JP2526849Y2 - Abnormality judging device for working vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to an abnormality determination device for a working vehicle such as an agricultural tractor, a combine, or a rice transplanter.

[Problems to be Solved by the Related Art and the Invention] In recent years, this kind of working vehicle has a microcomputer mounted thereon, and uses the microcomputer as a control unit to perform drive control of actuators for controlling various operation units. Things are growing. By the way, in this case, the control system of the operating section is not limited to one kind, but a plurality of control systems can be provided to improve the versatility and the multifunctionality.

In controlling the operation unit, it is required to check whether the control system is operating normally. Therefore, conventionally, a check mode is set in the control unit separately from the operation control mode, and various sensors and the like are set. In some cases, the operator can directly operate the signal output means, such as switches and setting devices, or operate the lever to check whether the operation is normal or not. However, there is a problem that the number of check items is large, and that the switch operation and the lever operation are each time forced to perform the check, which is troublesome and complicated, and that maintenance by an expert is absolutely necessary.

On the other hand, it is conceivable to set a failure diagnosis mode in which failure diagnosis is performed automatically.In this case, if there are multiple control systems, set the failure diagnosis mode and then turn on the corresponding control system. The switch operation such as switching to the ON state is required, and the operability is inferior. In addition, if the switching to the ON state is forgotten, the failure diagnosis cannot be performed for the forgotten control system. In the case of executing the mode, there is a problem that the engine speed control is abnormal and the engine speed control is executed even in a high speed state.

[Means for Solving the Problems] The present invention has been made in view of the above-described circumstances, and has been created with the object of providing an abnormality determination device for a working vehicle that can eliminate these disadvantages.
An operating part control mechanism for outputting an operation control command for the main control based on a corresponding control system to the actuator for controlling the operating part based on signals input from signal output means such as switches, setting devices, sensors, etc. In a working vehicle provided with a control unit, the control unit is connected to a mode switching unit, and the control unit operates when the mode switching unit is switched to a failure diagnosis mode. An operation control command for failure diagnosis is output in place of the operation control command for main control from the section control mechanism, and the operation detection sensor corresponding to the operation change of the operation section based on the operation control command for failure diagnosis is detected. In providing an abnormality determination mechanism that recognizes from a value change and determines the presence or absence of an abnormality based on the detected value change, the abnormality determination mechanism corresponds to each of a plurality of control systems. In the failure diagnosis mode, the control unit gives priority to the abnormality diagnosis of the engine speed control, and determines whether or not there is an abnormality in the remaining control system to be executed next. The present invention is characterized in that there is provided an execution means for automatically and successively executing automatically when there is no abnormality.

According to the present invention, with this configuration, at the time of maintenance, failure diagnosis of a plurality of control systems can be performed automatically and without runaway.

Next, an embodiment of the present invention will be described with reference to the drawings.
In the drawings, reference numeral 1 denotes a traveling machine of an agricultural tratter, and a rotary tilling type working machine 2 is provided at a rear portion of the traveling machine 1 so as to be vertically movable. Reference numeral 3 denotes a control unit mounted on the traveling machine body 1. The control unit 3 is configured by using a micro computer, and includes a driver's seat 4, the work machine 2, the operation panel 5, the driving handle 6, and the like. Output signals from switches and setting devices provided in the member device and various sensors such as the lift arm angle detection sensor 7 and the engine speed detection sensor 8 are input, and the engine rotation is performed based on these input signals. A work part control mechanism programmed in a system for outputting control signals necessary for various actuators such as the number control actuator 9 and the lift arm lifting / lowering actuator 10 is provided. In this way, the work control by the micro computer control is provided. The fact that the vehicle can run is the same as before.

Reference numeral 11 denotes a work mode switching switch for switching a control mode in accordance with the type of the work machine 2, and the mode switching switch 11 is a "rotary tilling mode" in the embodiment.
In addition to the three main work control modes of “fertilizer sowing mode” and “driven halo mode”, furthermore, “failure diagnosis mode”
And a "check mode". The former three work control modes are programmed for a corresponding work control system in the case where work is actually performed using various types of work machines, and the "check mode" is described above. The check whether each signal output means such as switches, setting devices, sensors, and actuators is normal is changed by the operator directly operating the corresponding signal output means or operating the lever. This is a system in which the change of the input signal is judged based on the result to determine whether there is an abnormal signal or not, and a check is performed. The details are omitted because they are the same, and the system in the “failure diagnosis mode” is the abnormality determination mode of the present invention. It will be described with reference to flow chart diagram for the system.

