JP2002315424A - Controller in agricultural machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To achieve customization in which positions of changeover switches with a high use frequency are relocated in the positions giving good operating efficiency according to preference of an individual operator. SOLUTION: This controller in a agricultural machine is obtained by connecting controller units C1 to C4 connecting a plurality pieces of input system external equipment 75 and a plurality pieces of output system external equipment 76 to a controller unit 170 for a liquid crystal panel 77 connecting the liquid crystal panel 77 to a setting switch 151 and an ID input device 172 with communication wiring cords 70. An optional controller unit is connected to a plurality of custom switches CSW1 to CSW3 and each of the custom switches CSW1 to CSW3 is arranged in an easily operable position. The ID number of an operator is inputted and the setting switch 151 is operated and changed into a custom mode. Any of the custom switches CSW1 to CSW3 are set as switches having automatic changeover functions with a high use frequency of the operator.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for an agricultural work machine such as a combine machine, and more particularly to a control device for transferring control data while cooperating with a plurality of controller units, and for controlling external devices of an input / output system. The present invention relates to a configuration of a control device that performs control.

[0002]

2. Description of the Related Art In recent agricultural work machines such as combine harvesters, for example, a switch for switching the cutting height between automatic control and manual control, a switch for automatically maintaining the left and right horizontal posture of the vehicle body and a switch for manual control, A switch for turning on / off an automatic mode, such as a switch for switching between running (steering) between automatic control and manual control during mowing and split harvesting, and for transmitting a control amount signal as a control target to the control means. Setters and sensors, for example, a fuel injection amount detection sensor (a rack position detection sensor for adjusting the position of a fuel injection plunger) of an electronic governor as an actuator that controls the output (load) of the engine of the traveling aircraft, A traveling section height sensor (vehicle height sensor) that detects the relative height of the traveling crawlers on the left and right of the traveling section with respect to the traveling aircraft, and externally outputs the grains in the grain tank. An auger clutch operating position detection sensor for transferring power to the conveyor of the discharge auger for discharging, and instructing the horizontal direction of the horizontal cylinder of the discharge auger and the height of the grain discharge portion at the tip of the horizontal cylinder. An auger position setting device to be set, and a sensor for detecting an operation amount of an object to be controlled according to the control signal, for example, a speed for detecting a traveling speed of an agricultural work machine or a rotation speed of a work unit of a threshing unit. Sensors, an input system external device such as a horizontal direction sensor or a height sensor of the horizontal tube of the discharge auger, an electromagnetic solenoid for driving a fuel injection plunger in the electronic governor, and a height of the left and right traveling crawlers. Hydraulic cylinder for adjusting the pressure, a clutch actuator for driving the auger clutch, a drive motor for turning the discharge auger left and right, and water in the horizontal cylinder in the discharge auger An output system external device including various actuators such as a hydraulic cylinder for elevating and lowering for adjusting the elevation angle with respect to the motor is usually controlled by a control means such as a microcomputer to control the operation of the output system external device. .

In the case where there are many types and numbers of the input external devices and the output external devices, recent control devices include, for example, JP-A-2-219506 and JP-A-6-219506.
As disclosed in JP-A-233614 and JP-A-7-19059, a plurality of electronically-controlled controller units such as microcomputers are used, and the controller units cooperate with each other and perform the input operation. It is disclosed that output external devices are distributed and controlled.

[0004]

However, conventionally, among the input system external devices, those which execute a manual input operation (switches and operation levers) and the automatic mode on / off switching switches are: It was arranged at a predetermined position such as a side column in the cab. And when the number of switches and operation levers increases, they must be placed not only in convenient places, but also in slightly inconvenient places.
There are switches and operation levers that are difficult for each operator to operate. In addition, switches and operation levers that are frequently used during work are preferably arranged in more convenient locations to improve operability and reduce operator fatigue. The types of switches and operating levers used for each are different,
The arrangement position where the operability is good also differs depending on the difference in the dominant hand (right-handed and left-handed) of each operator. Therefore, there is a demand from the user to eliminate such inconvenience.

The present invention has been made to solve this kind of problem in the prior art, and it has been proposed that an input system external device such as a switch or an operation lever be manually operated according to the preference of an operator (user). It is an object of the present invention to provide a control device for an agricultural work machine in which the arrangement location can be changed (customized).

[0006]

According to a first aspect of the present invention, there is provided a control device for an agricultural work machine, comprising: a sensor, a setting device provided in a traveling unit, a work unit, an operation unit, and the like in the agricultural work machine. Such as an input system external device, an output system external device such as an actuator, and a plurality of controller units that transmit and receive control signals to and from one or both of the input system external device and the output system external device, A control unit for an agricultural work machine having a communication line for connecting between the controller units and performing control by transferring control data between the controller units, wherein a manual input system externally operated by a changeover switch or the like; One or more of the devices are arranged at a location where the operator can easily operate, and the setting of the function of each manual input system external device can be changed. It is.

