JP2017189153A - Agricultural machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an agricultural machine that has improved safety of control by an operation device.SOLUTION: An agricultural machine includes an actuation device for actuating a moving part, an operation device for outputting instruction information for instructing the actuation of the actuation device, a control device for controlling the actuation device based on the instruction information input from the operation device. The control device includes a calculation part, and a storage part for storing a state management table for holding a state of the moving part and a prohibition instruction management table for holding the state of the moving part and a prohibition instruction in association with each other. When the instruction information is input in the control device, the calculation part determines whether or not an instruction based on the instruction information is the prohibition instruction based on the instruction information, the state management table, and the prohibition instruction management table.SELECTED DRAWING: Figure 5

Description

  The present invention relates to an agricultural machine. In particular, the present invention relates to an agricultural machine that is attached to the rear part of a traveling machine body and performs a predetermined work according to control by an operation device.

  2. Description of the Related Art Conventionally, farm work machines such as a scraper, a pad coater, and a rotary work machine are known as devices for performing farm work in a farm field. These farm work machines are mounted on the rear part of a traveling machine body such as a tractor, and are configured to perform predetermined work on the farm field while being pulled by the traveling machine body. In recent years, it has become possible for an operator operating a tractor to remotely control the operation of the work implement by operating a remote controller.

  For example, in Patent Document 1, a manual mode in which the operating unit is operated only while the operating button is being pushed and a setting state in which the operating unit is set in advance when the operating button is pressed once. An agricultural machine with a remote control unit that can be switched between automatic modes that operate until is described.

JP 2006-166793 A

  As described above, when the agricultural machine described in Patent Document 1 is controlled in the automatic mode, once the activation button is pushed, the operation unit continues until the preset state is set. It will work. At this time, depending on the state of the agricultural machine, a malfunction may occur when the operating unit is moved. For example, when the operating unit is operated, the operating unit and other parts may interfere with each other and cause damage.

  One of the objects of the present invention is to provide a farm work machine in which the safety of control by the operating device is improved.

  One of the objects of the present invention is to provide a farm machine that improves the convenience of control by an operating device.

  The farm work machine in one embodiment of the present invention operates based on an operating device that operates an exercise part, an operating device that outputs instruction information that instructs operation of the operating device, and instruction information that is input from the operating device. A control device for controlling the device, the control device storing a calculation unit, a state management table for holding the state of the exercise part, and a prohibition instruction management table for holding the state of the exercise part and a prohibition instruction in association with each other When the instruction information is input to the control device, the calculation unit prohibits an instruction based on the instruction information based on the instruction information, the state management table, and the prohibition instruction management table. It is determined whether or not it is an instruction.

  The state management table may hold state information representing the state of the exercise site and flag information in association with each other.

  The flag information held in the state management table may be updated by the arithmetic unit based on a signal indicating a change in physical quantity associated with the operation of the exercise part.

  The signal indicating the change in the physical quantity associated with the operation of the movement part may be a current value output from the actuator, or a signal output from a switch or a sensor according to the operation of the movement part.

  The arithmetic unit refers to the prohibition instruction management table using the state information indicating the state of the exercise part read from the state management table and the instruction information, so that an instruction based on the instruction information is a prohibition instruction. It may be determined whether or not there is.

  The farm work machine in one embodiment of the present invention operates based on an operating device that operates an exercise part, an operating device that outputs instruction information that instructs operation of the operating device, and instruction information that is input from the operating device. A control unit that controls the apparatus, the control unit including a calculation unit, and a storage unit that stores a prohibition instruction management table that holds and associates the state of the exercise site and the prohibition instruction, and the instruction to the control apparatus When the information is input, the calculation unit determines whether the instruction based on the instruction information is a prohibition instruction based on the instruction information, the state information indicating the state of the exercise part, and the prohibition instruction management table. judge.

  The state information indicating the state of the exercise site may be acquired based on a signal indicating a change in physical quantity accompanying the operation of the exercise site.

  The signal indicating the change in the physical quantity associated with the operation of the movement part may be a current value output from the actuator, or a signal output from a switch or a sensor according to the operation of the movement part.

  The storage unit further stores a state management table that holds a state of the exercise part, and the calculation unit is configured to extract the exercise part from the state management table based on a signal indicating a change in physical quantity associated with the operation of the exercise part. And determining whether or not the instruction based on the instruction information is a prohibition instruction by referring to the prohibition instruction management table based on the acquired state information indicating the state of the exercise part. There may be.