When the key switch is turned on to set the system to the start state and the engine is started, the necessary data is read and the initialization is performed, and the control unit 3 determines which mode the mode switch 11 is set to. Make a decision. Then, when it is determined that the "diagnosis mode" is set, the control unit 3 first checks the engine speed. That is, the control unit 3 determines whether or not the detection signal from the throttle detection sensor 12 is an idling value, and outputs a control command to the engine speed controlling actuator 9 so that the idling speed becomes the idling speed. And the engine speed detection sensor 8
A check is made as to whether or not the detection signal from is the idling rotation speed. When the control unit 3 determines that the detection signals from the detection sensors 8 and 12 are normal, the control unit 3 sends a control command to the engine speed control actuator 9 so as to achieve a preset rated rotation. Is output. Then, the control unit 3 controls the engine speed sensor 8
It is determined whether or not the input detection value from the CPU has changed from the idling rotation speed to the rated rotation speed. Based on the detected value change, the operation of the actuator 9 is recognized, and whether the actuator is controlled to the predetermined rated rotation speed. A determination is made as to whether or not the engine speed control is performed. When it is determined that the operation is normal, an abnormality check of various operation control systems to be described later is performed. When it is determined that the operation is abnormal, for example, an engine abnormality indicator light provided on the control panel 5 is provided. (A dedicated one may be provided, or an existing indicator light on the control panel 5 may be used.) A control command for turning on an alarm and sounding an alarm to notify the operator of an abnormality in engine speed control is issued. Output so that a failure diagnosis of the engine speed control is performed first. In addition, in this case, when it is determined that there is an abnormality in the engine speed control, an emergency control such as stopping the engine by returning the engine to the idling state without performing the subsequent operation control check is performed. Is set.

On the other hand, when the control unit 3 determines that the engine speed control abnormality determination system is normal, thereafter, in the embodiment, the position control system, the plowing depth control system, the draft control system, and the inclination control system are checked in order for abnormality. Check whether or not. Since all of these system checks follow the same procedure, a case of a position control system will be described as an example. The control unit 3
It is determined whether or not the check of the position control system has been performed. If it is determined that the check has not been performed, the position control system is checked. The position of the position lever 15 set at a position where it is easy to set, such as a position, or a position where it is normally set) is detected by a lever angle detection sensor 16, and this detection value is set to a preset reference value. (Or a value corresponding to the operating position of the lever), and the same determination is made for the detection value of the lift arm angle detection sensor 7. When it is determined that there is no abnormality, the control unit 3 outputs a predetermined operation control command to the lift arm lifting / lowering control actuator 10, and the lift arm 19 is actually operated based on the control command. Is determined based on a change in the detection value of the lift arm angle detection sensor 7. The content of this judgment includes the amount of change,
A change state such as a change speed can be determined, and when it is determined that there is an abnormality in these determinations, an alarm lamp provided inside the control panel 5 is turned on to notify the abnormality (of course, a buzzer or the like is used to positively notify the abnormality). May be set to be notified).

In the drawing, reference numeral 20 denotes an actuator for tilt control, 21 denotes a tilt detection sensor, and 22 denotes a draft force detection sensor.

In the embodiment of the present invention configured as described above, when performing a function check, a dealer, and a maintenance check at the time of shipment from the factory, the engine is driven, and the work mode switching switch 11 is set to the failure diagnosis position. good. As a result, the control unit 3 first detects an abnormality in the engine speed, and when it is determined that the engine speed control is normal, furthermore, the position control system, the plowing depth control system, the draft control system, and the tilt control system. Whether or not various control systems such as a control system are normal can be checked by outputting an operation control command to the corresponding actuators while actually operating the actuators. Is automatically checked without the operator directly switching the switch or operating the lever as in the prior art.

As a result, regardless of the ON / OFF switching of the corresponding control system, the fault diagnosis of each of the plurality of control systems can be automatically performed. In addition, the abnormal check can be easily performed, and the system check as required at the time of starting or ending can be easily performed on the user side, so that the maintenance can be improved.

In this connection, in this device, whether or not each signal output means is abnormal is not detected, and it is determined whether or not there is an abnormality in the control system. If it is determined that the mode switching switch is set to the "check mode" and the signal output means related to the control system having the abnormality are individually checked, the abnormality location can be specifically found early. Will be.

In addition, this apparatus is set so that the check of the engine speed control is performed prior to the other control checks, and that if the engine speed does not reach the rated speed, the other control checks are not performed. Therefore, as in the case where the engine is running at a higher speed than the rated speed, for example, the safety is excellent without the runaway operation of the operating part, and conversely, the rotating speed is lower than the rated speed. This is convenient because there is no trouble such as putting an unreasonable burden on the actuator as in the case of

In addition, in this device, when checking the operation control system such as the position control, except for the case of controlling the engine speed, the abnormality check for all the control systems is performed regardless of whether or not each control system is abnormal. If the results are individually turned on by turning on the corresponding notification lamps, there is an advantage that the abnormality of each control can be detected at once, and furthermore, which system has the abnormality. This is convenient because you can also make a judgment.

