JP2003182403A - Control device in working machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To easily perform a failure diagnosis for input/output system equipment by even an operator having little knowledge of the structure of a combine. <P>SOLUTION: CAN controllers C1 to C5 control to display the list of input/ output equipment to be diagnostic objects as information on a checker mode on a screen of a liquid crystal panel in a liquid crystal display device by manually operating each switch provided on the liquid crystal display device. <P>COPYRIGHT: (C)2003,JPO

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 various work machines such as combine implements, tractors and other agricultural work machines, crane vehicles and other special work vehicles or passenger cars.

[0002]

2. Description of the Related Art Conventionally, agricultural machines such as combine harvesters are
A sensor or a setter for transmitting a control amount signal as a control target to the control means, for example, a fuel injection amount detection sensor of an electronic governor for controlling an output (load) of an engine of an agricultural work machine (position adjustment of a fuel injection plunger). Position detection sensor), a vehicle height sensor for detecting the relative height of the pair of left and right traveling crawlers of the traveling unit with respect to the traveling body, and for detecting the operation amount of the controlled object according to the signal. Sensor, for example, an input system device such as a vehicle speed sensor for detecting the traveling speed of the agricultural work machine, and various actuators, for example, a rack actuator such as an electromagnetic solenoid for adjusting the rack position of the fuel injection pump, the traveling crawler It is equipped with an output system device such as a hydraulic cylinder for adjusting the relative height. It is controlled by control means such as chromatography data.

Recently, a display device such as a liquid crystal display or a display instrument is provided near the operation portion of this type of agricultural work machine. By displaying the status information of each part of the agricultural work machine on these display devices. The operator can visually recognize the operating conditions (for example, engine speed and load, vehicle speed, grain loading amount in the grain tank, etc.).

[0004]

By the way, conventionally, when performing a failure diagnosis (inspection) of each of the input system devices, as described in, for example, Japanese Patent Application Laid-Open No. 10-23820, a failure diagnosis mode is executed. When the input system device to be diagnosed is operated manually and the input system device is operating normally, the notification means such as a horn or buzzer is used to notify the character information such as the name of the input system device. , It was supposed to be displayed on the LCD screen.

However, in the above-mentioned conventional structure, unless the operator understands the structure of the agricultural working machine to some extent, the operator cannot know the mounting position of the input system device to be inspected, and there is a problem such as pre-work inspection. When inspecting all of the input equipment, there was a problem that there was a risk of omission of inspection.

Further, since only the character information such as the name of the input system device under diagnosis is displayed on the screen of the liquid crystal display, a specific diagnosis result (for example, sensor voltage etc.) can be obtained only by looking at the screen. There was also a problem that it was inconvenient because I didn't understand.

The present invention has been made in order to solve the above problems, and even an operator who is not very familiar with the structure of a working machine can easily perform a failure diagnosis (inspection) of input / output equipment. It is a technical object to provide a device.

[0008]

In order to solve this technical problem, the invention of claim 1 provides an input system device such as a sensor or a setting device provided in each part of the working machine, and an output system device such as an actuator. In a control device for a working machine having a control means for executing control of each input / output system device, the control means, by manually operating the input means, on a screen of a display means such as a liquid crystal panel, As information on the failure diagnosis mode, control is performed so as to display a list of devices to be diagnosed.

According to a second aspect of the present invention, in the control device for a working machine according to the first aspect, the control means displays the list on the screen of the display means.
By manually operating the input means so as to select a device for failure diagnosis from the list, control is performed so as to switch and display diagnostic information of the selected device on the screen of the display means. is there.

According to a third aspect of the present invention, an input system device such as a sensor and a setting device provided in each part of the working machine, an output system device such as an actuator, and a control means for executing control of each input / output system device. In the control device for the working machine including the liquid crystal panel, when the control means determines that the control data from any one of the input-system devices has changed during execution of the failure diagnosis mode. The information about the one input system device is controlled to be displayed on the screen of the display means such as the above as the information of the failure diagnosis mode.

According to a fourth aspect of the present invention, an input system device such as a sensor or a setting device provided in each part of the working machine, an output system device such as an actuator, and a control means for executing control of each input / output system device. In the control device for a working machine provided with, the control means performs control so as to execute the failure diagnosis of each of the input system devices even while the mode other than the failure diagnosis mode is being executed.

The invention of claim 5 relates to claims 1 to 4.
In the control device for a working machine described in any one of the above, the control means includes a plurality of CAN controllers,
It is composed of a CAN communication bus connecting these CAN controllers.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION Next, an embodiment of the present invention will be described with reference to the drawings (FIGS. 1 to 36) when applied to a combine as a working machine.

1 to 33 show a first embodiment of the present invention. The combine traveling machine body 1 according to the first embodiment is configured to be capable of moving up and down with respect to a pair of left and right traveling crawlers 2 and 2 via a traveling portion elevating and lowering drive means described later. As shown in FIG. 1, a threshing device 3 is mounted on the left side in the traveling direction of the traveling machine body 1. The reaping pretreatment device 4 arranged in the front part of the traveling machine body 1 is supported so as to be capable of moving up and down with respect to the traveling machine body 1 via an elevating frame 14, and between the elevating frame 14 and the traveling machine body 1. Hydraulic cylinder 9 for mowing part as an actuator mounted on the
It is configured to be adjustable up and down.

A clipper-type cutting blade device 5 is disposed below the pre-cutting treatment device 4, and a six-row grain culm raising device 6 is disposed in the front portion (see FIG. 3). A grain culm conveying device 8 is arranged between the grain culm raising device 6 and the front end of the feed chain 7 in the threshing device 3, and in the lower front part of the grain culm raising device 6, it faces the traveling direction of the traveling machine body. The protruding grass bodies 10 are attached. And a driver's cab 11 is arranged in the front part on the right side of the traveling body 1,
A grain tank 12 is arranged behind the operator's cab 11.

As shown in FIG. 4, a part of the power from the engine 15 provided in the lower rear portion of the operator's cab 11 is transferred to the bottom screw conveyor 17 in the grain tank 12 and the discharge auger 28 via the auger clutch 16. While being transmitted to the vertical and horizontal screw conveyors 18a and 18b, the remaining power from the engine 15 is transmitted via the power branch transmission 19 to the hydraulic pump hydraulic motor type traveling drive unit 24, the handling cylinder 13 and the processing cylinder of the threshing device 3. 20, Karaji 21, 21st gutter screw conveyor 22a, 2nd gutter screw conveyor 22
b, the feed chain 7, the grain-lifting screw conveyor 23 to the grain tank 12, the swing sorting mechanism 40, the waste cutter 27, etc. are driven to rotate.

The power to the pre-mowing treatment device 4 is transmitted through the output shaft 26 from the traveling drive unit 24 when it is synchronized with the traveling speed, and when not synchronized, the branch power from the power branch mission 19 is transferred to the one-way clutch. 25 is transmitted.

As shown in FIGS. 1 and 2, the grain tank 1
The discharge auger 28 for discharging the grains in 2 out of the machine,
The vertical cylinder 28a arranged at the rear end of the traveling body 1 and the vertical cylinder 2a
The vertical cylinder 28a includes a horizontal cylinder 28b which is vertically connected to the upper end of the vertical cylinder 28a.
However, the horizontal screw conveyors 18b are respectively installed in the horizontal cylinders 28b.

The vertical cylinder 28a is composed of a drive motor 29 and a gear mechanism 30 so as to be rotatable about the vertical axis.
8b is configured such that the vertical tilt angle can be changed by the auger hydraulic cylinder 31 mounted between the vertical cylinder 28a and the link mechanism 32.

Then, the turning angle sensor 81 such as a rotary encoder provided in the drive motor 29 can detect the horizontal turning angle of the vertical cylinder 28a and the horizontal turning position of the horizontal cylinder 28b, and the auger hydraulic cylinder 31 or the link mechanism 3 can be detected.
A vertical rotation angle sensor 82 such as a potentiometer provided at two positions can detect the vertical inclination angle of the horizontal cylinder 28b, and thus the height position of the discharge portion at the tip of the horizontal cylinder 28b.

When the discharge auger 28 is not used, the middle part of the horizontal cylinder 28b is placed on the rest stand 33 or the like provided on the upper surface of the grain tank 12. A rest detector 34 such as a contact sensor for detecting whether or not the horizontal cylinder 28b is placed is attached to the rest base 33.

