JP2005080550A - Control system for working implement - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control system for a working implement ensuring the function of the working implement to be easily changed in setting by an inputting operation from a display device so as to improve the operability of the working implement and prevent a relevant operator from making operational errors. <P>SOLUTION: The control system comprises input units including a sensor and a setter equipped on a traveling machine body 1, output units including an actuator and a liquid crystal display device 60, and a communicating bus 76 arranged with CAN controllers C1 to C5 every group on grouping these input/output units and mutually connecting these CAN controllers C1 to C5. In this control system, the liquid crystal display device 60 includes an inputting means enabling the function of the working implement to be changed in setting and works so as to enable the settings of the respective parts of the working implement before and after changing the settings of these input/output units to be displayed. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a control device in a work vehicle having a work machine such as a combiner or a tractor, and more particularly to a technology of a control device that performs control so as to change various functions by operating a switch provided in a display device. .

  Agricultural work vehicle such as a combiner is a sensor that detects each work state, actuator state, etc., for example, an electronic governor fuel injection amount detection sensor that controls the output (load) of the farm vehicle engine (position adjustment of the fuel injection plunger) Rack position detection sensor), a vehicle height sensor for detecting the relative height of a pair of left and right traveling crawlers with respect to the traveling machine body, a sensor for detecting an operation amount of a control object in accordance with the signal, For example, a vehicle speed sensor for detecting the traveling speed of a farm work vehicle, an input system device such as a setting device for setting a control target and a switch for switching between “ON” and “OFF”, and various actuators such as the fuel A rack actuator such as an electromagnetic solenoid for adjusting the rack position of the injection pump, and a relative height of the traveling crawler Pressure cylinder, and provided with an output system equipment such as display means for displaying the control state or the like, usually, each of these input and output systems equipment is controlled by a control means such as a microcomputer.

  In the above control means, in order to change the function or setting of each input / output device, each switch, dial, and the like are provided in advance in the work machine, and the switch is operated. The switch or the like is mainly disposed at a predetermined position such as a side column of the cab. The arrangement and function of the switch and the like are important when changing the function setting of the work machine, and it is preferable for the operator if the usability of the switch operation is improved.

  From this point of view, for example, a control device in a working machine as shown in Patent Document 1 has been proposed. Specifically, a liquid crystal panel is connected to a controller unit in which a plurality of input system devices and output system devices are connected through a communication line, and one or more custom switches such as switches are provided as manual input system external devices. These are arranged in a place where the operator can easily operate, and the setting of the function of the manual input system external device can be changed (see Patent Document 1).

  Also, the setting of the vehicle height and horizontal control of the work implement is performed at the same time that the left and right hydraulic cylinders are operated automatically by the detection means such as various sensors so that the left and right of the work implement are horizontal. During the automatic horizontal control, the left and right hydraulic cylinders are operated by the manual operation of the operator so as to change the relative height between the traveling unit and the work implement by the manual variable operation unit.

  For example, a vehicle height and attitude control device as shown in Patent Document 2 has been proposed for a control mechanism of a work machine having the manual variable operation unit. The attitude control device includes the above-described manual variable operation unit, and controls the aircraft horizontally by comparing the first set value and the second set value with respect to the vehicle height average value and the reference vehicle height. It is possible to calculate the condition of whether the operation of the left / right lifting hydraulic cylinder to perform right / left lifting / reversing operation or to prohibit the operation of at least one hydraulic cylinder to maintain a horizontal posture at a location close to the target vehicle height In addition, the output of the hydraulic cylinder is automatically controlled (see Patent Document 2).

JP 2002-315424 A Japanese Patent Laid-Open No. 2002-337763

  However, in a conventional control device for a work machine, manual input can be performed by a custom switch or the like, but for such manual input, an operation unit such as a switch, a dial, or a lever has to be provided separately. In particular, in a control mechanism in a work machine such as a combiner, in order to improve operability, the functions of the input / output system devices by the control device can be set, so that a large number of switches and the like are arranged.

  For this reason, an operator who is unfamiliar with the operation method of the switch cannot quickly operate the switch, and it is difficult to easily adjust or change the function setting of the work machine. It was. In addition, since switches that are not frequently used are also arranged in each operation unit, it is difficult to instantly identify the target switch and the like, causing erroneous operation.

  Indeed, in the above-mentioned Patent Document 1, it is possible to deal with the dominant hand for each operator by assigning the switch, and because it can be changed to be placed at a familiar position as an operation unit that frequently performs automatic control of the work machine. There are effects such as improvement in operability. On the other hand, in the control device described in Patent Document 2, the threshing performance and the cutting performance are ensured by the control means for leveling the vehicle body.

  However, the control devices and the like described in Patent Documents 1 and 2 are not intended to improve the operability of the work machine by an operator by solving the problems caused by the arrangement of switches and the like. For this reason, it is necessary to provide a switch or the like for setting for each device, and it is difficult to understand how much the setting has been changed. Even after setting, in the case of a dial, a toggle switch, etc., the setting may be changed by rotating when it is swung unintentionally, and the operator cannot know that the change has been made.

  Accordingly, the present invention relates to a control device for a work machine, which solves the above-described conventional problems, and allows the function of the work machine to be easily set and changed by an input operation from a display device. The purpose of this is to prevent the operator from misoperation.

The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.
In recent agricultural machines, a display device such as a liquid crystal display or a display instrument is provided in the vicinity of the operation unit. By displaying the status information of each part of the agricultural machine on these display devices, the operation status (for example, the engine) The operator can visually recognize the rotational speed, load, vehicle speed, grain load in the grain tank, and the like. Also in the above switch operation, if it is possible to perform a visual operation with such a display device, the operability of the work machine by the operator can be improved and an erroneous operation or the like can be prevented.

  That is, in claim 1, input system devices such as sensors and setting machines provided in each part of the work machine, output system devices such as actuators and display means, and the input / output system devices are grouped to control each group. And a communication line that connects between the control means, and the display means includes an input means that enables a setting change operation of the function of the work equipment. The setting of each part of the work machine before and after the setting change of the output device can be displayed.

  According to a second aspect of the present invention, in the first aspect, the input means enables fine adjustment of the angle in the horizontal control of the work implement, and the display means displays the angle change stepwise.

  According to a third aspect of the present invention, in the first or second aspect, the display unit includes a liquid crystal panel capable of displaying information such as characters, symbols, images, and the like, and an operation unit as the input unit.

  As effects of the present invention, the following effects can be obtained.

  That is, as shown in claim 1, input system devices such as sensors and setting machines provided in each part of the work machine, output system devices such as actuators and display means, and the input / output system devices are grouped into groups. In a control device in a work machine provided with a control means and a communication line connecting the control means, the display means includes an input means that enables a setting change operation of the function of the work machine, Since the setting of each part of the work implement before and after the setting change of the input / output device can be displayed, even an operator unfamiliar with the operation method can adjust and change the function setting of the work implement while viewing the image information of the display device Therefore, the operability of the work machine can be improved. Further, it is not necessary to separately provide a switch corresponding to each function or a switch that is not frequently used, so that the operation system can be simply configured, and an erroneous operation of the operator can be prevented.

