JP2000276218A - Controller for working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent the information of a non-proper reference value from being stored while reducing the operation burden of an operator as little as possible in the case of reference value storage processing. SOLUTION: A control means 100 performs automatic operating processing for automatically operating actuators M1-M8 for operation so that the respective parts of a machine to be the object of reference value storage processing can be turned into reference state and when the respective parts of the machine defined as the object are turned into reference state by the automatic operation of these actuators M1-M8, corresponding to the detection information from operating state detecting means S1-S20 for detecting the operating state of respective parts of that machine, reference value storage processing is executed for storing the information on the reference value in a reference value storage means 7A.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operating state detecting means for detecting an operating state of each section of a machine, an operating actuator for operating each section of the machine, and a reference value storage mode. A reference value storage process for storing information of a reference value corresponding to the detection information of the operation state detection means when the respective parts of the target machine are in the reference state in a reference value storage means, and, in the normal control mode, Normal control for obtaining the actual operation state of each part of the machine based on the detection information of the operation state detection means and the storage information of the reference value storage means, and controlling the operation of the actuation actuator based on the information of the actual operation state The present invention relates to a control device for a work machine provided with control means for executing processing.

[0002]

2. Description of the Related Art In a control device for a working machine, various sensors are used as operating state detecting means for detecting the operating state of each section of a machine such as a cutting section and a threshing section in a combine for agricultural work which is an example of a working machine. In order to appropriately control the operation of the mowing unit, threshing unit, etc., based on this information, the detected value of the sensor when each unit of the machine is operated in the reference state is stored in the memory as the reference value, and the actual value is stored in the memory. In control,
The detection value of each sensor is compared with the information of the reference value to obtain information that accurately indicates the actual operation state of each part of the machine, and the operation of the actuator for operation such as the electric motor is controlled based on the information of the actual operation state. Each part of the machine is operated.

Conventionally, when the information of the reference value is stored, an operator manually operates a manual switch so that each part of a target body is in a reference state as disclosed in Japanese Patent Application Laid-Open No. Hei 10-91233. When an operation command for manually operating each part of the machine is input by, for example, the control means operates the actuator according to the manual operation instruction to activate each part of the machine, and when the operator determines that each part of the body is in the reference state by the operation, A reference value storage process is instructed by a switch or the like, and the control unit stores information on the reference value corresponding to the detected value of the sensor at that time.

[0004]

However, in the above-mentioned prior art, the operator operates each part of the body to the reference state by manual operation, judges that the reference state has been reached, and instructs storage processing of the reference value. Therefore, when the reference value storage process is performed, the operator's operation load becomes excessive, and if the operator erroneously issues a storage command in a state other than the reference state, incorrect reference value information is stored. There was a fear.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to reduce the operation burden on an operator as much as possible when performing a reference value storage process in order to eliminate the above-mentioned disadvantages of the prior art. It is another object of the present invention to appropriately prevent information of an inappropriate reference value from being stored.

[0006]

According to a first aspect of the present invention, in the control apparatus for a work machine described at the beginning, the control means includes a control unit for controlling a machine unit among the machine units in the reference value storage mode. Automatically actuate the actuator for operation so that the reference state, the detection information of the operation state detection means when each part of the target machine is in the reference state by the operation, as the reference value It is configured to ask. In other words, in the reference value storage mode, the operation actuator for operating each machine component is automatically operated so that each machine component is in the reference state, and the machine component is automatically operated by the actuator. The information of the reference value is obtained in correspondence with the detection information of the operation state detection means when the reference state is reached, and stored in the reference value storage means.

Therefore, the machine parts to be subjected to the reference value storage processing are automatically operated to be in the reference state, and the detection information of the operating state detecting means when the machine parts are in the reference state is set to the reference value. In the case where the operator manually operates each part of the body to the reference state and judges that the reference state has been reached, and instructs the storage process, the operator is required to perform the storage process. The operation burden on the operator is reduced as much as possible, as compared with the case where the operation load becomes excessive and the operator may erroneously issue a storage command in a state other than the reference state and the information of the inappropriate reference value may be stored. while doing,
It is possible to appropriately prevent the information of the inappropriate reference value from being stored.

According to a second aspect, in the first aspect, the control means is configured to, when automatically operating the actuator for operation, display the operation details on a display means. That is, when the operation actuator is automatically operated so that each machine part is in the reference state, the operation content of the actuator is displayed on the display means. Therefore, the operator or the like should see the display of the above operation contents and take appropriate measures such as confirming whether or not each of the machine parts operating according to the displayed operation contents operates properly in accordance with the displayed contents. Can be
Advantageous measures of claim 1 are obtained.

According to a third aspect of the present invention, in the second aspect, a manual input means for inputting confirmation information for confirming automatic operation of the actuator for operation is provided, and the control means is provided on the display means. The operation actuator is automatically operated only when the confirmation information is input by the input means in a state where the operation content of the operation actuator is displayed. That is, when the operation information of the operation actuator is displayed on the display means, and the confirmation information is input by manual input means for inputting confirmation information for confirming automatic operation of the operation actuator, However, when the confirmation information is not input by the input means, the activation actuator is not automatically activated.

Therefore, the operator or the like looks at the display of the above operation contents and inputs confirmation information when the operation actuator may be automatically operated in order to bring the target machine parts to the reference state. On the other hand, while automatically operating the actuator for operation, for example, if it is determined that the state of each component of the target machine is inappropriate for operating to the reference state, after correcting the state, the above confirmation information is input. The operation actuator can be automatically operated in such a manner that the machine parts can be forcibly operated from the inappropriate state described above, thereby preventing inconvenience such as not being able to set an appropriate reference state. Thus, the preferred means of claim 2 is obtained.