Each of the left and right traveling crawlers 2 has a driving wheel 36 and a driven wheel 3 respectively arranged at the front and rear ends of the track frame 35.
7 and a plurality of rolling wheels 38 arranged in the middle of the lower surface of the track frame 35, and each of the left and right track frames 35 and the traveling machine body 1 includes a traveling portion hydraulic cylinder 39a (39b). The front and rear levers of the truck frame 35, which are L-shaped in a side view, are connected at the front and rear positions via a traveling unit up-and-down drive means including a connecting rod (not shown) connected so as to operate simultaneously.

Hydraulic cylinders 39a, 39 for the left and right running parts
By operating b independently, the left and right traveling crawlers 2 can be independently moved up and down with respect to the left and right of the traveling machine body 1.

Therefore, when the piston rods of the hydraulic cylinders 39a, 39b for the traveling parts on both the left and right sides are simultaneously projected, the traveling machine body 1 separates (raises) upward from both the left and right traveling crawlers 2, 2 and the traveling machine body 1 moves. Running crawlers 2, 2
The relative height (vehicle height) with respect to is high. Conversely, when the piston rods are simultaneously retracted, the traveling machine body 1 approaches (lowers) both the left and right traveling crawlers 2 and 2 and the relative height (vehicle height) of the traveling machine body 1 to the traveling crawlers 2 and 2 is increased. Get lower.

Then, the hydraulic cylinder 39 for the traveling section on the left side
When the piston rod in a is projected or the piston rod in the right hydraulic cylinder 39b for the traveling portion is retracted (or both operations are executed at the same time), the vehicle of the traveling vehicle body 1 with respect to the right traveling crawler 2 is moved. The height becomes low (the vehicle height of the traveling body 1 with respect to the left traveling crawler 2 becomes high), and the traveling body 1 inclines downward to the right.

On the contrary, the right side hydraulic cylinder 39b for the traveling section
Of the traveling vehicle body 1 with respect to the left traveling crawler 2 by projecting the piston rod of the left traveling portion or retracting the piston rod of the left traveling portion hydraulic cylinder 39a (or performing both operations simultaneously). Becomes lower (the vehicle height of the traveling body 1 with respect to the right traveling crawler 2 becomes higher), and the traveling body 1 inclines to the lower left.

Hydraulic cylinders 39a, 39 for left and right traveling parts
The relative height (vehicle height) of the traveling machine body 1 to each of the left and right traveling crawlers 2 and 2 is detected by detecting the protrusion amount of the piston rod b.
Vehicle height sensor 4 such as a rotary encoder for detecting
1a and 41b are configured to interlock with each other via a connecting rod and a link mechanism (not shown) that are continuously provided on the connecting rod. The tilt sensor 43 such as a pendulum type (gravity type) for detecting the left and right tilt angles of the traveling machine body 1 is
Is arranged at an arbitrary position, for example, in the cab 11 or the like.

As shown in FIG. 3, the ultrasonic sensors 44a and 44b for detecting the ground height between the mowing pretreatment device 4 and the field scene are the transmitter (horn) of the transmitter and the receiver. With the receiving part of the grain orientation device facing the field scene, the brackets (not shown) provided on the back side of the grain culm raising devices 6 on the left and right sides of the pre-mowing treatment device 4.

When the installation heights of the ultrasonic sensors 44a, 44b and the cutting blade device 5 are different from each other, the cutting pretreatment device 4 and the farm scene are converted by a predetermined conversion from the detection values of the ultrasonic sensors 44a, 44b. The height above ground can be calculated.

An elevating position sensor 45 attached to the base end of the elevating frame 14 detects the rotation angle of the elevating frame 14 to determine the relative height between the traveling machine body 1 and the pre-mowing treatment device 4. Is able to.

As shown in FIG. 5, the hydraulic cylinders 9 and 3
The hydraulic circuit for 1, 39a, 39b includes a hydraulic pump 4
6 is branched via a diversion valve 47 that diverts the pressure oil from the hydraulic pressure oil from the first hydraulic pressure cylinder 31 to the auger hydraulic cylinder 31 and the left traveling unit hydraulic cylinder 39a. The pressure oil is fed to the circuit 48, and the pressure oil is fed from the other discharge path to the second hydraulic circuit 49 for the cutting section hydraulic cylinder 9 and the right traveling section hydraulic cylinder 39b. ing.

Electromagnetic control valves 50, 51, 52, 53 for the respective hydraulic cylinders 9, 31, 39a, 39b, check valves, relief valves, etc. are connected to the two hydraulic circuits 48, 49.

Next, the structure of various operating levers and switches provided in the operator's cab 11 will be described with reference to FIGS. 6 and 7. A steering wheel 58 (not shown) protruding upward from the front column cover body 57 in front of the driver's seat 56 is provided with a steering wheel 58 for steering the traveling machine body 1. On the right side surface of the front column cover body 57, an accelerator lever 59 that is rotatable in the front-rear direction is provided.

A liquid crystal display device 60 is provided at an upper end portion of the front column cover body 57 with a steering wheel 58 in a plan view.
Is attached so as to be located on the inner diameter side of the substantially semicircular handle wheel 58a.

This liquid crystal display device 60 is fixed only to the front column cover body 57, and the steering wheel 5 has a steering wheel.
Since it is not connected to the steering wheel 8, the liquid crystal display device 60 does not move even if the steering wheel 58 is rotated. Further, since the upper surface (screen) of the liquid crystal display device 60 is positioned below the handle wheel 58a of the steering wheel 58, even if the steering wheel 58 is rotated, the liquid crystal display device 60 is contacted. It is supposed not to.

A long side column 61 is arranged on the left side of the driver's seat 56 in the front and rear.
At a front end portion of the vehicle body 1, a vehicle height adjustment lever 62 capable of manually changing and adjusting the vehicle height of the traveling machine body 1, a vehicle height control changeover switch 63 for switching between automatic operation and manual operation in vehicle height control, and the traveling machine body 1 And a tilt setting device 64 for setting the left and right tilt angles of the.

A main gearshift lever 65 for continuously changing the vehicle speed is provided at a rear portion of the side column 61 such as a vehicle height adjusting lever 62, and an output and a rotational speed of the traveling drive unit 24 are within a predetermined range according to a working state. Auxiliary shift lever 66 set and held
And are arranged in parallel to the left and right, and each of these levers 6
Reference numerals 5 and 66 are configured to be rotatable back and forth.

On the right side of the auxiliary transmission lever 66 on the side column 61, the automatic cutting and lifting switch 13 is provided.
Various switches such as 1 are arranged, and a reaping lever 67 for reaping work is provided at a rear portion of the auxiliary transmission lever 66.
A threshing lever 68 for threshing work and a threshing lever 68 are arranged so as to be rotatable back and forth.

When the reaping lever 67 is tilted forward, the reaping switch 134 for performing the reaping work is turned on, and when it is tilted backward, the reaping switch 134 is turned on and operated. Similarly, the threshing lever 68 is also configured such that when it is tilted forward, the threshing switch 135 for executing the threshing operation is turned on, and when tilted backward, it is turned on.

On the right hand side of the grip 65a of the main transmission lever 65, the automatic lift switch 137 for forcibly raising the pre-mowing treatment device 4 and the pre-mowing treatment device 4 are forcibly lowered to a predetermined cutting height. Auto set switch 138
And are provided. On the right side of the front side surface of the grip portion 65a, a mowing lift lever 139 for manually operating the raising and lowering operation of the mowing pretreatment device 4 is arranged, and on the left side, the handling depth position of the grain stem is manually set. A handle depth adjusting lever 140 that can be changed and adjusted is arranged.

As shown in FIGS. 6 and 7, the liquid crystal display device 60 includes a liquid crystal panel 60b as a monochrome dot matrix type display means capable of displaying information such as characters, symbols and images, and a case for accommodating the liquid crystal panel 60b. And 60a. The liquid crystal panel 60b may be a color type.

On the outer peripheral side of the liquid crystal panel 60b on the surface of the case 60a, a work lamp 70 that is turned on when the power switch 142 for turning on and off the entire combine is turned on and off, and a screen display is switched. Two switches 71, 72, 73, and 74 are provided on the left and right sides of the switch. Each of these switches 71 to 74 is a so-called push switch that outputs one ON pulse signal by pressing the switch once, and is a non-lock type. Further, each of these switches 71 to 74 corresponds to the input means in the present invention.

The liquid crystal panel 60b in the case 60a
A CAN controller C5 (details of which will be described later) that controls to display image information corresponding to the mode being executed among the various combine modes on the screen of the liquid crystal panel 60b is installed on the back side of the.

Next, the vehicle speed, the posture and the vehicle height of the traveling vehicle body 1,
A control means for controlling the overall operation of the combine, such as the discharge position of the discharge auger 28, and for displaying the image information corresponding to the mode being executed (the operation state of the combine) on the screen of the liquid crystal panel 60b. The configuration will be described.