  According to a second aspect of the present invention, in the first aspect, the input means enables fine adjustment of the angle in horizontal control of the work implement, and the display means displays the angle change in a stepwise manner. It is possible to confirm by viewing the display device in the means, and it is possible to easily change the setting stepwise by an input operation of the display device.

  As shown in claim 3, in claim 1 or 2, the display means comprises a liquid crystal panel capable of displaying information such as characters, symbols, images, etc., and an operation unit as the input means. The operator can visually check the setting / change state of each function, and the input means can be integrated in one place to improve operability.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
Note that this embodiment is not limited to a combine or the like, and can be applied to various farm work machines, specifically, a work vehicle such as a tractor or a rice transplanter or a variety of farm work machines such as a construction machine. It is.

  1 is a left side view of a combine according to an embodiment of the present invention, FIG. 2 is a right side view, FIG. 3 is a front view, FIG. 4 is a skeleton diagram of a power transmission system, and FIG. 5 is a hydraulic circuit diagram. . 6 is a schematic perspective view of the cab, FIG. 7 is an enlarged plan view showing the steering wheel handle and the liquid crystal display device, and FIG. 8 is a front view of the main speed change lever. 9 is a functional block diagram of the entire control apparatus, FIG. 10 is a functional block diagram of the CAN controller C1, FIG. 11 is a functional block diagram of the CAN controller C2, FIG. 12 is a functional block diagram of the CAN controller C3, and FIG. FIG. 14 is a functional block diagram of the CAN controller C5. 15 is a transition diagram of each mode, FIG. 16 is a transition diagram of the normal mode, FIG. 17 is a screen diagram showing image information in the initial mode, and FIG. 18 is a screen diagram showing image information in the non-work mode. 19 is a screen diagram showing work mode image information, FIG. 20 is a screen diagram showing handling cylinder clogging information in the work system abnormality information, and FIG. 21 is a screen diagram showing engine oil pressure abnormality information in the engine system abnormality information. 22 is a diagram of a screen in a normal mode on which an error sign is displayed, FIG. 23 is a diagram of a screen showing image information in an error display mode, and FIG. 24 is a liquid crystal display in a state where selection menu information in the maintenance mode is displayed on the screen. It is an enlarged plan view of an apparatus. FIG. 25 is a diagram showing a screen showing environment setting menu information, FIG. 26 is a diagram showing image information representing the setting state of the horizontal control fine adjustment function, and FIG. 27 is image information representing the setting state of the turning force adjustment function. FIG.

  The combine traveling body 1 according to the present embodiment is configured to be movable up and down with respect to a pair of left and right traveling crawlers 2 and 2 via a traveling unit ascending / descending driving 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 cutting pretreatment device 4 disposed at the front portion of the traveling machine body 1 is supported by the traveling machine body 1 so as to be capable of moving up and down via a lifting frame 14, and between the lifting frame 14 and the traveling machine body 1. The hydraulic cylinder 9 for the cutting part as an actuator mounted on the actuator can be adjusted up and down.

  A clipper-type cutting blade device 5 is arranged at the lower part of the pre-cutting processing device 4, and a culm pulling device 6 for six strips is arranged at the front (see FIG. 3). A cereal haul conveying device 8 is arranged between the cereal haul raising device 6 and the front end of the feed chain 7 in the threshing device 3. The weeding body 10 which protrudes is attached. A cab 11 is arranged at the front right side of the traveling machine body 1, and a grain tank 12 is arranged behind the cab 11.

  As shown in FIG. 4, a part of the power from the engine 15 provided in the lower rear part of the cab 11 is transmitted through the auger clutch 16 to the bottom screw conveyor 17 in the grain tank 12 and the vertical and horizontal screws in the discharge auger 28. While being transmitted to the conveyors 18a and 18b, the remaining power from the engine 15 is transmitted through a power branching mission 19 to a hydraulic pump hydraulic motor type traveling drive unit 24, a handling cylinder 13 and a processing cylinder 20 of the threshing device 3, 21. Rotating and driving the first receiving screw conveyor 22a, the second receiving screw conveyor 22b, the feed chain 7, the whipping screw conveyor 23 to the grain tank 12, the peristaltic sorting mechanism 40, the waste cutter 27, etc. It is like that.

  The power to the pre-cutting processing device 4 is transmitted via the output shaft 26 from the traveling drive unit 24 when synchronized with the traveling speed, and when not synchronized, the branching power from the power branching mission 19 is transmitted to the one-way clutch 25. To be transmitted through.

  As shown in FIGS. 1 and 2, the discharge auger 28 for discharging the grains in the grain tank 12 to the outside of the machine includes a vertical cylinder 28a disposed at the rear end of the traveling machine body 1, and the vertical cylinder 28a. It consists of a horizontal cylinder 28b that is connected to the upper end so as to be vertically rotatable. A vertical screw conveyor 18a is housed in the vertical cylinder 28a, and a horizontal screw conveyor 18b is housed in the horizontal cylinder 28b.

  The vertical cylinder 28a is configured to be rotatable about a vertical axis by a drive motor 29 and a gear mechanism 30, and the horizontal cylinder 28b is an auger hydraulic cylinder 31 and a link mechanism 32 mounted between the vertical cylinder 28a. The vertical inclination angle can be changed.

  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 28 a and the horizontal turning position of the horizontal cylinder 28 b, and can be detected at the location of the auger hydraulic cylinder 31 or the link mechanism 32. A vertical rotation angle sensor 82 such as a potentiometer can be used to detect the vertical inclination angle of the horizontal cylinder 28b, and hence 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 a rest base 33 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 is wound around the outer periphery of a drive wheel 36 and a driven wheel 37 respectively disposed at the front and rear ends of the track frame 35 and a plurality of rolling wheels 38 disposed in the middle of the lower surface of the track frame 35. Each of the left and right track frames 35 and the traveling machine body 1 are connected to each other so that the traveling portion hydraulic cylinder 39a (39b) and the L-shaped front and rear levers provided at the front and rear positions of the track frame 35 are operated simultaneously. (Not shown) etc. are connected via a traveling part raising / lowering drive means.

  The left and right traveling unit hydraulic cylinders 39 a and 39 b are operated independently of each other, so that the left and right traveling crawlers 2 can be raised and lowered independently with respect to the left and right of the traveling machine body 1.

  Therefore, when the piston rods of the hydraulic cylinders 39a and 39b for the left and right traveling parts are projected at the same time, the traveling machine body 1 moves upward (rises) from both the left and right traveling crawlers 2 and 2, and the traveling crawler 2 of the traveling machine body 1・ Relative height (vehicle height) with respect to 2 is higher. Conversely, when the piston rods are simultaneously retracted, the traveling machine body 1 approaches (lowers) the left and right traveling crawlers 2 and 2, and the relative height (vehicle height) of the traveling machine body 1 with respect to the traveling crawlers 2 and 2 is Lower.

  When the piston rod in the left traveling unit hydraulic cylinder 39a is protruded or the piston rod in the right traveling unit hydraulic cylinder 39b is retracted (or both operations are performed simultaneously), the right side The vehicle height of the traveling machine body 1 with respect to the traveling crawler 2 is lowered (the vehicle height of the traveling machine body 1 with respect to the left traveling crawler 2 is increased), and the traveling machine body 1 is inclined downwardly to the right.

