JP6407103B2 - Working machine - Google Patents

Description

  The present invention relates to a work machine capable of adjusting a control characteristic that sets a relationship between an operation displacement of an accelerator operation unit and an engine speed.

  2. Description of the Related Art Conventionally, agricultural vehicles and construction civil vehicles have adopted a configuration in which the engine speed is changed by an engine control signal generated based on an operation displacement of an accelerator operation unit such as an accelerator pedal or an accelerator lever. In the case of a working machine, the engine speed is related not only to the vehicle speed but also to the driving speed of the installed work device, so that appropriate adjustment of the engine speed is important.

  For example, the construction vehicle according to Patent Document 1 includes an accelerator adjustment unit including a controller that stores the characteristics of the operation amount / engine speed and a setting switch as an external input unit. As a trigger, an adjustment mode for adjusting the characteristics of the operation amount / engine speed is executed. Specifically, when the operator operates the accelerator pedal and the setting switch is turned on at an arbitrary position during the operation, the operation amount / engine so that the engine speed is the maximum engine speed. The speed characteristics are set. Since a setting switch must be prepared as a dedicated operation tool for executing this adjustment mode, the location of the setting switch and the wiring between the setting switch and the controller must be set in the design of the operation section with a small space. It is necessary to consider.

JP 2003-343301 A

  In view of the above situation, there is a demand for adjustment of control characteristics that sets the relationship between the operation displacement of the accelerator operation unit and the engine speed with a simpler configuration.

  In the work machine according to the present invention, an engine, an accelerator operation unit, a management unit that manages a conversion table that sets a relationship between an operation displacement of the accelerator operation unit and the rotation speed of the engine, A control signal generating unit that generates an engine control signal for controlling the engine speed from the operation displacement using the conversion table; a pattern detection unit that detects a specific pattern of the operation displacement of the accelerator operation unit; An adjustment unit that executes an adjustment mode for adjusting the conversion table in response to detection of a specific pattern.

  According to this configuration, in order to shift to the adjustment mode for adjusting the conversion table in which the relationship between the operation displacement of the accelerator operation unit and the engine speed is set, the operator selects the accelerator operation unit with a specific pattern. Just operate with. When the operation with the specific pattern performed by the operator is detected as the operation displacement with the specific pattern by the pattern detection unit, the adjustment mode is executed. Thereby, the shift to the adjustment mode is realized without requiring a dedicated operation tool for executing the adjustment mode.

  Accelerator operating units often used in work machines are an accelerator lever and an accelerator pedal. In this way, when the accelerator operation unit is composed of two different operating bodies (accelerator lever and accelerator pedal), a combination of operations on the two operating bodies can be used as a specific pattern, and the specific pattern is a normal operation. There is almost no chance that it will happen by accident. Therefore, in one preferred embodiment of the present invention, the specific pattern described above is configured to be created by a combination of the operation displacements of the accelerator lever and the accelerator pedal. Thereby, the shift to the adjustment mode has high reliability.

  In addition to the conversion table as a control characteristic that sets the relationship between the operation displacement of the accelerator operation unit and the engine speed, the work implement needs to be adjusted in various control characteristics. If the transition to the adjustment mode for performing such adjustment can also be realized through the operation of the accelerator operation unit in a specific pattern, it is advantageous because an operation tool dedicated to the adjustment mode transition is not necessary. Therefore, in one preferred embodiment of the present invention, the adjustment unit is different from the adjustment mode in response to the pattern detection unit detecting another specific pattern different from the specific pattern. Perform another adjustment mode.

Among the adjustment of the conversion table (control characteristics) that sets the relationship between the operation displacement of the accelerator operation unit and the engine speed, the distance from one end (operation start end) to the other end (operation end) of the accelerator operation unit Adjustment of the detection range in which the displacement width corresponds to the detection width of the displacement position detection sensor that detects the operation displacement position of the accelerator operation unit is important for obtaining appropriate detection accuracy and detection range. Therefore, in a preferred embodiment of the present invention, a displacement position detection sensor for detecting an operation displacement position of the accelerator operation unit is provided, and a detection signal of the displacement position detection sensor is detected as an operation displacement of the accelerator operation unit. Is sent to the control signal generator , and the accelerator operation unit is operated from one end to the other end of the operation range during execution of the adjustment mode, thereby setting the detection width of the displacement position detection sensor.

