JP3447607B2 - Work machine control device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operating state detecting means for detecting an operating state of each part of a machine, an actuating actuator for operating each part of the machine, and a target machine part of each part of the machine. Corresponding to the detection information of the operating state detecting means in the reference state, the reference value storing means stores the information of the reference value for obtaining the actual operating state of each part of the machine from the detection information of the operating state detecting means. Further, the actual operating state of each part of the machine is obtained based on the detection information of the operating state detecting means and the stored information of the reference value storing means, and the operation of the operating actuator is operated based on the information of the actual operating state. In addition to controlling, various error information generated for each part of the machine, the operation state detecting means, or the actuating actuator during operation of the machine is recorded as error information. And configured the control means so as to store the related control apparatus for a working machine provided in unit.

[0002]

2. Description of the Related Art In a control device for a work machine described above, for example, in a combine for agricultural work, which is an example of a work machine, various sensors that are operation state detection means for detecting the operation state of each machine part such as a mowing part and a threshing part. In order to properly control the operations of the mowing unit and the threshing unit based on the information of the above, the detection value of the sensor when operating each part of the machine to the reference state is stored in the memory as the reference value, and the actual value is stored. In control,
Accurately determine the actual operating state of each part of the machine by comparing the detected value of each sensor with the information of the above reference value, and control the operation of the actuator for operation such as an electric motor based on the information of the actual operating state to control each part of the machine. I am trying to make it work.

Further, in the control device for the working machine, as shown in, for example, Japanese Patent Laid-Open No. 10-91233, in order to detect a malfunction in an actual machine operating state, each part of the machine is operated during machine operation. Various error information generated for sensors, actuators, etc. is stored in a non-volatile memory such as EEPROM, and the above error information is read out from the memory later to be used for identification of a defective portion and analysis of a cause of the defect. ing. Then, conventionally, as shown in the above publication, when an error information read mode for reading the error information or a reference value storage mode for performing a reference value storage process for storing the information of the reference value is activated, First activates the control means into one control mode, specifically, an inspection mode for inspecting the operation of each part of the machine body, and then operates the mode changeover switch in the inspection mode to inspect the input of the sensor. After passing through the output inspection modes for the actuator and the actuator, the error information reading mode and the reference value storing mode are sequentially switched.

[0004]

However, in the above-mentioned prior art, when the reference value storage mode or the error information read mode is activated, as the first step operation, first, one control mode (inspection mode) is activated. As the operation of the second step, in the control mode, since the operation of two steps is required so as to sequentially switch and select the reference value storage mode and the error information read mode, the reference value storage mode or the error information There is a problem in that it takes a lot of trouble to start the reading mode, which is troublesome, and that each mode cannot be started quickly.

The present invention has been made in view of the above circumstances, and an object thereof is to quickly enter the reference value storage mode or the error information reading mode with as little effort as possible in order to solve the above problems of the prior art. To start it.

[0006]

According to a first aspect of the present invention, in the control device for a working machine described at the beginning, activation of a reference value storage mode for storing information of the reference value in the reference value storage means, Alternatively, command means for commanding activation of an error information read mode for reading the error information from the error information storage means is provided, and the control means is the command means in an initial state in which control of each part of the machine is stopped. When the activation of the reference value storage mode is instructed, the activation of the reference value storage mode is performed, and in the initial state, the activation of the error information read mode is instructed by the instruction means. Accordingly, the error information reading mode is activated.

That is, the control means stores the reference value information in the reference value storage means when the command means instructs the activation of the reference value storage mode in the initial state in which the control of each part of the machine is stopped. When the error information read mode is instructed by the command means in the initial state, the error information read mode for reading the error information from the error information storage means is started. To be done. Therefore, when an instruction to activate the reference value storage mode or the error information read mode is issued, the instruction is started all at once from the initial state in which the control of each part of the machine is stopped to the instructed reference value storage mode or the error information read mode. As described above, first, one control mode (inspection mode) is activated, and then, in the control mode, a two-step operation is required so as to sequentially switch and select the reference value storage mode and the error information read mode. It takes a lot of time and effort to start each mode, and it is not possible to quickly start each mode, but it is possible to quickly start each mode with the least effort.

Further , the command means includes a manual operation means that can be freely changed into two different operation states, and a main switch that turns on and off the power supply to each part of the machine, and the operation means operates the two operations. When the main switch is switched from the off state to the on state in one of the operation states, the activation of the reference value storage mode is instructed, and the operation means changes to the one operation state. The main switch is switched from the off state to the on state in another different operation state, and then the operation means is changed from the other operation state to the one operation state. It is configured to instruct activation of the error information read mode.

That is, when the manual operation means that can be changed into two different operation states is in one of the two operation states, the main switch for turning on and off the power supply to each part of the machine is changed from the off state. Upon switching to the ON state, the activation of the reference value storage mode is instructed, the control means is activated to the reference value storage mode, and the operation means is different from the one operation state. After the main switch is switched from the OFF state to the ON state in one operation state, the error information read mode is set as the operation means is changed from the other operation state to the one operation state. Is instructed to start the control means in the error information reading mode.

Therefore, when power is supplied to each part of the machine, a special control different from the normal control for each part of the machine while accurately instructing the reference value storage mode by a manual operation means such as a switch. It is possible to surely activate the reference value storage mode in which processing is performed, and at the same time, if the reference value storage mode is not activated when the power is supplied, for example, there are many malfunctions in the normal control state during machine operation. At this time, it is possible to perform a failure analysis or the like by instructing with the switch or the like to activate the error information reading mode .