  Conversely, when the piston rod in the right traveling unit hydraulic cylinder 39b is protruded, or when the piston rod in the left traveling unit hydraulic cylinder 39a is retracted (or both operations are performed simultaneously), The vehicle height of the traveling machine body 1 with respect to the left traveling crawler 2 is lowered (the vehicle height of the traveling machine body 1 with respect to the right traveling crawler 2 is increased), and the traveling machine body 1 is inclined downwardly to the left.

  A rotary encoder for detecting the relative height (vehicle height) of the traveling machine body 1 with respect to the left and right traveling crawlers 2 and 2 by detecting the protrusion amount of the piston rod of the hydraulic cylinders 39a and 39b for the left and right traveling units The vehicle height sensors 41a and 41b are configured to interlock with each other via a connecting rod or a link mechanism (not shown) connected to the connecting rod. A 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 disposed at an arbitrary position of the traveling machine body 1, for example, in the cab 11.

  In addition, as shown in FIG. 3, the ultrasonic sensors 44a and 44b for detecting the ground height between the pre-cutting processing device 4 and the field scene include a transmitter unit (horn unit) and a receiver unit of the receiver. Are arranged on brackets (not shown) provided on the back side of the grain raising device 6 on the left and right sides of the pre-cutting processing device 4.

  When the installation height of the ultrasonic sensors 44a and 44b and the installation height of the cutting blade device 5 are different, the ground height between the pre-cutting device 4 and the field scene is determined by a predetermined conversion from the detection values of the ultrasonic sensors 44a and 44b. You can ask for it.

  Further, the lifting position sensor 45 attached to the base end of the lifting frame 14 can determine the relative height between the traveling machine body 1 and the pre-cutting processing device 4 by detecting the rotation angle of the lifting frame 14. It is like that.

  As shown in FIG. 5, the hydraulic circuit for the hydraulic cylinders 9, 31, 39 a, and 39 b is branched through a diversion valve 47 that diverts the pressure oil from the hydraulic pump 46. From the discharge path, pressure oil is fed to the first hydraulic circuit 48 to the auger hydraulic cylinder 31 and the left traveling section hydraulic cylinder 39a, and from the other discharge path, the cutting section hydraulic cylinder 9 and the right side The hydraulic oil is supplied to the second hydraulic circuit 49 for the traveling portion hydraulic cylinder 39b.

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

Next, the configuration of various operation levers and switches provided in the cab 11 will be described with reference to FIGS.
A steering round handle 58 for steering the traveling machine body 1 is attached to a handle shaft (not shown) protruding upward from the front column cover body 57 in front of the driver seat 56. Left and right inner bulge portions 55a and 55b bulging inward are formed at the left and right symmetrical positions of the steering wheel 58a of the steering round handle 58, and the left and right inner bulge portions 55a and 55b are A steering left switch 83 and a steering right switch 84, which are four-way operation switches for controlling the machine body level and for cutting and lifting / handling control, are provided. By adopting such a configuration, the operator can operate the steering left switch 83 and the steering right switch 84 in both the straight traveling and turning operations while holding the handle wheel 58a.

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

  Since the liquid crystal display device 60 is fixed only to the front column cover body 57 and is not connected to the steering round handle 58, the liquid crystal display device 60 does not move even if the steering round handle 58 is rotated. It has become. Further, since the upper surface (screen) of the liquid crystal display device 60 is positioned below the handle wheel 58a of the steering round handle 58, the steering round handle 58 can be operated even if the steering round handle 58 is rotated. The liquid crystal display device 60 is not touched.

  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 60a for storing the liquid crystal panel 60b. It is configured. The liquid crystal panel 60b may be a color type.

  Of the surface of the case 60a, on the outer peripheral side of the liquid crystal panel 60b, there is a work lamp 70 that is turned on when the power switch 142 for turning on and off the entire combiner is turned on, and left and right for switching the screen display. Two switches 71, 72, 73, and 74 are provided. Each of these switches 71 to 74 is a so-called push switch that generates one ON pulse signal when the switch is pressed once, and is of a non-locking type. These switches 71 to 74 correspond to input means in the present invention.

  The switches 71 to 74 are configured such that they slightly protrude upward on the liquid crystal display device 60, and the size of the switches 71 to 74 is easy to be pressed to ensure operability. Further, the liquid crystal display device 60 is disposed at the center of the steering round handle 58 so that the operability of the switch operation for changing the function setting is improved, and has a position and a shape that are easy for the operator to operate. It is configured.

  In the case 60a, on the back side of the liquid crystal panel 60b, a CAN controller C5 that controls to display image information corresponding to the mode being executed among the various modes of the combine on the screen of the liquid crystal panel 60b (details) Are described below).

  In addition, operation panels 69 and 69 are disposed on both the left and right sides in the vicinity of the steering round handle 58, and various switches such as an automatic cutting lift switch 131 are disposed on the operation panels 69 and 69. Yes.

  In this embodiment, as will be described later, the function setting of the work implement can be changed by an input operation of the liquid crystal display device 60. By adopting such a configuration, the input means can be integrated in one place, the operability of the work machine can be improved, and the number of various switches provided on the operation panels 69 and 69 can be reduced. it can. In the cab 11 as well, the operation system can be configured concisely, and a clean and tidy appearance can be achieved.

  A long side column 61 is disposed on the left side of the driver seat 56 in the front and rear. The side column 61 includes a main transmission lever 65 for steplessly changing the vehicle speed, and a traveling drive unit 24 according to a working state. An auxiliary transmission lever 66 that sets and holds the output and the rotational speed within a predetermined range is arranged in parallel to the left and right, and each of these levers 65 and 66 is configured to be able to rotate back and forth.

  Further, a work clutch lever 68 is disposed at the rear portion of the main transmission lever 65 so as to be able to rotate back and forth. The work clutch lever 68 is configured to be movable along a guide groove that is L-shaped in plan view. When the work clutch lever 68 is located at a position to the left of the rear end of the guide groove, the cutting switch 134 and the threshing switch 135 are When the cutting operation is performed, the cutting clutch “cutting” and the threshing clutch “cutting” are brought into a state, and at the right end position of the rear end on the opposite side, only the threshing switch 135 is turned on and the cutting clutch “cutting” and the threshing clutch “ In a position that is in the “on” state and at the front end of the guide groove, the cutting switch 134 is turned on and operated together with the threshing switch 135 to be in the state of the cutting clutch “on” and the threshing clutch “on”.

  As shown in FIG. 8, in the panel portion 65a of the main speed change lever 65, an autolift switch 137 for forcibly raising the pre-cutting processing device 4 and a pre-cutting processing device 4 on the same plane. A plurality of various switches such as an auto set switch 138 for forcibly descending to a height, a cutting lift switch 139 for manually operating the lifting movement of the pre-cutting device 4, and an auxiliary transmission switch 136 are arranged.

  The main speed change lever 65 is a multi-function lever. In the panel portion 65a, a plurality of operation switches, that is, an A switch 201 which is a four-way operation switch and B switches 202 to G 207 are provided on the same plane. Are arranged. These are an auto lift switch 137 for forcibly raising the pre-cutting processing device 4, an auto set switch 138 for forcibly lowering the pre-cutting processing device 4 to a predetermined cutting height, and pre-cutting processing. A plurality of various switches such as a cutting lift switch 139 and a sub-shift switch 133 for manually operating the lifting movement of the device 4 are provided. Then, a palm on the opposite side of the thumb of the left hand is applied to the outer bulge portion 94 formed at the base of the grip 93, and the A switch 201 to G switch 207 are mainly operated by the thumb.

