JP2603604Y2 - Automatic control device for mobile farm machine - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic control device for a mobile agricultural machine such as a combine, a tractor, and a rice transplanter.
More specifically, an object of the present invention is to provide an automatic control device that can be optimally used as a combine direction automatic control device.

[0002]

2. Description of the Related Art A mobile farming machine equipped with an automatic controller for automatically controlling each part of the body based on the detection result of a sensor provided in each part of the body is well known. Automatic control device, automatic handling device,
2. Description of the Related Art Various automatic control devices such as a horizontal automatic control device for an aircraft are known. A specific example of a known technique using an automatic direction control device of a combine is Japanese Utility Model Publication No. 56-167808 filed by the applicant.

[0003]

The automatic control device for a mobile agricultural machine described above generally includes an automatic switch for turning on and off automatic control and a pilot lamp for indicating whether or not automatic control is being performed on an operation panel of a control unit. Provided individually.
In some complicated and diversified automatic controls, in addition to these automatic switches and pilot lamps, a changeover switch that changes the control content of the automatic control according to the work form and a pilot lamp associated therewith are separately provided in the control unit. Provided on the operation panel. In the above-described automatic direction control device for the combine, in addition to the automatic switch and the pilot lamp for turning on and off the automatic, a middle split changeover switch for changing the content of the control of the row cutting, the side cutting, and the middle split, and the accompanying switch. A pilot lamp is provided, and as another embodiment, an automatic switch and a middle split changeover switch are used, and the middle split changeover switch is interlocked with the automatic switch. And side cut control, middle cut control, and automatic cutting can be selected.

However, according to the above-described automatic control device, an automatic switch and a pilot lamp for turning on and off the automatic control, a changeover switch for changing the control content, and a pilot lamp associated therewith are separately provided on an operation panel of a control unit. Or operation switch,
Alternatively, since only a part of the pilot lamp is provided in common, there is a problem that it is difficult to provide all of these switches and lamps together in the control section which is limited in space. In addition, if these operation switches and the pilot lamp are provided at separate positions on the operation panel, it is rather difficult to confirm the lighting state of the pilot lamp along with the switch operation. Therefore, there is a problem that the correspondence is further unclear and erroneous operation is likely to occur. Moreover, even with the same automatic control such as automatic direction control, there is a separate automatic switch for turning on / off the automatic control and a changeover switch for changing the control content, and the operator must operate a plurality of switches individually. However, even if these are combined to form a single operation switch, the operator must consider the operation direction corresponding to the three positions of the switch, and there is a problem that the switch operation becomes complicated.

[0005]

SUMMARY OF THE INVENTION The present invention is directed to a mobile agricultural machine having an automatic control device for controlling each part of the machine based on a detection result of a sensor, in order to solve the problem of the automatic control device for the mobile agricultural machine. The automatic control device has a self-return type operation switch integrally provided with a pilot lamp, mode switching means for switching a control mode, and lamp output means for changing a display state of the pilot lamp,
When the control device detects that the operation switch has been operated, the mode switching means sequentially shifts to each of the set control modes and the automatic cutoff control mode, and the lamp output means displays a different display corresponding to the control mode. Is output to a pilot lamp.

[0006]

An operator performs an operation before or during an operation by selecting whether to control each part of the machine body manually or automatically. In the case where the control is automatically performed, there is a control that requires a change in control content depending on a work mode. In that case, the operator must change the control mode so as to match the corresponding control content. In this case, the operator checks the current control mode by the lighting state of the pilot lamp provided on the operation panel or the like of the control unit, and when the control mode needs to be changed, a self-return type operation switch integrated with the pilot lamp. Is pressed to change the control mode to match the corresponding control content. At this time, when the control device detects that the operation switch has been operated, the mode switching means sequentially shifts the control mode to each of the set control modes and the automatic cutoff every time the switch is operated. And
At the same time, the lamp output means outputs a different display corresponding to the control mode to the pilot lamp. Therefore,
The operator can simultaneously select automatic and manual operations and change the control mode by pressing a single operation switch.In addition, it is integrated with the operation switch to check whether the control mode has been properly changed. It can be confirmed immediately by the lighting state of the pilot lamp attached to.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the combine shown in the drawings. In FIG. 1, a combine 1 is a reaper provided with a cutting blade, a raising device and the like at the front of a body 3 having a crawler traveling device 2. The part 4 is erected vertically. A threshing device 5 is mounted on the body 3 behind it, and a control unit 6, a grain tank 8 having a grain discharging auger 7 and the like are mounted on the right side of the body 3 in order from the front. The control unit 6
The vehicle has a cockpit 9 as shown in FIG. 2, and a diesel engine (not shown) is mounted on a body frame below the cockpit 9. Further, a multi-lever 11 for performing left and right steering of the fuselage and elevating operation of the reaping unit 4 is provided on the front right side of the step 10, and a key switch 12 is provided on an operation column below the multi-lever 11. Furthermore, the side panel 1 on the left side of the cockpit 9
A display 14, a horn 15, and a threshing tachometer 16, which constitute a combine monitor, are provided at the front of 3 respectively. In addition, a cross lever 2 for manually raising and lowering the traveling speed change lever 17, the threshing clutch lever 18, the reaping clutch lever 19, and the left and right crawler traveling devices 2 is provided at the rear portion.
Operation switches 21 for direction control, operation switches 22 for sorting control, and operation for horizontal control of the aircraft, which are composed of self-return type (momentary type) operation switches integrally provided with levers such as 0 and a pilot lamp. Switch 23
And other operation switches.