According to claim 2 , the working machine described at the beginning
In the machine control device, the reference value is stored in the reference value storage means.
Activation of reference value storage mode for storing value information,
Alternatively, the error information is read from the error information storage means.
Command to activate the error information read mode
And a control means for controlling each part of the machine.
In the initial state in which the control for
In response to a command to start the reference value storage mode at the
Is started in the reference value storage mode, and
In this state, the command means reads the error information.
The error information
It is configured to be activated in read mode. One
The control means is the first to stop the control of each part of the machine.
The reference value storage mode by the command means
When the activation is instructed, the reference value is stored in the reference value storage means.
Is started in the reference value storage mode for storing the information of
In addition, in the above initial state, the command means causes an error.
-When a command to start the information read mode is issued, the error
-Error for reading the error information from the information storage means
Error information read mode. Therefore, the reference value
Start command for storage mode or error information read mode
When instructed, the initial state in which control of each part of the machine is stopped
From the specified reference value storage mode or error information reading
Since it is activated all at once in the output mode, as before,
Without starting one control mode (inspection mode), then
In the control mode, the reference value storage mode and error
-Switch the information read mode sequentially and select
It requires a two-step operation, and is often used to start each mode.
It takes a lot of time and can start each mode quickly.
Compared to not being able to do it, it is quick and easy to get to each of the above modes with the least effort.
It can be activated quickly. In the reference value storage mode, the control means sets all the setting processing states for setting the reference value information for all target machine parts and only the selected one of the target machine parts. It is configured to be switchable to an individual setting processing state in which information on the reference value is set. That is, in the reference value storage mode, all setting processing states for setting the reference value information for all target machine parts, and the reference value information for only selected ones of the target machine parts are displayed. It is possible to appropriately switch to the individual setting processing state to be set. Therefore, for example, at the time of shipping inspection of the machine, it is possible to switch to the all setting processing state and set the information of the reference value for all the target machine parts without omission. When parts are replaced or repaired, or the sensor is readjusted, it is possible to switch to the individual setting processing state and change and set the reference value only for each part of the machine. It is possible to easily change a part of the reference values with as little effort as possible, as compared with the case where only the setting process of setting the reference values for all the machine parts is performed .

According to a third aspect of the present invention, in the second aspect , display means for switching and displaying the identification information of each part of the target machine based on the manual operation, and execution of the setting of the reference value by the manual operation. Setting instruction means for instructing is provided,
In the individual setting processing state, the control means controls the setting instruction means to set the reference value when any of the identification information of the target machine parts is displayed on the display means. When instructed, the reference value is set for each part of the machine corresponding to the identification information displayed on the display means. That is, in the individual setting processing state, the identification information of each machine part that is the target of the reference value setting processing is switched and displayed on the display means based on the manual operation, and the setting instruction means instructs the setting of the reference value. Along with this, the reference value setting process is executed for each part of the machine corresponding to the identification information displayed on the display means. Therefore, for example, while switching the display with a manual switch or the like, the setting of the reference value is instructed in a state where the identification information of each target machine part is displayed. In the case where a switch is provided and one corresponding to each part of the target machine is operated, the operation part in which a large number of switches are arranged is required, and the device configuration becomes complicated. While preventing the complication of the configuration, it is possible to accurately recognize each machine part by the display means and perform the storage process of the reference value without error, and thus the preferable means of claim 2 can be obtained.

According to a fourth aspect of the present invention, in the second or third aspect , the control means sets the reference value set as the main switch is switched from an on state to an off state in the reference value storage mode. After the value information is stored in the reference value storage means, the reference value storage mode is ended. That is, as the main switch is switched from the ON state to the OFF state in the reference value storage mode, information on the set reference value is stored in the reference value storage means, and then the reference value storage mode is set. Is ended. Therefore, when the power supply to the machine is stopped, the information of the reference value set up to that point is finally stored in the memory.
While displaying the information of the reference value set in the setting process and confirming that it is an appropriate value, avoiding erroneous reference value being stored, at the same time, surely set the reference value at the end of operation. It can be memorized, and therefore, claim 2
Or, 3 suitable means are obtained.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment in which the present invention is applied to a combine for agricultural work as a working machine will be described below with reference to the drawings. As shown in FIG. 1 and FIG. 2, the combine is a pair of left and right crawler traveling devices 11.
At the front part of the machine body V including the cutting unit 1 in a state in which it can be vertically rocked around the horizontal axis X by the mowing lifting cylinder M3.
2 is provided, and behind the reaping section 12, the control section 13,
A threshing unit 14 for threshing / selecting cut culms, a grain tank 15 for storing grains supplied from the threshing unit 14, an unloader 9 for discharging the grains in the grain tank 15 and the like are mounted. Here, the above-mentioned airframe V and traveling device 1
1, the mowing unit 12, the control unit 13, the threshing unit 14, the Glen tank 15, the unloader 9 and the like correspond to each machine unit.

The mowing unit 12 receives a weeding tool 16 attached to the tip, a grain culm raising device 17, a cutting blade 18 for cutting the root of the grain culm that has been raised, and a mowing grain culm on the tip side. A transporting device 19 for transporting to the threshing unit 14 is provided. A mowing lift position sensor S11 that detects the lift position of the mowing unit 12 with respect to the machine body V by the swing angle around the horizontal axis X is provided in the potentiometer.
Further, an ultrasonic sensor S1 for detecting the height of the mowing unit 12 from the ground, and a stock origin sensor S2 for detecting that the grain stem touches to operate to detect that the mowing operation is being performed are provided. The height information from the ground by the ultrasonic sensor S1 is used for cutting height control when cutting grain culms, and the stock sensor S
The detection information of 2 is used as one of the control start conditions.

In order to maintain the handling depth in the threshing section 14 in an appropriate state, the tip sensor S3 for detecting the tip position of the conveyed grain culm which is held by the conveying device 19 on the stocker side.
(See FIG. 7) are provided in the culm length direction in pairs (the tip side and the root side), and based on the detection information of the pair of tip sensors S3, the conveying front side of the conveying device 19 is culled with respect to the rear side. It is oscillated in the direction, and is adjusted so as to be in an appropriate state in which the tips of the conveyed grain culms are located between the pair of tip sensors S3 (that is, a state in which only the plant side sensor detects grain culms). .
Here, an electric motor or the like for rocking the transport device 19 constitutes a handling depth adjusting actuator M1, and a handling depth for detecting a handling depth adjusting position by the handling depth adjusting actuator M1. The position sensor S12 is provided as a rotary potentiometer for detecting the swing operation amount of the transport device 19 (see FIG. 7). In addition, in the pair of tip sensors S3, when the tip side sensor detects the grain culm and the stocker side sensor does not detect the grain culm, it is determined that floating straws are detected, so the floating straw alarm is issued. "On"
If it is set to the state, a buzzer etc. will give an alarm.

