K
When the switch to the normal input state is commanded in S, the state is switched to the normal input state, and the switch command means KS
When the switching to the substitute input state is instructed by the switch, the state is switched to the substitute input state.

Specifically, as described above, each of the two information input units (the unloader switch module MU2 and the horizontal control switch module MU3) is operated manually by the user to manually input the control information. Operation section SS
And input information of the manual operation unit SS to a common communication line T2.
And a communication processing unit 29 for transmitting the control information to the control unit CU via the control unit CU, as shown in FIG.
Is constituted by the communication processing unit 29 provided in the switching information input unit (for example, the horizontal control switch module MU3), and the switching command means KS transmits the switching command to the switching information input unit. (For example, a push-button type switch command switch 6 for instructing the communication processing unit 29 provided in the (for example, horizontal control switch module MU3))
0f, and the horizontal control switch module M
When the switching to the normal input state is instructed by the switch command switch 60f (when the switch command switch 60f is not pressed and is in the open state), the communication processing unit 29 provided in U3 provides the horizontal control switch module MU3. A communication process for transmitting input information of the manual operation unit SS provided as the control information corresponding to the horizontal control switch module MU3;
When the switch to the substitute input state is commanded at f (when the switch command switch 60f is pressed and the switch is in the ground state), the input information of the manual operation unit SS provided in the horizontal control switch module MU3 is transmitted to the It is configured to execute a communication process of transmitting the control information corresponding to the other information input unit (unloader switch module MU2). When the switching command means KS issues the switching command to the communication processing section 29 provided in the information input section for switching (horizontal control switch module MU3), the switching command switch 60f of the push button type is used. In addition to the means for directly inputting, for example, the switching information is input by a switch or the like provided in the central control unit CU, and based on this input, the command of the switching command from the central control unit CU to the information input unit for switching is input. It can also be configured to transmit data.

In the above embodiment, each of the information input units (the unloader switch module MU2 and the horizontal control switch module MU3) transmits the manual operation unit SS and the input information of the manual operation unit SS via the common communication line T2. And a communication processing unit 29 for transmitting the control information to the control unit CU.
Reference numeral 00 denotes a configuration constituted by the communication processing unit 29 provided in the switching information input unit (for example, the horizontal control switch module MU3). However, each information input unit is connected without such communication means. The control means is directly connected to the control unit to input control information, and the switching means 100 is constituted by a control unit, and the connection position of each information input unit to the control unit is changed so that the normal input state and the The switching input state may be switched, or the switching command may be input to the control unit by the switching command means KS such as a manual switch to switch between the normal input state and the substitution input state.

In the above embodiment, the switching means 100
Two information input units of a plurality of information input units composed of one switch module MU1 to MU3 are configured as switching information input units that can be switched between the normal input state and the substitute input state. But, for example,
Only one module may be used as a switching information input unit, or three switch modules MU1 to MU
All of 3 may be configured as a switching information input unit.

In the above embodiment, the control unit for executing a plurality of types of control is constituted by the central control unit CU for centrally executing the plurality of controls. However, the present invention is not limited to this. A plurality of control units that execute each control separately may be configured.

In the above embodiment, the present invention is applied to a combine as a working vehicle to execute unloader control, body attitude control, threshing control, handling depth control, and the like as a plurality of types of control. 100, an information input unit MU2 for unloader control and an information input unit MU3 for horizontal control.
Although the configuration constituted by the above is exemplified, the other information input unit for control may be configured as the information input unit for switching. Further, the present invention can be applied to various work vehicles other than the combine.

[Brief description of the drawings]

FIG. 1 is an overall side view of a combine.

FIG. 2 is a front side view of the combine.

FIG. 3 is a schematic plan view of the combine.

FIG. 4 is a longitudinal side view of the threshing unit.

FIG. 5 is a power transmission diagram of the combine.

FIG. 6 is a plan view of a control unit.

FIG. 7 is a rear view of the control unit.

FIG. 8 is a front view of a basic switch module.

FIG. 9 is a front view of the unloader switch module.

FIG. 10 is a front view of the horizontal control switch module.

FIG. 11 is a front view of a display module.

FIG. 12 is a block diagram showing the entire control configuration of the combine;

FIG. 13 is a circuit block diagram showing a main part of a combine control configuration.

FIG. 14 is a circuit diagram of a communication IC.

FIG. 15 is a waveform diagram of a polling selecting signal in high-speed communication processing.

FIG. 16 is a waveform diagram of a polling selecting signal in low-speed communication processing.

FIG. 17 is a block diagram showing a control configuration of a switch module.

FIG. 18 is a block diagram showing a control configuration of a display module.

FIG. 19 is a schematic plan view of the front side of the combine.

FIG. 20 is a circuit diagram showing a drive configuration for mowing up / down and steering operations.

FIG. 21 is a flowchart showing a control operation in a central control unit.

FIG. 22 is a flowchart showing a control operation in a central control unit.

