JP7114319B2 - Agricultural machine, control device and control method - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an agricultural working machine operated by transmission of a driving force of a drive unit, a control device for controlling the agricultural working machine, and a control method for controlling the agricultural working machine.

As a power transmission means for agricultural machinery, for example, a PTO (Power Take Off) shaft that rotates using part of the driving force of a driving unit that imparts driving force to a traveling vehicle is used for transmission (Patent References 1 and 2) are known.

In the agricultural work machine described in Patent Document 1, when the harvested material that is picked up and conveyed is clogged in the conveying passage, a torque limiter provided on the PTO shaft is actuated to temporarily reduce the conveying rotor (working portion). In addition to stopping the rotation, the worker is notified that the harvested material is clogged by various notification means.

Then, an operator who is notified that the crops are clogged operates a control box provided on the traveling vehicle to operate the actuator to lower the rear end side of the bottom plate of the conveying passage, thereby widening the conveying passage. This widening of the conveying passage reduces the resistance of the clogged crops against the conveying rotor, so that the torque limiter is released, and along with this cancellation, the rotation of the conveying rotor is restored, and the clogged crops are removed. Conveying material is designed to allow safe clearing of harvest jams.

Japanese Patent No. 3939125 2017-226325 publication

In the prior art of Patent Document 1, when the clogging occurs to the extent that the torque limiter is not released even if the transfer passage is widened, the operator manually removes the clogging. Since the transport rotor sometimes rotates, it is necessary to stop the drive of the vehicle.

However, in some cases, the clogging operation was performed without forgetting to stop the driving part of the traveling vehicle, or without stopping the driving part of the traveling vehicle due to familiarity.

On the other hand, in the prior art of Patent Document 2, the presence of a worker in the driver's seat provided in the traveling vehicle is detected during agricultural work, and the traveling vehicle is stopped during agricultural work to inspect the working part of the agricultural machinery. , when it is detected that the operator has left the driver's seat, based on this detection result, the drive unit is controlled to automatically stop, or the drive force of the drive unit for the PTO shaft is reduced. By controlling the automatic disconnection of the transmission, only the working part of the agricultural implement is stopped so that the working part can be inspected safely.

However, in order to stop only the working part of the agricultural implement so that the working part can be inspected safely, a structure for stopping the drive part of the traveling vehicle by the control described above, or a drive part for the PTO shaft It was necessary to have a vehicle equipped with all the structures, control devices, etc. for cutting off the transmission of the driving force by the above-mentioned control, and it was difficult to modify the normal vehicle with various structures. .

At present, it is desired to be able to stop only the working part of agricultural implements with the minimum necessary modification, even if the vehicle does not have the above-mentioned specifications, so that inspection of the working part can be performed safely. there is

In order to solve the aforementioned problems, the present invention employs the following means.

An agricultural working machine comprising a working part that operates by being transmitted with the driving force of a driving part as power , the detecting part being provided in a driver's seat of a traveling vehicle and detecting the presence of a worker in the driver's seat; a switching unit disposed in the machine and connected across the driving unit and the working unit and operating to switch the power of the driving unit to the working unit between a power transmission state and a power disconnection state; and an agricultural implement-side communication section provided in the switching section for transmitting and receiving a control signal, wherein the switching section switches to a power cut-off state when the detection section receives a control signal that cannot detect the presence of a worker. The agricultural work machine is characterized in that it is controlled to switch to a power transmission state when the detection unit receives a control signal that detects the presence of a worker .

A control device for controlling the above-mentioned agricultural work machine, comprising: a detection unit provided in a driver's seat of a traveling vehicle for detecting the presence of a worker in the driver's seat; The vehicle-side communication unit and the detection unit are caused to perform detection operations, and when the detection unit cannot detect the presence of the worker in the driver's seat, the control signal for operating the switching unit to cut off the power is transmitted to the vehicle. causing the vehicle-side communication unit to transmit a control signal for operating the switching unit to a power transmission state when the detection unit detects the presence of the worker in the driver's seat, from the traveling vehicle-side communication unit. The control device is characterized by comprising a control unit for controlling such that

In the above-described control method for controlling the agricultural implement, the presence of a worker in the driver's seat is detected, a control signal based on the detection result is transmitted to the agricultural implement-side communication unit, and the agricultural implement-side communication unit When the received control signal is a signal that the presence of the worker at the driver's seat cannot be detected, the switching unit is switched to a power cutoff state to detect the presence of the worker at the driver's seat. The control method is characterized by switching the switching unit to the power transmission state when the signal is .
be.