  In the adjustment mode, when setting the detection width of the displacement position detection sensor based on the operation from one end (operation start end) to the other end (operation end) of the accelerator operation unit by the operator, the operator performs an inappropriate operation. When the operation is started from the position or when the operation is ended at an inappropriate operation position, the set detection width of the displacement position detection sensor becomes insufficient. In order to avoid this problem, in one preferred embodiment of the present invention, the detection signal of the displacement position detection sensor when the accelerator operation unit is located at the one end, and the accelerator operation unit at the other end. When the signal difference from the detection signal of the displacement position detection sensor at the time of positioning is greater than or equal to a predetermined value, the adjustment mode ends after the detection width of the displacement position detection sensor is set. Thus, only when the operation width of the accelerator operation unit is sufficient, the detection width of the displacement position detection sensor is set, and the adjustment mode ends. That is, when the operation width of the accelerator operation unit is insufficient, the detection width of the displacement position detection sensor is not set, so that the problem that the detection width of the displacement position detection sensor is set carelessly is avoided. Is done.

  In the adjustment mode, the operator first operates the accelerator operation unit with a specific pattern for shifting to the adjustment mode.After shifting to the adjustment mode, the operator operates the accelerator operation unit for adjustment. Advantageously, the adjustment process takes place automatically, and after the adjustment process is complete, the adjustment mode is automatically terminated. At that time, it is important for the operator to grasp that the adjustment mode is being executed and that the adjustment mode has ended. For this reason, in one preferred embodiment of the present invention, the adjustment mode automatically ends when the adjustment of the conversion table is completed, and the execution of the adjustment mode is notified in response to the execution of the adjustment mode. And a notification unit that starts outputting the notification signal and stops outputting the notification signal when the adjustment mode ends.

  The condition for shifting to the adjustment mode and executing the adjustment mode is the operation of the accelerator operation unit in a specific pattern. In order to surely avoid the shift to the unexpected adjustment mode due to the operation in the specific pattern accidentally performed during the normal operation, it is preferable to add another condition. In particular, the adjustment mode is executed not at an arbitrary time but at a specific time. In order to execute the adjustment mode, it is necessary to supply power to each functional unit. Furthermore, the adjustment mode is preferably executed while the engine is stopped. If such a thing is considered, as an additional condition for execution of the adjustment mode, a state condition consisting of turning on the main switch and stopping the engine, and an elapsed time from when the state condition is satisfied are a predetermined time. It is convenient that a time condition of being within is set. That is, it is appropriate to shift to the adjustment mode after the main switch is turned on and before the main switch is operated to the engine start position. However, if the time from when the main switch is turned on to when the engine is started is abnormally long, it can be considered that a special situation has occurred. Under such circumstances, the transition to the adjustment mode is prohibited. It is appropriate to do.

  In a preferred embodiment of the present invention, an inclination sensor for detecting the inclination of the airframe is provided, and when the inclination is equal to or greater than a predetermined value, an excessive inclination is notified through a notification device, and the adjustment mode is being executed. In addition, adjustment is performed with the detected value of the tilt sensor as a zero point. When shifting to the adjustment mode and executing the adjustment mode, the worker basically puts the work implement in a horizontal state. Using this fact, it is advantageous to automatically perform the zero point adjustment of the tilt sensor at this timing. In addition, when the measurement system of the tilt sensor adjusted for zero point is configured to notify the occurrence of excessive tilt when the tilt sensor detects a tilt of the vehicle body above a predetermined value, When an abnormality of the inclination sensor itself to which a different countermeasure is applied is detected by the inclination sensor abnormality detection unit, it is advantageous to notify in a form different from the notification of occurrence of excessive inclination. For example, when the notification device is a buzzer, the buzzer may sound continuously when excessively inclined, and the buzzer sound intermittently when an abnormality of the inclination sensor is detected. When the notification device is a lamp, the notification target can be distinguished by continuous lighting and blinking.

As an example of the specific pattern that triggers the transition to the adjustment mode, an operation that is detected as an operation displacement locus that does not occur during normal operation of the accelerator operation unit is proposed. Such an operation displacement trajectory can be easily obtained by tracing the operation displacement over time.
The obtained operation displacement trajectory and the trajectory as the specific pattern can be immediately compared and determined using a pattern recognition technique. Further, if it is only determined whether or not the reciprocating operation of the accelerator operation unit is performed within a predetermined time, it is simple because it is only necessary to check the time interval of the inflection point (turning point) of the operation displacement. Therefore, it is also preferable to detect the specific pattern as repeated execution of the operation displacement of the accelerator operation unit within a predetermined time. It is also possible to combine the check of the time interval of the inflection point of the operation displacement and the pattern recognition of the operation displacement trajectory.