In the second weeding tool 16 from the left toward the front of the machine body, the side of the machine body V of the machine body V with respect to the grain culm row introduced into the grain culm carry-in path formed between the plurality of weeding tools 16 is provided. In order to detect the position in the direction, a pair of left and right direction sensors S10 having a detection bar that is rotatable about the longitudinal axis and is biased to return to the lateral position of the machine body is attached. That is,
The position of the machine body V in the lateral direction of the machine body with respect to the grain culm row is detected by the rotation state in which the detection bar contacts the grain culm and rotates about the longitudinal axis. Then, based on the detection information of the left and right direction sensors S10, the left and right operations are performed so that the power transmission to the left and right crawler traveling devices 11 is intermittently performed so that the machine body V travels along the grain culm row. A steering cylinder or the like for operating the directional clutch is provided, and this steering cylinder or the like constitutes the direction control actuator M2 (see FIG. 7). Here, each steering clutch is driven by duty, and the turning force is increased by increasing the ratio of the on time to the off time (duty ratio) of the steering clutch to increase the turning force, and decreased by decreasing the turning force. As described above, the magnitude of the turning force can be changed and set freely.

The left and right crawler traveling devices 11 are constructed so that they can be individually moved up and down with respect to the machine body V, and a rolling sensor S4 for detecting the inclination of the machine body V with respect to the horizontal state is provided. Based on the detected information, it is possible to perform rolling control that keeps the vehicle body V horizontal regardless of the inclination of the ground or keeps it at a set angle. Hereinafter, the left and right crawler traveling devices 1
The mounting structure of the No. 1 to the machine body V will be described. As shown in FIG. 3 and FIG. 4, a horizontal frame 49b is connected below a main frame 49a of the vehicle body V that is in the front-rear orientation, and the left and right track frames 48 are connected and fixed by the horizontal frame 49b. A drive sprocket 47 and a tension sprocket 46 are attached and fixed to the front and rear ends of the track frame 48, respectively.
A front-rear movable frame 44 pivotally supporting a plurality of idle wheel bodies 45 is mounted on the track 8 so as to be vertically movable relative to each other. At a middle position of the group of idle wheel bodies 45, a track frame 48 is vertically swingably movable. The wheel body 43 is supported. Front and back movable frame 44
At the front and rear positions, the lower ends of the front and rear bell cranks 41A and 41B pivotally supported by the track frame 48 are attached, and the front and rear bell cranks 41A and 41B are attached.
B is connected by a connecting rod 42, and a hydraulic rolling elevating cylinder 40 for elevating operation for elevating the vehicle body V with respect to the ground portion of the crawler traveling device 11 is connected to the upper end of the rear bell crank 41B. Has been done. Here, the left and right rolling elevating cylinders 40 and the like constitute a rolling control actuator M4 (see FIG. 7).
As a result, the left and right rolling lifting cylinders 40 are expanded and contracted in the same direction by the same amount to raise or lower the machine body V with respect to the ground contact portion of the crawler traveling device 11, or the left and right rolling lifting cylinders 40. Can be expanded and contracted with different operation amounts, and the left and right tilt postures of the machine body V can be set to a set posture.

In each of the left and right crawler traveling devices 11, the track frame 48 of the rear bell crank 41B is provided.
The amount of rocking motion with respect to the crawler traveling device 1 is detected.
1. Each of the potentiometer type body lift sensors 17a and 17b for detecting the lift position with respect to the grounding portion of 1 are provided,
Further, limit switches 51 and 52 are provided at both end positions of the swing operation of the rear bell crank 41B. That is, the upper limit switch 51 for detecting the upper limit position of the vehicle body where the vehicle body is most raised with respect to the ground contact portion of the crawler traveling device 11.
And a lower limit switch 52 for detecting the lower limit position of the body where the body descends most with respect to the ground contact portion of the crawler traveling device 11, whereby the rear bell crank 41B is provided.
As a result, it is detected whether or not the rolling elevating cylinder 40 has reached the movable stroke end.

The unloader 9 has a discharge port 9a in a downward posture at the tip end, and the base end side is supported by a hydraulic cylinder 62 so that it can be vertically swung about the horizontal axis Z.
The supporting portion 10 is pivotally supported on the machine body V by an electric motor 63 for turning operation in a state of being turnable about the longitudinal axis Y. An unloader position sensor S6 composed of a potentiometer for detecting the turning position of the support portion 10 and an unloader lift sensor S19 composed of a potentiometer for detecting the swing angle of the unloader 9 are provided. The hydraulic cylinder 62, the electric motor 63, and the like constitute an unloader control actuator M5 (see FIG. 7). still,
FIG. 2 shows a state in which the unloader 9 is operated to the home position for storage during the mowing work or the like.

As shown in FIG. 5, the threshing section 14 is provided with a handling barrel 2
A handling room A for storing 1; a feed chain 22 for conveying grain culms supplied from the mowing section 12; a sorting device B comprising a tomi 23 and a swing sorting plate 24;
5, and a second mouth 26 and the like for collecting a mixture of grain and straw waste. Among the processed products that have been threshed in the handling room A, the single-grained products are the receiving nets 2 provided in the lower part of the handling room A.
No. 7 leaks to the sorting device B, and other processed products are received by the receiving net 2
It falls from the rear end of 7 into the sorting apparatus B.

The swinging sorting plate 24 of the sorting device B is used for the
3, a Glen pan 28 located above, a chaff sheave 29 located behind it, a Glen sheave 30 located below it, and the like. In the chaff sheave 29, a plurality of strip-shaped members juxtaposed in the processed material transfer direction are oscillated by the chaff opening adjusting motor M6 so as to simultaneously change the angles around the horizontal axis, and the adjacent strips are moved. A chaff opening sensor S8 (see FIG. 7) that uses a potentiometer to detect the chaff opening is changed by changing the interval between the members (referred to as chaff opening).
(See) is provided. S15 is a sheave sensor that detects the layer thickness of the processed material on the swing selection plate 24. The tomi 23 is for blowing off the straw chips on the swing selection plate 24, and by opening and closing the rear fan case cover 23a with the toumi wind force adjusting motor M7, the larger the opening, the more forward. The wind force (referred to as Tomi wind force) exerted on the processed object on the swing selection plate 24 is changed so that the wind force to the side becomes smaller, and the fan case cover 23a is changed.
A Toumi wind force sensor S9 (see FIG. 7) that detects the opening degree state of No. 1 to detect the Toumi wind force is provided.

The sorting device B has a chaff opening and a chaff opening degree according to conditions such as the type of crops such as rice, wheat and soybeans, the amount of processed substances detected by the sheave sensor S15 and a vehicle speed sensor S16 described later, and humidity. Control (sorting control) for adjusting the wind power of Toumi is performed. The grains leaking from the grain sieve 30 are collected from the first mouth 25 provided below the swing sorting plate 24 and stored in the grain tank 15, and fall from the rear end of the chaff sheave 29 or the rear end of the grain sieve 30. The mixture of grains and straw scraps to be collected is collected from the second opening 26 and returned to the rocking sorting plate 24.