As shown in FIG. 8, a plurality of (five in the first embodiment) CAN controllers C1 and C are provided as electronic control devices 75 such as a microcomputer as control means.
2, C3, C4, C5, and a CAN communication bus 76 interconnecting them. The CAN controllers C1 and C5 incorporate resistors (not shown) as terminating resistors that suppress reflection of control data.

Each of the CAN controllers C1 to C5 is a CPU 77 for executing various arithmetic processes and controls, and an EEP as a non-volatile memory for storing each control program described later.
ROM 78, RAM for temporarily storing various data
79, a clock as a timer function, an input / output interface (not shown) for transmitting data by connecting to various input and output devices.

EEPR of CAN controllers C1 to C5
Each of the OMs 78 has a corresponding application control program (software) S1, S2, S3, S
4 and S5 are stored (stored) in advance (see FIG. 8).

The application control program S1 is
An application control program S2 is used as a control program for operating various actuators of the threshing device 3 and the mowing pretreatment device 4 (for example, the mowing section hydraulic cylinder 9).
Operates the hydraulic cylinder 9 for the mowing section and the hydraulic cylinders 39a, 39b for the traveling sections on the left and right of the traveling machine body 1 to perform the cutting height control of the pre-mowing treatment device 4 and the posture and vehicle height control of the traveling machine body 1. It is a control program for

The application control program S3 is
The application control program S4 is a control program for controlling the output of the engine 15, and the application control program S4 is a control program for controlling the operations of the drive motor 29 and the auger hydraulic cylinder 31 in the discharge auger 28.

Then, the application control program S5 manages and controls the input / output of all the input / output devices connected to the controllers C1 to C5, and the image information corresponding to the mode being executed is displayed on the liquid crystal panel 60b. A control program that controls the display on the screen.

Each EEPROM 78 also stores in advance a communication control program required for CAN communication and an input / output control program for transmitting control data (information) between input / output devices. The application control program is layered so that the input / output control program becomes the base.

As a guide, the CAN controllers C1 to C5 are combined and controlled so that the harness of the input / output equipment is as short as possible, and the control boxes (not shown) are arranged at the respective locations. Stored in).

For example, the CAN controller C1 is installed on the lower surface side of the floor plate in the cab 11 (see FIGS.
(See FIG. 3). The input interface of the CAN controller C1 includes, as an input system device, a lift position sensor 45, a grain culm transport sensor 96 for detecting whether or not the reaping pretreatment device 4 is transporting the corn culm, and a harvested corn culm during transportation. Culm length sensor 97, handling depth sensor 98, auger clutch motor switch 99, ultrasonic sensors 44a, 44b, vehicle speed sensor 100, No. 2 gutter screw conveyor rotation sensor 101, steering round handle limit The switches 102 and the like are respectively connected (see FIG. 9).
reference).

The output interface of the CAN controller C1 is, as an output system device, a control circuit unit 103 such as a relay unit in a depth control motor and a control circuit unit 10 such as a relay unit in an auger clutch motor.
4, electromagnetic solenoid 1 for driving threshing clutch
05 and the like are connected (see FIG. 9).

The CAN controller C2 is installed above the mowing pretreatment device 4 and near the operator's cab 11 (see FIGS. 1 to 3). The input interface of the CAN controller C2 includes a fuel sensor 106, an inclination sensor 43, and vehicle height sensors 41a, 41 as input devices.
b, the paddy flow rate sensor 107 on the grain plate of the sorting device, the paddy sensor 108 for detecting the presence or absence of paddy in each part of the sorting device, the straw cutter clogging sensor 109, the turning angle sensor 81, and the tip of the horizontal cylinder 28b. Discharge auger tip operation unit 110 for operating horizontal rotation of the discharge auger 28, vertical rotation angle sensor 82, auger clutch sensor 111, discharge auger overload sensor 112, swing selection overload sensor 113, handle cylinder rotation sensor 114, processing The body rotation sensor 115 and the like are connected to each other (see FIG. 10).

The output interface of the CAN controller C2 is a swing selection drive motor 1 as an output system device.
16, FC clutch drive circuit unit 117, discharge auger 28
A drive motor 29 for horizontally rotating the vertical cylinder 28a of
Discharge auger brake 118, auger hydraulic cylinder 31
Electromagnetic solenoid 51a of the electromagnetic control valve 51, the electromagnetic solenoid 52a of the electromagnetic control valve 52 for the left traveling hydraulic cylinder 39a of the traveling machine body 1, the electromagnetic control valve 5 for the right traveling hydraulic cylinder 39b of the traveling machine body 1
3, an electromagnetic solenoid 53a of the electromagnetic control valve 50 is connected to the hydraulic cylinder 9 for the mowing section, and the like (see FIG. 10).

As shown in FIGS. 1 to 3, the CAN controller C3 is installed in the rear part of the driver's seat 56 in the cab 11. The input interface of the CAN controller C3 is a rack of a fuel injection pump with an electronic governor for controlling the output (load) of the engine speed sensor 119, the engine oil amount sensor 120, the engine water temperature sensor 121, and the engine 15 as an input system device. Fuel injection pump rack position sensor 12 for detecting position
2, engine starter switch 123, exhaust auger 28
The auger set position dial 124 for storing the horizontal turning position of the vehicle in advance, and the discharge auger 28 provided in the operator's cab 11.
The discharge auger operating unit 125 for operating the horizontal turning of the cutting machine, the cutting clutch motor limit switch 126, and the like are connected (see FIG. 11).

The output interface of the CAN controller C3 includes a fuel injection pump rack actuator 127 for adjusting the rack position of the fuel injection pump as an output system device so that the rotation speed of the engine 15 becomes a predetermined rotation speed, and an engine. A starter relay 128, an alarm buzzer 129, etc. are connected to each other (see FIG. 11).

The CAN controller C4 is installed in the side column 61 of the cab 11 (see FIGS. 1 to 3). The input interface of the CAN controller C4 includes an accelerator lever sensor 59a for detecting the operating position of the accelerator lever 59, a vehicle height adjusting lever 62, a vehicle height control changeover switch 63, a tilt setting device 64, and a handling depth as input devices. The automatic control switch 130, the automatic reaper raising / lowering switch 131, and the reaping automatic clutch switch 132, the reaping switch 134, and the threshing for automatically transmitting power to the reaping pretreatment device 4 when the reaping pretreatment device 4 descends to a predetermined cutting height. A switch 135, a sorting adjustment dial 136 for adjusting the sorting state of grains in the sorting device,
Auto lift switch 137, Auto set switch 1
38, mowing lift lever 139, handling depth adjusting lever 14
0, the auxiliary shift lever 66, a reverse switch 141 for moving the traveling body 1 backward, a power switch 142, etc. are connected (see FIG. 12).

The output interface of the CAN controller C4 includes, as output system equipment, a vehicle height control changeover switch lamp 143 which is turned on when the vehicle height control is switched to automatic operation, and when the handling depth control is switched to automatic operation. A lighting depth automatic control switch lamp 144 and the like to be turned on are connected (see FIG. 12).

The liquid crystal panel 6 is used as an input interface of the CAN controller C5 installed in the case 60a.
0b cursor up switch 71 for moving the cursor on the screen upward, the cursor down switch 72 for moving the screen downward, liquid crystal panel 60
First and second changeover switches 73, 74, etc. for performing an operation for switching the screen display of b, etc. are respectively connected (see FIG. 13).

The output interface of the CAN controller C5 has a liquid crystal panel 60 as display means.
b, a work lamp 70 and the like that are turned on when the power switch 142 for turning on and off the power of the whole combine is turned on and connected, respectively (see FIG. 13).

Next, a mode switching control mode by the CAN controller C5 will be described. As shown in FIG. 14, the combine mode (operation state) is an initial mode M1, a normal mode M2 for running on the road or performing various kinds of work,
Alarm display mode M to notify the abnormal state of each part of combine
3, an error display mode M5 for notifying the contents of various errors such as a detection error, and an environment setting mode M4 for setting automatic traveling control and the like.

In the normal mode M2, there are a non-working mode M2a for running on the road and a working mode M2b for cutting and threshing work, and a maintenance mode M6 which can be shifted only from the non-working mode M2a is also set. (See FIG. 15).

First, when the power switch 142 is turned on and operated, the initial mode M1 is activated and the liquid crystal panel 60 is activated.
The initial image information shown in FIG. 16 is displayed on the screen of b.

