JP2006246728A - Multipurpose farm machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a multipurpose farm machine which can prevent that an operator wrongly drives a control program not corresponding to an implement mounted on a main machine, and can prevent the misoperation of the implement with the non-corresponding control program. <P>SOLUTION: This multipurpose farm machine provided with a main machine 2 capable of traveling and capable of driving implements and a group of implements 3, 4, 5, 6 capable of being mounted on the main machine and having different combination of control targets (lifting control, laterally horizontal control, and planting depth-adjusting control) is characterized by disposing a group of control programs 93, 94, 96 corresponding to a combination of the control targets, respectively, an identification circuit 110 formed by connecting an implement side connector 100 to a main machine side connector 27, and a selection judgment circuit 28 permitting the operation of the control program corresponding to the combination of the control targets in response to a detection with the identification circuit 110, in the main machine 2. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a technology of a multi-purpose agricultural machine including a machine capable of traveling drive and work machine drive output, and a group of work machines that can be mounted on the machine, and more particularly, a plurality of parts in a traveling part of a rice transplanter. The present invention relates to a technique for enabling attachment of a type of work machine, determining which work machine is attached to the main machine of a traveling unit, and performing control corresponding to the work machine.

2. Description of the Related Art Conventionally, as a rice planting agricultural machine, an agricultural machine configured by mounting a rice planting work machine on a traveling vehicle capable of output of a work machine drive separately from the driving drive is known (for example, Patent Documents). 1).
In addition, as a sowing agricultural machine, an agricultural machine configured by mounting a sowing work machine on a traveling vehicle capable of outputting a work machine drive separately from the traveling drive is known (for example, Patent Document 2). reference).

If the traveling vehicle is capable of outputting the work machine drive separately from the traveling drive, it is possible to perform various operations by changing the work machine.
It is also possible to configure an agricultural machine for weeding by installing a working machine for weeding on the traveling vehicle, or an agricultural machine for grooving by installing a working machine for groove formation. It is.
JP 7-111181 A Japanese Utility Model Publication No. 5-31514

When a traveling vehicle that can output the work machine drive separately from the travel drive is used as the main unit, and the work unit is replaced with this unit, not only the work unit is replaced, but also the control of the work unit is performed. It is also necessary to exchange programs. Since it is cumbersome to replace the control program every time the work machine is replaced, this machine stores in advance all the control programs for the work machine to be replaced.
Here, even if the work machine for rice transplantation is installed in this machine, if the correspondence between the installed work machine and the selected control program is wrong, such as selecting the control program for the sowing work machine, The work machine cannot be operated normally. As long as the control program is selected by manual input, it is impossible to completely prevent such an erroneous operation.

  In other words, the problem to be solved is a control program that requires switching according to replacement of a work machine in a configuration in which a different work machine can be replaced with a machine capable of traveling drive and work machine drive output. This is a point where misselection may occur.

  The problems to be solved by the present invention are as described above. Next, means for solving the problems will be described.

That is, in claim 1,
This machine capable of traveling drive and work machine drive output,
A group of work machines that can be mounted on this machine and have different control contents,
A multi-purpose agricultural machine comprising:
In this machine,
A control program corresponding to the control content of each work implement is provided,
The means for detecting the type of the work machine mounted on the machine is provided in a connector provided so as to be separable and connectable in the middle of the wiring connecting the electric machine of the machine and the electric machine of the work machine, and the detected work The control program corresponding to the machine is permitted to operate.

In claim 2,
The connector includes a main machine side connector and a work machine side connector, and the work machine is identified by connection between terminals provided in the work machine side connector.

In claim 3,
The discrimination of the working machine and the operation permission of the control program are automatically performed when the machine is turned on.

In claim 4,
In a control object common to a part or all of the group of work machines,
The means for detecting the control amount of the controlled object is:
The amount of displacement of the detected value relative to the amount of displacement of the control amount is set to be the same between the work machines.

In claim 5,
Each of the control programs is
When the operation of the control program is permitted,
A program for permitting the setting of only the initial setting items necessary for the corresponding working machine;

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

In claim 1,
The operator does not accidentally start a control program that does not correspond to the work machine mounted on the machine, and the malfunction of the work machine due to the control program that does not correspond does not occur.

In claim 2, in addition to the effect of claim 1,
By using the harness connector, it is possible to configure the detection means for the work machine having different control contents, and there is no need to separately provide a dedicated detection means.

In claim 3, in addition to the effect of claim 1 or claim 2,
A trigger for selecting the control program corresponding to the control content of the work machine mounted on the machine can be configured, and there is no need to provide a special switch.

In claim 4, in addition to the effect of any one of claims 1 to 3,
In the initial setting of the common control object, it is not necessary to adjust the ratio of the displacement of the detected value to the displacement of the controlled variable, and only the control reference value of the controlled variable (for example, the vertical displacement 0 cm position) needs to be adjusted. Adjustment is easy.

In claim 5, in addition to the effect of any one of claims 1 to 4,
When the work machine is attached to the main machine, unnecessary initial settings are not mistakenly performed by the operator, and no trouble occurs when the work machine is replaced with another work machine.

  A multipurpose agricultural machine 1 according to an embodiment of the present invention will be described with reference to the drawings.

The configuration of the multipurpose agricultural machine 1 will be described with reference to FIG.
The multi-purpose agricultural machine 1 of the present embodiment includes a machine 2 that is a traveling vehicle, and a group of work machines configured to be replaceable with the machine, for example, a planting work machine 3, a weeding (meshing) work machine. 4, sowing work machine 5, grooving work machine 6, and the like. In the present embodiment, each of these work machines 3, 4, 5, and 6 is configured as a paddy field work machine, but is not limited to these work machines, and includes a cutting work machine, a tilling device, and the like. It can also be configured to be worn.
The machine 2 is a traveling vehicle that can be driven to travel, and includes driving means that can output to the work machine from the machine, and is configured to be able to drive the work machine attached to the rear part of the machine while traveling. Has been.

  When the planting work machine 3 is attached to the machine 2, a self-propelled riding rice transplanter 10 (FIGS. 2 and 3) that performs seedling planting work is configured. When the weeding machine 4 is mounted on the main unit 2, a self-propelled riding weeder that performs the weeding work is configured. When the sowing work machine 5 is mounted on the machine 2, a self-propelled riding sowing machine that performs the sowing work is configured. When the grooving work machine 6 is mounted on the machine 2, a self-propelled riding grooving machine that forms a groove in the field is configured.