In carrying out the present invention, it is convenient for the control unit 3 to inform which control system is currently being checked so that the operation state of the check can be visually recognized, which is convenient. When the mode is entered, the indicator light corresponding to the control system to be checked is lit in a dark state to notify the target to be checked, and the corresponding indicator light is flashed for the control system currently being checked, and the check is performed normally. If it is determined that the alarm lamp is turned off, the alarm lamp is turned on continuously if it is determined that there is an abnormality. Such setting can be freely performed by a control command output from the control unit 3 to each notification light.

Further, the selection of the abnormality determination mode is not limited to the one performed independently by the switch set as in the above embodiment, but may be set to be performed automatically at a stage after the engine is started and before the work is started, for example. By doing so, it is convenient that this is automatically performed as a start-up check. In this case, it may be troublesome that an abnormality is detected every time a short break takes place. Therefore, the setting is made to be performed only when the engine is started in a state where the engine is not warmed up, for example, at the start of work (this In this case, it is preferable to set the operation of the abnormality detection system to be performed after the engine is warmed up) or to execute the abnormality detection control system after the engine is started. (Or an accelerator pedal), or a shift lever, for example, to automatically release the gear.

In practicing the present invention, it is sufficient to determine whether or not the actuator operates according to a control command output when the actuator is used as an abnormality detection system. If it is determined whether or not a change in the detection sensor has been observed in response to the output, it is determined that the actuation of the actuator has actually been performed based on the control command. Therefore, it is possible to perform the minimum check for abnormality detection as to whether the actuator is actually operating, and this is sufficient for the present invention, and if the detailed check can be performed as in the embodiment, furthermore, It can be said that it is preferable.

[Operation and Effect] In short, since the present invention is configured as described above, by setting the mode switching means to the failure diagnosis mode, the abnormality diagnosis of the engine speed control among the control systems of a plurality of operating units is performed. Is executed with priority, and if it is diagnosed that there is no abnormality, the check as to whether or not the remaining control system is normal is automatically executed sequentially and continuously. The actuator for controlling the operating part is actually operated based on the operation control command from the abnormality determination mechanism, and the operation change is automatically made based on the change in the detection value of the operation detection sensor.

As a result, at the time of failure diagnosis, unlike the case where the failure diagnosis of the operating part is performed irrespective of the presence or absence of the abnormality of the engine speed control, the runaway of the operating part due to the abnormal rotation of the engine is avoided and the corresponding control is performed. Irrespective of the ON / OFF switching of the system, the fault diagnosis of each of the plurality of control systems can be automatically performed, thereby improving the maintainability.

[Brief description of the drawings]

The drawings show an embodiment of an abnormality judging device in a working vehicle according to the present invention, wherein FIG. 1 is an overall side view of an agricultural tractor, FIG. 2 is a front view of a control panel, and FIG. 4 is a front view of a mode switching switch, FIG. 4 is a block circuit diagram of the control system, FIG. 5 is a flowchart showing a main routine of the control system, and FIG. 6 is a flowchart showing an abnormality detection system routine of the position control. It is. In the figure, 1 is a traveling body, 3 is a control unit, 11 is a mode switching switch, 12, 14, 17 are sensors, and 13, 18 are actuators.

Claims (1)

(57) [Scope of request for utility model registration] 1. An operation control command for the main control based on a corresponding control system is output to an actuator for controlling an operation section based on signals input from signal output means such as switches, setting devices, sensors and the like. In a working vehicle provided with a control unit provided with an operation unit control mechanism, the control unit is connected to a mode switching unit, and the control unit switches the mode switching unit to a failure diagnosis mode. In this case, an operation control command for failure diagnosis is output in place of the operation control command for main control from the operation unit control mechanism, and the operation change of the operation unit based on the operation control command for failure diagnosis is handled. In providing an abnormality judgment mechanism that recognizes from the detection value change of the operation detection sensor and determines the presence or absence of an abnormality based on the change in the detection value, the abnormality judgment mechanism corresponds to a plurality of control systems In the failure diagnosis mode, the control unit gives priority to the abnormality diagnosis of the engine speed control, and then determines whether there is an abnormality in the remaining control system. An abnormality judging device for a traveling vehicle for work, comprising: an execution unit for automatically and sequentially executing the control when there is no abnormality in the control.