  The agricultural machine in an embodiment of the present invention further includes a notification device, and the calculation unit operates the notification device when it is determined that the instruction based on the instruction information is a prohibition instruction. Also good.

  The notification device may be a sound output device that outputs sound. Further, the notification device may be provided integrally with the operation device.

  According to the farm work machine by one Embodiment of this invention mentioned above, it becomes possible to improve the safety | security of control by an operating device.

  According to the farm work machine by one Embodiment of this invention mentioned above, it becomes possible to improve the convenience of control by an operating device.

It is a perspective view which shows the structure of the agricultural machine of 1st Embodiment. It is a top view which shows the structure of the agricultural machine of 1st Embodiment. It is a figure which shows the structure of the operating device with which the agricultural machine of 1st Embodiment is provided. It is a figure which shows the functional block of the operating device with which the agricultural machine of 1st Embodiment is provided. It is a figure which shows the functional block of the control apparatus with which the agricultural machine of 1st Embodiment is provided. It is a flowchart for demonstrating the process performed with the control apparatus with which the agricultural machine of 1st Embodiment is provided. It is a figure which shows an example of the state management table stored in the memory | storage part with which the agricultural machine of 1st Embodiment is provided. It is a figure which shows an example of the prohibition instruction | indication management table stored in the memory | storage part with which the agricultural machine of 1st Embodiment is provided. It is a figure which shows the functional block of the operating device with which the agricultural working machine of 2nd Embodiment is provided, and a control apparatus.

  Hereinafter, an embodiment of an agricultural machine according to the present invention will be described with reference to the drawings. However, the agricultural machine of the present invention can be implemented in many different modes, and is not construed as being limited to the description of the examples shown below. Note that in the drawings referred to in this embodiment, the same portions or portions having similar functions are denoted by the same reference numerals, and repetitive description thereof is omitted.

  Further, for convenience of explanation, the description will be made using the terms upper (upper) or lower (lower), but upper (upper) indicates a direction away from the horizontal plane, and lower (lower) indicates a direction approaching the horizontal plane. Similarly, although it explains using the phrase of the front (front side) or back (rear side), the front (front side) indicates the direction in which the traveling machine body is located with reference to the agricultural machine, and the rear (rear side) is the front. 180 ° opposite direction.

<First Embodiment>
In the present embodiment, an example of a farming machine will be described. However, the technical idea of the present invention is not limited to the scraper, but is applied to a tilling work machine (rotary work machine) for plowing the field, a hull coater for forming a hull around the field, and a ditching machine for forming a ditch around the field. It is also possible to apply.
[Configuration of Farm Machine 10]
Hereinafter, the configuration of the agricultural working machine 10 according to the first embodiment will be described in detail with reference to FIGS. 1 and 2. FIG. 1 is a rear perspective view showing the configuration of the agricultural working machine according to the first embodiment. FIG. 2 is a plan view showing the configuration of the agricultural machine according to the first embodiment.

  The farm work machine 10 according to the present embodiment includes a central work machine 10C, a left work machine 10L, and a right work machine 10R, and has a structure divided into three. The central work machine 10C is disposed in the center of the agricultural work machine 10 and functions as a work machine body. The left work machine 10L and the right work machine 10R are attached to the left and right ends of the central work machine 10C so as to be rotatable in the vertical direction. The farm work machine 10 can be folded over the central work machine 10C by rotating the left work machine 10L and the right work machine 10R upward according to the instruction information transmitted from the operation device 100, By rotating in the direction, it can be developed left and right as shown in FIG.

  Here, a state in which the left working machine 10L and the right working machine 10R are overlapped and folded on the central working machine 10C is referred to as a storage state. The storage state is a state in which the farm work machine 10 has a reduced width in a direction orthogonal to the traveling direction of the traveling machine body. Further, a state where the left working machine 10L, the right working machine 10R, and the central working machine 10C are arranged side by side is referred to as a working state. The working state is a state where the farm work machine 10 is deployed in a direction orthogonal to the traveling direction of the traveling machine body.

  Next, the central work machine 10C will be described. The central work machine 10C supports the top work mast 12 and the lower link connection part 14 that function as a connection part with a traveling machine body such as a tractor, the input shaft 16 that transmits power from the traveling machine body, and the central work machine 10C that extends in the left-right direction. Support frame 18, transmission frame (chain case) 20, gear box 24, central shield cover 26C, control box 28, leveler position switching unit 29, first central leveling body 30C, second central leveling body 32C, and central link mechanism unit 34 is provided. Below the central shield cover 26 </ b> C, a plurality of tilling claws (not shown) are attached to the rotating shaft to constitute a tilling rotor for tilling the field.