According to a fourth aspect, in the second or third aspect, the control means determines that a value detected by the operation state detection means when each part of the machine is in a reference state is a value corresponding to the reference state. If the detected value is within the permissible range, the detected value at that time is obtained as the reference value, and the detected value of the operation state detecting means when the respective parts of the machine are in the reference state is out of the permissible range. For example, the detection value is not obtained as the reference value, and the display means displays that the detection value of the operation state detection means is outside the allowable range.

That is, only when the detected value of the operating state detecting means when each machine part is in the reference state is within an allowable range allowed as a value corresponding to the reference state of each machine part, the operating state is detected. The detected value of the operating state detecting means is obtained as the reference value, but if the detected value of the operating state detecting means when each part of the machine is in the reference state is out of the permissible range, the detected value of the operating state detecting means is the reference value. A value that is not obtained as a value and the detected value is outside the allowable range is displayed on the display unit. Therefore, when the detected value of the operation state detecting means when each machine part is in the reference state is within the above-mentioned allowable range, that is, a normal value, an appropriate reference value can be stored for each machine part. If the detected value of the operation state detecting means when each part is in the reference state is out of the allowable range, that is, an abnormal value, the abnormal value is not stored as the reference value and the abnormality of the detected value is displayed. Therefore, it is possible to take appropriate measures such as checking and repairing the operating state detecting means and the machine parts in which the abnormality is displayed, and the preferable means of claim 2 or 3 is obtained.

According to a fifth aspect of the present invention, in any one of the first to fourth aspects, a manual operation means which can be changed to two different operation states, and a main power supply for turning on / off the power supply to the respective parts of the machine. A switch, wherein the control unit stores the reference value when the main switch is switched from an off state to an on state when the operation unit is in one of the two operation states. It is configured to be activated in the mode.

That is, when the manual operation means which can be changed to two different operation states is in one of the two operation states, the main switch for turning on / off the power supply to each part of the machine is turned off. As the state is switched from the ON state to the ON state, the control means is activated in the reference value storage mode. Therefore, when power is supplied to the machine parts, the start-up is properly instructed by a manual operation means such as a switch, and the special reference value storage mode different from the normal control mode for the machine parts is reliably established. In this way, the preferred means according to any one of claims 1 to 4 can be obtained.

[0015]

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.
The cutting unit 1 is mounted on the front part of the body V equipped with
2 is provided, and a maneuvering section 13 is provided behind the reaping section 12.
A threshing unit 14 for threshing and sorting the harvested grain culm, a Glen tank 15 for storing grains supplied from the threshing unit 14, an unloader 9 for discharging the grains in the Glen tank 15, and the like are mounted. Here, the above-mentioned body V, traveling device 1
1, the reaping unit 12, the control unit 13, the threshing unit 14, the Glen tank 15, the unloader 9, and the like correspond to each unit of the machine.

The cutting unit 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 raised 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 device 19 at the base of the stock.
A pair (see FIG. 7) is provided in the length direction of the culm (the spike side and the root side). And is adjusted so as to be in an appropriate state where the tip of the transported grain culm is located between the pair of tip sensors S3 (that is, a state in which only the stock side sensor detects the grain culm). .
Here, an electric motor or the like that swings the transfer device 19 constitutes a handling depth adjusting actuator M1, and a handling depth for detecting a handling depth adjustment position by the handling depth adjusting actuator M1. The position sensor S12 is provided as a rotary potentiometer that detects the swing operation amount of the transfer device 19 (see FIG. 7). In the pair of head sensors S3, when the head-side sensor detects a grain culm and the stock-side sensor does not detect a grain culm, it is determined that a floating straw is being detected. "On"
If it is set to the state, an alarm is issued with a buzzer or the like.

The second weeding implement 16 from the left as viewed from the front of the aircraft is provided with a lateral body of the aircraft V with respect to the cereal culm row introduced into the cereal culm carrying path formed between the plurality of weeding implements 16. In order to detect the position in the direction, a pair of left and right direction sensors S10 provided with a detection bar rotatable around the axis of the vertical axis and urged to return to the lateral position of the machine are provided. That is,
The position of the machine V in the machine lateral direction with respect to the grain culm row is detected based on the rotation state in which the detection bar contacts the grain stem and rotates around the vertical axis. Then, based on the detection information of the left and right direction sensors S10, the left and right operation is performed such that the transmission of power to the left and right crawler traveling devices 11 is performed intermittently so that the machine body V travels along the grain stem row. A steering cylinder and the like for operating the direction clutch are provided, and the steering cylinder and the like constitute a direction control actuator M2 (see FIG. 7). Here, each steering clutch is duty-driven, and the turning force is increased by increasing the ratio of the on-time to the off-time (duty ratio) of the steering clutch to a large value, and is decreased by decreasing the ratio. Thus, the magnitude of the turning force can be changed and set freely.

The left and right crawler traveling units 11 are configured to be able to individually drive up and down with respect to the machine body V, and a rolling sensor S4 for detecting the inclination of the machine body V with respect to the horizontal state is provided. Based on the detection information, it is possible to perform rolling control for maintaining the body V horizontally or at a set angle regardless of the inclination of the ground. Hereinafter, the left and right crawler traveling devices 1
The mounting structure of the first airframe V will be described. As shown in FIGS. 3 and 4, a horizontal frame 49b is connected to a lower part of a main frame 49a in a front-rear direction constituting the body V, and the left and right track frames 48 are connected and fixed by the horizontal frame 49b. A drive sprocket 47 and a tension sprocket 46 are attached and fixed to the front and rear ends of the track frame 48, respectively.
A front and rear movable frame 44 pivotally supporting a plurality of idler wheels 45 is mounted on the track frame 8 at a middle position between the idler wheels 45 so as to be vertically swingable on a track frame 48. A rolling element 43 is supported. Front and rear movable frame 44
The lower ends of the front and rear bell cranks 41A and 41B pivotally supported on the track frame 48 in the vertical direction are attached to the front and rear positions of the front and rear bell cranks 41A and 41B.
B is connected by a connecting rod 42, and an upper end of the rear bell crank 41B is connected to a hydraulic rolling elevating cylinder 40 for elevating operation for elevating the body V with respect to the ground portion of the crawler traveling device 11. Have been. Here, the left and right rolling elevating cylinders 40 and the like constitute a rolling control actuator M4 (see FIG. 7).
Thereby, the right and left rolling elevating cylinders 40 are extended and retracted by the same amount in the same direction to raise or lower the machine body V with respect to the contact portion of the crawler traveling device 11, or the left and right rolling elevating cylinders 40 Can be operated by expanding and contracting with different amounts of operation to set the horizontal inclination posture of the body V to the set posture.