Next, the power transmission system is shown in FIG. The output of the engine E mounted on the machine body V is transmitted to the threshing unit 14 via the threshing clutch 31 and the traveling clutch 32.
And transmitted to the mission unit 34 via the continuously variable transmission 33. The output transmitted to the mission unit 34 is switched to a high speed, standard, or laid state by an auxiliary transmission (not shown), and is transmitted to the crawler traveling device 11. Further, a part of the output transmitted to the mission unit 34 is transmitted to the mowing unit 12 via the mowing clutch 35. In the figure, S7 is a threshing switch for detecting the on / off state of the threshing clutch 31, S16 is a vehicle speed sensor for counting the input rotation speed to the mission unit 34 to detect the traveling speed, and S20 is , Running clutch 32
Is a potentiometer-type traveling clutch sensor that detects whether the vehicle is in a neutral position or the like.

Further, S5 is an engine speed sensor which is an electromagnetic pickup which applies a magnetic field to the flywheel ring gear of the engine E to obtain a sine wave having a frequency corresponding to the number of teeth per unit time. Here, as the load on the engine E increases, the rotational speed thereof decreases, so the load of the engine E is determined by the amount of decrease in the rotational speed from the engine rotational speed when there is no load. Then, in order to maintain the engine E at an appropriate load, the vehicle speed sensor S1 is set so that the rotation speed detected by the engine rotation speed sensor S5 is maintained at an appropriate rotation speed, that is, a target rotation speed.
Under the condition that the traveling speed detected in 6 does not exceed the set upper limit vehicle speed, the vehicle speed control for activating the shifting motor M8 for shifting the continuously variable transmission 33 is executed. here,
The speed change motor M8 is a vehicle speed control actuator M.
8 (see FIG. 7).

Further, the control section 13 is provided with an accelerator lever for raising the engine E to a set rotational speed, and an accelerator position sensor S18 for detecting the operation position of the accelerator lever is provided as a potentiometer. (See FIG. 7). Here, the accelerator lever is configured so that it can be operated between the idling position on the low rotation side and the maximum rotation speed position.When the engine is started, the accelerator lever is operated to the idling position, and when the vehicle starts running for mowing work. Is operated to ascend to the rated rotation speed position that is set to a rotation speed lower than the maximum rotation speed position. Although not shown, the fuel injection amount supplied to the engine E is adjusted based on the detection information of the accelerator position sensor S18 to control the engine speed to a speed corresponding to the accelerator lever operation position. Is configured.

On the right front side of the control section 13, the mowing section 1
There is provided a cross-operated cutting height steering lever 6 configured to serve both as a mowing lift lever for manually raising and lowering 2 and a steering lever for manually turning the traveling machine body V to the left and right. That is, when the cutting height steering lever 6 is swung rearward, the mowing section 12 rises, while when it is swung forward, the cutting section 12 descends and the cutting height steering lever 6 swings left. When operated, the vehicle body V turns to the left, while when swinging to the right side, the vehicle body V turns to the right. Then, in order to detect the swinging operation amount of the cutting height steering lever 6 in each direction of the mowing up / down and the steering operation, the mowing up / down operation detection sensor S13 and the steering operation detection sensor each configured by a potentiometer. S14 is provided (see FIG. 7).

Further, on the left front side panel of the control section 13,
A display unit 4 for displaying various kinds of information is provided. As shown in FIG. 8, the display unit 4 includes a pointer needle fuel meter 4a, a pointer needle tachometer 4b, a water temperature meter 4c, and a fir display unit 4d for displaying the amount of fir in the Glen tank 15. Further, a main display portion 4e for displaying various messages and graphs is provided, and further, left and right turn signal lamps 4f, various warning lamps 4g for charging (charging), brake, oil, and check, and the sub shift. A sub-transmission lamp 4h is provided to indicate whether the switching state of the device is high speed, standard, fallen or neutral. The main display section 4e is composed of a dot matrix type liquid crystal graphic display, and in the figure, the bar graph showing the load level of the engine is on the upper side, and the processing on the swing selection plate 24 detected by the sheave sensor S15 is performed. The bar graphs showing the physical quantities are displayed on the lower side, respectively.

On the left side of the seat of the control unit 13,
Control ON / OFF key provided corresponding to each control for inputting command information such as start / stop of each of the above-mentioned controls (depth control, cutting height control, rolling control, direction control, sorting control, etc.) 2. The deep handling switch 3a and the shallow handling switch 3b for manually adjusting the handling depth to the deep handling side or the shallow handling side, respectively.
Also, an operation unit including a check switch 3c and the like is provided (see FIG. 7). The control ON / OFF key is configured as a push button switch that alternately switches between a push-up state and a push-down state. The control is stopped in the push-up state and is activated in the push-down state. . Further, the deep handling switch 3a and the shallow handling switch 3b
The check switch 3c is configured as an ordinary push button switch. Here, the check switch 3c
It functions as a manual operation means that can be changed between two different operating states, that is, a state in which the switch is pressed to be connected to the ground (on state) and a state in which the switch is not pressed (off state).

Next, the control configuration of the combine is shown in FIG. A control unit 7 configured using a microcomputer is provided, and the control unit 7 includes various sensors, that is, the ultrasonic sensor S1 and the stock sensor S.
2, tip sensor S3, rolling sensor S4, engine speed sensor S5, unloader position sensor S6, threshing switch S7, chaff opening sensor S8, toumi wind sensor S9, direction sensor S10, cutting elevation position sensor S11,
Handling depth position sensor S12, mowing lifting operation detection sensor S1
3, steering operation detection sensor S14, sheave sensor S15,
Vehicle speed sensor S16, left and right airframe elevation sensors S17a,
17b, the accelerator position sensor S18, the unloader up / down sensor S19, and the traveling clutch sensor S20 are input, and the control ON / OFF key 2, the deep handling switch 3a, the shallow handling switch 3b, and the check switch 3c are input. Each information is also input to the control unit 7.