It is a schematic diagram which shows the basic principle which adjusts the relationship between an operation displacement and the rotation speed of an engine. It is a side view of the wheel type corn harvester which is one of the embodiments of a working machine. It is a top view of a wheel type corn harvesting machine. It is a top view of the operation part of a wheel type corn harvester. It is a schematic diagram which shows the engine power transmission path | route of a wheel type corn harvester. It is a functional block diagram of a control system. It is a schematic diagram which shows an example of adjustment of the conversion table in adjustment mode.

  Before describing a specific embodiment of the working machine according to the present invention, the basic principle of adjusting the relationship between the operation displacement and the rotational speed of the engine 3 that characterizes the present invention will be described with reference to FIG. . Here, an accelerator lever 81 and an accelerator pedal 82 are provided as an accelerator operation unit 80 for changing the rotational speed of the engine 3. When the accelerator lever 81 is swung, its displacement is detected by a displacement position detection sensor (A) 810. When the accelerator pedal 82 is depressed to swing, the swing displacement is detected by the displacement position detection sensor (B) 820. The detected swing displacement is sent to the control unit 5.

  The control unit 5 includes a control signal generation unit 50, a conversion table 51, a management unit 61, an adjustment unit 62, and a pattern detection unit 63. The control signal generation unit 50 generates an engine control signal for controlling the rotational speed of the engine 3 from the operation displacement of the accelerator operation unit 80. The management unit 61 manages the conversion table 51 in which the relationship between the operation displacement of the accelerator operation unit 80 and the engine speed is set. This conversion table 51 has a calculation structure based on a control characteristic for deriving a variable value corresponding to the engine speed or engine control data using an operation displacement (specifically, input data indicating the operation displacement) as an input parameter. Is equivalent to a measurement line, a control map, a control function, and the like. Here, in order to simplify the explanation, it is assumed that the conversion table 51 has a function of deriving the engine speed using the operation displacement as an input parameter. In the example of FIG. 1, since the accelerator operation unit 80 includes an accelerator lever 81 and an accelerator pedal 82, the conversion table 51 also includes an accelerator lever conversion table and an accelerator pedal conversion table. ing. However, unless it is particularly necessary to distinguish between them, the phrase “conversion table 51” is commonly used for both. Therefore, the control signal generation unit 50 uses the conversion table 51 to generate an engine control signal for controlling the rotational speed of the engine 3 from the operation displacement of the accelerator operation unit 80 (displacement-signal conversion).

  The adjustment unit 62 has a function of adjusting the conversion table 51. That is, the adjustment unit 62 changes the relationship between the operation displacement of the accelerator operation unit 80 and the engine speed. For example, if the conversion table 51 is a characteristic curve (which may be a straight line) indicating a function of the operation displacement and the engine speed, the function of the adjustment unit 62 can translate this characteristic curve (zero point adjustment) or tilt. It is a fine adjustment function that changes the relationship between the input value and the output value by adjusting (sensitivity adjustment) or expanding / contracting (resolution adjustment). Of course, the adjusting unit 62 may have a function of changing the shape of the characteristic curve itself, or may have a function of selecting a suitable characteristic curve from a plurality of different characteristic curves.

  A process in which the adjustment of the conversion table 51 is performed by the adjustment unit 62 is referred to herein as an adjustment mode. A trigger for entering this adjustment mode is output by the pattern detection unit 63. The pattern detection unit 63 has a function of detecting a specific pattern of the operation displacement of the accelerator operation unit 80. When the pattern detection unit 63 detects a predetermined specific pattern, the pattern detection unit 63 outputs a trigger commanding the shift to the adjustment mode, and requests the adjustment unit 62 for the adjustment mode. In response to the request for shifting to the adjustment mode, the adjustment unit 62 executes an adjustment mode for adjusting the conversion table 51 and adjusts the conversion table 51 with the management unit 61 interposed.

  As the specific pattern detected by the pattern detection unit 63, a specific operation pattern that cannot occur by the normal operation of the accelerator operation unit 80 is employed. Thereby, the malfunction that the pattern detection part 63 outputs an adjustment mode trigger by the operation displacement of the normal accelerator operation unit 80 is avoided.