  Inside the control box 28 is stored a control device 200 (see FIG. 5) that controls an operating device (for example, an actuator such as a rotating mechanism or a cylinder) that operates the movement part of the agricultural work machine 10. The control device 200 executes predetermined control based on the instruction information received from the operation device 100. For example, when receiving instruction information representing an instruction to change the farm work machine 10 from the storage state to the work state from the operation device 100, the control device 200 operates the operation device 300 ( (See FIG. 5). Details of the control device 200 will be described later.

  The first central leveling body 30C is rotatably attached to the central shield cover 26C. The first leveling body is also called an apron. The second central leveling body 32C is attached to the first central leveling body 30C so as to be movable in the vertical direction. The second leveling body is also called a leveler. The first central leveling body 30C plays a role as a cover for returning mud and soil scattered by the rotation of the tilling rotor to the field and a leveling member that presses the second central leveling body 32C against the field and performs leveling work. . The second central leveling body 32C plays a role as a leveling member for leveling the field surface by directly contacting the field.

  The central link mechanism 34 includes a swing arm 34a and a connecting rod 34b, both of which are coupled so as to be bendable. Further, the swing arm 34a is rotatably connected to the rear portion of the gear box 24, and the connecting rod 34b is connected to the upper surface of the second central leveling body 32C. For this reason, the central link mechanism 34 is movable in the vertical direction as the second central leveling body 32C rotates in the vertical direction.

  Further, the power from the leveler position switching unit 29 is transmitted to the central link mechanism 34, and the position of the second central leveling body 32C is the position where the earthing work is performed and the position where the normal work (leveling work) is performed (the earthing release is canceled). Position). At this time, the leveler position switching unit 29 has an actuator including an electric motor as an operating device, and functions as a means for regulating or canceling the vertical rotation of the second central leveling body 32C in conjunction with the rotation of the electric motor. .

  Next, the left working machine 10L will be described. The left working machine 10L includes a left shield cover 26L, a first left leveling body 30L, a second left leveling body 32L, and a left extended leveling body rotating mechanism 36L. The extended leveling body is also called an extended leveler. Here, the roles of the left shield cover 26L, the first left leveling body 30L, and the second left leveling body 32L are the same as the above-described central shield cover 26C, first central leveling body 30C, and second central leveling body 32C. Since it is the same, description here is abbreviate | omitted.

  The left extended leveling body rotating mechanism 36L is a mechanism for rotating the left extended leveling body 38L rotatably connected to the second left leveling body 32L of the left working machine 10L. The left extended ground leveling body 38L is provided extending from the end of the left working machine 10L in the left-right direction of the agricultural work machine 10, and is responsible for leveling work in an area outside the left working machine 10L. The left working machine 10L and the left extended leveling body 38L are rotatably connected by an extension connecting portion 40L, and can be rotated so that the left extended leveling body 38L is folded toward the left working machine 10L. Yes.

  Here, in the present embodiment, the left-side extended leveling body rotating mechanism 36L includes a leveler rotating part 36La, a rotating arm 36Lb, and a connecting wire 36Lc. The leveler rotation unit 36La may use an actuator including an electric motor as an operating device. One end of the rotating arm 36Lb is connected to the leveler rotating portion 36La, and the other end is connected to the connecting wire 36Lc. The connecting wire 36Lc has one end connected to the rotating arm 36Lb and the other end connected to the left extension leveling body 38L.

  When the leveler rotating portion 36La is operated, a rotational driving force is generated and the rotating arm 36Lb is rotated in a substantially horizontal direction. In conjunction with the rotation of the rotating arm 36Lb, the left extended leveling body 38L pulled by the connecting wire 36Lc rotates about the extended connecting portion 40L. Thereby, storage and expansion | deployment of 38 L of left side extension leveling bodies are attained.

  Next, the right working machine 10R will be described. The right working machine 10R includes a right shield cover 26R, a first right leveling body 30R, a second right leveling body 32R, and a right extended leveling body rotating mechanism 36R. Here, the roles of the right shield cover 26R, the first right leveling body 30R, the second right leveling body 32R, and the right extended leveling body rotating mechanism 36R are the same as those of the left working machine 10L described above. The description in is omitted. The right extension leveling body 38R and the extension connection part 40R are the same as the left extension ground leveling body 38L and the extension connection part 40L.