On the other hand, the invention according to claim 2 is based on claim 1
Wherein the setting of the function of each manual input system external device can be changed by operating a specific selection switch.

According to a third aspect of the present invention, in the control device for an agricultural work machine according to the first aspect, the setting of the function of each of the manual input system external devices is changed for each operator by inputting an operator identification mark. It is configured to be possible.

[0009] The invention according to claim 4 and claim 1.
Wherein the setting of the function of each of the manual input system external devices can be changed by inputting an identification code specifying a field condition.

According to a fifth aspect of the present invention, in the control device for an agricultural work machine according to any one of the first to fourth aspects, the communication line includes a liquid crystal panel for controlling a display function of the liquid crystal panel. A controller unit is connected so that the function change status of the manual input system external device can be displayed.

[0011]

FIG. 1 is a left side view of the combine, FIG. 2 is a right side view of the combine, FIG. 3 is a front view, and FIG. 4 is a power transmission. FIG. 5 is a hydraulic circuit diagram, FIG. 6 is a top view of an operation unit, FIG. 7 is a perspective view showing various operation levers and the like provided on a grip portion of a main transmission lever, and FIG. 8 is a discharge auger in an operation room. , FIG. 9 is a perspective view of the distal end operation unit of the discharge auger, FIGS. 10 to 13 are functional block diagrams showing types of input / output external devices connected to each controller unit, and FIG. It is a functional block diagram showing a connection state of such a control device.

Traveling body 1 in the combine of the present invention
Is configured to be able to move up and down with respect to a pair of left and right traveling crawlers 2a of the traveling unit 2 via a traveling unit elevating drive unit described later. A threshing device 3 as a working unit is mounted on the left side in the traveling direction of the traveling machine 1, and a pre-cutting device 4 as a working unit disposed in front of the traveling machine 1 is connected via a lifting frame 14. It is supported so as to be able to move up and down and up and down with respect to the traveling machine 1 and can be moved up and down by a single-acting mowing unit elevating hydraulic cylinder 9 serving as a mowing unit elevating actuator mounted between the elevating frame 14 and the traveling machine 1. Is configured.

A clipper-type cutting blade device 5 is disposed below the lower frame of the pre-cutting device 4 and a grain stem raising device 6 for six rows is disposed in front of the cutting blade device 5. A grain culm conveying device 8 is arranged between the front end of the feed chain 7 and a weed body 10 protruding from the lower front of the grain culm raising device 6. A driver's cab 11 is arranged at the front right side of the traveling machine body 1, and a grain tank 12 is arranged at the rear side.

As shown in FIG. 4, a part of the power from the engine 15 provided in the lower rear portion of the cab 11 is supplied to the bottom screw conveyor 17 in the grain tank 12 and the discharge auger 28 through the auger clutch 16 as shown in FIG. While being transmitted to the vertical and horizontal screw conveyors 18a and 18b in the inside, the handling cylinder 3a of the threshing unit 3 of the hydraulic pump / hydraulic motor type (HTS type) traveling drive unit 24 of the traveling unit 2 via the power branch transmission 19 and The screw conveyor 22a of the first gutter, the screw conveyor 22b of the second gutter, the feed chain 7, the screw conveyor 23 for raising the grain tank 12, and the like are rotationally driven. Power transmission to the pre-cutting device 4 is executed via the output shaft 26 from the traveling drive unit 24 when the traveling speed is synchronized, and is transmitted by the clutch 25a and the branch power from the power branch transmission 19 when the traveling speed is not synchronized. Driven.

As shown in FIGS. 1 and 2, a grain tank 1
The discharge auger 28 for discharging the grains in 2 out of the machine is:
Bottom screw conveyor 1 provided under grain tank 12
7, a vertical pipe 28b disposed at the rear end of the traveling body 1;
A horizontal pipe 28a is provided at the upper end of the pipe so as to be rotatable up and down. A screw conveyor 18a and the like are provided in each pipe. The vertical pipe 28b is rotatable around the vertical axis by a drive motor 64b and a gear mechanism 57, and the horizontal pipe 28a is a discharge auger hydraulic cylinder 64a mounted between the vertical pipe 28b and a link mechanism. 58
Thus, the inclination angle can be changed.