Then, the EEP of the CAN controller C5
The time set in advance in the ROM 78 (1 in the first embodiment
0 seconds elapses, or the rotation speed of the engine 15 is a preset rotation speed (240 rpm in the first embodiment).
m) or more, the mode automatically shifts to the non-working mode M2a of the normal mode M2 (see FIG. 15), and the screen display of the liquid crystal panel 60b displays the engine speed and the remaining fuel amount from the initial image information. Image information such as (non-working mode M2a
Image data corresponding to (see FIG. 17).

In this case, on the screen of the liquid crystal panel 60b,
As the image information of the non-working mode M2a, a speedometer 85 indicating the traveling speed (vehicle speed) of the traveling machine body 1, a substantially L-shaped rotation speed graph 86 indicating the engine rotation speed, and an amount of fir in the grain tank 12 are notified. A tank monitor 87, a fuel gauge 88 for indicating the remaining amount of fuel, an auxiliary shift monitor 89 for notifying the setting state of the auxiliary shift lever 66, a reaping shift monitor 90 for notifying the speed setting state of the pre-reaping device 4, and an operation of the engine 15. An integrated value monitor 91 for displaying a value obtained by integrating time is displayed.

During the execution of the initial mode M1, when the threshing clutch for transmitting power to the threshing device 3 is in the engaged state, that is, when the threshing switch 135 is in the engaged state, the mode shifts to the alarm display mode M3 described later. The alarm buzzer 129 is activated, and the image information of the clogged handling cylinder is switched and displayed on the screen of the liquid crystal panel 60b (see FIG. 21 (a)). This does not mean that the handling cylinder is actually clogged, but the liquid crystal panel 6 is used by substituting the image information of the handling cylinder clogging.
By displaying it on the screen of 0b, the operator is informed that the threshing clutch is in the engaged state, and is prevented from starting as it is.

Then, when the threshing switch 135 is turned off and activated, the alarm buzzer 129 stops ringing and shifts to the non-working mode M2a, and the screen display of the liquid crystal panel 60b returns to the image information of the non-working mode M2a (Fig. 17
reference).

As shown in FIG. 15, when the threshing switch 135 is turned on and activated during execution of the non-working mode M2a of the normal mode M2, the mode shifts to the working mode M2b, and FIG.
The display of the screen showing the image information of No. 7 transitions to the image information such as the engine load and the remaining amount of fuel (image data corresponding to the work mode M2b) (see FIG. 18). The image information of the work mode M2b is different only in that, in the image information of the non-work mode M2a, a load graph 86 'indicating the engine load is displayed in the display area of the engine speed graph 86 indicating the engine speed. And the others are non-working modes M2a
It is similar to the case of.

Then, when the threshing switch 135 is turned off and operated, the mode shifts to the non-working mode M2a, and the image information of the non-working mode M2a is switched and displayed on the screen of the liquid crystal panel 60b.

The normal mode M2 (non-working mode M2
a or the work mode M2b) is being executed, if the cursor up movement switch 71 provided in the liquid crystal display device 60 is pressed for an appropriate time (5 seconds in the first embodiment) or more, the integrated value monitor 91 on the screen of the liquid crystal panel 60b is displayed. The display is switched to the integrated value monitor 91 'of the mowing work time (see FIG. 19). This reaping work time means that the engine rotational speed is equal to or lower than a preset rotational speed (1000 rpm in the first embodiment) and the reaping clutch is engaged (the reaping switch 134).
It is the sum of the time when the slash is on), and represents the time when the mowing work was substantially performed. In this state, if the cursor down movement switch 72 is pressed for an appropriate time or more,
The integrated value of the mowing work time is reset to zero.

Then, when the cursor up movement switch 71 is pressed again for an appropriate time (5 seconds in the first embodiment) or more, the integrated value monitor 9 of the reaping work time on the screen is displayed.
The display of 1'returns to the engine operating time integrated value monitor 91. When the image information of the normal mode M2 is displayed on the screen of the liquid crystal panel 60b for the first time after the power is turned on, the integrated value monitor 91 of the engine operating time is always displayed on the screen.

As shown in FIG. 14, in the normal mode M2, when abnormal data out of the control range allowed in each part of the combine occurs, the liquid crystal panel 60 is displayed.
The screen display of b is changed from the image information of the normal mode M2 to the image information of the abnormal state related to the abnormal data (FIGS. 20 to 22).
Reference), that is, the image information in the alarm display mode M3. When various abnormal data occur, the work lamp 70 provided in the case 60 a of the liquid crystal display device 60.
(See FIG. 7) is turned on.

The abnormality information in the first embodiment is detailed information 151 indicating details such as the contents of the abnormal state and the position where the abnormality has occurred.
(Refer to FIG. 20A and the like) and treatment information 152 for this abnormal state (Refer to FIG. 20B and the like). Both of these information are independently displayed on the screen of the liquid crystal panel 60b. ing. Both information 151 on the screen,
The switching display of 152 is executed by pressing the second changeover switch 73.

Detailed information 1 as shown in FIG.
Reference numeral 51 is composed of symbol information 153 such as an easy-to-understand pattern or symbol mark indicating an abnormality-occurring device or the like, character information 154 indicating a name of the abnormality-occurring device or the like, and a schematic diagram 155 of the entire combine as graphic information. The symbol and character information 153 and 154 are displayed on the left side of the screen.
Is displayed on the right side of the screen.

Further, an arrow 156 extending from the symbol and character information 153, 154 is designed to indicate the area corresponding to the abnormality occurrence position (the portion on which the abnormality occurrence equipment or the like is mounted) in the schematic diagram 155. Here, in the screen of FIG. 20 (a), since detailed information of the grain culm clogging of the grain culm raising device 6 is displayed, the arrow 156 indicates the pre-mowing treatment device 4 in which the grain culm raising device 6 is arranged. Pointing to the area.

According to this structure, even an operator who is not very familiar with the structure of the combine can easily visually grasp the contents of the abnormal state and the position of the abnormal occurrence,
For example, the operator can save the trouble of reviewing the maintenance manual and the like, and can quickly and accurately perform the repair of the abnormal position.

The abnormal state notified in the alarm display mode M3 is typified by an emergency state in which the engine 15 is forcibly stopped because of high risk, an abnormal state in the work system typified by clogging of the handling cylinder, and an abnormal engine hydraulic pressure. It is roughly divided into three, the abnormal state of the engine system.

For example, when abnormal data relating to an emergency state (hereinafter referred to as emergency data) occurs, the image information of the emergency state (hereinafter referred to as emergency information) is switched and displayed on the screen of the liquid crystal panel 60b (FIG. 20). (See), the engine 15 is forcibly stopped.

As an emergency state of the combine, the grain culm of the grain culm raising device 6, the grain culm of the grain culm conveying device 8, the waste cullet of the straw cutter 27, and the binding device (not shown) are used. There are four modes such as exhaustion of binding strings, and when the detected emergency data is related to the grain culm raising device 6 or the grain culm transporting device 8, the alarm buzzer 129 is sounded or buzzed according to the ON / OFF state of the reaping switch 134. On the other hand, when it is the emergency data regarding the waste cutter 27 or the binding device not shown,
The alarm buzzer 129 is made to ring or stop ringing according to the on / off state of the threshing switch 135.

When urgent data is detected,
Only the emergency information related to the emergency data is displayed on the liquid crystal panel 60b.
Even if other abnormal data is also detected on the screen, the abnormal information regarding the other abnormal data is not switched. In this case, it is not possible to shift to another mode unless the power switch 142 is once turned off to operate.

When the control is performed in this manner, for example, when there is a high risk of damage or failure of the combine, or when an emergency occurs that seriously hinders work such as mowing,
Since the operator can grasp this emergency information in preference to other abnormal information, the operator can safely carry out the mowing and threshing work.

When a plurality of emergency data are detected, the emergency information regarding the later detected emergency data is
After the previous emergency state is resolved, the previous emergency information is switched and displayed on the screen of the liquid crystal panel 60b.

When abnormal data of the work system occurs,
On the screen of the liquid crystal panel 60b, instead of the image information of the normal mode M2, the image information (see FIG. 21) of the abnormal state related to the work abnormal data is switched and displayed. Here, the abnormal state of the work system is a threshing relationship in the example of the combine, and the handling cylinder 13 is clogged, the processing cylinder 20 is clogged, the screw conveyor 22b of the second gutter is clogged, and the swing selection mechanism 4 is used.
There are five modes: 0 clogging and full grain filling in the grain tank 12.

When only the abnormal state of the working system has occurred, the abnormal state is resolved, and the alarm display mode M3 is returned to the normal mode M2, and the liquid crystal panel 6 is displayed.
The image information of the normal mode M2 is switched and displayed on the screen of 0b. At this time, the work lamp 70 (see FIG. 7) of the liquid crystal display device 60 is turned off.