FIG. 3 is a control block diagram schematically showing a control device for performing direction control and monitor control. A microcomputer unit 24 constituting the control device is composed of a well-known CPU, RAM, ROM and the like. , For example, in the side panel 13 of the fuselage. An input port of the microcomputer unit 24 is connected to the key switch 12 and an output 25 of a glow timer for preheating the diesel engine, an oil pressure switch 26 for detecting the presence or absence of engine oil, and an L terminal output 27 for the alternator. The operation switch 21 for controlling the direction is also connected to the digital input port of the microcomputer unit 24. Similarly, the analog input port of the microcomputer unit 24 has a reaper 4
Left and right direction sensor 2 attached to the divider frame
Potentiometers 30, 3 for detecting the amount of rotation of 8, 29
1 and potentiometers 34 and 35 for detecting the angle of the swing sheave 32 and the degree of opening and closing of the slide sheave 33 provided on the swinging and sorting body of the threshing device 5 are connected respectively. Further, the output port of the microcomputer unit 24 has a driver 36 for operating the display 14, a pilot lamp 37 integrally formed with the operation switch 21 for controlling the direction, and left and right sides provided in the traveling mission case. The solenoid valves 38 and 39 of the hydraulic cylinder for turning on and off the clutch are connected. In addition, as the display 14 described above, a VFD (Vacuum Fluid) for displaying a fluorescent light is used.
oresc-ent Displays) to switch between character display and pattern display. However, as the display 14, for example, an LED (Light Emitting Di-
ode) or a display such as an LCD (Liquid Crystal Display) which can simultaneously display characters or patterns.

FIG. 4 shows a main flow chart of the automatic direction control. When the key switch 12 is turned on to activate the microcomputer unit 24, the microcomputer 24 executes the illustrated main flow after initial setting. Then, the main flow starts by judging the operation state of the operation switch 21 for direction control provided on the control unit 6. If the operation switch 21 is not pressed, the pilot lamp 37 is set according to the set state of the automatic state flag. The process proceeds to output and execution of the actual direction automatic control program. Specifically, since the automatic state flag is set to 0 in the initial setting, if the operation switch 21 is not operated after the key switch 12 is turned on, the automatic state flag remains set to 0. At 37, a light-off command is issued, and the main direction automatic flow returns. Therefore, in this case, the direction automatic control is not substantially performed and the direction automatic is set to the cut mode,
Another program (monitor control) will be executed. Then, when the operator presses the operation switch 21 once from the state where the direction is automatically turned off, the operation switch 2 is pressed.
1 changes from off to on, and when the microcomputer 24 detects this, the automatic state flag is set to 1, for example, according to the set state of the automatic state flag (flag = 0) before the change. Further, in the next step, the set automatic status flag (flag = 1)
A continuous lighting command is issued to the pilot lamp 37, and automatic direction control is performed under the standard control mode.

Similarly, when the operator presses the operation switch 21 again from the state where the automatic state flag is set to 1, the operation switch 21 changes from off to on, and the automatic state flag is set to 2. In this case, a blinking command is issued to the pilot lamp 37, and the direction automatic control is executed in the middle control mode. Then, when the operation switch 21 is pressed again, the automatic state flag returns to the initial value of 0, and the operation is automatically turned off. Thereafter, every time the operation switch 21 is pressed, the control mode is changed to the standard control, the intermediate control, and the automatic cutoff. At the same time, the display mode of the pilot lamp 37 is switched between continuous lighting, blinking, and turning off. Therefore, the mode switching means of the present invention can be realized by a series of programs in which the control device 24 detects the change of the operation switch 21 from off to on and switches over, for example, standard control, intermediate control, and automatic cutoff. Similarly, the lamp output means can also be realized by the control device changing the output state to the pilot lamp 37 based on the automatic state flag set by the mode switching means. In addition, the present invention has been described by taking the automatic direction control device of the combine as an example. However, the present invention can be applied to an automatic control device for selecting and controlling a combine, or an automatic control device that needs to change the control mode of another mobile agricultural machine. In the case of control requiring four or more control modes, the on / off time interval or the blinking pattern at the time of the blinking instruction of the lamp output means is changed, so that the operator can identify each control mode. Can be.