  With this configuration, the operator operates the main transmission lever 65 by operating the left hand and also operates the A switch 201 to the G switch 207 disposed on the panel portion 65a of the main transmission lever 65. Further, the steering right switch 84 can be operated while operating the handle wheel 58a of the steering round handle 58 by the right hand operation. The operator can perform a left-hand operation and a right-hand operation in parallel, and a plurality of operations can be performed simultaneously. The A switch 201 to G switch 207 provided on the panel portion 65a of the main transmission lever 65 correspond to the left hand operation switch, and the steering right switch 84 corresponds to the right hand operation switch.

  In the present embodiment, the setting of the functions of the A switch 201 to G switch 207 that are left-hand operation switches that can be operated in parallel and the steering right switch 84 that is a right-hand operation switch can be changed ( It is possible to make settings corresponding to the dominant hand and preference of the operator, the frequency of use, and the work target. Note that the mechanism for controlling the setting change is executed by an input operation in a maintenance mode M6 described later.

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

  As shown in FIG. 9, an electronic control device 75 such as a microcomputer as a control means includes a plurality (5 in this embodiment) of CAN controllers C1, C2, C3, C4, and C5, and a mutual connection between them. And a CAN communication bus 76 connected to the. Each of the CAN controllers C1 to C5 includes a resistor (not shown) as a termination resistor that suppresses reflection of control data.

  The CAN controllers C1 to C5 are grouped in consideration of predetermined operations and arrangement positions, and are controlled in parallel for each group, and information is exchanged or shared between the controllers using a communication line. In one CAN controller, the CPU 77 that executes various arithmetic processes and controls, each control program that will be described later is stored, and the stored information is stored even when the power is turned off. EEPROM 78 as a non-volatile memory that is not lost, RAM 79 for temporarily storing various data, a clock as a timer function, an input / output interface (not shown) connected to various input system devices and output system devices to transmit data ) Etc.

  In each of the EEPROMs 78 of the CAN controllers C1 to C5, corresponding application control programs (software) S1, S2, S3, S4, and S5 are stored (stored) in advance (see FIG. 9).

  The application control program S1 is a control program that activates various actuators (for example, the hydraulic cylinder 9 for cutting part) of the threshing device 3 and the pre-cutting processing apparatus 4, and the application control program S2 is the hydraulic cylinder 9 for cutting part and the traveling machine body. The left and right traveling unit hydraulic cylinders 39a and 39b are actuated to provide a control program for executing cutting height control of the pre-cutting processing device 4 and attitude and vehicle height control of the traveling machine body 1.

  The application control program S3 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 operation of the drive motor 29 and the auger hydraulic cylinder 31 in the discharge auger 28.

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

  The EEPROM 78 also stores in advance a communication control program necessary for CAN communication and an input / output control program for transmitting control data (information) between input / output devices. In contrast, the input / output control program is layered.

  As a guide, each CAN controller C1 to C5 is controlled so that the length of the harness of the input / output device is as short as possible, and is controlled in each controller location (not shown). Stored in

  For example, the CAN controller C1 is installed on the lower surface side of the floor board in the cab 11 (see FIGS. 1 to 3). The input interface of the CAN controller C1 includes, as input system devices, a lift position sensor 45, a culm transport sensor 96 that detects whether or not the pre-harvest processing device 4 is transporting the chopped cereal, and the chopped cereal being transported Cedar length sensor 97, handling depth sensor 98, auger clutch motor switch 99, ultrasonic sensors 44a and 44b, vehicle speed sensor 100, second receiving screw conveyor rotation sensor 101, steering round handle limit A switch 102 and the like are connected to each other (see FIG. 10).

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

  The said CAN controller C2 is installed in the location close | similar to the driver's cab 11 in the upper part of the cutting pre-processing apparatus 4 (refer FIGS. 1-3). The input interface of the CAN controller C2 includes, as input system devices, a fuel sensor 106, an inclination sensor 43, vehicle height sensors 41a and 41b, a soot flow rate sensor 107 in a flown plate of the sorting device, and presence or absence of soot in each part of the sorting device籾 sensor 108 for detecting spillage, squeezing cutter clogging sensor 109, turning angle sensor 81, discharge auger tip operating unit 110 provided at the tip of the horizontal tube 28b for operating the horizontal turning of the discharge auger 28, and the vertical rotation angle sensor 82, an auger clutch sensor 111, a discharge auger overload sensor 112, a peristaltic sorting overload sensor 113, a handling cylinder rotation sensor 114, a processing cylinder rotation sensor 115, and the like are connected (see FIG. 11).

  The output interface of the CAN controller C2 includes, as output system devices, a peristaltic sorting drive motor 116, an FC clutch drive circuit unit 117, a drive motor 29 for horizontally turning the vertical cylinder 28a of the discharge auger 28, a discharge auger brake 118, an auger The electromagnetic solenoid 51a of the electromagnetic control valve 51 with respect to the hydraulic cylinder 31, the electromagnetic solenoid 52a of the electromagnetic control valve 52 with respect to the hydraulic cylinder 39a on the left side of the traveling machine body 1, and the electromagnetic with respect to the hydraulic cylinder 39b on the right side of the traveling machine body 1 An electromagnetic solenoid 53a of the control valve 53, an electromagnetic solenoid 50a of the electromagnetic control valve 50 with respect to the cutting portion hydraulic cylinder 9, and the like are respectively connected (see FIG. 11).

  As shown in FIGS. 1 to 3, the CAN controller C <b> 3 is installed in the rear part of the driver seat 56 in the cab 11. An input interface of the CAN controller C3 includes, as input system equipment, an engine speed sensor 119, an engine oil amount sensor 120, an engine water temperature sensor 121, and a fuel injection pump rack with an electronic governor that controls the output (load) of the engine 15. A fuel injection pump rack position sensor 122 for detecting the position, an engine starter switch 123, an auger set position dial 124 for storing the horizontal turning position of the discharge auger 28 in advance, and a horizontal turning of the discharge auger 28 provided in the cab 11 Are connected to a discharge auger operating section 125, a cutting clutch motor limit switch 126, and the like (see FIG. 12).

  The output interface of the CAN controller C3 includes, as output system equipment, a fuel injection pump rack actuator 127 for adjusting the rack position of the fuel injection pump so that the rotational speed of the engine 15 becomes a predetermined rotational speed, and an engine starter relay 128. The alarm buzzer 129 and the like are connected to each other (see FIG. 12).

  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, as input devices, an accelerator lever sensor 59a for detecting the operation position of the accelerator lever 59, a vehicle height adjustment lever 62, a vehicle height control changeover switch 63, a tilt setting device 64, a depth of handling. Automatic control switch 130, automatic harvesting lifting / lowering switch 131, automatic harvesting clutch switch 132 for automatically transmitting power to the pre-harvest processing device 4 when the pre-harvest processing device 4 is lowered to a predetermined cutting height, harvesting switch 134, threshing Switch 135, sorting adjustment dial 136 for adjusting the grain sorting state in the sorting device, auto lift switch 137, auto set switch 138, cutting lift lever 139, handling depth adjusting lever 140, auxiliary transmission lever 66, traveling machine body Reverse switch 141 for moving 1 backward, Switch 142 and the like are connected (see FIG. 13).