Even when a plurality of work system abnormal data are detected, as in the case of the emergency data described above, the abnormal information about the work system abnormal data detected later indicates that the abnormal state of the previous work system. After the problem is resolved, the abnormality information of the work system is switched to the previous abnormality information and displayed on the screen of the liquid crystal panel 60b.

When engine system abnormal data occurs, the image information of the abnormal state relating to the engine system abnormal data (see FIG. 22) is displayed on the screen of the liquid crystal panel 60b instead of the image information of the normal mode M2. A switching buzzer is displayed and an alarm buzzer 129 sounds. Here, as the abnormal state of the engine system, there are four modes such as abnormal engine hydraulic pressure, abnormal engine cooling water temperature, abnormal charging circuit (charge abnormality), and abnormal air cleaner (clogging).

When only the abnormal state of the engine system occurs, the first changeover switch 73 is pressed to display various information on the screen of the liquid crystal panel 60b between the alarm display mode M3 and the normal mode M2. Can be switched and displayed.

That is, when only the abnormal state of the engine system occurs, when the first changeover switch 73 is pressed once, the mode is shifted to the normal mode M2, and the liquid crystal panel 60b.
Is displayed in the normal mode M from the abnormal information of the engine system.
The image information changes to 2.

In this case, the alarm buzzer 129 stops ringing when the first changeover switch 73 is pressed, and the normal mode M
On the right side portion of the auxiliary shift monitor 89 on the screen showing the image information of No. 2, a character mark 93 of "alarm" is displayed blinking (see FIG. 23). By this blinking of the warning sign 93, the operator can visually recognize that an abnormal state of the engine system is occurring even on the screen showing the image information of the normal mode M2, and the operator's attention can be called.

When the first changeover switch 73 is pressed again, the mode shifts to the alarm display mode M3, and the liquid crystal panel 60
Engine screen abnormality information is switched and displayed on the screen of b, and the alarm buzzer 129 sounds again.

When the abnormal state of the engine system is resolved, the alarm display mode M3 is returned to the normal mode M2, the alarm buzzer 129 stops ringing, and the liquid crystal panel 6 is released.
The image information of the normal mode M2 is switched and displayed on the screen of 0b. The work lamp 70 of the liquid crystal display device 60 (see FIG.
(See) turns off at this time.

When an abnormal state of the work system and an abnormal state of the engine system occur, or when only a plurality of abnormal states of the engine system occur, an appropriate time (5 seconds in the first embodiment).
Image information of each abnormal state is displayed on the liquid crystal panel 60 in sequence.
It is switched and displayed on the screen of b. When an abnormal state of the work system is confirmed, the screen display of the liquid crystal panel 60b is displayed in the normal mode M2 even if the first changeover switch 73 is pressed.
It does not switch to the image information of.

With this control, even an operator who is not very familiar with the structure of the combine can grasp all the abnormality information accurately as a result of sequentially grasping the contents of the abnormality information and the position where the abnormality has occurred along with the switching display. Can be confirmed. Therefore, there is no risk of overlooking the occurrence of each of these abnormalities.

Moreover, the display of the screen of the liquid crystal panel 60b is automatically switched even if the operator does not perform a switching operation of the switch or the like, so that the operator does not have to do anything else and the combine operation can be performed. You can easily check the error information that has occurred while driving.

On the screen of the liquid crystal panel 60b, the abnormal condition disappears from the one that disappears, and the remaining abnormal information is sequentially switched and displayed at appropriate intervals until all the abnormal conditions that have occurred are cleared. , This is to be repeated. Therefore, the operator can easily understand the elimination status of the abnormal condition.

As shown in FIG. 14, during execution of the normal mode M2 (non-work mode M2a or work mode M2b), various errors such as detection errors of sensors and setting devices and operation errors of various actuators have occurred. In this case, the auxiliary shift monitor 89 on the screen of the liquid crystal panel 60b
On the right side of the, a character mark 92 of "error" is displayed blinking (see FIG. 24). The blinking of the error indicator 92 allows the operator to quickly visually recognize that an error has occurred on the screen showing the image information in the normal mode M2.

In this state, if the first changeover switch 73 is pressed for an appropriate time (5 seconds in the first embodiment) for more than a certain time, the mode shifts to the error display mode M5, and the screen display of the liquid crystal panel 60b displays the error generated at this time. Transitions to the image information indicating the contents (see FIGS. 25 (a) to 25 (d)). This allows
Since the operator can check the details of the error when he / she desires, the working efficiency is improved and the safety during the driving operation is also improved.

Then, again the first changeover switch 73
When is pressed once or the error is eliminated, the error display mode M5 is returned to the normal mode M2, and the image information of the normal mode M2 is switched and displayed on the screen of the liquid crystal panel 60b.

When the second changeover switch 74 is pressed once during execution of the normal mode M2, the mode is changed to the environment setting mode M4 and the screen display of the liquid crystal panel 60b is changed from the image information of the normal mode M2 to the environment setting mode. The image information changes to the mode M4 image information (see FIG. 26). Again, the second changeover switch 7
When 4 is pressed, the mode is switched to the normal mode M2, and the screen display of the liquid crystal panel 60b is returned from the image information of the environment setting mode M4 to the image information of the normal mode M2. In the first embodiment, since the environment setting mode M4 is executed less frequently, the second changeover switch 7 is provided separately from the first changeover switch 73.
4 is provided so that the environment setting mode M4 is not inadvertently operated.

Next, a mode transition diagram of FIG. 15 and FIGS.
Referring to the screen diagram of FIG. 33, the maintenance mode M6
The control mode will be described.

As shown in FIG. 15, the non-working mode M2a
During execution of the engine, the engine speed is equal to or lower than the preset speed (1500 rpm in the first embodiment) and the vehicle speed is stopped (the vehicle speed is 0.03 m / s or lower in the first embodiment).
Under these conditions, both cursor movement switches 71 and 72 provided on the case 60a are simultaneously operated for an appropriate time (in the first embodiment, 1
After operating for more than a second, the four switches 71 to 74 provided on the case 60a are simultaneously operated for an appropriate time (first time).
When it is operated for 5 seconds or more in the embodiment, the alarm buzzer 129 sounds and the maintenance mode M6 shifts, and the maintenance mode M is displayed on the screen of the liquid crystal panel 60b.
The image information of the selection menu in 6 (hereinafter referred to as selection menu information) is switched and displayed (see FIG. 27). The alarm buzzer 129 stops ringing when the screen is switched.

In the maintenance mode M6, not only the failure diagnosis of each input / output system device (details will be described later) but also the control range of each device can be set and changed, so that the complicated procedure described above must be followed. Maintenance mode M6
This prevents the settings from being changed due to mischief or erroneous operation by not shifting to. Further, in the maintenance mode M6, it is set so as not to be able to shift to the other modes M1 to M5 unless the power switch 142 is once turned off and operated.

The maintenance mode M6 is an initial setting mode for performing various settings such as the cutting height position when various sensors and CAN controllers C1 to C5 are replaced, and a failure diagnosis mode for diagnosing whether or not there is a failure in the input / output system equipment. Checker mode, a reset mode for erasing past maintenance information, and an edit mode for rewriting the contents stored in the EEPROM 78 of each CAN controller C1 to C5.

On the screen of FIG. 27 showing the selection menu information, the character information 161 to 164 of "initial setting mode", "checker mode", "maintenance information reset" and "EEPROM edit" and the character information to be selected are displayed. A pointing cursor 160 is displayed.

Further, operation instruction indicators 165, 166, 167, 168 indicating the functions of the switches 71, 72, 73, 74 as input means are displayed at the four corners of this screen. (The operation instruction mark 168 is shown in FIG.
6 and FIG. 33).

These operation instruction indicators 165 to 168 are
The contents of the operation when each of the switches 71 to 74 corresponding to the display position is pressed are simplified and represented by characters and figures. For example, referring to the screen of FIG. 27, when the cursor up movement switch 71 corresponding to the operation instruction mark 165 (upward arrow) in the upper left corner of the screen is pressed, the cursor 16
0 moves to the top of the screen, and the operation indicator 1 at the lower left corner
When the cursor down movement switch 72 corresponding to 66 (down arrow) is pressed, the cursor 160 moves down in the screen. In this case, since no operation is performed even if the second changeover switch 74 is pressed, the operation instruction mark 168 for the second changeover switch 74 is not displayed.