A specific control method of the automatic direction control is schematically shown in FIGS. 5 to 7, and the direction sensors 28, 29 of the planted grain culm k, k so that the combine 1 follows the culm row.
The microcomputer 24 calculates the traveling direction according to the state of contact with the solenoid valve, and further controls the left and right solenoid valves 38 and 39 on and off based on the calculation result. Disengage the side clutch and automatically control the combine in the appropriate direction. Therefore, in the case of the standard control, the contact angle of the right direction sensor 28 with the grain stalk k is detected by the potentiometer 30 and the detection angle is determined by three detection zones (not contacting the grain stalk or moving away from the grain stalk. Passed = a, proper =
(B), which is too close to the grain stalk = c), and a calculation process is performed to determine in which zone the direction sensor 28 is currently located. At the same time, for the left direction sensor 29,
Is detected by the potentiometer 31 and the detection angle is similarly detected in three detection zones (not touching the grain culm or too far from the grain culm = d, appropriate = e, approaching the grain culm) It is applied to (e) to calculate the zone in which the direction sensor 29 is currently located. Then, based on the combination of the detection results of the zones where the left and right direction sensors 28 and 29 are located, the direction control of the aircraft in the standard control mode as shown in FIG. 6 is performed.

Therefore, when the direction sensors 28 and 29 are located in the zones (a) and (d), the microcomputer 24 energizes the right solenoid valve 38 to correct the direction of the body to the right side, Disengage the clutch. If the direction sensors 28 and 29 are located in the zone (a) and the zone (e), the left and right solenoid valves 3
When the direction sensors 38 and 39 are positioned in the zones (a) and (f), the microcomputer 24 operates the left solenoid valve 39 to correct the direction of the body to the left side. And turn off the left side clutch. Although the description is omitted below, the direction of the aircraft is controlled in the directions shown in the operation diagrams also in other combinations of zones. In the case of the middle split control, the direction control is performed exclusively based on the detection of the zone where the right direction sensor 28 is located. In this case, as shown in FIG. Direction sensor 2
If 8 is located in the zone (a), the microcomputer 24 issues a command to turn the aircraft to the left. Further, if the direction sensor 28 is located in the zone (b) at the proper position of the grain culm k, the machine body is allowed to move straight, and if the direction of the grain culm k is shifted to the right and the direction sensor 28 is located in the zone (c), Issue a command to correct the direction of the aircraft to the right. Therefore, in the standard control mode, based on the detection results of the left and right direction sensors 28 and 29, proper direction automatic control is performed without being affected by lack of stock and the like and without cutting, and among them, particularly, The direction control is performed based on the detection result of the direction sensor 29 provided mainly on the left side in the case of the line cutting process, and the side cutting mainly provided on the right side in the case of the side cutting process orthogonal to the line. Control is performed based on the detection result of the direction sensor 28. On the other hand, in the middle split control mode, based on the detection result of only the right direction sensor 28,
Automatic direction control is performed along the right cereal stem row. Therefore, even in the case where the interval between the plants is partially narrowed and mowing is performed by one bar than usual, stable directional control is always performed along the right cereal stem row without being affected by the mowing.

Further, another monitor control executed by the microcomputer 24 will be described with reference to a flowchart of FIG. 8. The monitor control starts from the detection of the state of the key switch 12. Here, when the key switch 12 is switched from OFF to ON, the diesel engine is preheated by the glow coil (the glow coil is separately energized for a predetermined time via the glow timer when the key switch is turned on), and the microcomputer 24 displays the display. A "glow" character display command is issued to the 14 driver 36. Then, when a predetermined time elapses after the key switch 12 is turned on, the preheating by the glow coil ends, and the glow timer 25 times out. Then, when the microcomputer 24 detects this, it issues a glow completion display command to the driver 36. further,
When the operator checks the glow completion display and turns on the key switch 12 to the engine start position, the starter motor rotates and the engine starts. Further, when the engine is started, the L terminal 27 of the alternator rises to a predetermined voltage or higher, and outputs to the microcomputer 24 that the engine is rotating. When the microcomputer 24 detects that the engine is rotating, the oil charge flag is reset in the initial setting. Therefore, the microcomputer 24 determines whether the engine oil is low based on the oil pressure switch 26 and the L terminal voltage 27 of the alternator. It is diagnosed whether there is not a shortage, and whether or not the battery has been properly charged. The result is indicated as "OK" or "N", respectively.
“G” and “charge” are notified to the operator as “OK” or “NG”.