  Further, a left apron pressurizing unit 44L and a right apron pressurizing unit 44R are disposed on the left work implement 10L and the right work implement 10R, respectively. The left apron pressurizing unit 44L and the right apron pressurizing unit 44R each have a function of regulating the vertical movement of the first left leveling body 30L and the first right leveling body 30R and releasing the regulation. Also, the left apron pressurizing unit 44L and the right apron pressurizing unit 44R are connected to the left pressurizing state switching unit 45L and the right pressurizing state switching unit 45R via components such as cams, respectively.

  Each of the left pressure state switching unit 45L and the right pressure state switching unit 45R has an actuator including an electric motor as an operating device. In accordance with the rotation of the electric motor of these actuators, restriction or release of the movement of the first left leveling body 30L and the first right leveling body 30R in the vertical direction is controlled.

  The left working machine 10L and the right working machine 10R described above are rotated by the action of the rotating cylinders 48a and 48b, with the working machine turning mechanisms 46a and 46b provided at both end portions of the central working machine 10C as turning fulcrums. It moves to the aforementioned storage state or working state. The rotation cylinders 48a and 48b are actuators of a type that drives the cylinder using an electric motor. The work machine rotation mechanisms 46a and 46b are formed by the expansion and contraction of the rotation cylinders 48a and 48b, so that the left work machine 10L and the right work machine. 10R is rotated.

[Configuration of Operation Device 100]
Next, the configuration of the controller device 100 will be described. FIG. 3 is a diagram illustrating an external configuration of the operation device 100 provided in the agricultural machine 10 according to the first embodiment. FIG. 4 is a diagram illustrating functional blocks of the operation device 100 provided in the agricultural machine 10 according to the first embodiment. The operation device 100 according to the present embodiment is a remote controller that performs wireless communication with a control device 200 described later, but may be a wired communication remote controller.

  The operating device 100 includes a power switch 101, a left / right selection switch group 102, a work implement control switch group 103, an extension leveler control switch group 104, a leveler position control switch group 105, and an apron control switch 106 as various switches.

  The power switch 101 is a switch for turning on or off the power supply unit 114 of the controller device 100.

  The left / right selection switch group 102 is a switch group for instructing an exercise part to be actuated, and includes a left / right selection switch 102a, a left selection switch 102b, and a right selection switch 102c. By combining the left / right selection switch group 102 and various control switch groups described later, it is possible to perform simultaneous left / right control or control on only one side. For example, when the left selection switch 102b and an EX leveler opening operation switch 104a described later are combined, an instruction to open only the left extension leveling body 38L can be given.

  The work machine control switch group 103 is a switch group for opening and closing the left work machine 10L and the right work machine 10R, and includes a work machine opening operation switch 103a and a work machine closing operation switch 103b. By combining with the above-described left / right selection switch group 102, the left and right work machines can be opened and closed independently.

  The extension leveler control switch group 104 is a switch group for opening and closing the left extension leveling body 38L and the right extension leveling body 38R, and includes an EX leveler opening operation switch 104a and an EX leveler closing operation switch 104b. By combining with the above-described left / right selection switch group 102, the left and right extended leveling bodies can be opened and closed independently.

  The leveler position control switch group 105 positions the second left leveling body 32L, the second central leveling body 32C, and the second right leveling body 32R as the position for performing the earthing work and the position for performing the normal work (leveling work). Switch group for switching to a position), and includes a digging work switch 105a and a digging release switch 105b.

  The apron control switch 106 is a switch for regulating the vertical movement of the first left leveling body 30L and the first right leveling body 30R and releasing the regulation. That is, when the apron control switch 106 is turned on to pressurize the apron, the vertical movement is restricted, and when the apron pressure is released in the off state, the vertical movement restriction is also released.

  Furthermore, the operating device 100 includes a communication unit 111, a calculation unit 112, a storage unit 113, a power supply unit 114, a power supply lamp 115, and a tilling depth gauge lamp 116.

  The communication unit 111 performs wireless communication with a control device 200 (to be described later) via the antenna 111a, and transmits instruction information corresponding to various switch operations to the control device 200. The wireless communication may be a wireless LAN or near field communication such as Bluetooth (registered trademark).

  The calculation unit 112 is a CPU (Central Processing Unit) and plays a central role in controlling each part of the operation device 100. The calculation unit 112 executes control program (not shown) read from the storage unit 113, thereby generating instruction information corresponding to the operation of various switches and transmitting the instruction information to the control device 200. Do.

  The storage unit 113 stores various data necessary for processing by the calculation unit 112. These various types of data are read out as necessary and used for processing in the calculation unit 112. The data stored in the storage unit 113 is not limited to the control program described above. In the present embodiment, the tilling depth data received from the control device 200 is stored in the storage unit 113, and the tilling depth data is used for display control of the tilling depth gauge lamp 116.