Each of the character information 161 to 164 is displayed in reverse when it is pointed by the cursor 160. Then, for example, as shown in FIG. 27, the "checker mode"
When the first changeover switch 73 corresponding to the operation instruction mark 167 (the character “decision”) at the lower right corner of the screen is pressed in the state in which the character information 162 of is displayed in reverse, the checker mode is selected (determined). The screen display showing the selected menu information is displayed as image information of the checker menu (hereinafter,
(Checker menu information) (Fig. 28)
(See (a) to (c)).

The checker menu information is categorized into 13 items mainly according to the control system such as the depth control and the horizontal control of the vehicle height, and as shown in FIGS. The item group is displayed collectively on one screen or divided into two or more according to the number of pixels that can be displayed on the screen of the liquid crystal panel 60b (in the first embodiment, it is divided into three). ).

Switching display of a plurality of menu information on the screen (see FIG. 28) is performed by pressing the cursor down movement switch 72 and moving the cursor 160 downward in the screen as in the switch operation in the selection menu described above. Move
"Next (or 1/3)" pointed by this cursor 160
In the state that the character information 169 of "to the screen of" is highlighted.
It is executed by pressing the first changeover switch 73.

The above-mentioned items are headings (indexes) for input / output system devices grouped according to control methods such as depth control and horizontal vehicle height control. It is a clue to finding the character display of the device.

Then, as shown in FIG. 28A, for example, when the first changeover switch 73 is depressed in a state where the character information of "auger control" is highlighted, the liquid crystal panel 6
The image information of the auger control menu is switched and displayed on the screen 0b (see FIG. 29).

As the image information of the auger control menu,
Character information 171 to 1 of the input system device among the devices to be diagnosed
78, that is, "discharge auger operation unit" (171), "discharge auger tip operation unit" (172), "auger set position dial" (173), "turning angle sensor" (174),
"Vertical rotation angle sensor" (175), "Auger clutch motor switch" (176), "Auger clutch sensor"
(177) and "Discharge auger overload sensor" (17
8) and the character information 179 to 182 of the output system device, that is, the "auger clutch motor control circuit unit" (179),
"Discharge auger brake" (180), "Drive motor"
(181) and "electromagnetic solenoid for auger" (18
2), the list of these character information groups 171 to 182 is similar to the checker menu information described above according to the number of pixels that can be displayed on the screen of the liquid crystal panel 60b and the like.
The images are displayed together on one screen or divided into two or more (in the first embodiment, divided into three, see FIG. 29).

Switching display of a plurality of menu information items on the screen (see FIG. 29) is performed in the same manner as the switch operation on the selection menu or checker menu described above. The list of the character information groups 171 to 182 corresponds to the list of devices to be diagnosed in the present invention.

Next, as shown in FIG. 29A, for example, when the first changeover switch 73 is pressed with the character information 173 of the "auger set position dial" highlighted, it is one of the input system devices. Since the auger set position dial 124 has been selected (determined), the liquid crystal panel 60
The diagnostic information of the auger set position dial 124 is switched and displayed on the screen of b (see FIG. 30).

In this case, on the screen of the liquid crystal panel 60b,
As diagnostic information, a device name 183 (“Oger set position dial” in FIG. 30) to be diagnosed, a diagnostic result 184 such as the detected voltage and rotational speed, a normal control range, etc. 1
85 and the detected CAN controller name (“column controller (C4)” in FIG. 30) are displayed.

On the screen (see FIG. 30), only the operation instruction mark 167 for the first changeover switch 73 among the operation instruction marks 165 to 168 is displayed.
When the changeover switch 73 is pressed, the screen display of the liquid crystal panel 60b returns to the selection menu information (see FIG. 27).

With the above-described control, even an inspector such as an operator who is not very familiar with the structure of the combine can operate the switches 71 to 74 according to the display on the screen of the liquid crystal panel 60b to enter the diagnosis target. List of output devices (related to auger control in the first embodiment)
Can be displayed on the screen, so that the inspector can inspect the selected device by a simple operation of selecting the character information of the device name for failure diagnosis from the list display. Therefore, there is no problem that the inspection target device cannot be inspected because the mounting position of the device to be diagnosed is unknown.

Also, since the list of input / output devices related to controls other than the auger control can be displayed on the screen of the liquid crystal panel 60b, even when all the input / output devices are inspected, such as the pre-work inspection, the inspection omissions are omitted. There is no fear of.

Further, by pressing the first changeover switch 73 while the character information (character information 173 of "Oger set position dial" in the first embodiment) in the list display is highlighted, the liquid crystal is displayed. Since the diagnostic information of the device (the auger set position dial 124 in the first embodiment) selected from the list display can be switched and displayed on the screen of the panel 60b, an inspector such as an operator can check the contents of this diagnostic information. It is possible to easily grasp whether or not the selected device (the auger set position dial 124 in the first embodiment) is operating normally.

On the screen of FIG. 30, the diagnostic result 184 is displayed as "0.00V", and this value is the normal control range (0.25 V to 0.25 V in the first embodiment) displayed in the remark 185 of this screen. Since it is outside the range of 4.75V), an inspector such as an operator can immediately confirm that the auger set position dial 124 is out of order.

On the other hand, during execution of the checker mode as the failure diagnosis mode, that is, on the screen of the liquid crystal panel 60b,
When the image information of FIGS. 28 to 30 is displayed, for example, a vehicle height adjusting lever 62 (see FIG. 6) provided at the front end portion of the side column 61 is operated by an inspector such as an operator in the traveling direction of the traveling body 1. When the CAN controller C5 receives the control data from the vehicle height adjusting lever 62 based on the tilting motion to the left by the CAN controller C5 via the CAN communication bus 76, the CAN controller C5 performs the tilting motion on the control data. Recognizing the change, the liquid crystal panel 60b
The diagnostic information of the vehicle height adjusting lever 62 is switched and displayed on the screen (see FIG. 31 (a)). This diagnostic information is provided in claim 3.
It corresponds to the "information about one input device" described in.

In this case, if the vehicle height adjusting lever 62 is operating normally, on the screen of the liquid crystal panel 60b, the character "vehicle height adjusting lever" is displayed as the device name 183 to be diagnosed, and the diagnosis result 184 is "left." The characters "tilt ON" and the characters "column controller (C4)" are displayed as the detection controller name.

Then, when the vehicle height adjusting lever 62 is tilted forward, the display of the diagnostic result 184 on the screen of the liquid crystal panel 60b is changed to the character "Rise ON" (see FIG. 31 (b)), and the vehicle height adjusting is performed. When the lever 62 is released, the display of the diagnosis result 184 switches to "OFF" (see FIG. 31 (c)).

Note that, on the screen, only the operation instruction mark 167 for the first changeover switch 73 among the operation instruction marks 165 to 168 is displayed, similar to the diagnostic information of the auger set position dial 124 (see FIG. 30), When the first switch 73 is pressed, the screen display of the liquid crystal panel 60b returns to the selection menu information.

With this control, if the mounting position of the device to be diagnosed is known, the switches 71 to 74 are operated in accordance with the display on the screen of the liquid crystal panel 60b, so that the I / O device to be diagnosed can be operated. Even if the list (in this case, the vehicle height horizontal control) is not displayed on the screen, the diagnostic information of the device (the vehicle height adjusting lever 62 in the first embodiment) for failure diagnosis is directly switched to the screen. Since it can be displayed, an inspector such as an operator can determine whether or not the device for diagnosing the failure (the vehicle height adjusting lever 62 in the first embodiment) is operating normally from the content of this diagnostic information.
It can be grasped easily.

Therefore, it is possible to save the trouble of finding a device for failure diagnosis from the list displayed on the screen and efficiently execute the failure diagnosis (inspection) of each input / output system device.

Further, the information on the vehicle height adjusting lever 62 which is switched and displayed on the screen of the liquid crystal panel 60b is not limited to the above-mentioned diagnostic information, and for example, as shown in FIG. 32, the image information of the vehicle height horizontal control menu, That is, it may be a list of input / output devices related to vehicle height horizontal control. Therefore, the image information of the item-based control menu such as the auger control menu and the vehicle height horizontal control menu (see FIGS. 29 and 32).
The reference) also corresponds to the “information about one input system device” described in claim 3.

By controlling in this way, the vehicle height adjusting lever 6
Since a list of input / output devices related to the vehicle height horizontal control including 2 can be quickly displayed on the screen of the liquid crystal panel 60b,
Not only the manually operated vehicle height adjusting lever 62, but also the character display of the input / output device related to the vehicle height horizontal control can be easily found.

Needless to say, the failure diagnosis can be executed in the same manner for other input system devices such as the elevation position sensor 45 and the grain culm transport sensor 96.