In each of the left and right crawler traveling units 11, the track frame 48 of the rear bell crank 41B is provided.
Of the crawler traveling device 1
Potentiometer type airframe elevating sensors 17a and 17b for detecting an elevating position with respect to the ground contact portion 1 are provided,
Limit switches 51 and 52 are provided at both ends of the swinging operation of the rear bell crank 41B. In other words, an upper limit switch 51 that detects the upper limit position of the fuselage where the fuselage has risen most with respect to the contact portion of the crawler traveling device 11.
And a lower limit switch 52 for detecting the lower limit position of the fuselage where the fuselage has descended most to the ground contacting portion of the crawler traveling device 11, whereby the rear bell crank 41B
Consequently, it is detected whether or not the rolling lift cylinder 40 has reached the end of the movable stroke.

The unloader 9 has a discharge port 9a with a downward attitude at the distal end, and a support section 10 with its base end side oscillating up and down by a hydraulic cylinder 62 around a horizontal axis Z.
, And the supporting portion 10 is pivotally supported by the body V in a state where it can be turned around the vertical axis Y by an electric motor 63 for turning operation. An unloader position sensor S6 composed of a potentiometer for detecting the turning position of the support unit 10 and an unloader lifting sensor S19 composed of a potentiometer for detecting the swing angle of the unloader 9 are provided. The hydraulic cylinder 62, the electric motor 63, and the like constitute an unloader control actuator M5 (see FIG. 7). still,
FIG. 2 shows a state where the unloader 9 is operated to the home position for storage 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). S15 is a sheave sensor that detects the thickness of the processed material on the swing sorting plate 24. The torsion 23 is for blowing off the straw chips on the swinging sorting plate 24. By opening and closing the rear fan case cover 23a with the torch wind force adjusting motor M7, the opening degree is larger, so that the opening degree is larger. In order to reduce the wind force to the side, the wind force (referred to as toumi wind force) applied to the processed material on the swing sorting plate 24 is changed.
A toumi wind force sensor S9 (see FIG. 7) is provided for detecting the opening degree state of the torsion force and detecting the toumi wind force.

The sorting device B is designed so that the opening degree of the chaff and the amount of the processed material detected by the sheave sensor S15 and the vehicle speed sensor S16 described later, humidity, etc. A control (sorting control) for adjusting the wind power of the storm 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.

FIG. 6 shows a power transmission system. 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 transmission is transmitted to the transmission section 34 via the continuously variable transmission 33. The output transmitted to the transmission section 34 is switched to one of high speed, normal, and lodging by an auxiliary transmission (not shown) and transmitted to the crawler traveling device 11. A part of the output transmitted to the transmission section 34 is transmitted to the reaping section 12 via the reaping clutch 35. In the figure, S7 is a threshing switch for detecting the on / off state of the threshing clutch 31, S16 is a vehicle speed sensor for counting the number of revolutions input to the transmission section 34 and detecting the traveling speed, and S20 is , Traveling clutch 32
Is a potentiometer type traveling clutch sensor for detecting whether or not is a neutral position.

S5 is an engine speed sensor comprising an electromagnetic pickup for applying a magnetic field to the flywheel ring gear of the engine E to obtain a sine wave having a frequency corresponding to the number of teeth per unit time. Here, the higher the load on the engine E, the lower the rotational speed thereof. Therefore, the load on the engine E is determined based on the amount of decrease in the rotational speed from the engine rotational speed under no load. Then, in order to maintain the engine E at an appropriate load, the vehicle speed sensor S1 is controlled so that the rotation speed detected by the engine rotation speed sensor S5 is maintained at an appropriate rotation speed, that is, a target rotation speed.
Under the condition that the traveling speed detected at 6 does not exceed the set upper limit vehicle speed, the vehicle speed control for operating the shift motor M8 for shifting the continuously variable transmission 33 is executed. here,
The speed change motor M8 is a vehicle speed control actuator M
8 (see FIG. 7).

The control section 13 is provided with an accelerator lever for raising the engine E to a set rotation speed, and an accelerator position sensor S18 for detecting the operation position of the accelerator lever is provided as a potentiometer. (See FIG. 7). Here, the accelerator lever is configured to be operable between an idling position on the low rotation side and a maximum rotation position, and is operated at the idling position when the engine is started, and when the vehicle starts traveling to perform a mowing operation. Is operated to the rated rotational speed position set on the lower rotational speed side than the maximum rotational speed position. Then, although not shown, the fuel injection amount supplied to the engine E is adjusted based on the detection information of the accelerator position sensor S18, and the engine speed is controlled to the speed corresponding to the operation position of the accelerator lever. It is configured as follows.