Further, an OFF position (OFF state) for turning off the power supply from the drive power source (not shown) to each part of the machine, an ON position for turning on the power supply (ON state), and an engine E
A key type main switch MW is provided which can be switched to a starting position for starting operation of the control unit 7. The switching position information of the main switch MW is also input to the control unit 7. That is, the main switch MW corresponds to a main switch that turns on and off the power supply to each part of the machine.

On the other hand, from the control unit 7, the display unit 4, the actuator M1 for adjusting the handling depth, the direction control actuator M2, the cutting height control actuator M3, the rolling control actuator M4, the unloader control actuator M5, Drive signals are output to each of the electric motors M6 and M7 for adjusting the chaff opening degree and the toumi wind force, and the actuator M8 for controlling the vehicle speed. In addition, the control unit 7 is provided with a non-volatile memory 7A such as an EEPROM. In the above, the actuators M1 to M8 correspond to actuating actuators for actuating each part of the machine, and the various sensors S1 to S20 serve as operation state detecting means for detecting the operation state of each part of the machine. Equivalent to.

Then, using the control unit 7,
Corresponding to the detection information of each sensor S1 to S20 when each target machine part among the machine parts is in the reference state,
Information of the reference value for obtaining the actual operating state of each part of the machine from the detection information of the respective sensors S1 to S20 is stored in the memory 7A as the reference value storage means, and the detection information of the respective sensors S1 to S20 and The actual operating state of each part of the machine is obtained based on the information stored in the memory 7A, and the actuators M1 to M8 are obtained based on the information on the actual operating state.
The control means 100 for controlling the operation of is configured.

Concretely, the following examples are information of the above reference value (hereinafter, also referred to as fine adjustment data).
Is stored as (1) Assuming that the left and right direction sensors S10 are returned to the lateral position of the machine body as a reference state, the detection value of each direction sensor S10 at that time (2) Ascending to the upper limit position as the reference state for the reaper 12 Detection value of the mowing lift position sensor S11 when the unloader is moved (3) The unloader position sensor S6 when the unloader 9 is turned to the home position as a reference state
Detection value (4) of the rolling sensor S4 when the vehicle body V is set in the horizontal state as the reference state (5) The threshing section 14 is set as the target and the chaff opening degree is set as the reference state. The detection value of the chaff opening sensor S8 when operated to (6) The threshing portion 14 is targeted, and the handling depth position is the maximum position to the deep handling side (the deepest position) and the maximum position to the shallow handling side (the maximum position). Depth position sensor S1 when operated to (shallow position)
Detected value (7) of the accelerator position sensor S18 when the accelerator lever is operated to the idling position, the rated rotational speed position, and the maximum rotational speed position, respectively, targeting the detected value (7) operating portion 13 As a target, the traveling clutch 32
Detected by the traveling clutch sensor S20 when the vehicle is operated to the neutral position (neutral position)

Further, the control means 100 causes the memory 7A as error information storage means to store various kinds of error information generated for each part of the machine or each of the sensors S1 to S20 or the actuators M1 to M8 during operation of the machine. Is configured. The error information may be, for example, an abnormality in the detected value of each of the sensors S1 to S20 (impossible value, no change in value, etc.), or an abnormality in the operating state of the electric motor or the like constituting the actuators M1 to M8. Each of the sensors S1 to S20 in which the abnormality has occurred when (the operation is locked or the operation is not performed at all) occurs
For the actuators M1 to M8, the number of occurrences and the frequency of occurrence of abnormality are stored.

Then, a reference value storage mode (hereinafter also referred to as a fine adjustment mode) for storing the reference value information (fine adjustment data) in the memory 7A is started, or the error information is read from the memory 7A. Error information read mode for reading (hereinafter also referred to as self-diagnosis mode)
Command means 101 for instructing activation of the reference value storage mode is provided in the initial state in which control of each part of the machine is stopped. The value storage mode is activated, and the error information read mode is activated in response to an instruction to activate the error information read mode by the command means 101 in the initial state. Specifically, the command unit 101 includes the check switch 3c and the main switch MW, and when the check switch 3c is in one of the two operation states (on state), the main operation is performed. Instructing activation of the fine adjustment mode as the switch MW is switched from the off state to the on state, and
Check switch 3c is in one operation state (ON state)
After the main switch MW is switched from the OFF state to the ON state in another operation state (OFF state) different from, the check switch 3c is changed from the other operation state (OFF state) to one operation state (ON state). The state is instructed to start the self-diagnosis mode.

In the self-diagnosis mode, the control means 100 reads the error information stored in the memory 7A and displays it on the main display section 4e of the display section 4.
Then, the operator or the like can perform a failure analysis or the like based on the displayed error information when a malfunction of the machine occurs during the operation of the machine. Further, the control unit 100 detects each of the sensors S1 to S20 in the normal mode state in which the check switch 3c is maintained in the off state after the check switch 3c is in the off state and the main switch MW is switched from the off state to the on state. The information is corrected with the fine adjustment data to obtain the actual operating state of each part of the machine, and the operating state of each part of the machine is determined based on the information of the actual operating state. The M1 to M8 and the like are driven to execute the above-mentioned respective controls.

Next, a control configuration for storing the fine adjustment data will be described. The control unit 100, in the fine adjustment mode, an entire setting processing state for setting the fine adjustment data for all target machine parts,
Only the selected one of the target machine parts can be switched to the individual setting processing state in which the fine adjustment data is set. Then, the identification information of each part of the machine that is the target of the setting process of the fine adjustment data (specifically,
The display means for switching and displaying (name of each sensor, etc.) based on the manual operation is constituted by the main display portion 4e, and the setting instruction means for instructing the execution of the fine adjustment data setting by the manual operation is provided. , The check switch 3c, and the control means 100, in the individual setting processing state, when any of the identification information of each target machine part is displayed on the main display part 4e, the check switch 3c. When the execution of the setting of the fine adjustment data is instructed in, the fine adjustment data is set for each machine part corresponding to the identification information displayed on the main display portion 4e.