  In order to avoid accidental execution of the adjustment mode, it is preferable to set an additional condition for execution of the adjustment mode rather than starting execution of the adjustment mode only by detecting a specific pattern. For example, the state condition including ON of the main switch 85 and the engine stop and the time condition that the operation displacement of the specific pattern of the accelerator operating tool is performed within a predetermined time after the state condition is satisfied are satisfied. This may be an additional condition that permits execution of the adjustment mode. That is, after the main switch 85 is turned on, the engine starter remains off (that is, the accessory is energized), and the adjustment mode is set only when the accelerator operation unit 80 is operated in a specific pattern within a predetermined time. Executed. If the main switch 85 is turned on and the engine starter is off for a predetermined time, the execution of the adjustment mode is not permitted, so that accidental execution of the adjustment mode can be reliably avoided. Setting such additional conditions also has the advantage of preventing the inconvenience that the adjustment mode is executed while the engine is being driven.

  Also, one simple adjustment item executed by executing the adjustment mode is that one operation limit position (one end) of the accelerator operation unit 80 such as the accelerator lever 81 or the accelerator pedal 82 is changed to the other operation limit position (the other one). The operation displacement width up to the end) is adjusted to be a detection width of an operation displacement detector such as the displacement position detection sensor (A) 810 or the displacement position detection sensor (B) 820. At that time, it is assumed that the operator operates from one end of the accelerator lever 81 to the other end. However, when the operation is not performed as such, the adjustment needs to be invalidated. For this reason, a deviation amount between one end and the operation start end operated this time, a deviation amount between the other end and the operation end operated this time, or a deviation amount of both of them is set in advance. It is preferable that the detection width adjustment is invalidated when the value is equal to or greater than the predetermined value. Also, when the signal difference between the detection signal of the displacement position detection sensor when the accelerator operation unit is located at one end and the detection signal of the displacement position detection sensor when the accelerator operation unit is located at the other end is greater than or equal to a predetermined value In addition, the adjustment of the detection width may be invalidated. When the adjustment becomes invalid, it may be notified through the notification device 90.

  Next, one specific embodiment of the working machine according to the present invention will be described with reference to the drawings. FIG. 2 is a side view of the wheel corn harvester, and FIG. 3 is a plan view of the wheel corn harvester. In the following description, the forward direction of the wheel-type harvesting machine is the forward direction (the direction of “F” in FIGS. 2 and 3), and the backward direction is the backward direction (the direction of “B” in FIGS. 2 and 3). , “Front side” and “rear side” are defined similarly. The airframe 4 extends in the front-rear direction, and in plan view (see FIG. 3), the direction extending horizontally perpendicular to the front-rear central axis is defined as the airframe lateral direction, the lateral direction, or the left-right direction.

  This wheel-type corn harvester (hereinafter simply referred to as “harvesting machine”) includes a machine body 4 that can be driven by a front wheel 1 that is a pair of left and right drive wheels and a rear wheel 2 that is a pair of left and right steering wheels. The harvesting machine is configured to drive the pair of left and right front wheels 1 based on the power of the engine 3 so that the machine body 4 travels.

  The airframe 4 has been transported by a driver 11 that is operated by the operator, a harvesting device 6 that tears and harvests corn in the field, a feeder 7 that transports the corn harvested by the harvesting device 6 backward, and a feeder 7. A corn peeling device 8, a storage tank 9 for storing the peeled corn, a residue processing device 10 for crushing residues remaining in the field after harvesting corn, and the like are provided.

  As shown in FIG. 4, the driving unit 11 includes a driver seat 12, a steering wheel 13 that performs a steering operation of the rear wheel 2, an accelerator operation unit 80 that generates an operation displacement for setting the engine speed, and a notification device 90. Is provided. In this embodiment, the accelerator operation unit 80 includes an accelerator lever 81 operated by the operator's hand and an accelerator pedal 82 operated by the operator's foot. Although the accelerator lever 81 is known per se, the accelerator lever 81 is configured to be able to hold the position at the operation position after the operation with a frictional force. The accelerator pedal 82 is spring-biased so as to return to the initial position (upward swing position). A shift lever 83 is provided beside the accelerator lever 81, and a brake pedal 84 is disposed beside the accelerator pedal 82.