At the right front side of the control section 13, a reaping section 1 is provided.
There is provided a cross-operation-type cutting height steering lever 6 which is also used as a mowing elevating lever for manually lifting and lowering the vehicle 2 and a steering lever for manually turning the traveling machine V left and right. That is, when the cutting height steering lever 6 is pivoted rearward, the cutting unit 12 is raised, and when the cutting height steering lever 6 is pivoted forward, the cutting unit 12 is lowered, and the cutting height steering lever 6 is pivoted to the left. When the operation is performed, the body V makes a left turn, and when the body V is swung to the right, the body V makes a right turn. In order to detect the amount of swing operation of the cutting height steering lever 6 in each direction of the cutting elevation and the steering operation, a cutting elevation detection sensor S13 and a steering operation detection sensor each constituted by a potentiometer. S14 is provided (see FIG. 7).

The left front panel of the control unit 13 includes:
A display unit 4 for displaying various information is provided. As shown in FIG. 8, the display unit 4 includes a pointer-type fuel meter 4a, a pointer-type tachometer 4b, a water temperature meter 4c, a fir display unit 4d that displays the amount of fir in the Glen tank 15, A main display unit 4e for displaying various messages, graphs, and the like is provided. Further, left and right turn signal lamps 4f, various warning lamps 4g for charging, charging, brake, oil, and checking, and the auxiliary transmission An auxiliary speed change lamp 4h is provided to indicate whether the switching state of the device is high speed, standard, lodging, or neutral. The main display section 4e is composed of a dot matrix type liquid crystal graphic display. In the figure, a bar graph indicating the load level of the engine is placed on the upper side, and the processing on the swing sorting plate 24 detected by the sheave sensor S15 is performed. An example is shown in which bar graphs indicating physical quantities are respectively displayed below.

On the left side of the seat of the control unit 13,
A control on / off key provided corresponding to each control for inputting command information such as start / stop of each of the aforementioned controls (handling depth control, cutting height control, rolling control, direction control, sorting control, etc.) 2 and a deep-hand switch 3a and a shallow-hand switch 3b for manually adjusting the handling depth to the deep-hand side or the shallow-hand side, respectively.
And an operation unit including a check switch 3c and the like (see FIG. 7). The control on / off key is configured as a push button switch that alternately switches between a push-up state and a push-down state. Control is stopped in a push-up state, and control is started in a push-down state. . In addition, a deep-handling switch 3a and a shallow-handling switch 3b
The check switch 3c is configured as a normal push button switch. Here, the check switch 3c is
It functions as a manual operation means that can be changed between two different operation states, that is, a state where the switch is connected to the ground by pressing the switch (ON state) and a state where the switch is not pressed (OFF state).

Next, the control structure of the combine is shown in FIG. A control unit 7 configured by using a microcomputer is provided, and the control unit 7 includes the various sensors, that is, the ultrasonic sensor S1 and the stock sensor S.
2. Ear sensor S3, rolling sensor S4, engine speed sensor S5, unloader position sensor S6, threshing switch S7, chaff opening sensor S8, turtle wind sensor S9, direction sensor S10, harvesting elevating position sensor S11,
Handling depth position sensor S12, cutting and lifting operation detection sensor S1
3, steering operation detection sensor S14, sheave sensor S15,
Vehicle speed sensor S16, left and right body lifting sensors S17a,
17b, the accelerator position sensor S18, the unloader elevating sensor S19, and the detection information of the traveling clutch sensor S20 are input. The control ON / OFF key 2, the deep switch 3a, the shallow switch 3b, and the check switch 3c are input. Each piece of information is also input to the control unit 7.

An OFF position (OFF state) for turning off power supply from a drive power source (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 MW, and switching position information of the main switch MW is also input to the control unit 7. That is, the main switch MW corresponds to a main switch that turns on and off the power supply to each part of the machine.

On the other hand, from the control unit 7, the display unit 4, the actuator M1 for adjusting the handling depth, the actuator M2 for direction control, the actuator M3 for cutting height control, the actuator M4 for rolling control, the actuator M5 for unloader control, Driving signals are output to each of the electric motors M6 and M7 for adjusting the opening degree of the chaff and the wind force for adjusting the wind speed of the turtle, and the actuator M8 for controlling the vehicle speed. Further, the control unit 7 includes a nonvolatile memory 7A such as an EEPROM.

In the above, the actuators M1
To M8 correspond to actuating actuators for actuating various parts of the machine, and the various sensors S1 to S20
Corresponds to an operation state detecting means for detecting an operation state of each section of the machine.

Then, using the control unit 7,
Reference value storage mode described below (hereinafter referred to as fine adjustment mode)
A reference value for storing information of a reference value corresponding to detection information of each of the sensors S1 to S20 when a target machine part among the machine parts is in a reference state, in the memory 7A as a reference value storage means. Execute storage processing, and
In a later-described normal control mode, each of the sensors S1 to S20
Control means for determining the actual operation state of each part of the machine based on the detected information and the information stored in the memory 7A, and executing a normal control process for controlling the operation of the actuators M1 to M8 based on the information on the actual operation state. 100 are provided.

More specifically, the following is an example of the reference value information (hereinafter also referred to as fine adjustment data).
Is stored as (1) The state in which the left and right direction sensors S10 have returned to the aircraft lateral position is set as a reference state, and the detection value of each direction sensor S10 at that time. (2) The reaper 12 is raised to the upper limit position as a reference state. (3) Unloader position sensor S6 when turning to the home position as a reference state for unloader 9
(4) Detected value of the rolling sensor S4 when the horizontal state is set as the reference state for the body V. (5) For the threshing unit 14, the fully opened state and the fully closed state are set based on the chaff opening as the reference state. (6) For the threshing unit 14, the handling depth position is the maximum position toward the deep handling side (the deepest position) and the maximum position toward the shallow handling side (the maximum value). (Shallow position) and the operating depth sensor S1
(7) Detection value of the accelerator position sensor S18 when the accelerator lever is operated to the idling position, the rated rotation position, and the maximum rotation position, respectively, for the control unit 13 (8) The control unit 13 As an object, the traveling clutch 32
Detected by the traveling clutch sensor S20 when is operated to the neutral position (neutral position)