  The power supply unit 114 supplies power to each part of the controller device 100. The power supply unit 114 is activated in response to an ON operation of the power switch 101. When the calculation unit 112 recognizes the activation of the power supply unit 114, the calculation unit 112 turns on the power lamp 115.

  The tilling depth gauge lamp 116 is an index that indicates in real time the depth (cultivation depth) at which the tilling rotor of the farm work machine 10 is tilling the field. In the present embodiment, the tilling depth gauge lamp 116 is constituted by an assembly of a plurality of lamps arranged in a straight line, and the tilling depth is displayed by the lighting position.

  In the operating device 100 including the above configuration, when each switch is pressed, the instruction information according to the instruction content assigned to the switch is transmitted from the operating device 100, and the control stored in the control box 28 of the agricultural work machine 10 is stored. Received by apparatus 200. And in the control apparatus 200, control of the actuator which operates each exercise | movement part based on instruction | indication information is performed.

[Configuration of Control Device 200]
The configuration of the control device 200 will be described. FIG. 5 is a diagram illustrating functional blocks of the control device 200 included in the agricultural machine 10 according to the first embodiment.

  Control device 200 receives instruction information from operation device 100 as a remote controller, and transmits control information based on the instruction information to operating device 300. The actuating device 300 is an actuator or the like that moves the movement part (movable part) of the agricultural machine 10. The notification device 400 is a device that alerts the surroundings or provides guidance with sound or light. For example, as the notification device 400, a sound output device including a buzzer or a speaker may be used, or a display device including a lamp or a display may be used.

  The control device 200 includes a calculation unit 201, a storage unit 202, a communication unit 203, and an input / output unit 204. The storage unit 202 stores therein a control program 202a, a state management table 202b, and a prohibition instruction management table 202c. Of course, not only this but other data required for control of the agricultural working machine 10 may be stored.

  The calculation unit 201 is a CPU (Central Processing Unit) and plays a central role in controlling each part of the control device 200. The calculation unit 201 controls the internal elements in the control device 200 such as the communication unit 203 and the input / output unit 204 by executing the control program 202a read from the storage unit 202, and provides control information to the operation device 300. Or send a process.

  The storage unit 202 stores various data necessary for processing by the calculation unit 201. These various types of data are read out as necessary and used for processing in the calculation unit 201. In the present embodiment, the storage unit 202 stores a control program 202a for the arithmetic unit 201 to generate an instruction related to control, and a state management table 202b and a prohibition instruction management table 202c used for determination of a prohibition instruction to be described later. Has been. These various tables will be described later.

  The communication unit 203 performs wireless communication with the controller device 100 via the antenna 203a. The instruction information output from the controller device 100 is received by the communication unit 203 via the antenna 203a and input to the calculation unit 201. The wireless communication may be a wireless LAN or near field communication such as Bluetooth (registered trademark).

  The input / output unit 204 is an interface that transmits and receives signals between the control device 200 and the operation device 300 or between the control device 200 and the notification device 400. Control information generated by the processing of the calculation unit 201 is transmitted to the operating device 300 or the notification device 400 via the input / output unit 204.

  In the present embodiment, a signal representing a change in physical quantity accompanying a change in the state of the exercise site (for example, the open / closed state of the left and right work implements) is transmitted from the actuator 300 and is calculated via the input / output unit 204. 201 is input. Here, a current value is used as a signal representing a change in physical quantity associated with the operation of the actuator 300, and the state of the exercise site is monitored according to the current value.

  Specifically, when the actuator 300 is an actuator including an electric motor, an increase in current value (also called a lock current) generated when the motor is overloaded is detected, and the increase in the current value is detected. As a trigger, the end point of the actuator 300 is detected. Then, the number of end point detections is always counted and stored in the storage unit 202. Thereby, for example, when grasping the state of the open / close mechanism of the left and right work implements as an exercise part, the initial state is set to the stowed state of the left and right work implements. It is possible to grasp the open / closed state of the work implement such that it is in the stowed state.

  Note that the method for detecting the state of the exercise site is not limited to the method using the signal indicating the change in the current value accompanying the operation of the actuator 300 described above, and a detection method using a switch or a detection method using a sensor can be used. is there.

  For example, when a detection method using a switch is used, it is possible to switch on / off of the switch according to the operation of the exercise part, and to grasp the state of the exercise part based on the on or off state of the switch. .