Further, when the microcomputer 24 finishes the initial diagnostic display such as glow, engine oil, charge, etc., the microcomputer 24 sets an oil charge flag, and thereafter, when an abnormality occurs in the engine oil or charge. The display command is not issued except for the above, and basically, the driver 36 is instructed to display the angle of the swing sheave 32 and the opening / closing degree of the slide sheave 33 to the driver 36, and the driver 36 displays the angle based on a graphic pattern, a character, or the like. 14 is displayed. In addition,
As shown in FIG. 9 and FIG. 10, the swing sheave 32 switches the angle of the fin a of the chaff sheave 32 a provided on the rocking sorter of the threshing device 5, and moves onto the Glen sheave 33 a in accordance with the flow rate of the threshed kernel b. Is a general term for changing the degree of leakage of the fin a.
Operating lever or chaff sheave 32 mechanically linked to
The adjustment can be made by automatically driving the actuator based on the detection result of a layer thickness detection sensor (not shown) provided on a. Similarly, the slide sheave 33 is also provided with the Glen sheave 3 provided on the rocking sorter of the threshing device 5.
This is a general term for changing the degree of leakage of the open area 3a onto the first spiral in accordance with the flow rate of the threshed grain b by adjusting the sliding of the closing plate 33b.
The slide adjustment of 3b can also be adjusted by automatically driving the actuator based on the detection result of the operation lever mechanically linked to the control unit 6 or the layer thickness detection sensor provided on the above-described chaff sheave 32a. The angle adjustment of the fins a of the chaff sheave 32a and the slide adjustment of the closing plate 33b of the Glen Sheave 33a occupy extremely important elements in the wind sorting of threshed grains and straw chips, and each of them is appropriately performed depending on the flow rate. If not adjusted, sorting problems will occur and the operator will need to constantly monitor their condition. Therefore,
In the monitor control, the potentiometer 3 is displayed on the display 14 immediately after the initial diagnosis display at the time of engine start is completed.
The angles and the degree of opening and closing detected by 4, 4 and 35 are displayed, and are used as a guide to request the operator to take appropriate measures during the work.

[0015]

As described above, according to the present invention, the pilot lamp 3 is provided to the automatic control device 24 for controlling each part of the body.
Self-returning operation switch 21 integrally provided with 7
And the mode switching means for switching the control mode and the lamp output means for changing the display state of the pilot lamp 37, the operation switches and the pilot lamp provided on the operation panel 13 and the like of the control unit 6 are integrated into a single unit. As a result, the control unit 6 itself can be organized into a device with good operability. In setting the control mode and the automatic cut-off of the automatic control, the current control mode can be confirmed by the lighting state of the pilot lamp 37, and the self-return type operation switch 21 integrally provided with the pilot lamp 37 is provided. By pressing the key as it is, the mode can be changed to the corresponding control mode by the mode switching means, and the operability is extremely good without the trouble of switching each switch while considering the operation direction of each switch. Can be. Moreover, the changed control mode is controlled by the lamp output means.
Since the output is displayed on the pilot lamp 37 in a different display form corresponding to the control mode, the operator can immediately confirm whether or not the control mode has been properly changed, and therefore, the switch Accurate automatic control can be performed without erroneous operation due to operation.

[Brief description of the drawings]

FIG. 1 is a perspective view of a combine.

FIG. 2 is a plan view of a control unit.

FIG. 3 is a block diagram of a control device.

FIG. 4 is a main flowchart of automatic direction control.

FIG. 5 is a diagram illustrating the operation of a direction sensor.

FIG. 6 is a steering operation diagram in a standard control mode.

FIG. 7 is a steering operation diagram in a middle split control mode.

FIG. 8 is a flowchart of monitor control.

FIG. 9 is an explanatory diagram of a swing sheave and a slide sheave.

FIG. 10 is an explanatory view of a swing sheave and a slide sheave.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Combine 21 Operation switch 24 Microcomputer unit 28 Direction sensor (right) 29 Direction sensor (left) 37 Pilot lamp 38 Electromagnetic solenoid valve (right) 39 Electromagnetic solenoid valve (left)

──────────────────────────────────────────────────続 き Continuation of the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) A01B 69/00 A01D 69/00 G05D 1/02

Claims (1)

(57) [Scope of request for utility model registration] 1. A mobile agricultural machine having an automatic control device for controlling each part of the machine body based on a detection result of a sensor, wherein the automatic control device includes a self-return type operation switch integrally provided with a pilot lamp, and a control mode. And a lamp output means for changing the display state of the pilot lamp. When the control device detects that the operation switch has been operated, the mode switching means sequentially sets each of the set control modes. And an automatic cut-off control mode, and the lamp output means outputs a different display corresponding to the control mode to a pilot lamp.