  The output interface of the CAN controller C4 includes, as an output system device, a vehicle height control changeover switch lamp 143 that lights up when the vehicle height control is switched to automatic operation, and a handling that lights up when the handling depth control is switched to automatic operation. An automatic depth control switch lamp 144 and the like are connected (see FIG. 13).

  As the display device, the input interface of the CAN controller C5 built in the case 60a has a setting switch 71 for moving the cursor on the screen of the liquid crystal panel 60b upward and a display for moving the screen downward. A changeover switch 72, a buzzer stop switch 73 for performing an operation of switching the screen display of the liquid crystal panel 60b, a setting switch 74, and the like are respectively connected (see FIG. 14).

  The output interface of the CAN controller C5 is connected with a liquid crystal panel 60b as display means, a work lamp 70 that is turned on when the power switch 142 is turned on and off for the entire combiner, and the like (FIG. 14).

  For each CAN controller, for example, “cutting”, “threshing / sorting”, “horizontal control”, “engine / running”, “auger”, “liquid crystal panel” input / output system devices are connected together. You may do it. Each of the CAN controllers C1 to C5 stores an error history in the EEPROM 78, and the error history can be easily deleted separately or collectively.

Next, the mode switching control by the CAN controller C5 will be described.
As shown in FIG. 15, the combine mode (operation state) includes an initial mode M1, a normal mode M2 for running on the road and various operations, an alarm display mode M3 for notifying an abnormal state of each part of the combine, a detection error, and the like. There are roughly divided into an error display mode M5 for notifying the content of an error and an environment setting mode M4 for setting horizontal control and the like.

  The normal mode M2 includes a non-work mode M2a for running on the road and a work mode M2b for cutting and threshing, and a maintenance mode M6 is also set (see FIG. 16).

  First, when the power switch 142 is turned on and operated, the initial mode M1 is activated and the initial image information shown in FIG. 17 is displayed on the screen of the liquid crystal panel 60b.

  Next, a preset time (10 seconds in this embodiment) elapses in the EEPROM 78 of the CAN controller C5, or the rotation speed of the engine 15 exceeds the preset rotation speed (240 rpm in this embodiment). Then, the normal mode M2 is automatically shifted to the non-working mode M2a (see FIG. 16), and the screen display of the liquid crystal panel 60b is changed from the initial image information to the image information such as the engine speed and the remaining amount of fuel. Transition to (image data corresponding to the non-working mode M2a) (see FIG. 18).

  In this case, on the screen of the liquid crystal panel 60b, as 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 rotational speed graph 86 indicating the engine rotational speed, A tank monitor 87 that informs the amount of fir in the grain tank 12, a fuel gauge 88 that informs the remaining amount of fuel, a sub-transmission monitor 89 that informs the setting state of the sub-transmission switch 66, and the speed setting state of the pre-cutting processing device 4 A cutting speed change monitor 90 for notifying, and an integrated value monitor 91 for indicating a value obtained by integrating the operating time of the engine 15 and the like are displayed.

  During execution of the initial mode M1, when the threshing clutch for power transmission to the threshing device 3 is in the engaged state, that is, when the threshing switch 135 is in the on state, the operation proceeds to the alarm display mode M3 and the alarm buzzer 129 And the image information on the clogged cylinder is switched and displayed on the screen of the liquid crystal panel 60b (see FIG. 20A). This is to prevent the threshing switch 135 from being started while being in the on state.

  Both pieces of image information shown in FIGS. 20A and 20B are automatically scrolled and displayed in the vertical direction of the screen of the liquid crystal panel 60b. In this case, when the threshing switch 135 is turned off, the alarm buzzer 129 stops operating and shifts to the non-work mode M2a, and the screen of the liquid crystal panel 60b transitions to the screen shown in FIG.

  As shown in FIG. 16, when the threshing switch 135 is turned on and operated during the execution of the non-working mode M2a in the normal mode M2, the screen shifts to the working mode M2b and the image information shown in FIG. And image information such as the remaining amount of fuel (image data corresponding to the work mode M2b) (see FIG. 19). On the other hand, when the threshing switch 135 is turned off and operated, the mode shifts to the non-work mode M2a, and the image information of the non-work mode M2a is switched and displayed on the screen of the liquid crystal panel 60b.

  As shown in FIG. 15, during execution of the normal mode M2 (non-work mode M2a or work mode M2b), for example, the CAN controller C5 outputs abnormal control data that is out of the control range allowed in each output system external device. If received, or if the buzzer stop switch 73 is pressed while the CAN controller C5 is receiving the abnormality control data, the screen shifts to the alarm display mode M3 and the screen shown in FIG. Screens (FIGS. 20A and 20B) and FIGS. 21A and 21B showing image information for notifying an abnormal state of each output system external device, which is a source of the abnormal control data, for example, clogging of a handling cylinder, abnormal hydraulic pressure, etc. Transition to b)). When various types of abnormal data occur, the work lamp 70 (see FIG. 7) provided in the case 60a of the liquid crystal display device 60 is turned on.

  When a plurality of abnormality control data are generated, image information about the abnormal state of the output external device corresponding to each abnormality control data is displayed on the screen of the liquid crystal panel 60b in order by predetermined time.

  Note that not only both image information shown in FIGS. 20A and 20B but also both image information shown in FIGS. 21A and 21B are automatically scrolled and displayed in the vertical direction of the screen of the liquid crystal panel 60b. Is done.

  Then, when the abnormal state of each output system external device is canceled, or when the abnormality related to the engine such as an abnormality in hydraulic pressure has occurred, the buzzer stop switch 73 is pressed once to change from the alarm display mode M3 to the normal mode M2. Then, the screen shown in FIG. 20 (a) (b) or FIG. 21 (a) (b) transitions to the screen shown in FIG. 18 or FIG.

  As shown in FIG. 15, when various errors such as detection errors of sensors and setting devices and operation errors of various actuators occur during execution of the normal mode M2 (non-work mode M2a or work mode M2b). Then, an “error” character indicator 92 is flashed and displayed on the right side portion of the auxiliary transmission monitor 89 on the screen of the liquid crystal panel 60b (see FIG. 22). By blinking the error indicator 92, the operator can quickly recognize that an error has occurred on the screen showing the image information of the normal mode M2.

  In this state, when the buzzer stop switch 73 is pressed down for an appropriate time (in this embodiment, 5 seconds) or longer, the display shifts to the error display mode M5, and the screen display of the liquid crystal panel 60b shows the content of the error that has occurred at this time. Transition to information (see FIGS. 23A to 23D).

  Then, when the buzzer stop switch 73 is pressed once again or the error is resolved, the error display mode M5 returns to the normal mode M2, and the image information of the normal mode M2 is displayed on the screen of the liquid crystal panel 60b. The display is switched.