Next, the structure of the rice transplanter 10 which mounts the planting work machine 3 to this machine 2 is demonstrated using FIG. 2, FIG.
A work machine support mechanism 7 that supports the work machine is provided at the rear of the machine 2. In a state where the planting work machine 3 is mounted on the work machine support mechanism 7, the machine 2 and the planting work machine 3 constitute a rice transplanter 10. In this Embodiment, this planting work machine 3 is for 8 articles.

The configuration of the machine 2 will be described.
The body frame 11 of the machine 2 has an engine 12 mounted on the front upper portion, front wheels 14 and 14 supported on the front lower portion via a front axle case 13, and rear wheels on a rear lower portion via a rear axle case 15. 16 and 16 are supported, and the working machine support mechanism 7 is provided at the rear end.
The engine 12 is covered with a hood 17, preliminary seedling platforms 98 and 98 are disposed on both sides of the hood 17, and a dashboard 18 is provided at the rear of the hood 17. On the dashboard 18, a steering handle 19 is disposed in addition to various instruments and operation switches. A seat 21 is disposed behind the steering handle 19.
The body frame 11 on both sides and the rear of the bonnet 17 is covered with a body cover 20, and the body cover 20 also functions as a step when the operator gets on the seat 21 from the ground.

The work machine support mechanism 7 is a mechanism that supports the work machine with respect to the main machine 2 so that the work machine can be moved up and down and tilted left and right.
The elevating mechanism of the work implement is configured as a mechanism that raises and lowers the hitch frame 70 that is a mounting portion of the work implement, and the left-right tilt mechanism of the work implement is configured as a mechanism that tilts the work implement left and right with respect to the hitch frame 70. Yes. Hereinafter, these mechanisms will be described in more detail.

The raising / lowering mechanism of a working machine is demonstrated.
The hitch frame 70 serving as a mounting portion for the work implement is disposed at a rear position of the vehicle body frame 11. The hitch frame 70 and the rear end portion of the vehicle body frame 11 are rotatably connected to each other at two upper and lower positions by a top link 71 and a lower link 72 that are arranged vertically, and these links 71 and 72 are parallel to each other. The link is configured.
Further, a lifting hydraulic cylinder 23 is connected to the base portion of the top link 71, and by driving the lifting hydraulic cylinder 23, the parallel link swings up and down to change the vertical position of the planting operation 3. That is, when the lifting hydraulic cylinder 23 is driven in a state where the working machine such as the planting work machine 3 is mounted on the rear part of the hitch frame 70 via the attachment part 30, the working machine such as the planting work machine 3. The vertical position changes relative to the machine 2.

The left and right tilt mechanism of the work machine will be described.
Each of the working machines 3, 4, 5, 6 is attached to the hitch frame 70 so as to be able to swing left and right via a rolling shaft serving as a fulcrum for tilting left and right.
Here, in the working machines 3, 4, and 5, in order to positively keep the working machine in a horizontal position, by controlling the driving of the hydraulic cylinder 24 for tilting left and right, which is an actuator for changing the left and right attitude, Control is performed. On the other hand, since the grooving work machine 6 does not require accuracy in the horizontal posture of the work machine for work, the posture of the grooving work machine 6 is set to the horizontal horizontal position by its own weight without using an actuator for changing the left / right posture. It is swingable around the center.

The lower part of the hitch frame 70 is connected to a receiving portion of a rolling shaft that serves as a fulcrum for the left and right tilt of the work machine. Connected.
The working machine is tilted left and right with respect to the hitch frame 70 by driving the left and right tilting hydraulic cylinder 24, and the left and right tilting posture of the working machine is changed with respect to the machine 2.

The configuration of the planting work machine 4 will be described.
The planting work machine 4 includes a seedling mounting table 16, 16... That is a seedling placement means, a rotary type planting claw 22 that is a seedling planting means, a center float 34 that supports the planting part, and Side floats 35 and 35, a planting center case 30, and the like are provided.
The planting center case 30 is a gear case to which the work machine drive output from the machine 2 is transmitted, and a base portion that supports each device constituting the planting machine 4 such as the seedling platforms 16, 16. It is also.

The planting work machine 3 for 8 strips is provided with 8 seedling mounts 16.
These seedling mounts 16 are arranged in front and rear and low so that a seedling mat placed on the upper surface thereof is easy to slide down, and two front and rear (up and down) portions of the lower surface are provided with a lower guide. The rail 36 and the upper guide rail 37 are supported so as to be slidable back and forth. Then, according to the left and right reciprocating sliding of the seedling mounting table 16, the seedling mat 22 arranged below the seedling mounting table 16 rotates the seedling mat on the seedling mounting table 16 to rotate up and down to convey the seedling downward. Will be planted. When the seedling stage 16 reaches the left and right ends, the belt provided on the seedling stage 16 is driven, and the seedling mat on the seedling stage 16 is sent one step downward.

The work machine drive output from the machine 2 is transmitted from a PTO shaft protruding rearward from the rear end of the body frame 11 via a transmission mechanism capable of transmitting power in response to a change in posture such as raising and lowering of the work machine. It is transmitted to the planting center case 30.
Then, the working machine drive power transmitted from the machine 2 through the planting center case 30 drives the entire seedling mounting table 16 to the left and right, and the rotary planting claws 22 are driven. The

The planting work machine 3 is provided with a rolling shaft 73 and a cylinder receiving part 39 as attachment members to the work machine support mechanism 7. The rolling shaft 73 is fixed to the planting center case 30, and the cylinder receiving portion 39 is fixed to the front lower surface of the seedling mounting table 16.
The rolling shaft 73 is attached to the hitch frame 70, and the cylinder receiving portion 39 is attached to the piston rod of the hydraulic cylinder 24 for tilting left and right, so that the planting work machine 3 is supported by the work machine support mechanism 7 so that it can be horizontally controlled in the left and right directions. Is done.

  The center float 34 and the side floats 35 and 35 are supported by the planting center case 30 and a frame fixed thereto through a link mechanism.