  For example, when using a sensor detection method, the state of the motion part is measured using a physical sensor such as an angle sensor, an acceleration sensor, an angular velocity sensor, or an ultrasonic sensor, and the state of the motion part is determined from the measurement result. Is possible.

[Control by control device 200]
In the control device 200 including the above configuration, the calculation unit 201 analyzes the instruction information input from the controller device 100, and generates control information indicating that an instruction based on the instruction information is executed. By transmitting this control information to the operating device 300, the operation of each movement part of the agricultural machine 10 is controlled.

  The farm work machine 10 according to the present embodiment can operate the control device 200 in either the manual mode or the automatic mode. The manual mode is a mode in which the operating device 300 is operated only while the instruction information is transmitted from the controller device 100. The automatic mode is the instruction once the instruction information is transmitted from the controller device 100. In this mode, the operation device 300 is automatically operated until the operation is performed.

  For example, when the left working machine 10L and the right working machine 10R are deployed, in the manual mode, the operation device 300 for rotating the left and right working machines is operated by continuously pressing the instruction switch for opening the left and right working machines. Can be made. Further, in the automatic mode, once the instruction switch for opening the left and right work machines is pressed, the actuating device 300 can be automatically operated until the left and right work machines are fully deployed.

  At this time, in the control in the automatic mode described above, the control device 200 of the present embodiment does not execute the operation of the operation device 300 when the instruction information input from the operation device 100 is a preset prohibition instruction. It is programmed as follows. Thereby, when the exercise site is activated, it is possible to prevent the occurrence of a malfunction such as the exercise site and other sites interfering with each other to cause damage or damage.

  FIG. 6 is a flowchart for explaining processing executed by the control device 200 provided in the agricultural machine 10 according to the first embodiment. Specifically, in the control device 200 of the present embodiment, the calculation unit 201 reads and executes the control program 202a, whereby the flow shown in FIG. 6 is executed.

  First, when the process is started, the calculation unit 201 waits for instruction information from the controller device 100 (step S301). If the instruction information is not received (NO in step S301), the process waits until the instruction information is received. When the instruction information is received (YES in step S301), the calculation unit 201 refers to the state management table 202b stored in the storage unit 202 (step S302).

  Here, the state management table 202b will be described. FIG. 7 is a diagram illustrating an example of the state management table 202b stored in the storage unit 202 included in the agricultural machine 10 according to the first embodiment. Specifically, in the present embodiment, as the state management table 202b, a table that manages by associating “flags” with “worker state” is illustrated.

  In the state management table 202b shown in FIG. 7, column 401 stores information indicating the state of the work implement, and column 402 stores flag information regarding the state of each work implement. In the example shown in FIG. 7, in the state management table 202b, information corresponding to “◯” is stored in the “left and right open” information indicating that the left and right work implements are open. In this embodiment, a signal of “0” or “1” is stored in the column 402, and when a signal of “1” is stored, it can be determined that the flag is set.

  In the present embodiment, an example in which the state of the work implement and the flag are stored in a one-to-one relationship has been shown. The state of the exercise site may also be included in the table and managed with a flag.

  In step S302 described above, the calculation unit 201 can grasp the state of the work implement by referring to the state management table 202b. In the example illustrated in FIG. 7, the calculation unit 201 can grasp that the left and right work machines (the left work machine 10L and the right work machine 10R) are in the developed work state.

  Subsequently, the calculation unit 201 refers to the prohibition instruction management table 202c stored in the storage unit 202 (step S303). Then, the instruction based on the instruction information input from the controller device 100 is compared with the prohibition instruction for the current state of the work machine acquired from the prohibition instruction management table 202c, and it is determined whether or not the two match. Step S304).

  Here, the prohibition instruction management table 202c will be described. FIG. 8 is a diagram illustrating an example of the prohibition instruction management table 202c stored in the storage unit 202 included in the agricultural machine 10 according to the first embodiment. Specifically, in the present embodiment, as the prohibition instruction management table 202c, a table that manages the “prohibition instruction” in association with the “work machine state” is illustrated.

  In the prohibition instruction management table 202c shown in FIG. 8, column 501 stores information indicating the state of the work implement, and column 502 stores prohibition instruction information regarding the state of each work implement. The prohibition instruction information is information indicating whether or not the instruction content is an instruction that is prohibited. Here, an instruction represented by “x” is a prohibition instruction, and an instruction represented by “◯” is a permission instruction.