  Further, during the execution of the non-working mode M2a, the display changeover switch 72 and the buzzer stop switch 73 provided on the case 60a are simultaneously turned on and operated for an appropriate time (5 seconds in this embodiment) or the power switch 142 is turned on. When the display changeover switch 72 is operated for an appropriate time (in this embodiment, 3 seconds) from the time of operation, the operation shifts to the maintenance mode M6 with the sound of the alarm buzzer 129, and the maintenance mode is displayed on the screen of the liquid crystal panel 60b. The image information of the selection menu in M6 (hereinafter referred to as selection menu information) is switched and displayed (see FIG. 24). The alarm buzzer 129 stops ringing when the screen is switched.

  Next, the control mode of the environment setting mode M4 will be described with reference to the inter-mode transition diagram of FIG. 15 and the screen diagrams of FIGS.

  When the setting switch 74 is pressed once during the execution of the normal mode M2, the screen shifts to the environment setting mode M4, and the screen display of the liquid crystal panel 60b changes from the image information of the normal mode M2 to the image information of the environment setting mode M4. (Hereinafter referred to as environment setting menu information) (see FIG. 25). When the setting switch 74 is pressed again, the mode is changed to the normal mode M2, and the display on the liquid crystal panel 60b returns from the image information in the environment setting mode M4 to the image information in the normal mode M2. In this embodiment, since the frequency of executing the environment setting mode M4 is low, a setting switch 74 is provided separately from the buzzer stop switch 73 so that the environment setting mode M4 is not inadvertently activated.

  On the screen (see FIG. 25) showing the environment setting menu information in the environment setting mode M4, image information having selection items for making a plurality of settings is displayed. Mainly classified into 10 items according to the control method such as the turning force and horizontal control of the work implement. As shown in FIGS. 25 (a) and 25 (b), these items are displayed on the screen of the liquid crystal panel 60b. Depending on the number of pixels that can be produced, the image is displayed on one screen or divided into two or more (in this embodiment, it is divided into two).

  On the screen showing the environment setting menu information, character information 170 to 179 serving as selection items is displayed at substantially the center on the left and right. That is, "horizontal adjustment" (170), "turning force" (171), "rapid speed control" (172), "backlift" (173), "integrated time" (174), "vertical conveyance storage" (175) “Eco mode” (176), “fit steering” (177), “check buzzer” (178), “integrated reset” (179), and the like.

  Each of the items is a heading (index) for a work machine setting function grouped according to a control method such as a turning force of the work machine or a vehicle height level control, so that an operator or the like finds a function setting to be changed. It is a clue.

  In addition, cursors 160 indicating character information to be selected are displayed, and operation instruction indicators 165, 166, 167, 168 indicating functions of the respective switches 71, 72, 73, 74 as input means are displayed at four corners of the screen. Is displayed.

  Each of the operation instruction markers 165 to 168 represents the operation contents when the switches 71 to 74 corresponding to the display positions are pressed, simplified by characters, figures, and the like. For example, referring to the screen of FIG. 25, when the setting switch 71 corresponding to the operation instruction indicator 165 (upward arrow) at the upper left corner of the screen is pressed, the cursor 160 moves upward and the operation instruction at the lower left corner is performed. When the display changeover switch 72 corresponding to the sign 166 (downward arrow) is pressed, the cursor 160 moves downward in the screen. Each character information 170 to 179 is displayed in reverse when it is pointed by the cursor 160.

  In the switching display of a plurality of environment setting menu information on the screen (see FIG. 25), the display changeover switch 72 is depressed to move the cursor 160 downward in the screen, similarly to the switch operation in the selection menu described above. This is executed by pressing the buzzer stop switch 73 in a state where the character information 169 of “to next (or 1/3) screen” indicated by the cursor 160 is highlighted.

  On the screen showing the environment setting menu information, when the setting switch 74 is pressed, the mode is changed to the normal mode M2.

  As described above, in the control device according to the present embodiment, in the liquid crystal display device 60, the set state is represented by the character information and graphics on the liquid crystal panel 60b. Thus, the setting state can be grasped.

Next, the control mechanism in the operation setting change operation of the work implement will be described in the following order.
In the screen showing the environment setting menu information shown in FIG. 25A, as the character information corresponding to the function setting of the work implement, “horizontal adjustment” (170), “turning force” (171), “rapid speed control”, respectively. ”(172)”, “Backlift” (173), and “Integrated time” (174). Specifically, in each character information, character information 170 to 174 as an index of each function is displayed on the substantially central left side (left side in FIG. 25) of the liquid crystal panel 60b. Character information or image information 180 to 184 representing a setting state corresponding to the function is displayed.

  In order to change the setting of each function, the cursor 160 is moved by pressing the setting switch 71 and the display changeover switch 72, the character information 170 to 174 to be changed is highlighted, and then the buzzer stop switch 73 is pressed. To do. When the buzzer stop switch 73 is pressed, the display of the character or image information 180 to 184 is shifted to an image display indicating the function content to be set.

  In the control mechanism according to the present embodiment, the cursor 160 is moved to the character information (170) of “horizontal adjustment”, this is displayed in reverse video, and the buzzer stop switch 73 is pressed, so that the horizontal control fine adjustment function is achieved. It is controlled so that the setting of can be changed. The horizontal control fine adjustment function in this embodiment is a control for adjusting the tilt angle in the left-right direction of the airframe to a predetermined angle. By keeping the work implement horizontal by the horizontal control, the left and right cutting heights become the same at the time of working, the variation in the culm length is reduced, and the cutting performance is improved. In addition, at the time of dredging or the like, it can be cut while being inclined at a predetermined angle, and can be prevented from being pushed into the soil. Details of the control function will be described later.

  When the cursor 160 is moved to the character information (171) of “turning force”, is highlighted, and the buzzer stop switch 73 is pressed, the setting of the turning force adjustment function can be changed. The turning force adjustment function in the present embodiment refers to a function that can adjust in steps the degree of turning when turning left or right during automatic traveling control of the work implement. With the turning force adjustment function, the workability can be improved by adjusting the degree of turning of the work implement according to different fields and work contents.

  Each time the buzzer stop switch 73 is pressed once in a state where the character information (171) of the “turning force” is highlighted, the image information 181a to 181e indicating the step of adjusting the turning force is displayed on the liquid crystal panel 60b. Is displayed (see FIG. 25A). As shown in FIG. 26, the image information 181 is configured such that rectangular blocks 190 are connected in series, and the blocks 190 increase in size in the vertical direction from left to right, and from left to right. The fact that the degree of the turning force increases is represented as image information. Since the current turning force adjustment stage is represented by the inversion of the block 190, the operator can easily determine visually.

  As described above, each time the buzzer stop switch 73 is pressed once, the image information 181a to 181e is sequentially switched and displayed. When the image information 181c is set, the turning force is most strongly applied, and when the image information 181e is set, the turning force is controlled to be the weakest. In addition, in the turning force adjusting function according to the present embodiment, the step adjustment as shown in FIG. 26 is performed (in this embodiment, five steps), but is not limited thereto.

  When the cursor 160 is moved to the character information (172) of “rapid speed control”, is highlighted, and the buzzer stop switch 73 is pressed, the setting of the rapid speed control function can be changed. The rapid speed control function in this embodiment is a control that automatically decelerates the vehicle speed when the engine load approaches the limit during work and gradually returns to the original vehicle speed when the load is reduced. The function to do. Since the speed change function controls the speed change operation that varies depending on the field condition and the work content, an efficient work can be performed.