The configuration of the operation unit provided in the machine 2 will be described with reference to FIG.
The dashboard 18 is provided with a large number of levers and switches as various operation means.
A steering handle 19 is provided at the center of the dashboard 18, and switches and levers related to the work implement are disposed in the vicinity of the steering handle 19.
The multipurpose agricultural machine in the present embodiment is based on the use as the rice transplanter 10, and the configuration of the operation unit included in the machine 2 is also adapted for use as the rice transplanter 10. When other various work machines 4, 5, 6 are mounted on the machine 2 and used, various levers and switches provided for the rice transplanter 10 are used for the other work machines 4, 5, 6. It is possible to operate in place of the operating means.

  The operation unit of the machine 2 includes an elevating lever 91, a planting depth setting switch 81, a work selection switch 83, a seedling joining switch 84, a field hardness setting switch 82, and the like as operation means related to the working machine.

  The elevating lever 91 is a lever that sets the vertical height position of the work implement. The working machine is driven up and down by the lifting hydraulic cylinder 23 at a height position set by the lifting lever 91.

The work selection switch 83 is a switch having a switching position such as a “work position” when performing a work such as a planting work or a “travel position” when traveling in a non-working state.
When the work selection switch 83 is in the “work position”, the work machine is in a position in contact with the farm field, and the planting claws 22 can be inserted into the farm scene. When the work selection switch 83 is in the “traveling position”, the work implement is located above the field or the paddy field so that the work implement does not obstruct travel.

The field hardness setting switch 82 is a switch for setting and inputting the field hardness obtained by the operator. Depending on the state of the field, the degree of sinking of the wheels (front wheel 14 and rear wheel 16) of the machine 2 changes, and the attitude of the work machine changes.
The field hardness setting switch 82 has a switching position such as “standard”, “deep water”, or “headland” corresponding to the state of the field, and the attitude control of the work machine is performed according to these switching selections. The control of the machine 2 and the work machine is different.
“Standard” means that the riding field transplanter is a standard field that can be performed without executing special control when performing planting work (standard mode).
“Deep water” means that the amount of water (depth) in the field is large compared to the above standard (deep water mode).
“Headland” means when the amount of water (depth) in the field is small compared to the above standard, or when the condition of the field is poor (such as many irregularities) compared to the central part of the field. Yes (headland mode).

  The seedling switch 84 is a switch for raising and lowering the seedling mounting table 16 to a vertical position at which seedling can be easily performed during seedling joining work when the working machine is the planting work machine 3.

  The planting depth setting switch 81 is a volume type switch that adjusts the planting depth of the seedling when the working machine is the planting work machine 3.

Further, on the left side of the steering handle 19, various levers such as a main transmission lever are arranged.
A key switch 85 for inputting the start of the engine 12 is provided below the dashboard 18. By operating the key switch 85, not only the engine 2 but also the controller 25 provided in the machine 2 is activated. The controller 25 controls the machine 2 and a work machine attached to the machine 2.

Next, a control object that can be performed for each work machine and an apparatus configuration necessary for the control will be described.
Here, the control target means lifting / lowering control (up / down position control) of the work implement, left / right horizontal control (control of left / right tilt posture) of the work implement, and other alarm control.
The control performed on the work implement is basically automatic control that causes the control amount (position or the like) of the work implement to follow the set target value. Therefore, the required apparatus configuration includes means for changing the control amount of the work implement (actuator), target value setting means (operation switches), control amount detection means (such as a position detection sensor), control amount Is a control device (the controller 25) that controls the drive of the actuator so as to match the target value.
The controller 25 operates in accordance with the built-in program. Since each work machine has operations / actions specific to the work machine, a program corresponding to each work machine is incorporated to control the operation / action. As each work machine program, it corresponds to the first type control program 93 corresponding to the planting work machine 3, the second type control program 94 corresponding to the weeding work machine 4 and the sowing work machine 5, and the grooving work machine 5. A third type control program 96 is stored in the memory.

The configuration of the control system of the planting work machine 3 will be described with reference to FIG.
The control objects of the planting work machine 3 include the lifting / lowering control of the work machine main body, the left / right horizontal control of the work machine main body, and the planting depth adjustment control. Although not described in detail in this specification, pitching control and seedling control Etc.
The elevation control is control for raising and lowering the main body (planting claw 22) of the planting work machine 3 to a height set with respect to the machine 2.
The left-right horizontal control is control for tilting the main body of the planting work machine 3 to the left or right so as to keep it horizontal or tilting to a set angle.
The planting depth adjustment control is control for setting the seedling planting depth by the planting claws 22.

The planting work machine 3 is provided with a vertical position detection sensor 31 as detection means for detecting the vertical position of the planting work machine 3.
The vertical position detection sensor 31 is a detection means for detecting the height position of the planting work machine 3 with respect to the paddy field. Specifically, the vertical position detection sensor 31 detects the rotation angle of the link arm that supports the center float 34. It consists of a potentiometer.

The planting work machine 3 is provided with a left / right tilt amount detection sensor 32 as detection means for detecting the left / right tilt angle of the planting work machine 3.
The left / right inclination amount detection sensor 32 is detection means for detecting the right / left inclination of the planting work machine 3 with respect to the horizontal or vertical direction.

  The planting work machine 3 is provided with a front / rear inclination amount detection sensor 33 as detection means for detecting the front / rear inclination angle of the planting work machine 3.

  The planting work machine 3 is also provided with a planting depth detection sensor 40 for detecting a downward projecting amount of the planting claws 22 from the field surface. By detecting the relative distance between these floats and the planting center case 30 (the main body of the planting work machine 3) that supports the planting claws 22, the planting nails 22 are moved by the planting depth detection sensor 40. It is possible to detect the amount of protrusion downward from these floats.

On the other hand, the machine 2 is provided with a vehicle speed detection sensor 26 as means for detecting the traveling speed of the rice transplanter 10.
The center float 34 and the side floats 35 and 35 have different buoyancy levels depending on the traveling speed of the rice transplanter 10, so that the degree of lift from the rice field is different. Therefore, in order to obtain an accurate planting depth of the planting claws 22, it is necessary to consider the influence of the floating amount of the center float 34 according to the traveling speed.