Next, the setting process of the fine adjustment data will be specifically described with reference to FIGS. 9 and 10. still,
In the following, all the displays are displayed on the main display unit 4e. When the fine adjustment mode is activated, as an initial message, "setting function activation" indicating that the setting mode has been activated and "selection with the handling depth switch" are switched and displayed every 2 seconds. That is, here, the deep handling switch 3a is used as an INC switch for switching the display in the direction indicated by "INC" in the figure, and the shallow handling switch 3b is used.
DEC that switches the display in the direction indicated by "DEC" in the figure
Used as a switch. Further, the check switch 3c is used as an ENTER switch for switching the display in the direction shown by "ENTER" in the figure. When the INC switch is pressed in the state of the above initial message, "all fine adjustment" is displayed, indicating that the state of all setting processing has been entered. Further, when the INC switch is pressed, the state shifts to a state where individual setting processing is performed, and thereafter, each time the INC switch is pressed, direction sensor fine adjustment, cutting position fine adjustment, unloader position fine adjustment, machine body elevation fine adjustment, and chaff fine adjustment are performed. Adjustment, clutch fine adjustment, accelerator fine adjustment, and handling depth fine adjustment are sequentially switched to each fine adjustment state. From the state of fine adjustment of the handling depth, every time the INC switch is pressed, the setting processing state of each control data of floating straw alarm setting, threshing selection jumper setting, threshing loss jumper setting, vehicle speed control target setting, direction control output setting, Also, the setting value confirmation state is sequentially switched. on the other hand,
Each time the DEC switch is pressed, the above state is switched to the opposite direction.

The contents of the individual setting process will be described. First, when the ENTER switch is pressed in the state where the direction sensor is finely adjusted, the free values of the left and right direction sensors to be set and the neutral value of the direction turning lever are displayed. Here, after confirming that each direction sensor S10 has returned to the free state in which the machine is laterally oriented and the cutting height steering lever 6 is in the neutral state, and the ENTER switch is pressed, detection by the left and right direction sensors S10 is performed. The value and the detection value of the steering operation detection sensor S14 are set as the fine adjustment data. However, the detection value of the direction sensor S10 is outside the permissible range corresponding to the free state, which is the reference state, or the detection value of the steering operation detection sensor S14 is outside the permissible range corresponding to the neutral state, which is the reference state. If so, it is determined that the sensor is abnormal, and the fine adjustment data is not set for the direction sensor S10 and the steering operation detection sensor S14. Incidentally, although omitted in the following description, when the other sensors are out of the permissible range corresponding to each reference state and it is determined that the sensor is abnormal, the fine adjustment data is not set for the sensor.

Further, when the cutting position is finely adjusted, the EN
When the TER switch is pressed, the upper limit value of the mowing lift position sensor, which is the target of the setting process, and the neutral value of the mowing lift lever are displayed. Here, when it is confirmed that the cutting height steering lever 6 is in the neutral state and the ENTER switch is pressed, first, the detection value (upper limit) of the cutting raising / lowering position sensor S11 when the cutting unit 12 is located at the upper limit position. value)
Is set as the fine adjustment data. In this case, the mowing unit 1
Since it is necessary to raise 2, the message "Raise the mowing section" is displayed before raising, and in response to this, after the ENTER switch is pressed and the confirmation information is input, the mowing lift cylinder The fine adjustment data is set by operating M3 to raise it to the upper limit position. Next, the detection value of the cutting and raising / lowering operation detection sensor S13 is set as fine adjustment data.

In the state where the unloader position is finely adjusted,
When the ENTER switch is pressed, the home detection of the unloader, which is the target of the setting process, and the upper limit value of the elevation are displayed. Here, when it is confirmed that the unloader 9 is turning to the home position and the ENTER switch is pressed, first, the detection value of the unloader position sensor S6 when the unloader 9 is turned to the home position is finely adjusted. It is set as data. Next, the detection value (upper limit value) of the unloader lift sensor S19 when the unloader 9 is located at the upper limit position is set as fine adjustment data. In this case, it is necessary to operate the hydraulic cylinder 62 to raise the unloader 9. Therefore, the message "Increase the unloader" is displayed before raising it.
After the R switch is pressed and the confirmation information is input, the R switch is raised to the upper limit position.

Further, in the state of fine adjustment of the machine body elevation, ENT
When the ER switch is pressed, the horizontal value of the rolling sensor that is the target of the setting process, the lower limit value and the lower limit value on the left side of the machine body, and the lower limit value and the upper limit value on the right side of the machine body are displayed as the machine body elevation position. Here, when the machine body V is in the horizontal state and the ENTER switch is pressed, first, the detection value of the rolling sensor S4 at that time is set as fine adjustment data corresponding to the machine body horizontal state. However, when the detected value of the rolling sensor S4 is out of the allowable range corresponding to the horizontal state and it is determined that the sensor is abnormal, the rolling sensor S4 does not set the fine adjustment data for the horizontal state at the same time. Neither does the fine adjustment data for the next upper and lower limit positions be set. Next, the detection values (the left and right upper and lower limits) of the left and right body lifting sensors S17a, 17b when the left and right parts of the body V are located at the upper limit position and the lower limit position are set as fine adjustment data. In this case, since it is necessary to operate the left and right rolling elevating cylinders 40 to raise and lower the machine body, first display a message saying "elevate the machine body", and in response to this, the ENTER switch is pressed. After the confirmation information is input, raise it to the upper limit position, set the fine adjustment data on the left and right sides of the aircraft on the upper limit side, and similarly, display a message saying "to lower the aircraft". , ENT
After the R switch is pressed and the confirmation information is input, the R switch is moved down to the lower limit position to set the fine adjustment data for the left and right sides of the fuselage.

In the state where the chaff position is finely adjusted, EN
When the TER switch is pressed, the fully open value and the fully closed value of the chaff position targeted for the setting process are displayed. Where ente
When the R switch is pressed, the detection value of the chaff opening sensor S8 when the chaff opening is set to the fully open position and the fully closed position.
(Fully open value and fully closed value) are set as fine adjustment data. In this case, since it is necessary to operate the chaff opening adjusting motor M6 to change the chaff opening, a message "Change chaf opening" is displayed, and the ENTER switch is pressed. After the confirmation information is input, the operation is sequentially performed in the fully open position and the fully closed position.

In the state where the clutch is finely adjusted, ENT
When the ER switch is pressed, the neutral value for the position detection of the traveling clutch that is the target of the setting process is displayed.
Here, when the traveling clutch 32 is disengaged to be in the neutral state and then the ENTER switch is pressed, the detection value of the traveling clutch sensor S20 when the traveling clutch 32 is in the neutral state is set as the fine adjustment data.