In the fine adjustment mode, the control means 100 controls the actuators M1 to M1 so that the target machine part among the machine parts is in the reference state.
M8 is automatically activated and its actuators M1
The detection information of each of the sensors S1 to S20 when each of the target machine parts is brought into the reference state by the automatic operation of M8 to M8 is obtained as the reference value. Here, the check switch 3c functions as manual input means for inputting confirmation information for confirming the automatic operation of the actuators M1 to M8, and the control means 100
When automatically operating the actuators M1 to M8, the operation contents are displayed on the main display unit 4e (specifically, a message expressing the operation contents in text is displayed) and the main display is displayed. In a state where the operation contents of the actuators M1 to M8 are displayed on the unit 4e,
Only when the check information is input by the check switch 3c (specifically, when the check switch 3c is pressed and operated to the on state), the actuators M1 to M8 are operated by themselves. It is configured.

Further, the control means 100 determines that the values detected by the sensors S1 to S20 when the respective parts of the machine are in the reference state are within an allowable range allowed as values corresponding to the reference state. The detection value at that time is obtained as the reference value, and if the detection value of each of the sensors S1 to S20 when the respective parts of the machine are in the reference state is out of the allowable range, the detection value at that time is used as the reference value. The main display unit 4e is configured not to obtain the reference value and to display on the main display unit 4e that the detection value of each of the sensors S1 to S20 is out of the allowable range.

Further, the control means 100 controls the main switch MW when the check switch 3c is in one of the two operation states (on state).
Is switched over from the off state to the on state so as to be activated in the fine adjustment mode.

In the normal control mode in which the check switch 3c is in the off state and the main switch MW is switched from the off state to the on state, the control unit 7 uses the fine adjustment data to detect information from the sensors S1 to S20. The actual operating states of the machine parts are corrected to determine the operating states of the machine parts based on the information of the actual operating states, and the actuators M1 to M8 are driven based on the control information set and stored in advance. Then, each control described above is executed.

Next, a control configuration for storing the fine adjustment data will be described. In the fine adjustment mode, the control means 100 performs an entire setting process for setting the fine adjustment data for all of the machine components, and an individual setting process for individually setting the fine adjustment data for a selected one of the machine components. Is configured to be selectable. And
A display means for switching and displaying the identification information (specifically, the name of each sensor and the like) of each part of the machine to be subjected to the fine adjustment data setting process is constituted by the main display part 4e. Setting instruction means for instructing data setting,
The control means 100 is configured by the check switch 3c. In the individual setting processing, the main display unit 4e is instructed by the check switch 3c to perform the setting (that is, the check switch 3c is pressed).
Are configured to execute the setting processing of the reference value for each of the machine parts displayed in.

Next, the setting process of the fine adjustment data will be specifically described with reference to FIGS. 9 and 10. still,
Hereinafter, all the displays are displayed on the main display unit 4e. When the fine-adjustment mode is activated, "setting function activation" indicating that the mode has been activated and "selection with the handling depth switch" are switched and displayed every two seconds as initial messages. That is, here, the deep-hand switch 3a is used as an INC switch for switching the display in the direction indicated by "INC" in the figure, and the shallow-hand switch 3b
Switches the display in the direction indicated by "DEC" in the figure.
Used as a switch. The check switch 3c is used as an ENTER switch for switching the display in the direction indicated by "ENTER" in the figure. When the INC switch is pressed in the state of the above-mentioned initial message, "all fine adjustment" is displayed, indicating that the state of all setting processing has been reached. Further, when the INC switch is pressed, a transition is made to a state in which individual setting processing is performed. Thereafter, each time the INC switch is pressed, fine adjustment of the direction sensor, fine adjustment of the cutting position, fine adjustment of the unloader position, fine adjustment of the machine body elevating, fine adjustment of the chaff The state is sequentially switched to each of fine adjustment states of adjustment, clutch fine adjustment, accelerator fine adjustment, and handling depth fine adjustment. Each time the INC switch is pressed from the state of fine adjustment of the handling depth, each time the INC switch is pressed, the setting processing state of each control data of floating straw alarm setting, threshing selection jumper setting, threshing loss jumper setting, vehicle speed control target setting, direction control output setting, Then, the state is sequentially switched to the set value confirmation state. on the other hand,
Each time the DEC switch is pressed, the above state is switched in the opposite direction.

The contents of the individual setting process will be described. First, when the ENTER switch is pressed in the state of fine adjustment of the direction sensor, the free values of the left and right direction sensors to be set and the neutral value of the direction turning lever are displayed. Here, when it is confirmed that the direction sensors S10 return to the free state in which the aircraft is in the horizontal direction, and that the cutting height steering lever 6 is in the neutral state, and the ENTER switch is pressed, the detection of the left and right direction sensors S10 is performed. The value and the detection value of the steering operation detection sensor S14 are set as fine adjustment data. However, when the detection value of the direction sensor S10 is within an allowable range that is allowable as a value corresponding to the free state, which is the reference state, and in the neutral state, where the detection value of the steering operation detection sensor S14 is the reference state. If the value is within the allowable range allowed as a value corresponding to the above, fine adjustment data is set, but if the detection value of each sensor is out of the allowable range, the fine adjustment data is not set, Further, the main display unit 4e displays that the detection value of the sensor is out of the allowable range. In addition, similarly, when the detection values of the sensors S1 to S20 are out of the allowable range allowed as the values corresponding to the reference state when the respective parts of the machine are in the reference state, the other sensors described below are similarly set. ,
No fine adjustment data is set for the sensor, and the fact that the detection value of the sensor is out of the allowable range is displayed.