The control amount changing means of the planting work machine 3 is the following actuator.
Here, the control amount refers to the vertical position of the main body of the planting work machine 3, the left-right inclination amount of the main body of the planting work machine 3, and the downward projecting amount of the planting claws 22.
The means for changing the vertical position of the main body of the planting work machine 3 is a lifting hydraulic cylinder 23 provided in the machine 2. The means for changing the right / left inclination angle of the main body of the planting work machine 3 is a hydraulic cylinder 24 for right / left inclination provided in the machine 2. The changing means for the downward projecting amount of the planting claw 22 is a planting depth adjusting motor 38 provided in the planting work machine 3.

The controller 25 provided in the machine 2 is a control device that controls the driving of the actuator so that the control amount (position, etc.) of the planting work machine 3 matches the set target value.
The controller 25 controls the planting work machine 3 based on the first type control program 93.

  In the elevation control, the control amount of the planting work machine 3 is the vertical position, and the vertical position setting means is the elevation lever 91. The controller 25 controls the drive of the lifting hydraulic cylinder 23 so that the detection value (height position) detected by the vertical position detection sensor 31 matches the target value set by the lifting lever 91.

  The control amount in the planting depth adjustment control is a projecting amount of the planting claw 22 to the lower side of the rice field with respect to the center float 34 and the side floats 35 and 35 (the standard of the rice field position). A means for setting the protruding amount (that is, the planting depth) is a planting depth setting switch 81. The controller 25 controls the driving of the planting depth adjustment motor 38 so that the detection value (projection amount) by the planting depth detection sensor 40 matches the target value set by the planting depth setting switch 81.

In left / right horizontal control (right / left tilt attitude control), the control amount of the planting work machine 3 is a left / right tilt angle. The target value of the left / right inclination angle is stored in advance in the first type control program 93 with the horizontal value (left / right inclination 0 degree) as a set value.
The controller 25 controls the drive of the left / right tilt hydraulic cylinder 24 so that the detection value (tilt angle) of the left / right tilt amount detection sensor 32 matches the left / right tilt of 0 degrees.

In addition, the controller 25 corrects the target value setting of the actuator based on the detection values obtained by the vehicle speed detection sensor 26 and the front / rear inclination amount detection sensor 33 in each of the controls, the elevation control, the left / right horizontal control, and the planting depth adjustment control. ing.
By the correction based on the detection value of the vehicle speed detection sensor 26, it is possible to eliminate the influence of the floating of the floats 34 and 35 corresponding to the vehicle speed. By the correction based on the detection value of the front / rear inclination amount detection sensor 33, the target value can be set based on the vertical position of the actual working part (planting claw 22 or the like) that changes depending on the inclination of the work implement.

The configuration of the control system of the weeding work machine 4 will be described with reference to FIG.
The control targets of the weeding work machine 4 are the lifting control of the work machine body and the horizontal control of the work machine body, and there is no control corresponding to the planting depth adjustment control in the planting work machine 3.
As for the raising / lowering control and the left / right horizontal control in the weeding work machine 4, the same control as in each control in the planting work machine 3 is performed on the main body of the weeding work machine 4.

  The weeding work machine 4 includes a vertical position detection sensor 41 that detects the vertical position of the weeding work machine 4, a left / right tilt amount detection sensor 42 that detects the left / right tilt angle of the weeding work machine 4, and the weeding work machine 4. A front-rear inclination amount detection sensor 43 that detects the front-rear inclination angle is provided.

The controller 25 provided in the main unit 2 is a control device that controls the driving of the actuator so that the control amount (position, etc.) of the weeding work machine 4 matches the set target value.
The controller 25 controls the weeding work machine 4 based on the second type control program 94.
In addition, the raising / lowering control and left / right horizontal control of the weeding work machine 4 based on the second type control program 94 are performed in the same manner as the raising / lowering control and left / right horizontal control of the planting work machine 3 based on the first type control program 93. Done.

The configuration of the control system of the sowing work machine 5 will be described with reference to FIG.
The control target of the sowing work machine 5 is the same as that of the weeding work machine 4. That is, the control targets of the sowing work machine 5 are the elevation control of the work machine main body and the horizontal horizontal control of the work machine main body, and there is no control corresponding to the planting depth adjustment control in the planting work machine 3.
Ascending / descending control and right / left horizontal control in the sowing work machine 5 are performed on the main body of the sowing work machine 5 in the same manner as in each control in the planting work machine 3.

  The sowing work machine 5 includes a vertical position detection sensor 51 that detects the vertical position of the sowing work machine 5, a left / right tilt amount detection sensor 52 that detects a left / right tilt angle of the sowing work machine 5, and the sowing work machine 5. A front-rear inclination amount detection sensor 53 that detects a front-rear inclination angle is provided.

The controller 25 provided in the present machine 2 is a control device that controls the driving of the actuator so that the control amount (position, etc.) of the sowing work machine 5 matches the set target value.
The controller 25 controls the sowing work machine 5 based on the second type control program 94.
In addition, the raising / lowering control and the left / right horizontal control of the sowing work machine 5 based on the second type control program 94 are performed in the same manner as the raising / lowering control and the left / right horizontal control of the planting work machine 3 based on the first type control program 93. Done.

The configuration of the control system of the grooving machine 6 will be described with reference to FIG.
The object to be controlled by the grooving work machine 6 is the raising / lowering control of the work machine body, and there is no control corresponding to the horizontal / horizontal control of the work machine body or the planting depth adjustment control in the planting work machine 3.
The raising / lowering control in the sowing work machine 5 is performed on the main body of the sowing work machine 5 in the same manner as in each control in the planting work machine 3.

  The grooving work machine 6 is provided with a vertical position detection sensor 61 for detecting the vertical position of the grooving work machine 6 and a front / rear tilt amount detection sensor 63 for the grooving work machine 6.

The controller 25 provided in the machine 2 is a control device that controls the drive of the actuator so that the control amount (position, etc.) of the grooving work machine 6 matches the set target value.
The controller 25 controls the grooving work machine 6 based on the third type control program 96.
In addition, the raising / lowering control of the grooving work machine 6 based on the third type control program 96 is performed in the same manner as the raising / lowering control of the planting work machine 3 based on the first type control program 93.