The engine power transmission path system will be described with reference to FIG.
The power from the engine 3 is transmitted to the work system power transmission line 3A through the first belt transmission mechanism 31, and is transmitted to the traveling system power transmission line 3B through the second belt transmission mechanism 32. The work system power transmission line 3A transmits power to the harvesting device 6, the feeder 7, the skinning device 8, the residue processing device 10, and the like. The first belt transmission mechanism 31 is provided with a work clutch 40 to turn on and off the transmission of engine power to the work system power transmission line 3A.
When the work is not performed, the power transmission to the work system power transmission line 3A is interrupted by turning off the work clutch 40. The traveling system power transmission line 3B is provided with a hydrostatic continuously variable transmission 34 that is speed-changed by a shift lever 83.

Next, a control system for the harvester, particularly a control system for adjusting the engine speed, will be described with reference to FIGS. FIG. 6 is a functional block diagram showing each functional element in the control system. FIG. 7 is a schematic diagram showing a control characteristic adjustment process in which the relationship between the operation displacement of the accelerator operation unit 80 operated by the operator and the engine speed is set.
The control characteristic here is a conversion table 51 for deriving the engine speed using the operation displacement as an input parameter, and the adjustment process of the conversion table 51 uses the basic principle described with reference to FIG.

  The control unit 5 shown in FIG. 6 includes, as control function units, a control signal generation unit 50, a conversion table 51, an adjustment unit 60, an input signal processing unit 52, a travel control unit 53, a work control unit 54, and a notification unit. 55 and the like are included. Each control function unit is interconnected by a signal transmission line, an in-vehicle LAN, and other data transmission lines.

  The input signal processing unit 52 functions as one of the input interfaces of the control unit 5, and a signal indicating an operation state of an operation tool operated by a driver such as the accelerator lever 81, the accelerator pedal 82, the transmission lever 83, Signals indicating the states of the hydrostatic continuously variable transmission 34, the work clutch 40, the harvesting device 6, the storage tank 9, and the like are input. As shown in FIG. 6, in the vicinity of the accelerator lever 81, the accelerator pedal 82, and the speed change lever 83, a displacement position detection sensor (A) 810 comprising a potentiometer for detecting the respective operation displacement positions, a displacement position detection sensor (B). 820, a displacement position detection sensor 830 is provided. Accordingly, the operation displacement positions of the accelerator lever 81, the accelerator pedal 82, and the shift lever 83 are determined via the displacement position detection sensor (A) 810, the displacement position detection sensor (B) 820, the displacement position detection sensor 830, and the input signal processing unit 52. And sent to the control signal generator 50 and the adjustment unit 60. For example, the operation displacement of the accelerator lever 81 is converted into a detection signal as a detection result of the displacement position detection sensor (A) 810 and sent to the control signal generation unit 50 via the input signal processing unit 52. For example, as the operation position of the accelerator lever 81 is operated from the initial position toward the maximum position, the detection signal output from the displacement position detection sensor (A) 810 is the engine speed from the vicinity of the idle speed to the maximum speed. Respond to changes. The same applies to the accelerator pedal 82.

  The traveling control unit 53 receives a transmission operation signal based on the operation of the transmission lever 83 through the input signal processing unit 52, and controls an operation device in the traveling system power transmission line 3B, for example, a hydrostatic continuously variable transmission 34. Can be configured. The work control unit 54 can be configured to control the operating equipment in the work system power transmission line 3 </ b> A based on the work device operation signal received via the input signal processing unit 52.

  The notification unit 55 has a function of using the notification device 90 to notify the traveling state of the harvester, the working state of the harvester, the engine speed, the water temperature, the hydraulic pressure, the remaining amount of fuel, and the like. The notification device 90 includes a display (including lamps) 92 that gives visual information to the pilot, and a buzzer 91 that gives auditory information to the pilot.

  The control signal generation unit 50 generates an engine control signal for controlling the rotational speed of the engine 3 using the conversion table 51. The generated engine control signal is sent to the engine control unit 30. The conversion table 51 sets the relationship between the operation displacement of the accelerator lever 81 and the accelerator pedal 82 and the engine speed. In FIG. 7, the conversion table 51 for the accelerator lever 81 is shown as a measurement line with the horizontal axis as the input parameter and the vertical axis as the engine speed. That is, if the input parameter is the operation displacement of the accelerator lever 81, the engine speed that is the control target is derived from this operation displacement. The conversion table 51 includes an accelerator lever conversion table and an accelerator pedal conversion table, and the conversion table 51 for the accelerator pedal 82 is similar.