In the state of fine adjustment of the cutting position, EN
When the TER switch is pressed, the upper limit value of the mowing elevating position sensor to be set and the neutral value of the mowing elevating lever are displayed. Here, after confirming that the cutting height steering lever 6 is in the neutral state and pressing the ENTER switch, first, the detection value (the upper limit) of the cutting elevation sensor S11 when the cutting unit 12 is located at the upper limit position. value)
Is set as the fine adjustment data. In this case, it is necessary to automatically operate the cutting and raising / lowering cylinder M3 to raise the cutting unit 12, and therefore, before operating the cutting and raising / lowering cylinder M3, the user needs to raise the cutting unit. Is displayed (in response to this), and only when the enter switch is pressed and the confirmation information is input, the cutting and lifting cylinder M3 is automatically operated and raised to the upper limit position. Then, if the upper limit value of the mowing elevating position sensor is within the allowable range, fine adjustment data is set.If the upper limit value of the mowing elevating position sensor is out of the allowable range, the fine adjustment data is not set. Display out of tolerance. Although the description is omitted below, when the actuators M1 to M8 are automatically operated to operate the machine parts in the reference state, the sensors S1 to S20 are similarly operated when the machine parts are in the reference state. If the detected value of the sensor is out of the allowable range allowed as the value corresponding to the reference state, fine adjustment data is not set for the sensor, and
The fact that the detected value of the sensor is out of the allowable range is displayed. Next, a detection value (neutral value) of the cutting height elevating operation detecting sensor S13 for the cutting height steering lever 6 is set as fine adjustment data.

In the state of the unloader position fine adjustment,
When the ENTER switch is pressed, the home detection and the upper and lower limit values of the unloader to be set and processed are displayed. Here, it is confirmed that the unloader 9 has turned to the home position, and when the ENTER switch is pressed, first, the detection value of the unloader position sensor S6 when the unloader 9 turns to the home position is finely adjusted. Set as data. Next, the detection value (upper limit value) of the unloader lift sensor S19 when the unloader 9 is located at the upper limit position.
Is set as the fine adjustment data. In this case, it is necessary to operate the hydraulic cylinder 62 to raise the unloader 9. Therefore, before operating the hydraulic cylinder 62, a message indicating “raise the unloader” (operation details) Is displayed. In response to this, after the ENTER switch is pressed and the confirmation information is input, the operation is performed to ascend to the upper limit position.

In the state of the fine adjustment of the elevating and lowering of the body,
When the ER switch is pressed, the horizontal value of the rolling sensor to be set and the lower limit value and lower limit value on the left side of the machine and the lower limit value and upper limit value on the right side of the machine are displayed as the machine elevating position. Here, when the machine V is placed in the horizontal state and the ENTER switch is pressed, the process of fine adjustment of the machine body elevating is started. Hereinafter, description will be given according to the flowchart shown in FIG. First, the detection value of the rolling sensor S4 is set as fine adjustment data corresponding to the horizontal state of the aircraft. However, at this time, if the detected value of the rolling sensor S4 is out of the allowable range corresponding to the horizontal state, the fine adjustment data for the rolling sensor S4 in the horizontal state is not set, and The abnormality processing such as displaying the abnormality of the rolling sensor S4 is executed, and the processing ends. If the detection value of the rolling sensor S4 is within the allowable range for the horizontal state, then the detection of the left and right body lifting sensors S17a and 17b when the left and right parts of the body V are located at the upper limit position and the lower limit position, respectively. The values (upper and lower limits on the left and right) are set as fine adjustment data. In this case, the left and right rolling elevating cylinders 40 are operated first to raise the aircraft. First, a message indicating that the aircraft is to be lifted is displayed, and in response to this, the ENTER switch is pressed and confirmation information is displayed. After the input, the ascending operation is performed to the upper limit position, and fine adjustment data of the right and left of the upper body is set. Next, a message indicating that the aircraft is to be lowered is displayed. In response to this, the enter switch is pressed and confirmation information is input. Set the adjustment data. However, when the upper limit position or the lower limit position is not reached even after the predetermined time elapses in the raising operation and the lowering operation, there is a possibility that the operation of the rolling elevating cylinder 40 or the like may be defective, so the upper limit value of the rolling sensor S4 is set. Then, the fine adjustment data of the lower limit is not set, and the abnormality processing such as displaying the abnormality of the rolling sensor S4 is executed, and the processing is completed.

In the state of the chaff position fine adjustment, EN
When the TER switch is pressed, the fully open value and the fully closed value of the chaff position to be set are displayed. Here, ENTER
When the R switch is pressed, the detection values (full open value and full close value) of the chaff opening sensor S8 when the chaff opening is set to the fully open position and the fully closed position are set as fine adjustment data. In this case, it is necessary to operate the motor M6 for adjusting the opening degree of chaff to change the opening degree of the chaff, so that a message "change the opening degree of chaff" is displayed, and in response to this, the ENTER switch is pressed. After the confirmation information is input, the operation is sequentially performed to the fully open position and the fully closed position.

In the state of fine adjustment of the clutch, ENT
When the ER switch is pressed, a neutral value is displayed for detecting the position of the traveling clutch to be set.
Here, if the enter switch is pressed after the travel clutch 32 is turned off to enter the neutral state, the detection value of the travel clutch sensor S20 when the travel clutch 32 is in the neutral state is set as fine adjustment data.

In the state of fine adjustment of the accelerator, ENT
When the ER switch is pressed, an idling value, a maximum rotation number, and a rated rotation number are displayed for an accelerator position to be set. Here, first, when the accelerator lever is operated to the idling position and the ENTER switch is pressed, the detected value of the accelerator position sensor S18 at that time becomes:
It is set as fine adjustment data of the idling value,
Operate the accelerator lever to the maximum rotation position and enter
When the switch is pressed, the accelerator position sensor S1 at that time is pressed.
8 is set as the fine adjustment data of the maximum rotation value. Next, when the accelerator lever is operated to the rated speed position and the ENTER switch is pressed, the detected value of the accelerator position sensor S18 at that time becomes the rated value. This is set as fine adjustment data of the rotation value.