Next, an embodiment of failure diagnosis of output system equipment will be described. Returning to the screen view of FIG. 29C, when the first changeover switch 73 is pressed while the character information 181 of “drive motor” is highlighted, the drive motor 29, which is one of the output system devices, is selected ( (Determined), the diagnostic information (see FIG. 33A) of the drive auger 29 is switched and displayed on the screen of the liquid crystal panel 60b.

In this case, on the screen of the liquid crystal panel 60b,
As diagnostic information, a device name 183 (“driving motor” in FIG. 33) to be diagnosed, a diagnostic result 184, and an operation procedure of each switch 71, 72, 74 at the time of failure diagnosis Remark 1
85 and the detected CAN controller name ("Remove controller (C2)" in FIG. 33) are displayed.

The display of the diagnosis result 184 here is as follows.
Output system device during failure diagnosis (drive motor 29 in FIG. 33)
It shows the operating state of. In addition, the screen (FIG. 33)
The four operation instruction signs 165 to 168 are also displayed in (see).

When diagnosing the failure of the drive motor 29, which is one of the output system devices, the remark 18 which describes the operating procedure is given.
As shown in 5, while pressing "Drive", press "Right"
Is pressed, that is, the operation instruction mark 16 at the upper right corner of the screen
When the cursor up switch 71 for the operation instruction mark 165 in the upper left corner of the screen is pressed while the second changeover switch 74 for 8 is pressed, if the drive motor 29 is operating normally, the character display of the diagnosis result 184 is displayed. The mode is switched from "stop" to "turning right", and the vertical cylinder 28a of the discharge auger 28, and thus the horizontal cylinder 28b, is rotated around the vertical axis in the arrow R direction shown in FIG. The alarm buzzer 129 sounds while the two switches 71 and 74 are simultaneously pressed.

On the other hand, pressing "left" while pressing "drive", that is, pressing the second changeover switch 74 for the operation instruction mark 168, while moving the cursor down switch 72 for the operation instruction mark 166 in the lower left corner of the screen. When is pressed, if the drive motor 29 is operating normally, the character display of the diagnosis result 184 is switched to "while turning left",
The vertical cylinder 28a of the discharge auger 28 and the horizontal cylinder 28b are shown in FIG.
It turns around the vertical axis in the arrow L direction indicated by. Also in this case,
The alarm buzzer 129 sounds while the two switches 72 and 74 are simultaneously pressed.

Also in this case, when the first changeover switch 73 for the operation instruction mark 167 at the lower right corner of the screen is pressed, the screen display of the liquid crystal panel 60b returns to the selection menu information (see FIG. 27).

With this control, if the second changeover switch 74 and the cursor up movement switch 71 or the cursor down movement switch 72 are not operated in the failure diagnosis of the output system equipment, the output system to be diagnosed The device does not operate, and by extension, the control target (traveling part, reaping part, etc.) provided with this output system device does not operate. Therefore, before an inspector such as an operator accidentally hits any of the switches 71, 72, and 74 and the inspector does not notice,
The risk that the controlled object will operate can be reliably prevented.

Further, since it is considered that the inspector normally presses the two switches 71 (or 72) and 74 at the same time with both hands, the inspector can operate the output system devices other than the diagnosis target. By reducing the risk of accidentally hitting various levers and switches, it is possible to avoid the risk of another control target operating without the operator's knowledge.

Furthermore, two switches 71 (or 7
While the alarm buzzer 129 sounds while pressing 2) and 74 at the same time, it is possible to call the operator's attention, and to inform the people around the combine, for example, that the combine is in operation and output it. It is possible to safely carry out failure diagnosis of system equipment.

The depth control motor control circuit section 103
It goes without saying that the failure diagnosis can be executed in the same manner for other output system devices such as the swing selection drive motor 116 and the like.

34 to 36 are a second embodiment showing a mode of failure diagnosis. Here, in the second embodiment, the configuration and action are the same as those in the first embodiment,
The same reference numerals as those in the embodiment are given and the description thereof is omitted.

In the second embodiment, when the control data from any one of the input system equipment group is received by the CAN controller C5 via the CAN communication bus 76 during execution of the normal mode M2, The character information 191 to 193 indicating the change of the operating state of the input system device is displayed on the right side portion of the auxiliary shift monitor 89 on the screen of the liquid crystal panel 60b.

Hereinafter, the mode of the failure diagnosis of the second embodiment will be described by taking as an example the case where the cutting machine and the threshing work are once interrupted and the traveling machine body 1 is turned to change the direction of the cutting work at the edge of the ridge. To do.

As shown in FIG. 34, while the work mode M2b is being executed, when the operator pushes the automatic lift switch 137 provided on the grip portion 65a of the main transmission lever 65, for example, the traveling machine body 1 approaches the edge of the ridge. The cutting pretreatment device 4 is forcibly raised to a height higher than a predetermined cutting height, and the CAN controller C5 recognizes that the control data from the automatic lift switch 137 has been changed by the pressing operation, and the screen of the liquid crystal panel 60b is displayed. In the right side portion of the auxiliary shift monitor 89 in, the character information 191 of “auto lift switch operation” is displayed.

When the pre-cutting device 4 is forcibly lifted to a height higher than a predetermined cutting height by the above-mentioned operation, the elevation position sensor 45 sends a signal based on the change in the rotation angle of the elevation frame 14. Since the control data changes, the auxiliary shift monitor 89 on the screen of the liquid crystal panel 60b is displayed.
In place of the character information 191 of "auto lift switch operation", the character information 192 of "position sensor operation" is switched and displayed on the right side part of (see FIG. 35).

Then, the operator operates the steering wheel 58.
Is operated to turn the traveling body 1, and then the auto set switch 13 provided on the grip portion 65a of the main transmission lever 65 is operated.
When 8 is pressed, the pre-mowing device 4 is forcibly lowered so as to be located at a predetermined cutting height, and the CAN controller C5 recognizes that the control data from the auto set switch 138 has been changed by the pressing operation. The display of the right side portion of the auxiliary shift monitor 89 on the screen of the liquid crystal panel 60b indicates that the character information 192 is "position sensor operation".
Is switched to the character information 193 of "automatic set switch operation" (see FIG. 36).

Then, by the above operation, the pre-mowing treatment device 4
When is forcibly lowered to a predetermined cutting height, the control data transmitted from the lift position sensor 45 changes again based on the change in the rotation angle of the lift frame 14,
The display of the right side portion of the auxiliary shift monitor 89 on the screen of the liquid crystal panel 60b is switched to the character information 192 of "position sensor operation" (see FIG. 35).

When the above control is performed, the normal mode M2
When the control data from any one of the input system devices changes during the execution of the above, the input system devices (in the second embodiment, the auto lift switch 137, the lift position sensor 45, and the auto set switch 138). Since the character information indicating the change in the operating state can be displayed on the right side portion of the auxiliary shift monitor 89 on the screen of the liquid crystal panel 60b,
Even if the checker mode as the failure diagnosis mode is not executed, an inspector such as an operator can easily understand from the contents of the character information whether or not the input system device is operating normally.

For example, when the above-mentioned character information is not displayed on the right side portion of the auxiliary shift monitor 89 on the screen of the liquid crystal panel 60b, the operator performs the auto lift switch 137 and the auto set switch 138 which he / she performed.
It is possible to determine which input system device is out of order in consideration of the operation and the like.

Therefore, the operator can prepare for the combine without any special operation by controlling so that the failure diagnosis of each input system device can be executed even during normal agricultural work or on the road. Each input system device can be inspected at any time, and the inspection work of each input system device becomes easy.
It should be noted that the failure diagnosis of each input system device can be executed not only in the normal mode M2 but also in execution of a mode other than the failure diagnosis mode.

Needless to say, the present invention is not limited to the above-described embodiments but can be widely applied to various working machines such as various agricultural working machines, special working vehicles such as crane trucks, or passenger cars. .

The communication bus (line) according to the present invention may use not only the CAN (Controller Area Network) protocol but also the LAN (Local Area Network) protocol. The present invention can be applied not only to the CAN communication environment described above but also to a control system in a LAN communication environment. However, data communication using the CAN communication protocol
The exchange of control data between each controller is smooth,
At the same time, it is possible to smoothly detect the communication error state and process the error. It should be noted that the controller as the control means may be plural or may be a single controller.

The input means in the present invention is not limited to the above-mentioned four switches 71 to 74, but may be the liquid crystal panel 60.
It may be a touch panel provided on the screen of b. In this case, the touch panel is connected to the input interface of the CAN controller C5 via the flexible wiring board, and the operator presses a portion of the surface of the touch panel corresponding to the operation instruction indicators 165 to 168 with a finger, a pen or the like, The touch panel detects this position and transmits the pressed position information to the CAN controller C5 via the flexible wiring board, and the contents of the operation instruction indicators 165 to 168 corresponding to the pressed position (for example, when the cursor moves upward in the screen). It may be configured to execute (1) to (1).