BRIEF DESCRIPTION OF THE DRAWINGS It is the schematic of the agricultural implement of 1st Embodiment which concerns on this invention. It is a schematic diagram of an agricultural machine of a 2nd embodiment concerning the present invention. FIG. 2 is a configuration diagram of a control device according to an embodiment of the present invention, and is a configuration diagram of a control device that controls the agricultural implement of FIG. 1; 3 is a flow chart of a control method showing an example of an embodiment according to the present invention, and is a flow chart of a control method of the control device shown in FIG. 2. FIG.

Hereinafter, an agricultural working machine A showing an example of the first embodiment according to the present invention will be described with reference to FIG. 1 as well.

The agricultural working machine A referred to in this specification is a roll baler, various harvesters, a fertilizing device, a rice transplanter, or the like, which is used for agricultural work, and is not particularly limited.

The agricultural implement A of the first embodiment is towed by a traveling vehicle B such as a tractor to perform agricultural work. The power is transmitted as power to the working units A1 and A2 of the agricultural implement A through C10 and an electromagnetic valve (switching unit) C20.

Here, the work units A1 and A2 perform various agricultural works in the agricultural work machine A, and each unit is operated by the rotation of the PTO shaft C1 being transmitted as power, and the hydraulic pressure of the hydraulic oil of the hydraulic unit C2 is transmitted as power. It is each part that is operated by being pressed, and performs different work depending on the type of the agricultural work machine A.

The PTO shaft C1 rotates using a part of the driving force branched from the drive unit B1. A PTO shaft C11 is connected across.

The PTO shaft C1 is connected to a power take-off section C12 having a transmission (not shown) of an electromagnetic clutch (not shown) operated by operation on the traveling vehicle B side according to the situation. Rotation, rotation stop, speed change, etc. can be performed via the portion C12.

The rotation of the PTO shaft C1 is transmitted as power to the working part A1 connected to the other side of the electromagnetic clutch C10 via the PTO shaft C11 and the electromagnetic clutch C10. Power transmission to A1 is cut.

The hydraulic part C2 uses part of the driving force branched from the driving part B1 to send hydraulic oil to the working part A2. A hydraulic hose C21 is connected across one side of C20.

The hydraulic part C2 is equipped with a pump (not shown) and an electromagnetic valve (not shown) that are operated by operation on the traveling vehicle B side according to the situation, and the hydraulic oil pressure is applied via these pumps and valves. Transmission and pressure transmission stop are provided.

Hydraulic oil from the hydraulic part C2 is sent as power to the working part A2 connected to the other side of the electromagnetic valve C20 through the hydraulic hose C21 and the electromagnetic valve C20. power transmission to the

The electromagnetic clutch C10 and the electromagnetic valve C20 are connected to a work machine side communication section C30 that transmits and receives control signals from a control device D provided in a control box B3 arranged in a driver's seat B2 of the traveling vehicle B.

The on/off operation of the electromagnetic clutch C10 and the opening/closing operation of the electromagnetic valve C20 are performed based on the control signal from the control device D received by the working machine side communication section C30.

The on/off operation of the electromagnetic clutch C10 and the opening/closing operation of the electromagnetic valve C20 can also be performed by operating the operation unit C4 arranged on the agricultural implement A.

The ON/OFF operation of the electromagnetic clutch C10 and the opening/closing operation of the electromagnetic valve C20 are preferentially performed by the control signal of the control device D, and the operation of the operation unit C4 is disabled while the control device D is operating.

Since the agricultural working machine A has the electromagnetic clutch C10 and the electromagnetic valve C20 on the agricultural working machine A side, the control device D is provided on the traveling vehicle B side. The working units A1 and A2 can be stopped based on the control signal of the control device D, regardless of the specifications of the traveling vehicle B, by a simple work of electrically connecting the working machine side communication unit C30 of the can be made

FIG. 2 shows an agricultural work machine E according to a second embodiment of the invention. In addition, the description about the part which overlaps with the agricultural implement A of 2nd Embodiment is abbreviate|omitted by attaching|subjecting the same code|symbol.