FIG. 23 is a flowchart showing a control operation in a central control unit.

FIG. 24 is a flowchart showing a control operation in a terminal control unit.

FIG. 25 is a flowchart showing a control operation in a terminal control unit.

FIG. 26 is a schematic sectional view showing a mounting structure of the switch module.

FIG. 27 is a circuit configuration diagram of a horizontal control switch module.

FIG. 28 is a circuit configuration diagram of an unloader switch module.

FIG. 29 is a circuit configuration diagram when the horizontal control switch module is replaced for an unloader.

FIG. 30 is a front view of an unloader switch module according to another embodiment.

FIG. 31 is a circuit configuration diagram of a horizontal control switch module according to another embodiment.

[Explanation of symbols]

 29 communication processing unit 32 unloader 100 switching unit CU control unit CN2 connection unit CN3 connection unit KS switching instruction means SS manual operation unit MU2 information input unit MU2 unloader control input unit MU3 information input unit MU3 attitude control input unit T2 communication line V Airframe

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) A01F 12/32 A01F 12/32 C G05B 7/02 G05B 7/02 BF Term (Reference) 2B074 AA04 AB01 AC02 AD05 AF02 AG03 BA18 CB02 CB03 CE01 DA01 DA02 DA06 DB01 DB04 DE03 DE05 EB02 EB08 EB11 EC01 GC04 2B095 AA03 AA07 AA12 BA03 BA11 BA21 BA25 BA30 BB03 BB12 BB15 BB29 CA02 CB05 EA02 2B304 KA08 LA02 LC13 LA04 GB20 HA06 HA07 HA16 HB06 HB07 HB11 JA22 JA23 JA29 JB03 JB05 JB08 JB09 KA03 KA80 LA15 LA18 LB03 MA05 MA22 MA26 MA33 MA34 MA38 MA41 MA42 MA47 MA51 MA52 MA53 5H209 AA17 BB08 BB09 BB18 CC07 CC03 DD01 DD01 EE

Claims (7)

[Claims] A control unit for executing a plurality of types of control and a plurality of information input units for manually inputting control information for the plurality of types of control to the control unit are provided. A control device for a work machine, comprising: a normal input state in which an input signal of at least one of the plurality of information input units is an input signal of the control information corresponding to the information input unit. A work machine control device provided with a switching means capable of switching between a substitute input state which substitutes for an input signal of the control information which should be originally input by another information input unit. 2. The control device for a work machine according to claim 1, wherein the information input unit switched between the normal input state and the substitute input state has the same specification as the other information input unit. 3. The switching means, wherein a switching information input unit which is switched between the normal input state and the substitute input state is connected to a regular connection unit for connecting the information input unit to the control unit. When the input state is switched to the normal input state, and the switching information input section is connected to another connection section for connecting the other information input section to the control section. The control device for a work machine according to claim 1 or 2, wherein the control device is configured to switch to the substitute input state. 4. Each of the information input units is a manual operation unit for inputting the control information by manual operation, and inputs the input information of the manual operation unit to the control unit via a common communication line. And a communication processing unit for transmitting the control information as the control information. The switching unit is configured by the communication processing unit provided in the switching information input unit. The communication processing unit provided in the unit, when the switching information input unit is connected to the regular connection unit, the control information corresponding to the information input unit of the manual operation unit input information Execute the communication process to be transmitted as, and, when the switching information input unit is connected to the other connection unit is connected, the input information of the manual operation unit to the other information input unit Communication transmitted as the corresponding control information The control device for a work machine according to claim 3, wherein the control device is configured to execute a process. 5. A switching command unit for issuing a switching command to the normal input state or the substitute input state based on a manual operation command, wherein the switching unit is configured to switch between the regular input state and the substitute input state. In a state in which the switching information input unit is switched to the control unit, the switching to the normal input state is performed when the switching to the normal input state is instructed by the switching instruction unit, and 3. The control device for a work machine according to claim 1, wherein the switching to the substitute input state is performed when the switch to the substitute input state is commanded by the switching instruction unit. 6. Each of the information input units is a manual operation unit for inputting the control information by manual operation, and inputs the input information of the manual operation unit to the control unit via a common communication line. A communication processing unit for transmitting the control information as the control information, and the switching unit is configured by the communication processing unit provided in the switching information input unit, and the switching command Means is configured to instruct the switching command to the communication processing unit provided in the information input unit for switching, and the communication processing unit provided in the information input unit for switching comprises the switching command When switching to the normal input state is instructed by the means, a communication process of transmitting input information of the manual operation unit as the control information corresponding to the information input unit for switching is performed, and The switching command means When switching to a substitute input state is instructed, a communication process of transmitting input information of the manual operation unit as the control information corresponding to the other information input unit is performed. 6. The control device for a working machine according to 5. 7. A combine provided with the control device for a work machine according to claim 1, wherein the plurality of information input sections include information for controlling operation of an unloader for discharging grain. And an attitude control input section for inputting information for attitude control of the aircraft.