A mechanism for permitting the operation of each of the control programs 93, 94, and 96 will be described with reference to FIGS.
The multipurpose agricultural machine 1 is configured so that the corresponding control program is automatically switched according to the work machine mounted on the machine 2. In the controller 25 provided in the machine 2, control programs 93, 94, and 96 corresponding to the work machines 3, 4, 5, and 6 are stored in advance, but the operation is permitted when the work machine is mounted. Only one of these control programs is a control program. Specifically, for example, when the planting work machine 3 is attached to the machine 2, only the operation of the first type control program 93 corresponding to the planting work machine 3 is permitted, and other control programs 94 96 operations are not allowed.

As shown in FIG. 9, the multipurpose agricultural machine 1 includes a memory 29 in which the control programs 93, 94, and 96 are stored, a work machine identification unit 110 that detects the type of work machine mounted on the machine 2, and a detection A selection determination circuit 28 that selectively selects a control program in accordance with the type of the work implement that has been selected is provided.
The memory 29 is a storage device provided in the controller 25. The selection determination circuit 28 is configured using an electronic circuit, a program, or the like provided in the controller 25. The work machine identification unit 110 includes a connector for connection provided in the middle of a harness that connects the electric circuit (controller 25) of the machine 2 and the electric circuit of the work machine.

That is, the work machine identification unit 110 includes the main machine side connector 27 and the work machine side connector 100, and is configured to be separable and connectable. The machine-side connector 27 is provided at the end of a wire 97 connected to the controller 25 of the machine 2, a power source, and the like, and is connected to the end of the wire 191 on the work machine side so that it can be connected to the wire 97. A machine-side connector 100 is provided. The wirings 97 and 191 include a control line, a voltage supply line, a ground line, a signal line, and the like.
Here, the work machine side connector 100 has a terminal for connecting wiring necessary for the electrical equipment of each work machine, and a terminal for identifying the work machine. The work machine side connector 100 is all compatible, and the work machine side connector 100 includes a planting work machine side connector 103, a weeding work machine side connector 104, a seeding work machine side connector 105, a grooving work machine side connector 106, and the like. It is. That is, the fitting parts of the planting work machine side connector 103, the sowing work machine side connector 105, and the weeding work machine side connector 104 to the main body side connector 27 have the same shape.

  The machine side connector 27 and the work machine side connector 100 are provided with type identification terminals. When the machine side connector 27 and the work machine side connector are coupled, the connection between the terminals is determined and the work machine is connected. Determine the type. A specific configuration of the work machine identification unit 110 will be described.

FIG. 10A shows a circuit configuration when the planting work machine 3 is mounted on the machine 2, that is, when the planting work machine side connector 103 is connected to the machine side connector 27. . In FIG. 10, the control lines, signal lines, power supply lines, and the like are omitted, and only the work machine determination lines are shown.
First, the main unit side connector 27 is provided with a first main unit side terminal PB1, a second main unit side terminal PB2, and a third main unit terminal PB3 as connection portions with the work unit side connector 100. The first main unit side terminal PB1 is connected to the first port P1 of the controller 25, and the second main unit side terminal PB2 is connected to the second port P2 of the controller 25. Further, the third main unit side terminal PB3 is grounded. However, the connection relationship between the controller 25 and the ground and the terminal is not limited. Further, the number of terminals is not limited, and can be increased according to the type of work implement.
On the other hand, the work machine side connector 100 is provided with a first work machine side terminal PW1, a second work machine side terminal PW2, and a third work machine side terminal PW3 as connection parts to the machine side connector 27. Can be connected to each other.
In the planting work machine side connector 103 provided in the planting work machine 3, the first work machine side terminal PW1 and the third work machine side terminal PW3 are short-circuited by the short-circuit line 123, and the second work machine side terminal PW2 is opened. Has been.

  With the above configuration, when the planting work machine side connector 103 and the machine side connector 27 are connected, the controller 25 has the first port P1 in the conductive state (ON state) and the second port P2 in the non-conductive state (OFF state). )It is in.

  As shown in FIG. 11, the determination circuit 28 for selection is based on the conduction / disconnection state (ON / OFF state) of the first port P1 and the second port P2 of the working machine attached to the machine 2. Identify.

When the first port P1 is ON and the second port P2 is OFF, the selection determination circuit 28 determines that the planting work machine 3 is mounted on the machine 2 and uses it as a work machine control program. The first type control program 93 is selected.
As will be described later, when the first port P1 is OFF and the second port P2 is ON, the selection determination circuit 28 has the weeding work machine 4 or the sowing work machine 5 mounted on the main machine 2. , And the second type control program 94 is selected as the work machine control program.
Similarly, as will be described later, when both the first port P1 and the second port P2 are ON, the determination circuit for selection 28 determines that the planting work machine 3 is mounted on the machine 2, A lift control program 95 is selected as the work machine control program.

  When both the first port P1 and the second port P2 are OFF, the selection determination circuit 28 determines that none of the work machines belonging to the multipurpose agricultural machine 1 are attached to the machine 2, and in this case The controller 25 prohibits all operations of the control program for controlling the work machine and displays an abnormal signal (for example, red LED display) on display means (for example, LED) provided in the monitor lamp unit 99 of the operation unit of the machine 2. ) May be performed.

  The controller 25 stores a control program for a work machine that does not belong to the multipurpose agricultural machine 1, for example, a planting work machine different from the planting work machine 3, and stores the first port P1 and the second port. The control program for the work machine may be selected by the selection determination circuit 28 when both the ports P2 are OFF.

In FIG. 10B, when the weeding work machine 4 (or the sowing work machine 5) is attached to the main machine 2, that is, the weeding work machine side connector 104 (or the sowing work machine side connector 105) is connected to the main machine. The circuit configuration when connected to the side connector 27 is shown.
In the weeding work machine side connector 104, the second work machine side terminal PW2 and the third work machine side terminal PW3 are short-circuited by a short circuit wire 124.

  With the above configuration, when the weeding work machine side connector 104 (or the sowing work machine side connector 105) and the main body side connector 27 are connected, the controller 25 has the first port P1 in the non-connected state (OFF state). The two ports P2 are in a conductive state (ON state). At this time, the selection determination circuit 28 determines that the weeding work machine side connector 104 or the sowing work machine side connector 105 is attached to the machine 2.