In the state of the fine adjustment of the accelerator, ENT
When the ER switch is pressed, the idling value, the maximum rotational speed value, and the rated rotational speed are displayed for the accelerator position targeted for the setting process. Here, first, when the accelerator lever is operated to the idling position and the ENTER switch is pressed, the detected value of the accelerator position sensor S18 at that time is
It is set as fine adjustment data of idling value, and then
Operate the accelerator lever to the maximum speed position and enter
When the switch is pressed, the accelerator position sensor S1 at that time
The detection value of 8 is set as the fine adjustment data of the maximum rotation value, and then, when the accelerator lever is moved to the rated rotation speed position and the ENTER switch is pressed, the detection value of the accelerator position sensor S18 at that time is the rated value. It is set as the fine adjustment data of the rotation value.

Further, in the state where the handling depth is finely adjusted, ENT
When the ER switch is pressed, the deepest value and the shallowest value of the handling depth position to be set are displayed. Where ente
When the R switch is pressed, the detection value of the handling depth position sensor S12 when the handling depth is set to the deepest position and the shallowest position.
(Deepest value and shallowest value) is set as fine adjustment data.
In this case, since it is necessary to operate the electric motor or the like for adjusting the handling depth to change the handling depth, a message “Change the handling depth” is displayed, and in response to this,
After the ENTER switch is pressed and the confirmation information is input, the handling depth is sequentially changed to the deepest position and the shallowest position.

Next, the total setting process will be described. When the "total fine adjustment" is displayed, the ENTER command is displayed.
When the switch is pressed, a list of targets for all setting processing such as the direction sensor and the direction turning lever is displayed. Therefore, ENTER
When the switch is pressed, the setting process from the direction sensor fine adjustment to the handling depth fine adjustment is sequentially performed in the displayed order with the same contents as described in the individual setting process.

Next, the setting process of each control data will be described. First, with the floating straw alarm set, ENT
When the ER switch is pressed, the current on / off status of the floating straw alarm is displayed. If the INC switch is pressed while the floating straw alarm is "OFF", the status changes to "ON". If the DEC switch is pressed while the floating straw alarm is "ON", the status is "OFF".
Change to state. Finally, when the ENTER switch is pressed, the floating straw alarm on / off state is set in the state displayed at that time.

When the threshing selection jumper is set, EN
When the TER switch is pressed, the current on / off state of the threshing selection jumper is displayed. Here, if the INC switch is pressed in the state of the selection jumper "OFF", it changes to the "ON" state, and if the DEC switch is pressed in the state of the selection jumper "ON" it changes to the "OFF" state. And finally, ENTER
When the switch is pressed, the on / off state of the selection jumper is set in the state displayed at that time.

When the threshing loss jumper is set, EN
When the TER switch is pressed, the current on / off state of the threshing loss jumper is displayed. Here, if the INC switch is pressed in the state of the loss jumper "OFF", it changes to the "ON" state, and if the DEC switch is pressed in the state of the loss jumper "ON" it changes to the "OFF" state. And finally, ENTER
When the switch is pressed, the loss jumper on / off state is set as it is displayed at that time.

When the vehicle speed control target is set,
When the R switch is pressed, the current value for the target engine speed is displayed. Here, pressing the INC switch increases the value of the target rotation speed, and pressing the DEC switch decreases the value of the target rotation speed. Finally, when the ENTER switch is pressed, the value of the rotation speed displayed at that time is set as the target value.

When the direction control output is set,
When the R switch is pressed, the current value of turning force is displayed. Here, when the INC switch is pressed, the value of the turning force is increased, and when the DEC switch is pressed, the value of the turning force is decreased.
Finally, when the ENTER switch is pressed, the turning force is set with the value displayed at that time.

Next, in the state of confirming the set value, enter
When the R switch is pressed, the setting values of the fine adjustment data and the control data set as described above are sequentially switched and displayed every 2 seconds. Here, the setting value is displayed for the sensor or the like for which the fine adjustment data is normally set, but the sensor is abnormal for the sensor or the like for which the fine adjustment data is not set. .

Then, the control means 100 stores the set fine adjustment data in the memory 7A as the main switch MW is switched from the on state to the off state in the fine adjustment mode. It is configured to end the fine adjustment mode.

Next, the control operation of the combine will be described with reference to the flow charts shown in FIGS. In the main flow (Fig. 11), the main switch MW
Is turned on and the control starts, and the set time (500
ms) has elapsed, the on / off state of the check switch 3c is detected, and if the check switch 3c is on, the fine adjustment mode is activated. On the other hand, if the check switch 3c is in the off state, the check switch 3c is started in the normal mode and the check switch 3c is activated in the normal mode.
When the on / off state of c is detected and the check switch 3c changes to the on state, the self-diagnosis mode is started.

In the fine adjustment mode (FIG. 12), first, I
An initial message is displayed on the main display portion 4e until the NC switch or the DEC switch is pressed, and when the INC switch or the DEC switch is pressed, the first setting function item is displayed. Until the ENTER switch is pressed, each time the INC switch or the DEC switch is pressed, the set function item is switched and displayed corresponding to each switch. When the ENTER switch is pressed, the set function item at that time is displayed. , The fine adjustment data setting function, the control data setting function, or the set value confirmation function is determined, and the processing state of each function is entered.

In the case of fine adjustment data setting, the fine adjustment data setting contents are displayed, and when the ENTER switch is pressed, the setting process of all the fine adjustment data or the individual fine adjustment data is executed. In the case of control data setting, the current setting contents are displayed, and if there is a switching input by the INC switch or DEC switch, the setting contents are switched accordingly, and when the ENTER switch is pressed, the control data setting process is executed. Finish. When confirming the set value, the set values of the fine adjustment data and the control data set above are switched and displayed at intervals of 2 seconds, and in this display state, ENTER is displayed.
When the switch is pressed, the setting value confirmation processing ends.

Then, the setting function items are displayed and I
While waiting for the operation of any one of the NC switch, the DEC switch and the ENTER switch, it is judged whether or not the main switch MW has been turned off, and if the main switch MW is turned off, After the set values thus set are stored in the memory 7A, the fine adjustment mode is ended. That is, the control means 100 stores the set fine adjustment data in the memory 7A as the main switch MW is switched from the ON state to the OFF state in the fine adjustment mode, and then ends the fine adjustment mode. Is configured.

In the self-diagnosis mode (FIG. 13), various kinds of error information stored in the memory 7A are read out and displayed on the main display section 4e. Then, when the check switch 3c is pressed, the self-diagnosis mode ends.