An angle sensor 85 such as a rotary encoder provided on the drive motor 64b can detect the horizontal turning angle of the vertical pipe 28b and thus the turning position of the horizontal pipe 28a. An angle sensor 86 such as a potentiometer provided at a location can detect the elevation angle of the horizontal pipe 28a and, consequently, the height position of the discharge portion at the tip of the horizontal pipe 28a. When the discharge auger 28 is not used, an intermediate portion of the horizontal pipe 28a is placed on a rest table 87 provided on the upper surface of the grain tank 12 or the like. This rest table 8
7 is provided with a rest detector 88 such as a contact sensor for detecting whether or not the horizontal pipe 28a is mounted.

The traveling section 2 includes a pair of left and right track frames 5.
Drive wheels 51 and driven wheels 5 arranged at the front and rear ends of 0, 50, respectively.
Traveling crawler 2a wound around the outer periphery of a plurality of rolling wheels 53 arranged in the middle of the lower surface of the track frame 50
The left and right track frames 50, 50 and the traveling body 1 are separated from each other by left and right lifting control hydraulic cylinders 54a, 54b.
5 and right and left lifting control hydraulic cylinders 54a and 54b (see FIG. 5). ) Are operated independently of each other, so that the right and left traveling parts 2 and 2 are independently raised and lowered with respect to the left and right of the traveling machine body 1.

Accordingly, when the piston rods of the right and left lifting control hydraulic cylinders 54a and 54b are simultaneously projected, the traveling body 1 moves upward (moves up) away from the traveling parts 2 and 2 on the left and right sides. The relative height (vehicle height) of the body 1 with respect to the traveling portions 2 and 2 increases. Conversely, when the piston rod is simultaneously retracted, the traveling body 1 moves downward (down) with respect to the traveling sections 2 and 2 on the left and right sides, and the relative height (vehicle height) of the traveling body 1 with respect to the traveling section. Will be lower.

Then, the piston rod of the left hydraulic cylinder 54a is projected, or the right hydraulic cylinder 5
When the piston rod 4b is retracted (or both operations are performed simultaneously), the vehicle height of the traveling body 1 with respect to the right traveling section 2 decreases (the vehicle height of the traveling body 1 with respect to the left traveling section 2). Becomes higher), and the traveling body 1 tilts downward and to the right. Conversely, the piston rod of the right hydraulic cylinder 54b is projected, or the left hydraulic cylinder 5
When the piston rod 4a is retracted (or both operations are performed at the same time), the vehicle height of the traveling body 1 with respect to the left traveling section 2 decreases (the vehicle height of the traveling body 1 with respect to the right traveling section 2). Becomes higher), and the traveling body 1 inclines to the lower left.

Left and right lifting control hydraulic cylinders 54a, 54
By detecting the amount of protrusion of the piston rod of 4b,
A connecting rod or link mechanism provided with a vehicle height detecting sensor 72a, 72b of a rotary encoder type or the like for detecting the relative height (vehicle height) of the traveling body 1 with respect to each of the left and right running parts 2, 2 is connected to the connecting rod. Are configured to work together.

The inclination detecting sensor 74 for detecting the degree of left and right inclination of the traveling body 1 is a pendulum type (gravity type).
And the like, and is disposed at an arbitrary position of the traveling body 1, for example, in the cab 11 or the like. In addition, the ultrasonic sensors 20a and 20b as the cutting height sensors for detecting the cutting height by detecting the ground height between the cutting pre-processing device 4 and the field scene,
As shown in FIG. 3, the ultrasonic sensors 20a and 20b are disposed on brackets (not shown) provided on the back side of the grain stem raising device 6 on both left and right ends of the pre-cutting device 4.
The transmitting part (horn part) of the transmitter and the receiving part of the receiver are arranged so as to face the field scene. Each ultrasonic sensor 2
When the installation heights of the cutting blades 0a and 20b are different from the installation height of the cutting blade 5, the detection value of the cutting height is obtained by a predetermined conversion from the detection values of the ultrasonic sensors 20a and 20b.

An elevation position sensor 71 for detecting a relative height between the traveling machine body 1 and the pre-cutting device 4.
Is configured to be obtained by detecting a rotation angle of the lifting frame 14.

FIG. 5 shows the lifting hydraulic cylinder 54a,
54b shows a hydraulic circuit for the hydraulic pump 54b and the like, and branches via a branch valve 63 for branching the pressure oil discharged from the hydraulic pump 60;
A hydraulic cylinder 9 as a mowing unit elevating actuator for elevating the mowing pre-processing device 4 from one of the discharge paths.
And the right and left (operator cab 11 side) lifting / lowering control hydraulic cylinders 5
4b to the first hydraulic circuit 61. From the other discharge path of the flow dividing valve 63, the horizontal pipe 28a of the discharge auger 28
The hydraulic cylinders 9 and 64 are configured to send the hydraulic cylinders 64 to the second hydraulic circuit 62 for the discharge auger lifting hydraulic cylinder 64a for changing the inclination angle with respect to the vertical pipe 28b and the left lifting hydraulic cylinder 54a.
a, 54a, 54b electromagnetic control valves 65, 66, 6
7, 68, a check valve, a relief valve and the like are connected.

