JP2001309703A - Controller for farm machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the inconvenience that the operation speed of the actuators becomes improper in the operation area (for example, in cold districts) or under the working conditions (caused by optional attachment) in the controller unit for controlling the actuator with the inching signals. SOLUTION: The controlling unit 14 is equipped with an on-time change- recording mode (the cutting height or-time change mode, the direction on-time change mode and the like) that changes the on-time of the inching signals for operating the actuators (for example, the lift cylinder 12, the alignment clutch cylinder and the like) according to the operation of the existing manual operation tool (for example, the multi-steering lever 2 and the like).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention belongs to the technical field of a control device for an agricultural machine such as a combine.

[0002]

2. Description of the Related Art Generally, some agricultural machines of this type include a cutting height automatic control (working machine automatic elevating control) for automatically raising and lowering a pre-processing unit (working machine), such as a combine, and an automatic traveling machine. A control device that performs automatic direction control (automatic steering control) for performing automatic steering control and the like, and controls an actuator to be controlled to an inching signal (intermittent pulse signal)
Some work with

[0003]

By the way, in the case of the above, the operating speed of the actuator is set based on the ON time of the inching signal. However, conventionally, the ON time of the inching signal is set to a fixed value. The operating speed may be improper depending on the use area (cold area, etc.) and work conditions (option installation, etc.).

[0004]

SUMMARY OF THE INVENTION The present invention has been made to solve these problems in view of the above-mentioned circumstances, and is directed to an agricultural machine having a control device for automatically controlling an actuator. The control device is provided with an ON time change mode for changing an ON time of an inching signal for operating an actuator in accordance with an operation of an existing manual operation tool. In other words, turn on the inching signal according to the area of use and work conditions.
Since the time can be arbitrarily changed, the operation speed of the actuator can be optimized, and an operating tool must be added to change the inching signal ON time using an existing manual operating tool. There is an advantage that can be implemented without. Further, in the ON time change mode, the ON time of the inching signal for work implement automatic lifting control or steering automatic control is changed in accordance with the operation of the existing work implement manual lifting operation tool. In other words, since the ON time of the inching signal for the automatic lifting and lowering control of the working equipment or the automatic steering control can be arbitrarily changed according to the use area and the working condition, the actuator for the automatic lifting and lowering control of the working equipment or the automatic steering Operating speed can be optimized. Further, in the ON time change mode, the ON time of the inching signal for the automatic lifting / lowering control of the working machine or the automatic steering control is gradually changed in accordance with the number of times of operation of the existing working machine manual lifting / lowering operation tool. Things. That is,
Because the change amount of the ON time can be clearly recognized,
The operation for changing the ON time is not allowed to be facilitated, and it is possible to prevent a reduction in work accuracy due to erroneous recognition of the change amount.

[0005]

Next, one embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a combine, and the combine 1 includes a pre-processing unit (working machine) 2 for cutting stem culms, a threshing sorting unit 3 for threshing and sorting of cut stems and culms, and a sorted grain. A grain tank (not shown) for storing grains, an operating section 5 in which a driver's seat 4 and various operating tools are disposed, a traveling section 6 including a pair of left and right crawler traveling devices 6a, and the like are provided. Since a steering clutch mechanism (not shown) is interposed in a transmission path for transmitting the traveling power to the crawler traveling device 6a, a steering clutch cylinder (not shown) for intermittently operating each steering clutch mechanism is provided. ), The traveling direction of the combine 1 can be steered.

The pre-processing unit 2 includes a divider 7 for weeding the stem, a raising device 8 for raising the stem, a cutting blade device 9 for cutting the stem of the stem, and a stem for conveying the harvested stem backward. The culm conveying device 10, a handling depth conveying device 11 that conveys the stem and culm conveyed to the end of the stem and culm conveying device 10 to the threshing and sorting unit 3 while adjusting the handling depth, etc. The entire part 2 is connected to the front end of the fuselage of the combine 1 so as to be able to move up and down, and is forcibly moved up and down based on the hydraulic expansion and contraction operation of the lift cylinder 12.

A cutting height sensor 13 is provided at the bottom of the pre-processing unit 2. The cutting height sensor 13 uses an ultrasonic sensor to measure the height of the pre-processing unit 2 above the ground (the height of the cutting unit with respect to the ground). Is detected, and the detection signal is input to the control unit 14 described later.

Further, 15L and 15R are a pair of left and right direction sensors provided on the front end side of the pre-processing unit 2, and the direction sensors 15L and 15R are located at the right and left positions of the pre-processing unit 2 with respect to the uncut culm row. Is detected, and a detection signal thereof is input to the control unit 14 similarly to the cutting height sensor 13.