Further, the display device of the present invention is not limited to the liquid crystal display device 60 using the liquid crystal panel 60b, and may be a CRT display, an EL display or the like.

[0156]

According to the first aspect of the present invention, by manually operating the input means, a list of devices to be diagnosed can be displayed on the screen of the display means as information on the failure diagnosis mode. An inspector such as an operator who is not very familiar with the structure can easily find the device to be diagnosed from the list display. Then, if an operation for selecting a device to be subjected to failure diagnosis is executed, the selected device can be surely inspected.

Therefore, unlike the prior art, there is no problem that the position of the device to be diagnosed cannot be inspected because the installation position is not known. For example, when inspecting all input / output devices such as pre-operation inspection. Also, there is an effect that there is no fear of inspection omission.

According to the present invention, when the list is displayed on the screen of the display means, the input means is manually operated so as to select a device for failure diagnosis from the list. The screen of the display means
Since the diagnostic information of the selected device can be switched and displayed, an inspector such as an operator can easily understand whether or not the selected device is operating normally from the content of the diagnostic information. Play.

According to the third aspect of the present invention, when it is determined that the control data from any one of the input devices has changed during execution of the failure diagnosis mode, the screen of the display means As information about the one input system device can be displayed as the information of the failure diagnosis mode, if the installation position of the device to be diagnosed is known, the list of devices to be diagnosed does not have to be displayed on the screen. Information about the device to be subjected to the failure diagnosis can be directly switched and displayed on the screen.

Therefore, there is an effect that it is possible to efficiently perform the failure diagnosis (inspection) of each input / output apparatus, without the trouble of searching the list display on the screen for the apparatus for the failure diagnosis.

Further, according to the fourth aspect, even when the modes other than the failure diagnosis mode are being executed (for example, during normal agricultural work or on the road), the failure diagnosis of each input system device can be executed. It is possible to inspect each input equipment equipped on the work machine at any time without the operator performing special operations.
This has the effect of simplifying the inspection work for each input system device.

In the invention of claim 5, since the control means is composed of a plurality of CAN controllers and a CAN communication bus connecting between these CAN controllers, when one controller executes all the controls. As compared with the case of the data communication by the LAN communication protocol, the control data can be exchanged smoothly between the controllers, and the communication error state and the error processing can be smoothly performed during that time.

[Brief description of 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 schematic plan view of a cab.

FIG. 7 is an enlarged plan view showing a steering wheel and a liquid crystal display device.

FIG. 8 is a functional block diagram of the entire control device.

FIG. 9 is a functional block diagram of a CAN controller C1.

FIG. 10 is a functional block diagram of a CAN controller C2.

FIG. 11 is a functional block diagram of a CAN controller C3.

FIG. 12 is a functional block diagram of a CAN controller C4.

FIG. 13 is a functional block diagram of a CAN controller C5.

FIG. 14 is a transition diagram of each mode.

FIG. 15 is a transition diagram of a normal mode.

FIG. 16 is a diagram of a screen showing image information in an initial mode.

FIG. 17 is a diagram of a screen showing image information in a non-working mode.

FIG. 18 is a diagram of a screen showing image information in a work mode.

FIG. 19 is a diagram showing a screen in a normal mode in which an integrated value of mowing work time is displayed.

FIG. 20 is a diagram of a screen showing grain culm clogging information of the grain culm raising device among the emergency information, where (a) is detailed information and (b) is treatment information.

FIG. 21 is a diagram of a screen showing handling cylinder clogging information in the work system abnormality information, in which (a) is detailed information and (b) is treatment information.

FIG. 22 is a diagram of a screen showing engine oil pressure abnormality information of the engine system abnormality information, in which (a) is detailed information and (b) is
Is treatment information.

FIG. 23 is a diagram of a screen in a normal mode in which an alarm sign is displayed.

FIG. 24 is a diagram of a screen in a normal mode in which an error indicator is displayed.

FIG. 25 is a diagram of a screen showing image information in an error display mode, where (a) is a handling depth sensor, (b) is a fuel sensor,
(C) is a fuel injection pump rack actuator, (d)
Is a reaping switch sensor.

FIG. 26 is a diagram of a screen showing image information in the operation switch setting mode.

FIG. 27 is an enlarged plan view of the liquid crystal display device in which the selection menu information in the maintenance mode is displayed on the screen.

28A to 28C are diagrams of screens each showing checker menu information.

29 (a) to (c) are diagrams of screens each showing image information of an auger control menu.

FIG. 30 is a diagram of a screen showing diagnostic information for the auger set position dial.

31 (a) to 31 (c) are screen views showing diagnostic information of a vehicle height adjusting lever.

FIG. 32 is a diagram of a screen showing image information of a vehicle height horizontal control menu.

FIG. 33 is a diagram of a screen showing diagnostic information of a drive motor in each of (a) to (c).

FIG. 34 is a view of a screen in a normal mode (work mode) in which character information of “auto lift switch operation” is displayed in the second embodiment.

FIG. 35 is a diagram of a screen in a normal mode (work mode) in which character information of “position sensor operation” is displayed.

FIG. 36 is a diagram of a screen in a normal mode (work mode) in which character information of “auto set switch operation” is displayed.

[Explanation of symbols]

C1 to C5 CAN controller S1-S5 application control program M1 initial mode M2 normal mode M3 alarm display mode M4 environment setting mode M5 error display mode M6 maintenance mode 1 traveling aircraft 2,2 traveling crawler 3 threshing equipment 4 Mowing pretreatment device 15 engine 28 Discharge auger 56 driver's seat 57 Front column cover body 58 Steering wheel 60 Liquid crystal display 60a case 60b Liquid crystal panel as display means 70 work lamp 71 Cursor up switch 72 Cursor down switch 73 First changeover switch 74 Second changeover switch 75 Control device 77 CPU 78 EEPROM 151 Detailed information 152 Treatment information 153 Symbol information 154 character information 155 Schematic diagram as graphic information 156 arrow 157,158,159 Indicator signs

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) A01D 69/00 301 A01D 69/00 301 3D044 75/18 75/18 A 5H223 G05B 23/02 G05B 23/02 T (72) Inventor Tomohiro Koyama 1-32, Chayamachi, Kita-ku, Osaka F-term (reference) within Yanmar Agricultural Machinery Co., Ltd. (reference) 2B074 AA01 AC02 BA04 DA02 DB01 DC01 EA15 EC01 ED05 EE01 2B076 AA03 EC04 EC05 EC06 EC07 EC23 ED13 ED22 2B084 AA01 BH11 CJ11 CJ15 CJ18 2B085 AA02 AC01 BA12 BE02 2B304 KA10 LA02 LA13 MC17 RA28 RB01 RB02 RB06 3D044 BA04 BA17 BA20 BA27 BB03 BC01 BD02 5H223 AA17 DD09 EE30

Claims (5)

[Claims] 1. A work provided with an input system device such as a sensor and a setting device provided in each part of the working machine, an output system device such as an actuator, and a control means for executing control of each input / output system device. In the control device of the machine, the control means, by manually operating the input means,
A control device for a working machine, which is controlled so that a list of devices to be diagnosed is displayed on a screen of a display means such as a liquid crystal panel as information on a failure diagnosis mode. 2. The display unit displays the list by displaying the list on the screen of the display unit and manually operating the input unit so as to select a device for failure diagnosis from the list. 2. The control device for a working machine according to claim 1, wherein the control information is controlled so as to switch and display the diagnostic information of the selected device on the screen of the means. 3. A work provided with an input system device such as a sensor and a setting device provided in each part of the working machine, an output system device such as an actuator, and a control means for executing control of each input / output system device. In the control device of the machine, when the control means determines that the control data from any one of the input devices has changed during execution of the failure diagnosis mode, the control means of the display means such as a liquid crystal panel A control device for a working machine, which is controlled so as to display information on the one input system device as information on a failure diagnosis mode on a screen. 4. A work provided with an input system device such as a sensor and a setting device provided in each part of the working machine, an output system device such as an actuator, and a control means for executing control of each input / output system device. In a control device for a working machine, the control means controls to execute a failure diagnosis of each of the input system devices even during execution of a mode other than the failure diagnosis mode. . 5. The control means connects a plurality of CAN controllers and these CAN controllers to each other.
5. The control device for a working machine according to claim 1, wherein the control device comprises an N communication bus.