Next, the structure of various operation levers and switches provided in the cab 11 will be described with reference to FIGS. A steering round handle 147 for steering the traveling body 1 and an accelerator lever 195 are provided in front of the control seat 146 of the driver's cab 11, and a long front and rear side column 148 is provided on the left side of the control seat 146. Have been placed.

As shown in FIG.
In the front end portion 8, regardless of the automatic mode and the manual mode, a manual variable operation for changing and adjusting the height (vehicle height) of the traveling body 1 and the left and right inclination state of the traveling body 1 in the case of vehicle height control. A vehicle height adjustment lever 73 (a four-way tilt crossbar) as an operation unit, and a tilt setting device 74a for setting a left-right tilt angle of the traveling body 1 are arranged. A liquid crystal panel 77, which will be described in detail later, is arranged at the rear portion.
A warning buzzer stop switch 133 is disposed in the vicinity of the main shift lever 149, and a main shift lever 149 for continuously changing the vehicle speed, and an output and a rotation speed of the HST type traveling drive unit 19 in a predetermined range according to a working state are provided at a subsequent position. And the auxiliary speed change lever 160 which is set and held in the left and right directions are arranged in parallel to each other, and the respective levers 149 and 160 are configured to rotate in the front-rear direction. The side column 148 on the right side of the sub-shift lever 160 is located at a position where the operator can easily operate.
Custom switches CSW1 and CSW2 to be described later
And the cutting height adjustment volume 150 are arranged side by side (see FIG. 6). Further, a third custom switch CSW3 is provided on the right side of the handle column 173 on which the round handle 149 stands. This custom switch C
SW1 to SW3 are examples of changeover switches.

Switching to the custom mode, selection of the custom switch CSW, and selection of the function of the switch are performed in places on the side column 148 where it is difficult for the operator to operate. A setting switch 151 is provided as an example of a specific selection switch for determination. The fact that the setting mode is switched to the custom mode by the setting switch 151 and the setting result of the switch selection / decision are displayed on the screen of the liquid crystal panel 77.
In order to prevent the setting switch 151 from being normally operated (not touched), it is preferable to arrange the setting switch 151 in a recess (not shown) which can be closed by an opening / closing lid on the side column 148 or the like.

A work lever 152 for cutting and threshing operations is disposed behind the auxiliary speed change lever 160 so as to be able to rotate back and forth. When the work lever 152 is tilted to the front, a cutting switch 134 is provided. And the threshing switch 135 are both OFF, the reaping switch 134 is ON and the threshing switch 135 is O
In the FF, in the second stage, both the mowing switch 134 and the threshing switch 135 are turned on.

The grip 140a of the main shift lever 149
On the right side, an automatic lift switch 137 and an automatic set switch 138 are provided, and on the front side, a mowing elevating lever 139 is disposed, which tilts backward and raises the pre-cutting device 4 and lowers it when tilted forward. On the left side thereof, a handling depth adjusting lever 140 that is inclined backward when it is tilted rearward is disposed (see FIG. 8).

A discharge auger operating section 125 for remotely controlling the discharge auger 28 from the room is provided on the rear wall or the like in the cab 11 (see FIG. 8). The discharge auger operating unit 125 includes a four-way tilting crossbar 153 for vertically moving and horizontally turning the discharge unit 28c (see FIG. 9) by manual remote control, and a turning position of the horizontal auger cylinder 28a in a fully automatic operation. A turning position setting unit 154 for setting in advance, a command switch 155 for a command to set automatically to a stop position of the discharging unit 28c at the time of discharging and a command to return to a predetermined position (auger position) when not discharging, An auger clutch switch 156 for turning on / off the auger clutch motor and lamps 157 and 158 indicating the operation of these switches are arranged.

On the other hand, the discharge auger tip operating section 110 shown in FIG. 9 has a four-way tilting crossbar 1 for manually lifting and lowering and turning the discharge section 28c (see FIG. 9).
59 and an auger clutch switch 160 are provided.

The liquid crystal panel 77 is of a color dot matrix type capable of displaying characters, symbols, drawings, images and the like, for example, a TFT color liquid crystal display, but may be of a monochrome type. Then, the liquid crystal panel controller unit 1 is changed so that the display contents can be changed between a state in which various control operations of the combine are performed in the standard setting mode and a custom mode described later.
70 is provided near the back surface or the like and packaged.
The display on the liquid crystal panel 77 in the custom mode is a guide (help) display about the arrangement position of one or more custom switches CSW1, CSW2, CSW3 as a specific manual input system external device, the selected function, the operation method, and the like. Becomes

The controller unit 170 for the liquid crystal panel includes controller units C to be described later.
1, C2, C3, and C4, and application software (program) that can manage and control the input and output of all input external devices 75 and output external devices 76 connected to each of the controller units C1 to C4. Stored.