Reference numeral 16 denotes a side operation panel provided on the side of the driver's seat 4. The side operation panel 16 includes a cutting height automatic switch 17 for turning on / off automatic cutting height control, and a handling depth automatic control. Depth automatic switch 18 for ON / OFF operation, automatic selection switch 19 for ON / OFF operation of automatic selection control, automatic direction switch 20 for ON / OFF operation of automatic direction control, manual operation to shallow side There are provided operating tools such as a manual operating depth switch 21 for operating, a manual operating depth switch 22 for manually operating the operating depth to the deep operating side, and a cutting height setting dial 23 for setting a target cutting height of the pre-processing unit 2. However, the automatic switches 17 to 20 have lamps 17a for displaying ON / OFF states of the switches.
To 20a are incorporated.

On the other hand, reference numeral 24 denotes a multi-steering lever (operating device for manually lifting and lowering the work implement) provided in front of the driver's seat 4. The multi-steering lever 24 controls the pre-processing unit 2 based on lever operation in the front-rear direction. In order to have a pre-processing manual elevating operation function for raising and lowering operation and a manual steering function for operating the body left and right based on lever operation in the left and right direction, the lever operation in each direction is performed by a pre-processing raising switch 25. , The pre-processing lowering switch 26, the left steering switch 27, and the right steering switch 28, but these operating tools provided in the operating unit 5 are all existing ones.

The control unit 14 is configured using a microcomputer (including a CPU, a ROM, a RAM, and the like), and has an input side provided with a cutting height sensor 13 described above.
Direction sensors 15L, 15R, automatic cutting height switch 17, automatic handling depth switch 18, automatic sorting switch 19, automatic direction switch 20, manual handling depth switches 21, 22, cutting height setting dial 23, preprocessing raising switch 25, preprocessing In addition to the down switch 26, the left steering switch 27, and the right steering switch 28, an input check switch 29 which is originally used for executing the input check mode, a work machine clutch switch 30 for detecting the engagement / disengagement of the work machine clutch, etc. Are connected via a predetermined input interface circuit,
On the output side, in addition to the lamps 17a to 20a described above, a solenoid for raising the solenoid 31 for the lift cylinder 31
a, a lowering solenoid 31b, a left-handing solenoid 32a and a right-handing solenoid 32b of the electromagnetic valve 32 for the steering clutch cylinder, and a horn 33 that emits a horn sound.
Are connected via a predetermined output interface circuit.

Numeral 34 denotes a non-volatile memory provided in the control unit 14. The non-volatile memory 34 is constituted by an EEPROM or the like which does not lose the recorded contents even when the main power is turned off and is capable of rewriting the recorded contents. However, the non-volatile memory 34
, A cutting height ON time setting value (for ascending and descending) and a direction ON time setting value, which will be described later, are recorded in advance.

The control unit 14 is provided with the cutting height sensor 1.
"Cut height automatic" in which the pre-processing unit 2 is automatically moved up and down so that the detected height of No. 3 matches the set height of the cutting height setting dial 23, and the machine is automatically operated based on the detection signals of the direction sensors 15L and 15R. Control programs such as "automatic direction" for automatic steering control and "EEPROM recording mode" for changing the recorded contents of the non-volatile memory 34 are provided. The actuator is operated using the inching signal.

In the above-mentioned "cutting height automatic", it is determined whether or not the conditions for executing the automatic cutting height control (such as the automatic cutting height switch state) are satisfied or not, and if it is determined that the conditions are satisfied, a subroutine is executed. Then, the target value of the cutting height sensor 13 is calculated, and thereafter, the deviation (absolute value) of the current value (cutting height sensor detected value) from the target value is obtained. When the deviation is larger than the predetermined value, the “cutting height output (continuous output)” for operating the lift cylinder 12 based on the continuous signal is executed. After setting the recorded value of the cutting height ON time recorded in the memory 34 to the ON time variable, and setting the cycle time set value corresponding to the vehicle speed to the cycle time variable, the lift cylinder 12 is operated based on the inching signal. "Cutting height output (inching)" is executed.

In the "cutting height output (inching)", each time the cycle timer becomes "0", a cycle time variable value is set in the cycle timer and an ON time variable value is set in the ON timer. Then, while the ON timer outputs the signal, the inching signal is generated by stopping the signal output from the end of the ON timer to the end of the periodic timer, but the inching signal is generated. It is determined whether or not the value is greater than the current value. If the determination is YES, a signal is output to the ascending solenoid 31a, while if the determination is NO, the descending solenoid 3a is output.
1b is output.