FIG. 10C shows a circuit configuration when the grooving machine 6 is mounted on the machine 2, that is, when the grooving machine side connector 106 is connected to the machine side connector 27. .
In the grooving work machine side connector 106, the first work machine side terminal PW1, the second work machine side terminal PW2, and the third work machine side terminal PW3 are short-circuited by a short-circuit line 126.

  With the above configuration, both the first port P1 and the second port P2 are in the conductive state (ON state) in the controller 25 when the grooving machine side connector 106 and the main unit side connector 27 are connected. At this time, the selection determination circuit 28 determines that the grooving work machine side connector 106 is attached to the machine 2.

The control program whose operation is permitted is switched when the controller 25 is turned on.
When power is turned on to the controller 25, the selection determination circuit 28 starts checking the inputs (ON state or OFF state) of the first port P1 and the second port P2. This input confirmation work is performed for a predetermined time, and when the same input is obtained for a predetermined time or more during this fixed time, the input result is determined as a judgment material in the selection of the control program.

  In the present embodiment, the selection determination circuit 28 performs an input confirmation operation for 100 ms (milliseconds) for each of the first port P1 and the second port P2. In each port, if the ON state (or OFF state) continues for 50 ms or longer in this 100 ms, the input of that port is determined to be in the ON state (or OFF state).

Next, the initial setting executed in response to the switching of the control program will be described.
When a new work machine is mounted on the machine 2, it is necessary to make initial settings in order to make adjustments between the control program corresponding to the work machine and each device related to the control of the work machine. . The devices related to the control are a control amount change means (actuator), a target value setting means (operation switches), and a control amount detection means (position detection sensor or the like) of the work machine.

  In the present embodiment, the weeding work machine 4 and the sowing work machine 5 are controlled by the same control program (second type control program 94). 94, the initial setting is performed. This is because when the work machine is replaced, at least a part of the device configuration that is controlled by the control program is changed. Therefore, it is necessary to adjust the changed part of the device configuration at least to the extent of operation confirmation. Because. In the replacement of the weeding work machine 4 and the sowing work machine 5, the lifting hydraulic cylinder 23 provided in the machine 2 is not changed, but the left / right inclination amount detection sensor 42 is changed to the left / right inclination amount detection sensor 52.

FIG. 12 shows the initial setting items in the order of execution in each case of the control programs 93, 94, and 96.
When the selection circuit 28 recognizes that a work machine different from the previous one is mounted on the machine 2 when the controller 25 is activated, the process of each step shown in FIG. 12 is executed.
The processing of each step shown in FIG. 12 is performed by the operator correcting the deviation of the reference value or the like using various sensitivity setting dials (stepless adjustment means) provided in the operation unit of the machine 2. .

The first type control program 93 is a control program for performing elevating control, left / right horizontal control, planting depth adjustment control, and the like on the planting work machine 3.
The first type control program 93 includes a program for instructing an adjustment request for various initial setting items in the following order when the first type control program 93 is activated. This adjustment request is specifically a warning display for the operator on the display unit of the operation unit of the machine 2.
Adjustment of planting depth detection sensor 40 (step S1), adjustment of vertical position detection sensor 31 (step S2), adjustment of front / rear inclination amount detection sensor 33 (step S3), adjustment of vehicle speed sensor 26 (step S4), right / left inclination Setting of the amount detection sensor 32 (step S5), adjustment of the planting depth adjustment motor 38 (step S6), adjustment of the hydraulic cylinder 24 for right and left inclination (step S7), adjustment of the lifting hydraulic cylinder 23 (step S8), In order.

The second type control program 94 is a control program for performing up / down control and left / right horizontal control for the weeding work machine 4 or the sowing work machine 5.
The second type control program 94 is also provided with a program for instructing an adjustment request for various initial setting items in the following order when the second type control program 94 is activated.
Adjustment of the vertical position detection sensor 31 (step S2), adjustment of the front / rear inclination amount detection sensor 43 (53) (step S3), adjustment of the vehicle speed sensor 26 (step S4), setting of the left / right inclination amount detection sensor 42 (52) ( Step S5), adjustment of the hydraulic cylinder 24 for tilting left and right (step S7), adjustment of the lifting hydraulic cylinder 23 (step S8).
From the initial setting items of the second type control program 94, the adjustment of the planting depth detection sensor (step S1) and the adjustment of the planting depth adjustment motor 38 (step S6) related to the planting depth adjustment control are omitted. .

The third type control program 96 is a control program for performing elevation control for the grooving work machine 6.
The third type control program 96 is also provided with a program for instructing an adjustment request for various initial setting items in the following order when the third type control program 96 is activated.
Adjustment of the vertical position detection sensor 31 (step S2), adjustment of the front / rear inclination amount detection sensor 63 (step S3), adjustment of the vehicle speed sensor 26 (step S4), adjustment of the lifting hydraulic cylinder 23 (step S8). is there.
From the initial setting items of the third type control program 96, adjustment of the planting depth detection sensor related to the planting depth adjustment control (step S1), adjustment of the planting depth adjustment motor 38 (step S6), and elevation control The setting of the right / left inclination amount detection sensor (step S5) and the adjustment of the right / left inclination hydraulic cylinder (step S7) are omitted.

Next, initial setting items common to some or all of the control programs 93, 94, and 96 will be described.
Initial setting items common to all the control programs 93, 94, and 96 are adjustment of the vertical position detection sensor 31 (step S2), adjustment of the front / rear inclination amount detection sensor (step S3), and adjustment of the vehicle speed sensor 26 (step S4). ), Adjustment of the lifting hydraulic cylinder 23 (step S8).
The initial setting items common between the control programs 93 and 94 are the setting of the left / right tilt amount detection sensor 32 (step S5) and the adjustment of the left / right tilt hydraulic cylinder 24 (step S7).
Among the above items, the vehicle speed sensor 26, the lifting hydraulic cylinder 23, and the left / right tilting hydraulic cylinder 24 are devices provided in the machine 2, and therefore, there is no need to change the adjustment by replacing the work machine.
The remaining items, the adjustment of the vertical position detection sensors 31, 41, 51, 61 (step S2), the forward / backward inclination amount detection sensors 33, 43, 53, 63 and the left / right inclination amount detection sensors 32, 42, 52, 62 The device is changed according to the replacement of the work machine. These detection means are configured as follows so that adjustment is easy when there is a change in the control program due to replacement of the work implement.