The control device is an electronic control device such as a microcomputer, and includes a plurality (four in the embodiment) of controller units C1, C shown in FIGS.
2, C3, C4, the liquid crystal panel controller unit 170, and a communication line such as a LAN communication including a data bus, a control bus, and an address bus for connecting the two. A communication wiring cord (also referred to as a communication cable) 70 comprising a twisted pair of wires, or a coaxial wire or the like covered with a sheathing wire (net wire or metal tape) around the center line via an insulator.
In this embodiment, the LAN (Local Area Network)
rk), and adopts a bus-shaped topology (connection form) (see FIG. 14).

Although not shown, each of the controller units C1 to C4 and the liquid crystal panel controller unit 170 are a central processing unit (CPU) for executing various arithmetic processing and control, and a read-only memory (ROM) for storing a control program. ), Random Access Memory (RAM) for temporarily storing various detected values, data, etc., and EE as an electrically erasable and writable nonvolatile memory
It includes a PROM, a clock as a timer function, an interface, and a control unit such as a communication circuit for communication using a LAN (Local Area Network) protocol or a CAN (Controller Area Network) protocol.

In each of the ROMs of the controller units C1 to C4 of the above-described embodiment, corresponding application software (control programs) S1, S
2, S3, and S4 are stored (stored) in advance. here,
The application software (control program) refers to a control program for operating an external device 76 such as an actuator based on input data (control signal) from an external device 75 such as a sensor or a setting device. .

The application software (control program) S1 is a control program for operating various actuators of the threshing device 3 and the pre-cutting device 4 (for example, the hydraulic cylinder 9 for raising and lowering the mowing). The application software S2 is a hydraulic program for raising and lowering the mowing. By operating the cylinder 9 and the left and right hydraulic cylinders 54a and 54b for raising and lowering the traveling body 1, a control program is executed to execute the cutting height control of the pre-cutting device 4 and the posture and vehicle height control of the traveling body 1. .
The application software S3 is a control program for controlling the output of the engine 12, and the application software S4 is a drive program for the drive motor 64 in the discharge auger 28.
b and a control program for controlling the operation of the vertical rotation hydraulic cylinder 64a.

Each of the controller units C1 to C4 is, as a guide, an input external device 75 and an output external device 76.
The harnesses are controlled so as to be as short as possible, and are stored in a controller box (not shown) at each location.

For example, the controller unit C1 is installed on the lower surface side of the floor plate in the cab 11 (see FIGS. 1, 2 and 3). The controller unit C1
The input interface includes a vertical position sensor 71 as an input system external device 75, a grain culm transport sensor 96 for detecting whether or not the harvested grain culm is being transported in the pre-cutting processing device 4, and a grain culm transporter 96 being transported. Grain stem length sensor 97 for detecting length, handling depth sensor 98, auger clutch motor switch 99, ultrasonic sensors 44a and 44b, vehicle speed sensor 100, second gutter screw conveyor rotation sensor 1
01, the steering round handle limit switch 102 and the like are connected (see FIG. 10).

The output interface of the controller unit C1 includes, as an output system external device 76, a control circuit unit 103 such as a relay unit in a handling depth control motor;
A control circuit section 104 such as a relay unit in an auger clutch motor, an electromagnetic solenoid 105 for driving a threshing clutch, and the like are connected to each other (see FIG. 10).

The controller unit C2 is shown in FIGS.
As shown in FIG. 3 and FIG. 3, it is installed at an upper portion of the pre-cutting device 4 and near the cab 11. The input interface of the controller unit C2 includes the fuel sensor 106, the tilt sensor 4 as the input system external device 75.
3. Vehicle height sensors 41a, 41b, paddy flow rate sensor 107 in the flour plate of the sorting device, paddy sensor 108 for detecting the presence or absence of paddy in each part of the sorting device, and straw cutter clogging sensor 10
9, a turning angle sensor 85, a discharging auger tip operating section 110 provided at the tip of the horizontal auger cylinder 17 to operate the horizontal turning of the discharging auger 13, a vertical turning angle sensor 86, an auger clutch sensor 111, a discharging auger overload. A sensor 112, a swing sorting overload sensor 113, a handling cylinder rotation sensor 114, a processing cylinder rotation sensor 115, and the like are connected to each other (FIG. 1).
1).