On the other hand, in "direction automatic", it is determined whether or not the execution condition of the automatic direction control (direction automatic switch state or the like) is satisfied or not.
The same control as the "cutting height output (inching)" is performed.
That is, every time the cycle timer becomes "0", the cycle timer is set to a predetermined cycle time set value, the ON timer is set to the direction ON time recording value, and a signal is output while the ON timer is timing. On the other hand, the inching signal is generated by stopping the signal output from the end of the ON timer to the end of the period timer. During the ON timer, the signal input from the direction sensors 15L and 15R is determined. Here, if the signal input from the left direction sensor 15L is determined, a signal is output to the left steering solenoid 32a, while if the signal input from the right direction sensor 15R is determined, the right A signal is output to the application solenoid 32b.

In the "EEPROM recording mode", it is first determined whether or not the recording mode execution condition is satisfied or not. That is, when the power is turned on (key switch ON), the input check switch 29, the work equipment clutch switch 30, the right steering switch 28, and the manual operation switch 21 (shallow operation side) are ON, and the left steering switch 27 and the It is determined whether or not the manual operation switch 22 (the deep operation side) is OFF, and if it is determined that all the conditions are satisfied, the recording mode is entered. In the recording mode, subroutines such as a "cutting height ON time change recording mode", a "direction ON time change recording mode", and a "specification change recording mode", which will be described later, are executed.
The lamps 17a to 20a are cyclically blinked to indicate that the recording mode is set. When the recording flag is set in any subroutine, the lamp cyclic blinking is stopped and only the corresponding lamp is stopped. Flashing operation.

In the "cutting height ON time change recording mode", first, the state of the cutting height recording flag is determined, and if the flag is determined to be OFF, the cutting height setting dial 23 and the cutting height automatic The operation state of the switch 17 is determined. When it is determined that the cutting height setting dial 23 has been operated to the leftmost position and that the cutting height automatic switch 17 has just been turned ON (OFF → ON), the recording change operation of the cutting height lowering ON time is performed. And the cutting height recording flag is turned on, the cutting height setting dial 23 is operated to the rightmost position, and the cutting height automatic switch 17 is turned on.
If it is determined that the operation is immediately after the operation, it is determined that the operation is a recording change operation of the cutting height rise ON time, and the cutting height recording flag is set to O.
N. In this embodiment, when the cutting height recording flag is turned ON, the initial value is substituted for the ON time set value to be changed, thereby facilitating the recognition of the ON time current value at the start of the change operation.

When the cutting height recording flag is ON,
The rising signal (OFF → ON) of the pre-processing raising switch 25 and the pre-processing lowering switch 26 is determined while the cutting height automatic lamp 17a is blinking. When the rising of the pre-processing raising switch 25 is determined, the ON time is determined. A predetermined step change value is added to the set value (initial value plus five steps as a limit) to cause the horn 33 to sound once (short sound). The horn 33 is caused to blow once (long sound) by subtracting a predetermined step change value from the set value (initial value minus five steps). If the automatic switches 18 to 20 other than the automatic cutting height switch 17 are turned ON in this state, the cutting height recording flag is immediately turned off and the cutting height ON time change recording mode is stopped. Automatic switch 17
Is turned off (ON → OFF), the ON time set value changed stepwise by the above operation is written (and verified) in the nonvolatile memory 34 as the cutting height ON time record value. Thereafter, the horn 33 is blown a predetermined number of times, the cutting height automatic lamp 17a is turned on for a predetermined time to notify the completion of the recording, and then the cutting height recording flag is turned off to set the cutting height ON time change recording mode. It is to end. In other words, it is not possible to arbitrarily change the ON time of the cutting height automatic inching signal according to the use area and work conditions, and the ON time change amount can be clarified by changing the ON time stepwise. Since the ON time is changed using the existing multi-steering lever 24, there is an advantage that the operation can be performed without adding an operating tool.

On the other hand, in the "direction ON time change recording mode", first, the state of the direction recording flag is determined, and if the flag is determined to be OFF, the operation state of the direction automatic switch 20 is determined. I do. When it is determined that the direction automatic switch 20 is immediately after the ON operation (OFF → ON), it is determined that the operation is the recording change operation of the direction ON time, and the direction recording in-progress flag is turned ON. An initial value is assigned to a certain direction ON time set value.