In the state of fine adjustment of the handling depth, ENT
When the ER switch is pressed, the lowest value and the lowest value of the handling depth position to be set are displayed. Here, ENTER
When the R switch is pressed, the detection values (the deepest value and the shallowest value) of the handling depth position sensor S12 when the handling depth is set to the deepest position and the shallowest position are set as fine adjustment data.
In this case, since it is necessary to change the handling depth by operating the electric motor for adjusting the handling depth, a message indicating "change the handling depth" is displayed.
After the enter switch is pressed and the confirmation information is input, the operating depth is sequentially changed to the deepest position and the shallowest position to operate.

Next, a description will be given of the all setting process. In the state where the "all fine adjustment" is displayed, the ENTER button is displayed.
When the switch is pressed, a list of all setting processing targets such as a direction sensor and a direction turning lever is displayed. So, ENTER
When the switch is pressed, the setting processing from the fine adjustment of the direction sensor to the fine adjustment of the handling depth is sequentially performed in the displayed order with the same contents as those described in the individual setting processing.

Next, the setting processing of each control data will be described. First, in the state of the floating straw alarm setting, ENT
When the ER switch is pressed, the current ON / OFF state of the floating straw alarm is displayed. Here, when the INC switch is pressed in the state of the floating straw alarm “OFF”, the state changes to “ON”, and when the DEC switch is pressed in the state of the floating straw alarm “ON”, the state is “OFF”.
Change to state. Then, finally, when the ENTER switch is pressed, the on / off state of the floating straw alarm is set in the state displayed at that time.

Also, with the threshing sorting jumper set, EN
Pressing the TER switch displays the current on / off state of the threshing sorting jumper. Here, when the INC switch is pressed in the state of the sorting jumper “OFF”, the state changes to “ON”, and when the DEC switch is pressed in the state of the sorting jumper “ON”, the state changes to “OFF”. And finally, ENTER
When the switch is pressed, the on / off state of the sorting jumper is set in the state displayed at that time.

Also, with the threshing loss jumper set, EN
Pressing the TER switch displays the current on / off status of the threshing loss jumper. Here, when the INC switch is pressed in the state of the loss jumper “OFF”, the state changes to “ON”, and when the DEC switch is pressed in the state of the loss jumper “ON”, the state changes to “OFF”. And finally, ENTER
When the switch is pressed, the ON / OFF state of the loss jumper is set in the state displayed at that time.

In the state where the vehicle speed control target is set,
Pressing the R switch displays the current value of the target engine speed. Here, pressing the INC switch increases the value of the target rotation speed, and pressing the DEC switch decreases the value of the target rotation speed. Finally, when the ENTER switch is pressed, the value of the rotational speed displayed at that time is set as the target value.

When the direction control output is set,
When the R switch is pressed, the current value of the turning force is displayed. Here, when the INC switch is pressed, the value of the turning force increases, and when the DEC switch is pressed, the value of the turning force decreases.
Finally, when the ENTER switch is pressed, the turning force is set at the value displayed at that time.

Next, in the state of confirming the set value, enter
When the R switch is pressed, the set values of the fine adjustment data and control data set as described above are sequentially switched and displayed every two seconds. Here, for a sensor or the like for which fine adjustment data is normally set, the set value is displayed, but for a sensor or the like for which fine adjustment data is not set, it is displayed that the sensor is abnormal. .

After the main switch MW is switched from the on state to the off state in the fine adjustment mode, the control means 100 stores the set fine adjustment data in the memory 7A. The fine adjustment mode ends.

Next, the control operation of the combine will be described with reference to the flowcharts shown in FIGS. In the main flow (FIG. 11), the main switch MW
Is turned on to start the control, and the set time (500
After elapse of ms), the on / off state of the check switch 3c is detected, and if the check switch 3c is on, the mode is started to the fine adjustment mode. On the other hand, if the check switch 3c is off, the normal mode is started.

In the fine adjustment mode (FIG. 12),
An initial message is displayed on the main display unit 4e until the NC switch or the DEC switch is pressed, and when the INC switch or the DEC switch is pressed, the first setting function item is displayed. Until the ENTER switch is pressed, each time the INC switch or the DEC switch is pressed, the above-mentioned setting function items are switched and displayed corresponding to each switch. When the ENTER switch is pressed, the setting function items at that time are displayed. It is determined whether the function is a fine adjustment data setting function, a control data setting function, or a set value confirmation function, and the processing shifts to a processing state of each function.

In the case of the fine adjustment data setting, the content of the fine adjustment data setting is displayed, and when the ENTER switch is pressed, the setting processing of the total fine adjustment data or the individual fine adjustment data is executed. In the case of the control data setting, the current setting contents are displayed, and when there is a switching input by an INC switch or a DEC switch, the setting contents are switched in accordance therewith. When the ENTER switch is pressed, the control data setting processing is performed. Finish. In the case of checking the set values, the set values of the fine adjustment data and control data set above are switched and displayed at intervals of 2 seconds, and the ENTER state is displayed in this display state.
When the switch is pressed, the process of setting value confirmation ends.

Then, the setting function items are displayed, and I
While waiting for the operation of any of the NC switch, the DEC switch, and the ENTER switch, it is determined whether or not the main switch MW has been turned off. After the set values are stored in the memory 7A, the setting mode ends.