[Other Embodiments] In the above embodiment, the command means 101 includes one manual operation means 3c and a main switch MW for turning on / off the power supply, and the operation means 3c has two operation states. When the main switch MW is switched from the off state to the on state in the one of the operation states, an instruction to activate the reference value storage mode is given,
In addition, after the main switch MW is switched from the off state to the on state in another operation state in which the operation means 3c is different from the one operation state, the operation means 3c is changed from the one other operation state to Although it is configured to instruct the activation of the error information read mode when the operation state is changed to one of the two operation states, in addition to this, for example, two instructions for instructing each activation of the reference value storage mode and the error information read mode. Even when the main switch MW is operated from the off state to the on state with one of the two switches being pressed, activation of the mode corresponding to the pressed switch is instructed. Good.

In the above embodiment, as the reference value information,
Operating state detection means S when each part of the machine is in the standard state
Although the detected values of 1 to S20 themselves are stored, the detected values themselves are not the detected values themselves, but the standard detected values obtained from the operation state detecting means when the respective machine parts are in the reference state and the respective machine parts are in the reference state. The information of the difference from the actual detected value when the value becomes low may be stored as the information of the reference value.
The machine parts for which the reference value is stored may be machine parts other than those described in the above embodiments. or,
As for the error information, error information other than that described in the above embodiment may be stored.

In the above-mentioned embodiment, the present invention is applied to the combine for agricultural work as a working machine, but it is also applied to various work machines for agricultural work other than the combine, construction machines for civil engineering work, and the like. it can.

[Brief description of drawings]

1] Overall side view of combine

FIG. 2 is a schematic plan view of the combine.

FIG. 3 is a side view showing a body lifting structure of the traveling device.

FIG. 4 is a rear view showing the body lifting structure of the traveling device.

FIG. 5 is a side perspective view of the threshing part of the combine.

FIG. 6 is a power transmission diagram of the combine.

FIG. 7 is a block diagram of a control configuration.

FIG. 8 is a front view of a display unit.

FIG. 9 is a flowchart illustrating a reference value storage process.

FIG. 10 is a flowchart illustrating a reference value storage process.

FIG. 11 is a flowchart of control operation.

FIG. 12 is a flowchart of control operation.

FIG. 13 is a flowchart of control operation.

[Explanation of symbols]

3c operating means 3c setting instruction means 4e Display means 7A reference value storage means 7A Error information storage means 100 control means 101 Command means MW main switch M1 to M8 actuating actuator S1 to S20 operating state detecting means

Front page continuation (58) Fields surveyed (Int.Cl. ⁷ , DB name) G05B 23/00-23/02 G05B 11/00-13/04 G05B 7/00-7/02 A01D 41/00-41 / 16

Claims (4)

(57) [Claims] 1. An operating state detecting means for detecting an operating state of each part of the machine, an actuating actuator for operating each part of the machine, and an operating actuator for operating each part of the machine when each target part of the machine is in a reference state. Corresponding to the detection information of the operating state detecting means, the reference value storing means stores the information of the reference value for obtaining the actual operating state of each part of the machine from the detection information of the operating state detecting means, and the operation The actual operation state of each part of the machine is obtained based on the detection information of the state detection means and the storage information of the reference value storage means, and the operation of the operation actuator is controlled based on the information of the actual operation state, and the machine operation is performed. Various error information generated in each part of the machine, the operation state detecting means, or the actuating actuator is stored in the error information storing means. A control device for a work machine provided with the control means configured in, wherein activation of a reference value storage mode for storing the reference value information in the reference value storage means, or the error information storage means Command means for instructing the start of an error information read mode for reading the error information from the control means is provided in the reference value storage mode by the command means in an initial state in which the control of each part of the machine is stopped. Is started in the reference value storage mode in response to a command to start the error information reading mode, and in the initial state, the error information reading mode is read in response to a command to start the error information reading mode in the command unit. is configured to be activated mode, the command means is freely hand changes into two different operating states
Dynamic operating means and power supply to each part of the machine.
And a main switch for turning off and on,
When one of the two operating states is
Note that the main switch cannot be switched from the off state to the on state.
In response to the instruction, activation of the reference value storage mode is instructed, and the operation means is different from the one operation state.
The main switch is turned off in one operation state of
After being switched to the ON state, the operation means
To change from one operation state to the one operation state
Along with this, the activation of the error information read mode is instructed.
Control device for a work machine configured to. 2. An operating state for detecting an operating state of each part of the machine.
Detecting means and actuating actuator for actuating each part of the machine
Then , the target machine parts of the above machine parts are set to the standard state.
Corresponding to the detection information of the operating state detection means at a certain time
From the detection information of the operating state detection means
Storing reference value information for determining the actual operating state of
Means for storing the detected information of the operating state detecting means.
Information and the information stored in the reference value storage means.
Obtain the actual operating state of each part of the machine and use it as information for the actual operating state.
When the operation of the actuator for operation is controlled based on
In both cases, each part of the machine or the operation status is detected while the machine is operating.
Occurred for the output means or the actuator for actuation
Various error information is stored in the error information storage means.
Control of work machine provided with control means configured as
A device for storing the reference value information in the reference value storage means.
To activate the reference value storage mode for
Error information for reading the error information from the storage means
Command means for instructing the start of the reading mode is provided, and the control means stops the control of each part of the machine.
In the initial state, the reference value storage mode is set by the command means.
The reference value storage mode is
Command is activated in the initial state
Command to activate the error information read mode.
The error information read mode is activated.
In the reference value storage mode, the control means is configured to
Information on the above reference values for all target machine parts
All setting processing states to be set and the target machine parts
Information on the above-mentioned reference values is set only for the selected one.
It is configured to be switchable to individual setting processing state
Control device for a working machine you are. 3. The identification information of each part of the target machine is handed.
Display means for switching and displaying based on a dynamic operation;
A setting instructor that manually sets the reference value
A step is provided, and the control means, in the individual setting processing state,
Any of the identification information of each part of the target machine on the display means
When either is being displayed, the in the setting instruction means
As the execution of the reference value setting is instructed, the display
For each part of the machine corresponding to the identification information displayed on the
3. It is configured to set the reference value by
Control device for the work machine described. 4. The control means is for storing the reference value storage mode.
At the main switch from the on state to the off state
With the changeover, the set reference value
After storing the information in the reference value storage means, the reference value
3. The method according to claim 2, wherein the storage mode is terminated.
Is a control device for the work machine described in 3 .