The output interface of the controller unit C2 includes, as output system external devices 76, a swing selection drive motor 116, an FC clutch drive circuit 117, a drive motor 64b for horizontally rotating the vertical auger cylinder 28b of the discharge auger 28, The discharge auger brake 118, the electromagnetic solenoid 66a of the electromagnetic control valve 66 for the vertical rotation hydraulic cylinder 64a, and the electromagnetic solenoid 6 of the electromagnetic control valve 67 for the lifting hydraulic cylinder 54a on the left side of the traveling body 1.
7a, an electromagnetic solenoid 68a of an electromagnetic control valve 68 for the lifting hydraulic cylinder 38b on the right side of the traveling machine body 1, an electromagnetic solenoid 65a of an electromagnetic control valve 65 for the cutting and lifting hydraulic cylinder 9, and the like are connected to each other (see FIG. 11). .

The controller unit C3 is shown in FIGS.
And the control seat 4 in the cab 11 as shown in FIG.
6 at the rear. The input interface of the controller unit C3 includes an input external device 75.
A fuel injection pump rack position sensor 122 for detecting a rack position of an electronic governor-equipped fuel injection pump for controlling the output (load) of the engine 12 as an engine speed sensor 119, an engine oil amount sensor 120, an engine water temperature sensor 121, , Engine starter switch 12
3. An auger set position dial 124 for storing the horizontal turning position of the discharge auger 13 in advance, a discharge auger operating unit 125 provided in the operator's cab 11 for operating the horizontal rotation of the discharge auger 13, a reaping clutch motor limit switch 1
26 are connected to each other (see FIG. 12).

The output interface of the controller unit C3 includes an engine 1 as an output system external device 76.
A fuel injection pump rack actuator 127 for adjusting the rack position of the fuel injection pump so that the number of rotations of the engine 2 becomes a predetermined number of rotations, an engine starter relay 128,
An alarm buzzer 129 and the like are respectively connected (FIG. 12).
reference).

The controller unit C4 includes the cab 11
(See FIGS. 1, 2 and 3). The input interface of the controller unit C4 includes, as input system external devices 75, an accelerator lever sensor 95a for detecting an operation position of an accelerator lever 95, a vehicle height adjustment lever 73, a vehicle height control changeover switch 78, a tilt setting device 74a, and the like. Automatic depth control switch 1
30, automatic cutting and lifting switch 131, cutting pre-processing device 4
Is automatically lowered to a predetermined cutting height, a cutting auto clutch switch 132 for automatically transmitting power to the pre-cutting device 4, a warning buzzer stop switch 133, a cutting switch 134 for executing a cutting operation, and a threshing operation. Switch 135 for adjusting the grain selection state in the sorting device, an automatic lift switch 137 for forcibly raising the pre-cutting device 4, and a predetermined cutting height for the pre-cutting device. An automatic set switch 138 for forcibly lowering the mower and a mowing elevating lever 1 for manually operating the elevating movement of the pre-cutting device 4.
39, handling depth adjustment lever 140, auxiliary transmission lever 160,
A reversing switch 141 for reversing the traveling body 1;
The power switch 142 and the like are connected (FIG. 1
3).

The output interface of the controller unit C4 includes, as an output system external device 76, a vehicle height control changeover switch lamp 143 which is lit when the vehicle height control is switched to the automatic mode, and when the vehicle depth control is switched to the automatic handling depth control mode. Depth automatic control switch lamp 1
44 and the like are connected (see FIG. 13).

FIG. 14 shows a control of the overall operation of the combine, such as the traveling speed, attitude and vehicle height of the traveling body 1, the discharge position of the discharge auger 28, and the operation of the setting switch 151 to the one or more custom switches CSW1. ~ C
FIG. 3 shows a functional block diagram of a control device for selecting SW3 and deciding its function, that is, executing a so-called customizing control. In that case, each controller unit C
1 to C4 and 170 are application software for controlling a predetermined output system external device 76 to execute a predetermined operation by switching a signal of the setting switch 151 and operating a customized switch CSW1 to CSW3. (Control program) is stored in advance.

In the embodiment shown in FIG. 14, the three custom switches CSW1 to CSW3 are connected to a controller unit C4. In the standard setting mode, FIG.
The custom switch CSW1 is initially set as a handling depth automatic control switch 130, and the custom switch CSW2 is initially set as a mowing automatic elevating switch 131.

By operating the setting switch 151, the mode is switched to the custom mode, and the custom switch of a convenient location is selected according to the operator's preference.
The function by the custom switch at that location can be determined. For example, the custom switch CSW2 is set to have a function of an automatic depth control switch 130 for turning on / off the automatic control of the depth of processing in the threshing unit 3, and the custom switch CSW3 is set to automatically control the cutting height. Switch 13 for turning ON / OFF the cutting
1 to have the function of custom switch CS
W2: Automatic / manual or ON of other functions by the operator
• Set a spare switch if you want to set it as an OFF switch.