[Alternative Embodiment] In the above embodiment, for example, in the fine adjustment of the vertical movement of the machine, if the detection value of the rolling sensor S4 is within the allowable range corresponding to the horizontal state when the ENTER switch is pressed, the adjustment is immediately performed. Although the detection value of the rolling sensor S4 is set as a reference value (fine adjustment data) for the horizontal state, as illustrated in FIG. 14, even when the detection value of the rolling sensor S4 is within an allowable range corresponding to the horizontal state, The detected value of the rolling sensor S4 is used as a reference value (fine adjustment data) for the horizontal state.
A message is displayed for confirming whether or not to set the value. When the enter switch is pressed and a confirmation input is made, the reference value is set (the horizontal value storage flag is set). It may be. And
When the reference value is not set, when the INC or DEC switch is pressed, the reference value setting process for the rolling sensor S4 ends.

In the above embodiment, the control means 100 displays the contents of the automatic operation of the operation actuators M1 to M8, and only when confirmation information is input thereto,
Although the actuators M1 to M8 are automatically operated, it is not always necessary to display the contents of the automatic operation for all the actuators M1 to M8 and to input confirmation information as an operation condition. For example, when the operation state cannot be directly confirmed from the outside of the machine, such as the chaff position of the threshing unit 14, the operation content (a message for automatically operating the chaff position between the fully open position and the fully closed position) May be operated to change the opening degree of the chaff, or the opening degree of the opening may be changed without displaying the details of the operation.

In the above embodiment, as the reference value information (fine adjustment data), the detection values themselves of the operation state detecting means S1 to S20 for detecting the operation state of each part of the machine when operated to the reference state are stored. However, instead of the detected value itself, the standard detected value obtained from the operating state detecting means when the machine parts are in the reference state, that is, the design value, and the actual detected value when the machine parts are operated in the reference state are not The difference information may be stored as reference value information. or,
The machine parts for storing the reference value may be machine parts other than those described in the above embodiment.

In the above embodiment, the actuators M1 to M1
By automatically operating M8, each part of the machine (e.g.
2) When the detection information of the operation state detecting means S1 to S20 when the reference state (for example, the upper limit position and the lower limit position) is reached is stored as the reference value, the mowing unit 12 is operated to ascend to reach the upper limit position. Then, the reference value corresponding to the upper limit value is obtained, and when the mowing unit 12 is lowered and reaches the lower limit position, the reference value corresponding to the lower limit value is obtained. Instead of obtaining the reference value, for example, after the mowing unit 12 is moved up and down between the ascending position and the lower limit position, and the detection data of the ascending and descending positions is collected, the entirety of those detection data is determined, Appropriate values may be obtained as reference values for the upper limit position and the lower limit position.

In the above embodiment, an example in which the present invention is applied to a combine for agricultural work as a working machine is described. it can.

[Brief description of the drawings]

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

FIG. 2 is a schematic plan view of the combine.

FIG. 3 is a side view showing a body lifting structure of the traveling device.

FIG. 4 is a rear view showing a structure for elevating the body of the traveling apparatus.

FIG. 5 is a side perspective view of the threshing unit of the combine.

FIG. 6 is a power transmission diagram of the combine.

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

FIG. 8 is a front view of a display unit.

FIG. 9 is a flowchart illustrating a reference value storage process;

FIG. 10 is a flowchart illustrating a reference value storage process;

FIG. 11 is a flowchart of a control operation.

FIG. 12 is a flowchart of a control operation.

FIG. 13 is a flowchart of a control operation.

FIG. 14 is a flowchart of a control operation according to another embodiment.

[Explanation of symbols]

 3c input unit 3c operation unit 4e display unit 7A reference value storage unit 100 control unit MW main switch M1 to M8 actuation actuator S1 to S20 operation state detection unit

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2B074 AA01 AB01 AC02 BA13 DA01 DA02 DB03 DB04 DC01 DE05 EA01 EA02 EA03 EA08 EA09 EA11 EB01 EB02 EB03 EB05 EB06 EC01 ED05 ED06 EE05 FA00 FB00 5H223 AA17 EE05 CB05

Claims (5)

[Claims] An operation state detecting means for detecting an operation state of each machine section, an operation actuator for operating each machine section, and a target machine section among the machine sections in a reference value storage mode. Performing a reference value storage process of storing reference value information corresponding to the detection information of the operation state detection means in the reference state in the reference value storage means, and in the normal control mode, Control means for obtaining an actual operation state of each section of the machine based on the detection information and the information stored in the reference value storage means, and executing a normal control process for controlling the operation of the operation actuator based on the information of the actual operation state And a control device for a work machine provided with: the control unit, in the reference value storage mode, a target machine among the machine components. The operation actuator is automatically operated so that the unit is in the reference state, and the detection information of the operation state detection unit when each of the target machine parts is in the reference state by the operation,
A work machine control device configured to obtain the reference value. 2. The control device for a work machine according to claim 1, wherein the control means is configured to, when automatically operating the actuator for operation, display the operation details on a display means. 3. A manual input means for inputting confirmation information for confirming automatic operation of the operation actuator, wherein the control means displays the operation content of the operation actuator on the display means. 3. The work machine control device according to claim 2, wherein the operation actuator is automatically operated only when the confirmation information is input by the input unit. 4. The control means, if the detected value of the operation state detection means when each part of the machine is in a reference state is within an allowable range allowed as a value corresponding to the reference state, A detection value is obtained as the reference value, and
If the detection value of the operation state detection means when the machine parts are in the reference state is outside the allowable range, the detection value is not obtained as the reference value, and the detection value of the operation state detection means is 4. The display device according to claim 2, wherein the display means displays an out-of-tolerance range.
A control device for a working machine according to the above. 5. A manual operation means which can be changed to two different operation states, and a main switch for turning on / off power supply to each part of the machine are provided. 5. The control device according to claim 1, wherein when the main switch is switched from the off state to the on state in one of the two operation states, the main switch is activated in the reference value storage mode. 6. A control device for a work machine according to any one of the preceding claims.