  The adjustment unit 60 has a function of adjusting the conversion table 51 and includes a management unit 61, an adjustment unit 62, and a pattern detection unit 63. The management unit 61 manages the conversion table 51 used when the control signal generation unit 50 generates an engine control signal in response to a request from the control signal generation unit 50. The adjustment unit 62 executes a program routine in an adjustment mode in which the conversion table 51 is adjusted, that is, the operation displacement amount of the accelerator lever 81 or the relationship between the operation displacement of the accelerator pedal 82 and the engine speed is changed. For example, if the conversion table 51 is a substantially linear measuring line as shown in FIG. 7, in this adjustment mode, the parallel movement or rotation (gradient change) of the measuring line is performed by the operator (maintenance inspector). It changes according to the input. Further, for the accelerator lever 81 or the accelerator pedal 82, the minimum operation displacement (one operation limit position, corresponding to one end) and the maximum operation displacement (the other operation limit position) in the input parameter range (operation displacement range) of the measurement line (Corresponding to the other end) and the input parameter, which is the horizontal axis of the measurement line, is adjusted to result in detection of the displacement position detection sensor (A) 810 or the displacement position detection sensor (B) 820. It is also possible to adjust the width. Similarly, correction of displacement error detection sensor (A) 810 with respect to accelerator lever 81, displacement error of displacement position detection sensor (B) 820 with respect to accelerator pedal 82, and error correction or change in resolution (sensitivity) are performed. Can do. Of course, instead of moving or rotating the entire measuring line, it is also possible to partially change the measuring line and change the shape of the measuring line itself.

In this embodiment, an operation displacement in a specific pattern of the accelerator lever 81 or an operation displacement in a specific pattern of the accelerator pedal 82 is used as a trigger for executing the adjustment mode in the adjustment unit 62. An example of the specific pattern in the accelerator lever 81 is
(1) The accelerator lever 81 is reciprocated a predetermined number of times or more within a predetermined time from the displacement start end to the displacement end;
(2) operating the accelerator lever 81 at a predetermined speed or higher for operating displacement of a predetermined length or longer;
(3) Operate the accelerator lever 81 at a predetermined rhythm for a predetermined time;
Etc.
The operation displacement of the specific pattern of the accelerator lever 81 is detected by the pattern detection unit 63. When the pattern detection unit 63 continuously evaluates the operation displacement signal sent from the displacement position detection sensor (A) 810 and recognizes a preset specific pattern, the pattern detection unit 63 notifies the adjustment unit 62 for the accelerator pedal. A trigger signal for shifting to the adjustment mode for adjusting the conversion table is given.

  The adjustment unit 62 that has received the trigger signal from the pattern detection unit 63 shifts to the adjustment mode and executes the adjustment mode program. In this embodiment, when entering the adjustment mode, a buzzer sound is generated from the buzzer 91 notifying that the adjustment mode has been entered. At the same time or / or on the display 92, a lamp indicating that the adjustment mode has been entered is lit.

  As a condition for the adjustment unit 62 to shift to the adjustment mode, not only the trigger signal is received, but also another state can be set as an additional condition. An example of the additional condition is to use a switch signal from the main switch 85. As shown in FIG. 1, the main switch 85 can be switched from the OFF position to the ON position and further to the starter position. At the ON position, the accessory system and the control system are energized and their functions can be exhibited. At the starter position, the starter is energized and the engine 3 is started. That is, when the main switch 85 is switched from the OFF position to the ON position, the engine 3 is in a stopped state. Since maintenance work such as the adjustment mode is normally performed while the engine 3 is stopped, the state in which the main switch 85 is switched from the OFF position to the ON position is suitable for shifting to the adjustment mode. In addition, if the state where the main switch 85 is switched from the OFF position to the ON position continues for a long time, it is considered that there is no intention to shift to the adjustment mode, and the transition to the adjustment mode is prohibited after a predetermined time has elapsed. Is also possible. For this reason, in this embodiment, as an additional condition for executing the adjustment mode, the main switch 85 is in a state of being switched from the OFF position to the ON position (state condition) and the continuation of this state condition. Is set within a predetermined time (time condition). In addition, since the stop state of the engine 3 is a prerequisite for the adjustment mode, if the engine 3 is started during the execution of the adjustment mode, the adjustment mode is forcibly terminated.