With this control, it is possible to easily control the handling depth or the cutting height according to the difference of the dominant hand of the operator, or to control the cutting height automatically. In addition, the custom switches CSW1 to CSW3 having predetermined functions can be arranged, so that operability is improved and fatigue during work can be reduced.

If the number of function selection items by the setting switch 151 is set to be larger than the number of custom switches, the operator (user) operates an automatic / manual or ON / OFF changeover switch of a function which is hardly used. There is no need to provide the switch in advance, and the number of the changeover switches can be reduced to simplify the structure of the driving unit. Further, the setting switch 151 is a multi-signal input type such as a numeric keypad, so that a function that can be executed by a custom switch is not limited to simple automatic / manual or ON / OFF switching, and is provided with a function of a multi-stage switching switch. Is also good. Also, when an important manual input system external device (changeover switch) fails, it is functionally transferred to another normal manual input system external device (changeover switch) without replacing it hardware, and the corresponding actuator etc. The present invention can also be applied to a case where the output system external device can be operated in an emergency evacuation mode.

Further, the liquid crystal panel 77, a setting switch 151, and an ID input device 172 for identifying an individual operator are connected to the liquid crystal panel controller unit 170 or other controller units C1 to C4. Examples of the ID input device 172 include a numeric keypad for inputting an ID number (identification number) assigned in advance to each operator, and an ID in which the ID number is magnetically recorded.
It is a card reader or the like. Then, a predetermined I
For the D number, the position of the custom switch to be used and the function thereof are stored in a nonvolatile memory or the like. The number of stored ID numbers may be one to many. When the user inputs his / her ID number into the ID input device 172, the position and the function of the stored custom switch are switched correspondingly. Thus, when a plurality of operators alternately operate one agricultural work machine (combine combine) in a farming group or the like, the position of the switch that is most easily operated for each operator and the function thereof can be easily changed. That is, it is possible to eliminate the trouble of executing the work set by the setting switch 151 every time the operator changes.

The ID input device 172 can be used to specify (identify) not only the human identification of the operator but also the location (condition) of agricultural work such as climate, geographical conditions, and differences in crops. If the configuration of changing the function of each manual input system external device is changed by inputting an identification code specifying a field condition, rice cultivation, wheat cultivation, or wetland,
This has a remarkable effect that the function of the agricultural work machine can be extremely easily changed in a dry land or the like.

Switching to the custom mode and the currently set custom switches CSW1 to CSW1
The position of the SW3 and the function and operation method of the operation target of the custom switch are described on the liquid crystal panel 7.
When displayed on 7, the state of the custom mode can be grasped, so that an erroneous operation by the operator can be reliably eliminated and the operation is safe.

Conventionally, a nameplate for indicating the function of the switch (lever) is attached to the position where each changeover switch or operation lever is attached. However, the function of each custom switch is changed as in the present invention. It is more preferable to attach a light-emitting board or LED light-emitting board capable of changing characters so that the display can be changed each time the function is changed.

It goes without saying that the present invention can be applied not only to combine harvesters but also to traveling agricultural working machines such as tractors for cultivation and rice transplanters.

[0056]

As described above, the control device for the agricultural working machine according to the first aspect of the present invention is an input system for sensors, setting devices, and the like provided on the traveling unit, the working unit, the operating unit, and the like of the agricultural working machine. An external device, an output system external device such as an actuator, and a plurality of controller units that transmit and receive control signals to and / or control one or both of the input system external device and the output system external device; And a communication line for connecting the control units to each other. In the control device of the agricultural work machine, the control unit transfers control data to each other to execute control. A plurality of such devices are arranged at locations that are easy for the operator to operate, and the settings of the functions of the respective manual input system external devices can be changed.

Therefore, according to the above-described control, a predetermined position can be set at an easy-to-operate position according to the difference in the dominant hand of the operator or when the automatic operation of a specific agricultural operation is frequently switched on and off by operating the agricultural work machine. A changeover switch having the above function can be arranged, operability is improved, and fatigue during work can be reduced.

According to a second aspect of the present invention, in the control device for an agricultural work machine according to the first aspect, the setting of the function of each manual input system external device can be changed by operating a specific selection switch. If the number of function selection items by the specific selection switch is greater than the number of changeover switches, automatic / manual or ON / OFF switching of functions rarely used by an operator (user) is achieved. There is no need to provide a switch in the operation unit in advance, and the effect is obtained that the number of the changeover switches can be reduced and the structure of the operation unit can be simplified. Further, the specific selection switch is a multi-signal input type such as a numeric keypad,
The functions that can be executed by the changeover switch are
Not only manual or ON / OFF switching, but also a multi-stage switching switch function may be provided.