  Each time the buzzer stop switch 73 is pressed once while the character information (172) of the “rapid speed control” is highlighted, “ON” / “OFF” (indicating whether or not the rapid control function is set) In FIG. 25A, the character information (182) of “Cut” is switched and displayed on the liquid crystal panel 60b. Then, when the character information “182” is “entered”, control is performed so that the rapid control function is executed.

  When the cursor 160 is moved to the character information (173) of “back lift”, is highlighted, and the buzzer stop switch 73 is pressed, the setting of the back lift function can be changed. The backlift function in the present embodiment refers to control to raise the mowing unit when performing back travel during work. With the backlift function, it is not necessary for the operator to operate the levers one by one when switching the forward / backward movement of the work machine, and an efficient work can be performed.

  Each time the buzzer stop switch 73 is pressed once in a state where the character information (173) of “back lift” is highlighted, “ON” / “OFF” (indicating whether or not the back lift function is set) In FIG. 25A, the character information (183) of “ON” is switched and displayed on the liquid crystal panel 60b. Then, when the character information “183” is set, control is performed so that the backlift function is executed.

  When the cursor 160 is moved to the character information (173) of “integrated time”, displayed in reverse, and the buzzer stop switch 73 is pressed, the display setting of the integrated time is controlled to be changeable. In the present embodiment, the display setting of the accumulated time is the accumulated time displayed on the liquid crystal panel 60b, or the accumulated time during engine start-up, or the accumulated time during work (for example, the state where the reaping clutch is “ON”) (Accumulation time in) is controlled so as to be switched and displayed. Information necessary for the operator can be appropriately switched and displayed on the liquid crystal panel 60b by the display setting of the accumulated time.

  Each time the buzzer stop switch 73 is pressed once in a state where the character information (174) of the “integrated time” is highlighted, “engine” / “work” (shown in FIG. The character information (184) of “Engine” in 25 (a) is switched and displayed on the liquid crystal panel 60b. When the character information (184) of “engine” is used, the accumulated time during engine start-up, and when the character information (184) of “work” is used, the accumulated time during operation is the work mode M2b (non-working). Control is performed so that the integrated value monitor 91 displays the image data corresponding to the work mode M2a).

  The hour meter is provided in advance in the CAN controller C5. However, the accumulated time from the assembly of the working machine is not limited to being stored by the hour meter. For example, the CAN controller C1 to C1 You may make it memorize | store in either of the EEPROM78 arrange | positioned by C5.

  Further, in the screen showing the environment setting menu information shown in FIG. 25 (b), “vertical conveyance storage” (175) and “eco mode (engine speed optimum) are respectively set as character information corresponding to the function setting of the work machine. "Control mode)" (176), "Fit steering (small turning operation)" (177), "Check buzzer" (178), "Totalize reset" (179).

  When the cursor 160 is moved to the character information (175) of “vertical transport and storage”, is highlighted, and the buzzer stop switch 73 is pressed, the setting of the vertical transport and storage function can be changed. . The vertical conveyance storage control function in the present embodiment refers to a function of controlling the vertical conveyance unit of the harvesting unit to be accommodated in the work machine during the harvesting and storage. Even if the work is completed by the vertical transfer and storage function, the operator does not need to perform manual operation, and operability is improved.

  Each time the buzzer stop switch 73 is pressed once with the character information (175) of “vertical conveyance and storage” being highlighted, “ON” and “OFF” indicating whether the vertical conveyance and storage function is set or not are displayed. "(" On "in FIG. 25B) character information (185) is switched and displayed on the liquid crystal panel 60b. Then, when the character information “185” is set, control is performed so that the vertical conveyance storage function is executed.

  Further, when the cursor 160 is moved to the character information (176) of “Eco-mode”, is highlighted, and the buzzer stop switch 73 is pressed, the setting of the eco-mode function is controlled. The eco-mode function in the present embodiment means that the engine output is instantaneously controlled even when the load of the traveling unit or the threshing device 3 fluctuates in the work machine, and the load fluctuation during partial wet field or turning, etc. Control that keeps the engine speed constant. By controlling in this way, stable threshing and selection can be performed.

  Each time the buzzer stop switch 73 is pressed once in a state where the character information (176) of the “eco mode” is highlighted, “ON” / “OFF” (indicating whether or not the eco mode function is set) In FIG. 25 (b), the character information (186) "ON") is switched and displayed on the liquid crystal panel 60b. Then, when the character information “186” is set, the eco mode function is controlled to be executed.

  In the setting of the eco mode function, how to control the state in which the engine rotation is rated according to the vehicle speed of the work machine varies depending on whether the threshing clutch or the auger clutch is turned on or off. You may control. In such a case, in the control mechanism according to the present embodiment, when changing the setting of the eco-mode function, the operator may select it by displaying it as character information on the liquid crystal panel 60b.

  When the cursor 160 is moved to the character information (177) of “fit steering”, is highlighted, and the buzzer stop switch 73 is pressed, the setting of the fit steering function can be changed. The fit steering function in the present embodiment is a function of controlling the work machine to finely adjust the steering of the work machine, which facilitates fine adjustment of the course direction during work such as alignment, Improve workability.

  In the present embodiment, as described above, the functions of the A switch 201 to G switch 207 disposed on the main transmission lever 65 and the steering right switch 84 disposed on the steering round handle 58 can be set and changed ( Customizable). Therefore, also in the environment setting mode M4, control is performed so that the setting can be changed so as to have the fit steering function for the operation in the front-rear direction or the left-right direction of the steering right switch 84.

  Each time the buzzer stop switch 73 is pressed once while the character information (177) of the “fit steering” is highlighted, “front / rear” / “left / right” indicating the setting state of the steering right switch 84 is displayed. The character information (187) of “cut” (“front and back” in FIG. 25B) is sequentially switched and displayed on the liquid crystal panel 60b. When the character information (187) is “front / rear”, the steering of the work implement can be adjusted by operating the steering right switch 84 in the front / rear direction, and when the character information (187) is “left / right”. In the case where the steering of the work implement can be adjusted by the left / right operation of the steering right switch 84 and the character information (187) of “cut” is used, the fitting steering function is not assigned to the steering right switch 84. Controlled.

  The switch for setting the fit steering function is not limited to the steering right switch 84, and may be set to the A switch 201 disposed on the main transmission lever 65, for example.

  When the cursor 160 is moved to the character information (178) of “check buzzer”, is highlighted, and the buzzer stop switch 73 is pressed, the setting of the simple check buzzer function can be changed. The simple check buzzer function in this embodiment is a buzzer when a certain work (for example, the cutting high-speed cut mode or the cutting work mode in sub-shift driving) is entered or finished. It is said that control is performed so that By controlling in this way, the mode transition can be alerted and notified to the operator, and workability can be improved.

  Each time the buzzer stop switch 73 is pressed once while the character information (178) of the “check buzzer” is highlighted, “ON” / “OFF” indicating whether or not the simple check buzzer function is set. The character information (188) (“ON” in FIG. 25B) is switched and displayed on the liquid crystal panel 60b. When the character information “188” is set to “ON”, the simple check buzzer function is controlled to be executed.