Here, the vertical position detection sensors 31, 41, 51, 61 are detection means for detecting a control amount called the vertical position in the lifting control of the work implement. The forward / backward tilt amount detection sensors 33, 43, 53, and 63 are also detection means for detecting a correction material having a control amount of the vertical position in the lifting control of the work implement.
The left / right inclination amount detection sensors 32, 42, 52, and 62 are detection means for detecting a control amount called a left / right inclination amount in the horizontal horizontal control of the work implement.

In these control amount detection means, the displacement amount of the detected value with respect to the displacement amount of the control amount is set to be the same among the work machines 3, 4, 5, 6. Specifically, the configuration is as follows.
When the vertical position of the planting work machine 3 is displaced by 30 cm, the vertical position detection sensor 31 provided in the planting work machine 3 gives the displacement of the detected value as, for example, an output of 30 mV. That is, the displacement of the output of the detected value 10 mV with respect to the displacement of the vertical position 10 cm. On the other hand, when the vertical position of the weeding work machine 4 is displaced by 50 cm, the vertical position detection sensor 41 provided in the weeding work machine 4 gives the displacement of the detected value as an output of 50 mV, for example. That is, in both the vertical position detection sensors 31 and 41, a displacement with a detection value of 10 mV is output with respect to a displacement with a vertical position of 10 cm.
Thus, the ratio of the displacement of the detected value to the displacement of the control amount is set to be the same in each detection means (the same control target detection means) provided in each work implement.

  By configuring as described above, even if the work machine is replaced, the ratio of the detected value to the displacement of the control amount is adjusted by the adjustment in the initial setting of the same control target (elevation control or the like). There is no need, and adjustment work becomes easy.

FIG. 13 shows the detection value output ranges of the vertical position detection sensors 31, 41, and 61.
The detection value output ranges of the vertical position detection sensors 31, 41, 61 correspond to the movable ranges of the vertical movements of the work implements 3, 4, 6 because the ratio of the detection value displacement to the control amount displacement is the same. ing. The movable range of the vertical lifting / lowering of each work machine is the widest movable range of the vertical lifting / lowering of the weeding work machine 4, the movable range of vertical lifting / lowering of the grooving work machine 3, and the movable range of vertical lifting / lowering of the planting work machine 3 is the largest. narrow.

  For this reason, it is not necessary to adjust the ratio of the displacement of the detection value to the displacement of the vertical position in the initial setting of the detection means related to the elevation control, and only the adjustment of the vertical position (for example, the vertical displacement 0 cm position) serving as the control reference value is performed. Just do it. Such simplification of the initial setting is possible not only in the lift control detection means but also in the control target detection means common to other work machines.

The multipurpose agricultural machine of this invention is put together.
A multipurpose agricultural machine according to a first aspect of the present invention is a multipurpose agricultural machine including a machine capable of traveling drive and work machine drive output, and a group of work machines that can be attached to the machine and have different control contents.
The machine is provided with a control program corresponding to the control content of each work machine,
Means for detecting the type of work machine mounted on the machine is provided in a connector that can be separated and coupled in the middle of the wiring connecting the electrical machine of the machine and the electrical machine of the work machine.

The multipurpose agricultural machine 1 according to the present embodiment includes a main machine 2, a planting work machine 3, a weeding work machine 4, a sowing work machine 5, and a grooving work machine 6 that can be attached to the main machine 2. Yes. This machine 2 includes a first type control program 93, a second type control program 94, and a third type control program 96 as a group of control programs corresponding to each work machine having a different combination of control targets. It has been.
The first type control program 93 corresponds to a combination of the following three control objects, lifting / lowering control of the working machine, left / right horizontal control of the working machine, and planting depth adjustment control related to the lifting / lowering control. The second type control program 94 corresponds to the combination of the following two control objects, the lifting / lowering control of the work implement, and the left / right horizontal control of the work implement. The third type control program 96 corresponds to the following one control target (combination thereof), lifting / lowering control of the work implement.
In addition, the multipurpose agricultural machine 1 includes a work machine identification unit 110 that detects a combination of control targets of the work machine mounted on the machine 2, and a control content according to the control content detection by the work machine identification unit 110. A selection determining circuit 28 that permits the operation of the control program corresponding to the above is provided.

In this embodiment, the standard for classifying work machines provided for multi-purpose agricultural machines is a difference in the combination of control targets such as lifting control and horizontal control, but if the control content itself is different, The present invention is not limited to this embodiment.
For example, even in the same lift control, different control may be required for each type of work implement. In such a case, the work implement is controlled based on different control contents even if the control target itself is the same. Will be. In such a case, even if it is the same control object, the working machines provided in the multi-purpose agricultural machine are classified according to the difference in the control contents as necessary, and the corresponding control program is provided.

With the above configuration, when the work machine is mounted on the machine, the control software corresponding to the work machine is automatically permitted to operate.
For this reason, the operator does not accidentally start a control program that does not correspond to the work machine attached to the machine, and the malfunction of the work machine due to the control program that does not correspond does not occur.

The multipurpose agricultural machine as the second invention is the first invention having the following configuration.
The connector includes a main machine side connector and a work machine side connector, and the work machine is identified by connection between terminals provided in the work machine side connector.

  In the multipurpose agricultural machine 1 according to the present embodiment, the harness is a control line that connects the controller 25 of the machine 2 and the control unit 125 of the work machine, but supplies power to the electric actuator on the work machine side. It may be a power line, and is not limited. A plurality of harness connection connectors may be provided on the machine 2 and the work machine, and one set of them may be used to constitute the control type detection unit according to the present invention.

In the present embodiment, the configuration in which the electric signal output from the identification circuit differs according to the control content of the work implement (different work implement side connector) uses the presence / absence of connection to ground. Has been realized. The signal input to each port P1 and P2 of the controller 25 is configured to be different between a state in which the signal is connected to ground (ON state) and a state in which the signal is disconnected from the ground (OFF state). ing.
The configuration in which the electric signal output from the identification circuit is made different according to the control content (different work implement side connector) of the work implement is not limited to the present embodiment. As a configuration in which a signal transmission source is provided in the work implement side connector, a different work implement side is provided for each control content of the work implement by changing the number of signal transmission sources and the signal magnitude for each control content difference. It is also possible to configure a connector.