According to a third aspect of the present invention, in the control device for an agricultural work machine according to the first aspect, the I
Since the setting of the function of each manual input system external device can be changed for each operator by inputting an identification mark such as a D number, a plurality of operators alternately use one agricultural work machine. At this time, the operation of changing the specifications for each operator (setting of the function of each manual input system external device) is a simple operation of only inputting the identification sign, and there is no need to operate the specific selection switch one by one. This has the effect that labor can be greatly simplified.

Further, the invention according to claim 4 and claim 1
Wherein the setting of the function of each of the manual input system external devices can be changed by inputting an identification code specifying a field condition.

Therefore, when the location (condition) of agricultural work such as rice cultivation, wheat cultivation, climatic and geographical conditions such as wetlands and arid land, and differences in crops is changed, the function of the agricultural work machine is extremely changed correspondingly. It has a remarkable effect that it can be easily performed.

According to a fifth aspect of the present invention, in the control device for an agricultural work machine according to any one of the first to fourth aspects, the communication line includes a liquid crystal panel for controlling a display function of the liquid crystal panel. A controller unit is connected so that the function change status of the manual input system external device can be displayed.

Therefore, the switching to the custom mode, the position of the currently set changeover switch (custom switch), and the function and operation method of the operation target of the changeover switch are indicated on the liquid crystal panel. When displayed, the state of the custom mode can be ascertained with certainty, so that an erroneous operation by the operator can be reliably eliminated, and the effect of safety is achieved.

[Brief description of the drawings]

FIG. 1 is a left side view of a combine.

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

FIG. 3 is a front view of the combine.

FIG. 4 is a skeleton diagram of a power transmission system.

FIG. 5 is a hydraulic circuit diagram.

FIG. 6 is a top view of the operation unit.

FIG. 7 is an enlarged perspective view showing a main part of a main transmission lever.

FIG. 8 is a perspective view of a discharge auger operation unit in a cab.

FIG. 9 is a perspective view of a discharge auger tip operation unit.

FIG. 10 is a functional block diagram of the controller unit C1.

FIG. 11 is a functional block diagram of a controller unit C2.

FIG. 12 is a functional block diagram of a controller unit C3.

FIG. 13 is a functional block diagram of the controller unit C4.

FIG. 14 is a functional block diagram showing a configuration of a control device according to an embodiment of the present invention.

[Explanation of symbols]

C1, C2, C3, C4, C5 Controller unit CSW1, CSW2, CSW3 Custom switch 20a, 20b Ultrasonic sensor 65 Cutting / elevating hydraulic cylinder electromagnetic valve 66 Discharge auger elevating electromagnetic valve 75 Input external device 76 Output external device 77 Liquid crystal Panel 98 Handling depth sensor 103 Handling depth control motor control circuit unit 125 Discharge auger operation unit 151 Setting switch as selection switch 170 Controller unit for liquid crystal panel 171 Transfer switch 172 ID input device

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) B62D 49/00 B62D 49 / 00F (72) Inventor Taiji Mizukura 1-32 Chayacho, Kita-ku, Osaka YANMAR Agricultural Machinery Co., Ltd. (72) Inventor Tomohiro Koyama 1-32 Chaya-cho, Kita-ku, Osaka Yanmar Agricultural Machinery Co., Ltd. F-term (reference) 2B074 AA02 AB01 AC02 AD05 AF02 BA18 CA01 CE01 DA01 DA02 DA03 DA05 DB03 DB04 DE03 DE05 2B076 AA03 BA07 BA08

Claims (5)

[Claims] 1. An input system external device such as a sensor and a setting device provided in a traveling unit, a working unit, an operation unit and the like of an agricultural work machine, an output system external device such as an actuator, and each of the input system external devices or an output system. Equipped with multiple controller units that send and receive control signals to and / or from one or both of the external devices, and communication lines that connect between the controller units. In the control device of the agricultural work machine, the one or more of the manual input system external devices operated by a changeover switch or the like are arranged at a place where the operator can easily operate, and the function of each manual input system external device is performed. A control device for an agricultural work machine, wherein a setting of the setting is changeable. 2. The control device according to claim 1, wherein the setting of the function of each of the manual input system external devices can be changed by operating a specific selection switch. 3. The control device according to claim 1, wherein the setting of the function of each manual input system external device can be changed for each operator by inputting an operator's identification mark. . 4. The control device according to claim 1, wherein the setting of the function of each of the manual input system external devices can be changed by inputting an identification code specifying a field condition. 5. A liquid crystal panel controller unit for controlling a display function of a liquid crystal panel is connected to the communication line, and a function change state of the manual input system external device can be displayed. The control device for an agricultural work machine according to any one of claims 1 to 4.