  The adjustment mode automatically ends when the adjustment of the conversion table 51 is completed, and the notification device 90 stops notification that the adjustment mode is in effect when the adjustment mode ends. In addition, when the accelerator lever 81 is not operated firmly from one end to the other end in the operation range and the adjustment becomes invalid, the adjustment mode does not end and the notification by the notification device 90 continues. It is done. Therefore, the operator can know that the operation of the accelerator lever 81 is not complete based on the fact that the notification by the notification device 90 does not end, and performs the operation again. If the re-operation is reliable, the adjustment is completed and the adjustment mode ends. A trigger (such as an operation switch) that forcibly ends the adjustment mode may be provided.

In this embodiment, a tilt sensor 95 is provided, and a tilt detection signal from the tilt sensor 95 is input to the input signal processing unit 52. The excessive inclination determination unit 56 checks the inclination detection signal, and when the inclination of the airframe 4 exceeds a preset threshold value, the notification unit 55 operates the buzzer 91 and / or the display 92 to detect the excess inclination determination signal. An excessive tilt is reported.
Note that an inclination sensor abnormality detection unit 521 that detects an abnormality of the inclination sensor 95 is constructed in the input signal processing unit 52. When an abnormality is detected in the inclination sensor 95, an excessive inclination is detected through the buzzer 91 and / or the display 92. Notification in a form different from the notification is performed.

  Accelerator adjustment work is generally performed in a stable location such as a service center with the aircraft 4 in a horizontal state. For this reason, it is preferable that the tilt detection signal from the tilt sensor 95 at that time is automatically set to the zero point when the adjustment mode is entered.

[Another embodiment]
(1) In the above-described embodiment, an example of shifting to the adjustment mode in which the accelerator lever 81 is adjusted by the operation displacement of the specific pattern of the accelerator lever 81 has been described. Is provided, one type of specific pattern and one type of adjustment mode are prepared, and adjustment of the plurality of conversion tables 51 for a plurality of accelerator operating tools is performed at the same timing in the same adjustment mode. You may do it. In addition, a plurality of adjustment modes (adjustment mode of the accelerator lever 81, adjustment mode of the accelerator pedal 82, zero point adjustment mode of the tilt sensor 95, other adjustment modes, etc.) for adjusting the plurality of conversion tables 51 are prepared. A plurality of types of specific patterns assigned to each adjustment mode may be prepared. Each specific pattern may be created by operating displacement of a single accelerator operating tool or may be created by combining operating displacements of a plurality of accelerator operating tools. For example, the first specific pattern that triggers the adjustment mode for the accelerator lever 81 and the second specific pattern that triggers the adjustment mode for the accelerator pedal 82 are used as the operation displacement of the accelerator lever 81 and / or the accelerator pedal 82. May be produced by operating displacement. That is, the first specific pattern may be generated by the accelerator lever 81 and the second specific pattern may be generated by the accelerator pedal 82, or vice versa. Of course, the first specific pattern and the second specific pattern may be used. Either one of the accelerator operation tools may be generated by the operation displacement of the accelerator operation tool, and the other specific pattern may be generated by a combination of the operation displacements of both accelerator operation tools.
(2) The mode shifts to one adjustment mode by the operation displacement of the specific pattern of the accelerator lever 81 and / or the accelerator pedal 82, and in the adjustment mode, the operation is finely performed by the specific operation of the accelerator lever 81 and / or the accelerator pedal 82. Various adjustment menus (such as an adjustment mode of the accelerator lever 81, an adjustment mode of the accelerator pedal 82, a zero point adjustment mode of the tilt sensor 95, and other adjustment modes) may be selected.
(3) The division of each functional unit shown in the functional block diagrams of FIG. 1 and FIG. 6 is performed for ease of explanation, and each functional unit may be integrated with other functional units. Each functional unit may be further divided into a plurality of functional units.

  The work machine according to the present invention can be applied to various work machines including an accelerator operation unit, such as a combine, a tractor, a rice transplanter, and a bucket loader, in addition to a corn harvester.