  For example, when the left working machine 10L and the right working machine 10R are in the middle of opening (the row corresponding to “in the middle of the left / right opening / closing” in the column 501), the leveler position for opening / closing the extension leveler (EX leveler) and for mulching work Both of the control and the apron pressurization on / off are prohibited instructions. In this case, for example, when the instruction information corresponding to the opening instruction of the extension leveler is input from the operating device 100 while the left working machine 10L and the right working machine 10R are open, the calculation unit 201 determines that the instruction is a prohibition instruction. The instruction based on the instruction information input from the controller device 100 is invalidated.

  Further, when the calculation unit 201 compares the instruction based on the input instruction information with the prohibition instruction obtained by referring to the prohibition instruction management table 202c and determines that they do not match (NO in step S304) ), An instruction based on the inputted instruction information is executed (step S305), and the process ends.

  When the calculation unit 201 determines that the instruction based on the input instruction information matches the prohibition instruction obtained by referring to the prohibition instruction management table 202c (YES in step S304), the arithmetic unit 201 notifies the notification device 400 of the instruction. Then, a notification instruction for notifying that it is a prohibition instruction is output (step S306). In the present embodiment, the calculation unit 201 controls the notification device 400 so that a warning sound is output from the speaker.

  As described above, in the agricultural work machine 10 according to the present embodiment, the control device 200 compares the instruction based on the instruction information input from the operation apparatus 100 with the prohibition instruction for the state of the work machine at that time, Has a function of determining whether or not the two match. Then, when the instruction based on the instruction information matches the prohibition instruction, the instruction based on the instruction information is invalidated, so that the occurrence of a malfunction that causes the movement part and other parts to interfere with each other and breakage is caused in advance. Can be prevented. As a result, according to the farm work machine 10 of the present embodiment, it is possible to improve the safety of control by the operation device 100.

  Further, in the present embodiment, when the instruction based on the instruction information matches the prohibition instruction, not only the instruction based on the instruction information is invalidated, but at that time, the instruction is invalid via the notification device. May be notified by a warning sound or the like.

  If only the instruction is invalidated, the operator may not be able to grasp whether the instruction is invalid or whether the operation device 100 is out of order. However, when the fact that the instruction is invalid is notified, the operator can immediately recognize that the instruction is a prohibition instruction, and the convenience of the operation can be improved.

  In this embodiment, the state management table 202b and the prohibition instruction management table 202c are separately stored in the storage unit 202. However, the state information indicating the state of the work machine, the flag information, and the prohibition indicating the prohibition instruction are shown. The instruction information may be managed in one table.

  In the present embodiment, the notification device 400 is illustrated as a device different from the operation device 100 and the control device 200 in FIG. 5, but the notification device 400 may be provided integrally with the control device 200. That is, a notification unit may be provided in the control device 200, and the calculation unit 201 may instruct the notification unit to output a warning sound.

Second Embodiment
In the first embodiment, the notification device 400 is shown as a device different from the operation device 100 and the control device 200 in FIG. 5, but in this embodiment, the operation device 100 a has a function equivalent to the notification device 400. An example of That is, in this embodiment, the notification apparatus 400 shows the example provided integrally with the operating device 100a.

  FIG. 9 is a diagram illustrating functional blocks of the operation device 100a and the control device 200a included in the agricultural machine 10 according to the second embodiment. Here, detailed description will be given focusing on portions that are different from the first embodiment, and the same portions as those in the first embodiment will be denoted by the same reference numerals and description thereof will be omitted.

  As shown in FIG. 9, in the present embodiment, a notification unit 117 is included in the controller device 100 a, and notification using sound or light is performed from the notification unit 117. In this embodiment, a speaker is provided as the notification unit 117.

  As described in the first embodiment, it is assumed that the calculation unit 201 of the control device 200a executes the flow shown in FIG. 6 and it is determined that the instruction information input from the operation device 100a is a prohibition instruction. . In this case, the calculation unit 201 transmits control information for outputting a warning sound to the controller device 100a via the communication unit 203. And in the operating device 100a, the process based on the control information which the calculating part 112 shown in FIG. 4 received is performed, and a warning sound is output from the speaker which is the alerting | reporting part 117. FIG.

  As a result, a warning sound indicating that it is a prohibition instruction is directly output from the operating device 100a at hand, so that the operator can reliably hear the warning sound even during noisy work such as during farm work. . As a result, according to the agricultural machine of this embodiment, the convenience of control by the operating device can be improved.

<Third Embodiment>
In the first embodiment, as the state of the movement part of the scraper, the open / close state of the left and right work machines, the open / close state of the extension leveler, the state of the leveler position (whether or not it is in the earthing work position), and the apron pressurization state are exemplified. . These mean the state when a part of the agricultural working machine is operated by operating an actuator such as an actuator.