With the above configuration, when the machine side connector and the work machine side connector are connected to connect the harness from the machine to the work machine, the control details automatically according to the control contents of the work machine mounted on the machine. The operation of the control program corresponding to is permitted.
For this reason, using the harness connector, it is possible to configure the detection means of the work machine having different control contents, and there is no need to separately provide a dedicated detection means.

The multi-purpose agricultural machine as the third invention is the following in the first or second invention.
The discrimination of the working machine and the operation permission of the control program are automatically performed when the machine is turned on.

  In the present embodiment, the engine 12 is started by the operation of the key switch 85 provided in the operation unit of the machine 2, and the controller 25 is activated when the engine 12 is started. The circuit 28 (program selection means) permits the operation of the corresponding control program.

With the above configuration, the operation of the control program is automatically permitted.
For this reason, the control program selection trigger corresponding to the control contents of the work machine mounted on the machine can be configured, and there is no need to provide a special switch.

A multipurpose agricultural machine according to a fourth aspect of the present invention has the following configuration in any one of the first to third aspects.
In a control target common to some or all of the group of work implements, the control amount detection unit of the control target sets the displacement amount of the detection value with respect to the displacement amount of the control amount to be the same between the work implements. It is what is done.

  In the present embodiment, as a control object common to the work machines 3, 4, 5, and 6, there is elevation control. The control amount of this elevation control is the vertical position. In each of the work machines 3, 4, 5 and 6, the vertical position detection sensors 31, 41, 51 and 61, which are the vertical position detection means, have the same amount of displacement of the detected value with respect to the amount of displacement of the vertical position. Yes. For example, in any of the vertical position detection sensors 31, 41, 51, 61, a displacement with a detection value of 10 mV is output with respect to the displacement of the vertical position of 10 cm of the work implement.

With the above configuration, when the work implement is replaced, in the common control target, the output range of the detected value of the control amount is enlarged / reduced according to the movable range of the vertical lift of each work implement.
For this reason, in the initial setting of the common control target, it is not necessary to adjust the ratio of the displacement of the detected value to the displacement of the controlled variable, and only the control reference value of the controlled variable (for example, the vertical displacement 0 cm position) can be adjusted. Adjustment is easy.

A multipurpose agricultural machine according to a fifth aspect of the present invention has the following configuration in any one of the first to fourth aspects.
Each of the control programs includes a program that permits setting of only initial setting items necessary for the corresponding work machine when the operation of the control program is permitted.

The initial setting items required for the work machine that the machine corresponds to are the installation of the work machine in order to adjust the control program corresponding to the work machine and each device related to the control of the work machine. This item is sometimes set. The devices related to the control are a control amount change means (actuator), a target value setting means (operation switches), and a control amount detection means (position detection sensor or the like) of the work machine.
Here, in the case of the grooving work machine 6 according to the present embodiment, the necessary initial setting items are only items required for adjustment of each device related to the lifting control and the third type control program 96. is there. That is, the number of required initial setting items changes according to the control content of the work implement (control target combination).

With the above configuration, only necessary initial setting items can be automatically set.
For this reason, when the work machine is attached to the main machine, unnecessary initial settings are not mistakenly performed by the operator, and no trouble is caused when the work machine is replaced with another work machine.

It is the schematic which shows the structure of the multipurpose agricultural machine of this Embodiment. It is the whole rice transplanter side view. It is a whole top view of a rice transplanter. It is a perspective view which shows the structure of the operation part with which this machine is equipped. It is the schematic which shows the structure of the control system of a planting work machine. It is the schematic which shows the structure of the control system of a weeding machine. It is the schematic which shows the structure of the control system of a sowing work machine. It is the schematic which shows the structure of the control system of a grooving work machine. It is the schematic which shows a control program switching mechanism. It is the schematic which shows the structure of a seed | species detection means, (a) A figure is a case of a planting work machine, (b) A case of a weeding work machine or a seeding work machine, (c) A figure is a case of a grooving work machine . It is a figure which shows various control programs, a working machine corresponding to it, and control to implement. It is a flowchart of initial setting. It is a figure which shows the detection value output range of the vertical position detection sensor with which each working machine is equipped.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Multipurpose agricultural machine 2 This machine 3 Planting work machine 4 Weeding work machine 5 Seeding work machine 6 Grooving work machine 7 Work machine support mechanism 27 This machine side connector 28 Selection judgment circuit (program selection means)
93 Type 1 control program 94 Type 2 control program 96 Type 3 control program 100 Work implement side connector 110 Identification circuit (control type identification means)
123, 124, 126 Circuit pieces

Claims (5)

This machine capable of traveling drive and work machine drive output,
A group of work machines that can be mounted on this machine and have different control contents,
A multi-purpose agricultural machine comprising:
In this machine,
A control program corresponding to the control content of each work implement is provided,
The means for detecting the type of the work machine mounted on the machine is provided in a connector provided so as to be separable and connectable in the middle of the wiring connecting the electric machine of the machine and the electric machine of the work machine, and the detected work Operation of the control program corresponding to the machine is permitted,
Multipurpose agricultural machine characterized by that. The connector comprises a machine-side connector and a work machine-side connector, and determines the work machine by connecting between terminals provided in the work machine-side connector.
The multipurpose agricultural machine according to claim 1. The determination of the work machine and the operation permission of the control program are automatically performed when the power to the machine is turned on.
The multipurpose agricultural machine according to claim 1 or 2, wherein the multipurpose agricultural machine is provided. In a control object common to a part or all of the group of work machines,
The means for detecting the control amount of the controlled object is:
The displacement amount of the detection value with respect to the displacement amount of the control amount is set to be the same between the work machines.
The multipurpose agricultural machine according to any one of claims 1 to 3, wherein the multipurpose agricultural machine is characterized. Each of the control programs is
When the operation of the control program is permitted,
A program that allows setting of only the initial setting items necessary for the corresponding working machine;
The multi-purpose agricultural machine according to claim 3.

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