3: Engine 9: Storage tank 10: Residue processing device 11: Driving unit 15: Horizontal mechanism 30: Engine control unit 5: Control unit 50: Control signal generating unit 51: Conversion table 52: Input signal processing unit 521: Inclination sensor Abnormality detection unit 53: travel control unit 54: work control unit 55: notification unit 56: excess inclination determination unit 60: adjustment unit 61: management unit 62: adjustment unit 63: pattern detection unit 80: accelerator operation unit 81: accelerator lever 810 : Displacement position detection sensor 82: Accelerator pedal 820: Displacement position detection sensor 83: Shift lever 830: Displacement position detection sensor 85: Main switch 90: Notification device 91: Buzzer 92: Display 95: Tilt sensor

Claims (10)

Engine,
An accelerator operating unit;
A management unit that manages a conversion table that sets a relationship between the operation displacement of the accelerator operation unit and the engine speed;
A control signal generator for generating an engine control signal for controlling the engine speed from the operation displacement of the accelerator operation unit using the conversion table;
A pattern detection unit for detecting a specific pattern of operation displacement of the accelerator operation unit;
An adjustment unit that executes an adjustment mode for adjusting the conversion table in response to detection of the specific pattern , and
In response to the pattern detection unit detecting another specific pattern different from the specific pattern, the adjustment unit executes another adjustment mode different from the adjustment mode . An engine,
An accelerator operating unit;
A management unit that manages a conversion table that sets a relationship between the operation displacement of the accelerator operation unit and the engine speed;
A control signal generator for generating an engine control signal for controlling the engine speed from the operation displacement of the accelerator operation unit using the conversion table;
A pattern detection unit for detecting a specific pattern of operation displacement of the accelerator operation unit;
An adjustment unit that executes an adjustment mode for adjusting the conversion table in response to detection of the specific pattern, and
A displacement position detection sensor for detecting an operation displacement position of the accelerator operation unit is provided, and a detection signal of the displacement position detection sensor is sent to the control signal generation unit as an operation displacement of the accelerator operation unit, and the adjustment mode is being executed. in the by accelerator operation unit is operated from one end of the operating range to the other end, the displacement position detection work machine detection width Ru set of sensors. A signal difference between a detection signal of the displacement position detection sensor when the accelerator operation unit is located at the one end and a detection signal of the displacement position detection sensor when the accelerator operation unit is located at the other end is predetermined. The working machine according to claim 2 , wherein the adjustment mode ends after the detection width of the displacement position detection sensor is set when the value is greater than or equal to the value. An engine,
An accelerator operating unit;
A management unit that manages a conversion table that sets a relationship between the operation displacement of the accelerator operation unit and the engine speed;
A control signal generator for generating an engine control signal for controlling the engine speed from the operation displacement of the accelerator operation unit using the conversion table;
A pattern detection unit for detecting a specific pattern of operation displacement of the accelerator operation unit;
An adjustment unit that executes an adjustment mode for adjusting the conversion table in response to detection of the specific pattern, and
As an additional condition for executing the adjustment mode, a state condition consisting of turning on the main switch and stopping the engine and a time condition that the elapsed time from the establishment of the state condition is within a predetermined time are set. Tei Ru work machine. An engine,
An accelerator operating unit;
A management unit that manages a conversion table that sets a relationship between the operation displacement of the accelerator operation unit and the engine speed;
A control signal generator for generating an engine control signal for controlling the engine speed from the operation displacement of the accelerator operation unit using the conversion table;
A pattern detection unit for detecting a specific pattern of operation displacement of the accelerator operation unit;
An adjustment unit that executes an adjustment mode for adjusting the conversion table in response to detection of the specific pattern, and
An inclination sensor for detecting the inclination of the airframe is provided, and when the inclination is equal to or greater than a predetermined value, an excessive inclination is notified through a notification device,
Wherein during the adjustment mode execution, work machine adjustments Ru done for zero point detection value of the tilt sensor. The work according to claim 5 , further comprising a tilt sensor abnormality detection unit that detects an abnormality of the tilt sensor, wherein when the abnormality of the tilt sensor is detected, a notification different from the notification of the excessive tilt is performed through the notification device. Machine. The accelerator operation unit includes an accelerator lever and an accelerator pedal,
The work machine according to any one of claims 1 to 6, wherein the specific pattern is created by a combination of operation displacements of the accelerator lever and the accelerator pedal. The adjustment mode automatically ends when the adjustment of the conversion table is completed,
In response to execution of the adjustment mode, a notification unit is provided that starts outputting a notification signal that notifies the execution of the adjustment mode and stops outputting the notification signal when the adjustment mode ends. Item 8. The working machine according to any one of Items 1 to 7 . The work machine according to any one of claims 1 to 8 , wherein the specific pattern is detected as an operation displacement trajectory that does not occur during normal operation of the accelerator operation unit. The work machine according to any one of claims 1 to 9 , wherein the specific pattern is detected as a plurality of repeated executions of the operation displacement of the accelerator operation unit within a predetermined time.

Images