  The simple check buzzer function is not only heard when switching between modes as described above, but for example, a small buzzer sounds each time the switches 71 to 74 of the liquid crystal display device 60 are pressed. It is possible to include those that are controlled so that a buzzer sound is generated each time the function setting of the work machine is changed.

  Then, the cursor 160 is moved to the character information (179) of “integration reset”, displayed in reverse video, and when the buzzer stop switch 73 is pressed, the integration time is controlled to be reset. It should be noted that the accumulated time to be reset may be selected from either the accumulated time during engine startup or the accumulated time during work.

  As described above, the setting change of various functions of the work machine is controlled by the input operation of the liquid crystal display device 60. Therefore, the number of switches, dials, and the like arranged as external input means is reduced, and the cost related to the device configuration is reduced. be able to. In addition, characters and image information are displayed on the liquid crystal panel 60b provided in the liquid crystal display device 60, and an input operation is performed in accordance with the display. Therefore, the operator can easily visually recognize the setting / adjustment of the function. Function settings can be changed easily.

  Furthermore, instead of using a switch that is not frequently used, the setting can be changed by the input means of the switches 71 to 74 in the control mechanism according to the present embodiment, thereby reducing the number of external input devices such as switches. The operation system can be simplified, and an erroneous operation based on the switch operation can be prevented.

  In the environment setting mode M4, the function of the work machine whose setting can be changed is not limited to the above. For example, settings such as an automatic cutting / lifting function and a cutting height adjustment function may be controlled to be changeable.

Next, the control mechanism related to the horizontal fine adjustment will be described in detail below.
The setting change of the horizontal control fine adjustment function in this embodiment is controlled as follows. That is, each time the buzzer stop switch 73 is pressed once in the state where the character information (170) of “horizontal adjustment” is highlighted, the image information 180a showing the fine adjustment of the horizontal control of the work implement step by step. ˜180e are switched and displayed on the liquid crystal panel 60b. As shown in FIG. 25A and FIG. 27, the image information 180 is configured such that rectangular blocks 191 are continuously arranged, and the size of the block 191 is different between the left side and the right side of the block 191. And the state of the inclination of the work machine is shown. The block 191 is highlighted in the currently set horizontal adjustment stage. In this way, the operator can easily make a visual decision.

  Specifically, in the case of the image information 180a and 180b, the traveling machine body 1 is controlled so as to be inclined to the right. That is, when the working machine is slightly inclined so that the left side is lowered, the control mechanism according to the present embodiment causes the piston rod in the left traveling unit hydraulic cylinder 39a to protrude, or The piston rod in the right traveling hydraulic cylinder 39b is controlled to move backward, and fine adjustment is made so that the airframe has a desired inclination. On the other hand, in the case of the image information 180d and 180e, control is performed so that the piston rod in the right traveling unit hydraulic cylinder 39b protrudes or the piston rod in the left traveling unit hydraulic cylinder 39a moves backward. Thus, the airframe is finely adjusted so as to have a desired inclination to be lowered to the left side.

  Further, the image information 180c is displayed so that the respective blocks 191 are substantially the same, and the horizontal control fine adjustment function is in a flat state, that is, the piston rod in the right traveling unit hydraulic cylinder 39b or the left traveling It shows that the traveling machine body 1 is controlled to be substantially horizontal without causing the piston rod in the part hydraulic cylinder 39a to protrude and retract. That is, when there is no need to finely adjust the horizontal control, the image information 180c is set.

  In the horizontal control mechanism of the fuselage, when adjusting the tilt angle from the horizontal position due to the difference in tilt sensor and level adjustment dial, if you adjust with the switch or dial etc., even if you operate in the same way, It is difficult to adjust to the exact same angle due to a subtle shift. Therefore, by performing the control as described above, the operator can easily set the horizontal control fine adjustment while viewing the image display on the liquid crystal panel 60b. In addition, since the operator can change the setting of the horizontal control fine adjustment step by step through the input operation of the liquid crystal display device 60, it is possible to easily adjust a slight inclination of the work implement.

  In the horizontal control fine adjustment function according to the present embodiment, step adjustment as shown in FIG. 27 (in this embodiment, five steps) is performed, but the present invention is not limited to this. That is, the block 191 may be arranged in a continuous manner so that the fine adjustment stage can be set more finely. Further, in the present embodiment, the horizontal control of the machine body has been described. However, the present invention can be applied to the case where the work machine is horizontally controlled or angle-controlled with respect to the machine such as a tractor or a rice transplanter.

  The communication bus (line) in 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 above-mentioned CAN communication environment but also to a control system in a LAN communication environment. However, data communication using the CAN communication protocol facilitates exchange of control data between the controllers. In addition, communication error status detection and error processing can be performed smoothly. Note that there may be a plurality of controllers as control means, or a single controller.

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

  Furthermore, 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.

The left view of the combine which concerns on one Example of this invention. Similarly right side view. Similarly front view. Skeleton diagram of power transmission system. Hydraulic circuit diagram. The schematic perspective view of a driver's cab. The enlarged plan view which shows a steering round handle and a liquid crystal display device. The front view of a main gearshift lever. The functional block diagram of the whole control apparatus. The functional block diagram of CAN controller C1. The functional block diagram of CAN controller C2. The functional block diagram of CAN controller C3. The functional block diagram of CAN controller C4. The functional block diagram of CAN controller C5. Transition diagram of each mode. Transition diagram of normal mode. The figure of the screen which shows the image information of initial mode. The figure of the screen which shows the image information of non-working mode. The figure of the screen which shows the image information of work mode. The figure of the screen which shows handling cylinder clogging information among work type | system | group abnormality information. The figure of the screen which shows engine oil pressure abnormality information among engine system abnormality information. Illustration of a screen in normal mode with an error indicator. The figure of the screen which shows the image information of error display mode. The enlarged plan view of the liquid crystal display device of the state which showed the selection menu information in a maintenance mode on a screen. The figure of the screen which shows environmental setting menu information. The figure which shows the image information showing the setting state of a horizontal control fine adjustment function. The figure which shows the image information showing the setting state of a turning force adjustment function.

Explanation of symbols

C1 to C5 CAN controller S1 to 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 machine body 2, 2 Traveling crawler 3 Threshing device 4 Cutting pretreatment device 15 Engine 28 Discharge auger 56 Driver's seat 57 Front column cover body 58 Steering round handle 60 Liquid crystal display device 60b Liquid crystal panel 65 Main transmission lever 71 Setting switch 72 Display changeover switch 73 Buzzer stop switch 74 Setting switch 77 CPU
78 EEPROM
160 Cursor 165, 166, 167, 168 Operation instruction indicator

Claims (3)

  Input system equipment such as sensors and setting machines provided in each part of the work implement, output system equipment such as actuators and display means, and the input / output equipment are grouped, and control means are arranged for each group. In the control device in the work machine including the communication line, the display means includes an input means that enables a setting change operation of the function of the work machine, and before and after the setting change of the input / output system equipment A control device for a work machine, wherein the setting of each part of the work machine can be displayed.   2. The control device for a work machine according to claim 1, wherein the input unit enables fine adjustment of an angle in horizontal control of the work machine, and the display unit displays an angle change in a stepwise manner.   The control device for a work machine according to claim 1 or 2, wherein the display means includes a liquid crystal panel capable of displaying information such as characters, symbols, and images, and an operation unit as the input means. .

Images