When the direction recording flag is ON,
The rising signal (OFF → ON) of the pre-processing up switch 25 and the pre-processing down switch 26 is determined while blinking the direction automatic lamp 20a. When the rising of the pre-processing up switch 25 is determined, the ON time is set. The horn 33 is blown once (short sound) by adding a predetermined step change value to the value (the initial value + 5 steps are the limit), and when the rising of the preprocessing down switch 26 is determined, the ON time is set. The horn 33 is blown once (long sound) by subtracting a predetermined step change value from the value (initial value minus five steps). When the automatic switches 17 to 19 other than the direction automatic switch 20 are turned on in this state, the direction recording in progress flag is immediately turned off to stop the direction ON time change recording mode.
Is turned off (ON → OFF), the ON time set value changed stepwise by the above operation is written (and verified) in the nonvolatile memory 34 as the direction ON time record value, Thereafter, the horn 33 is blown a predetermined number of times, and the direction automatic lamp 20a is turned on for a predetermined time to notify the completion of the recording, and thereafter, the direction recording flag is turned off to end the direction ON time change recording mode. Has become. In other words, it is not possible to arbitrarily change the ON time of the direction automatic inching signal according to the area of use or work conditions, but it is possible to clearly recognize the change amount of the ON time by changing the ON time stepwise. In addition, since the ON time is changed using the existing multi-steering lever 24, there is an advantage that the operation can be performed without adding an operating tool.

In the apparatus configured as described above, the control unit 14 determines the ON time of the inching signal for operating the actuator (lift cylinder 12, steering clutch cylinder, etc.) by using an existing manual operation tool (multi-steering lever 24). Etc.), there is provided an ON time change recording mode (a cutting height ON time change mode, a direction ON time change mode, etc.) which is changed in accordance with the operation of (e.g.). In other words, the ON time of the inching signal can be arbitrarily changed according to the use area and work conditions, so that the operation speed of the actuator can be optimized, and the inching signal can be adjusted using the existing manual operation tool. Since the ON time is changed, there is an advantage that the operation can be performed without adding an operating tool.

In the ON time change mode, the inching signals for automatic cutting height control and automatic direction control are turned on in accordance with the operation of the existing multi-steering lever 24.
Since the time is changed, the operating speed of the automatic cutting height control and the automatic direction control can be optimized based on the change of the ON time of the inching signal according to the use area and the working condition.

In the ON time change mode, the ON time of the inching signal for automatic cutting height control and automatic direction control is changed stepwise according to the number of times the existing multi-steering lever 24 is operated. The change amount can be clearly recognized, and as a result, the operation of changing the ON time is not allowed to be easy, and a decrease in work accuracy due to erroneous recognition of the change amount can be prevented.

[Brief description of the drawings]

FIG. 1 is a side view of a combine.

FIG. 2 is a plan view of an operation unit.

FIG. 3 is a block diagram showing input and output of a control unit in a normal control mode.

FIG. 4 is a block diagram showing input / output of a control unit in an ON time change recording mode.

FIG. 5 is a flowchart illustrating “cutting height automatic”.

FIG. 6 is a flowchart showing “cutting height output”.

FIG. 7 is a flowchart illustrating “direction automatic”.

FIG. 8 is a flowchart showing an “EEPROM recording mode”.

FIG. 9 is a flowchart showing a “cutting height ON time change recording mode”.

FIG. 10 is a flowchart illustrating a “direction ON time change recording mode”.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Combine 2 Preprocessing part 6 Running part 12 Lift cylinder 13 Cutting height sensor 14 Control part 15 Direction sensor 17 Automatic cutting height switch 20 Direction automatic switch 23 Cutting height setting dial 24 Multi-steering lever 25 Preprocessing raising switch 26 Preprocessing lowering Switch 31b Solenoid for lowering 31a Solenoid for raising 32b Solenoid for right steering 32a Solenoid for left steering 34 Non-volatile memory

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) A01D 69/00 302 A01D 69/00 302Z (72) Inventor Masahiro Nishikori Ojiya, Higashiizumo-cho, Yatsuka-gun, Shimane Prefecture 667, Machi 1 F-term in Mitsubishi Agricultural Machinery Co., Ltd. (reference) 2B043 AA04 AB08 BA02 BA05 BB14 DA05 DC01 EC03 EC16 2B076 AA03 CA03 DA03 DC01 DC03 EC23 ED30 2B304 KA13 LA02 LA13 LB02 LB12 MA04 MC02 PA08 PC17

Claims (3)

[Claims] 1. An agricultural machine having a control device for automatically controlling an actuator, wherein the control device changes an ON time of an inching signal for operating the actuator in accordance with an operation of an existing manual operation tool. An agricultural machine control device comprising a mode. 2. An on-time change mode according to claim 1, wherein the on-time of an inching signal for automatic lifting / lowering control of a working machine or automatic steering control is changed in accordance with an operation of an existing working machine manual lifting / lowering operating tool. Characteristic control equipment for agricultural machinery. 3. The on-time change mode according to claim 1, wherein the ON time of the inching signal for the automatic lifting / lowering control of the working machine or the automatic steering control is stepwisely changed according to the number of times of operation of the existing manual lifting / lowering operating tool. A control device for an agricultural machine characterized by changing.