  However, the present invention is not limited to these examples, and can be applied to any movement site that may cause breakage due to interference with other sites by being operated using an actuator.

  The present invention has been described above with reference to the drawings. However, the present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 10 ... Agricultural working machine, 10C ... Central working machine, 10L ... Left working machine, 10R ... Right working machine, 12 ... Top mast, 14 ... Lower link connection part, 16 ... Input shaft, 18 ... Support frame, 20 ... Transmission frame ( Chain case), 24 ... gear box, 26C ... center shield cover, 26L ... left shield cover, 26R ... right shield cover, 28 ... control box, 29 ... leveler position switching unit, 30C ... first central leveling body, 30L ... first 1 left leveling body, 30R: first right leveling body, 32C: second central leveling body, 32L: second left leveling body, 32R: second right leveling body, 34: central link mechanism, 34a: swing arm, 34b ... connecting rod, 36L ... left side extension leveling body turning mechanism, 36La ... leveler turning part, 36Lb ... turning arm, 36Lc ... connecting wire, 36R ... right side extension Ground body rotation mechanism, 38L ... Left side extension leveling body, 38R ... Right side extension leveling body, 40L ... Extension connection part, 40R ... Extension connection part, 44L ... Left side apron pressurization part, 44R ... Right side apron pressurization part, 45L ... Left pressure state switching unit, 45R ... right pressure state switching unit, 46a, 46b ... work machine rotation mechanism, 48a, 48b ... rotation cylinder, 100, 100a ... operation device, 200, 200a ... control device, 300 ... Actuator, 400 ... notification device

Claims (12)

An actuating device for actuating a movement part, an operating device for outputting instruction information for instructing operation of the actuating device, and a control device for controlling the actuating device based on instruction information input from the operating device,
The control device includes a calculation unit, a state management table that holds the state of the exercise part, and a storage unit that stores a prohibition instruction management table that holds and associates a state of the exercise part and a prohibition instruction,
When the instruction information is input to the control device, the calculation unit determines whether the instruction based on the instruction information is a prohibition instruction based on the instruction information, the state management table, and the prohibition instruction management table. Determine
Agricultural machine. The state management table holds state information representing the state of the exercise site and flag information in association with each other.
The agricultural machine according to claim 1. The flag information held in the state management table is updated by the calculation unit based on a signal indicating a change in physical quantity associated with the operation of the exercise part.
The agricultural machine according to claim 2. The signal indicating the change in the physical quantity associated with the operation of the movement part is a current value output from the actuator, or a signal output from a switch or a sensor according to the operation of the movement part.
The agricultural machine according to claim 3. The arithmetic unit refers to the prohibition instruction management table using the state information indicating the state of the exercise part read from the state management table and the instruction information, so that an instruction based on the instruction information is a prohibition instruction. Determine if there is,
The agricultural machine according to any one of claims 1 to 4. An actuating device for actuating a movement part, an operating device for outputting instruction information for instructing operation of the actuating device, and a control device for controlling the actuating device based on instruction information input from the operating device,
The control device includes a calculation unit and a storage unit that stores a prohibition instruction management table that associates and holds a state of the exercise part and a prohibition instruction,
When the instruction information is input to the control device, the calculation unit prohibits an instruction based on the instruction information based on the instruction information, state information indicating the state of the exercise part, and the prohibition instruction management table. To determine whether or not
Agricultural machine. The state information representing the state of the exercise site is acquired based on a signal indicating a change in physical quantity accompanying the operation of the exercise site.
The agricultural machine according to claim 6. The signal indicating the change in the physical quantity associated with the operation of the movement part is a current value output from the actuator, or a signal output from a switch or a sensor according to the operation of the movement part.
The agricultural machine according to claim 7. The storage unit further stores a state management table that holds the state of the exercise site,
The calculation unit acquires the state of the exercise part from the state management table based on a signal indicating a change in physical quantity associated with the operation of the exercise part, and based on the state information indicating the acquired state of the exercise part Determining whether the instruction based on the instruction information is a prohibition instruction by referring to the prohibition instruction management table;
The agricultural machine according to claim 7 or 8. Furthermore, a notification device is provided,
The arithmetic unit activates the notification device when it is determined that the instruction based on the instruction information is a prohibition instruction,
The agricultural working machine according to any one of claims 1 to 9. The notification device is a sound output device that outputs sound,
The agricultural machine according to claim 10. The notification device is provided integrally with the operation device,
The agricultural working machine according to claim 10 or 11.

Images