The agricultural implement E, which is towed by the traveling vehicle F, includes a driving section E1 for generating a driving force that powers the working sections A1 and A2.

In addition to the driving portion E1, the agricultural work machine E is connected to the driving portion E1, and is connected to a rotating shaft C5 that rotates using part of the driving force of the driving portion E1. A hydraulic unit C6 that uses part of the driving force of the unit E1 to send hydraulic oil as power to the working unit A2, an electromagnetic clutch C10 connected to the rotating shaft C5, an electromagnetic valve C20 connected to the hydraulic unit C6, and a work machine. A side communication unit C30 is provided, and based on a control signal from the control device D on the traveling vehicle F side, the electromagnetic clutch C10 is turned on and off and the electromagnetic valve C20 is opened and closed.

That is, the agricultural work machine E has the same effects as the agricultural work machine A, and can operate the working parts A1 and A2 without depending on the driving force of the driving part B1 on the traveling vehicle F side, and the PTO shaft C1 can be operated. Farm work can be done by being towed by a traveling vehicle F that is not equipped.

The on/off operation of the electromagnetic clutch C10 and the opening/closing operation of the electromagnetic valve C20 in the agricultural implements A and E are controlled by detecting the presence of a worker in the driver's seat B2 of the traveling vehicle B and based on this detection result. preferably.

Specifically, during agricultural work, when the presence of a worker at the driver's seat B2 is detected, the electromagnetic clutch C10 is held in the ON state and the electromagnetic valve C20 is held in the open state. .

On the other hand, if the presence of the worker in the driver's seat B2 is not detected while the traveling vehicle B is stopped while the drive unit B1 is being driven, the electromagnetic clutch C10 is disconnected and the electromagnetic valve C20 is closed. control.

Further, control signals are transmitted by manual operation in the control box B3 to control the on/off operation of the electromagnetic clutch C10, and to control the opening/closing operation of the electromagnetic valve C20.

The configuration of the control device D for controlling the ON/OFF operation of the electromagnetic clutch C10 and the opening/closing operation of the electromagnetic valve C20 in the agricultural implement A will be described below with reference to FIGS. 1 and 3. FIG.

The control device D includes a detection section D1, a control section D2, and a traveling vehicle side communication section D3, and is built in a control box B3.

The detection unit D1 detects the presence of a worker in the driver's seat B2 under the control of the control unit D2, and is controlled so that the detection operation is performed when the driving unit B1 of the traveling vehicle B is in the driving state. It is

The detection unit D1 can be exemplified by a human sensor using infrared rays, visible light, ultrasonic waves, etc., and is located on the surface of the control box B3 at a position where it can detect a worker sitting or standing in the driver's seat B2. are placed.

As another example of the detection unit D1, a chair B20 on which the worker sits in the driver's seat B2, or a contact sensor or weight sensor arranged on the floor on which the worker stands may be used.

Such a detection unit D1 can detect the presence of the worker when the worker is seated on the chair B20 or when the worker is standing on the floor.

The control unit D2 includes a CPU, a ROM that stores various programs executed by the CPU, various application programs, various data, and the like, and a RAM that temporarily stores various input data, calculation results, and the like.

Based on various programs and various application programs described above, the control unit D2 performs various data input/output operations, detection operations of the detection unit D1, transmission and reception of control signals between the traveling vehicle side communication unit D3 and the working machine side communication unit C30, and running. Operation of the ECU (engine control unit) B4 that controls the drive unit B1 of the vehicle B, switching of the rotation speed of the PTO shaft C1, switching on/off of the electromagnetic clutch C10 and opening/closing of the electromagnetic valve C20, and various operations performed by the operation units A1 and A2. , etc., and the operations necessary for the working units A1 and A2.

The vehicle-side communication unit D3 and the working machine-side communication unit C30 transmit the control signal based on the detection by the detection unit D1, the ON/OFF state signal of the electromagnetic clutch C10, and the current status signal of the electromagnetic valve C20 to the vehicle-side communication unit D3 and the work machine side communication unit D3. It is electrically connected wirelessly or by wire so that transmission and reception can be performed with the machine-side communication section C30.

The detection control by the detection unit D1, the ON/OFF operation control of the electromagnetic clutch C10, and the opening/closing operation control of the electromagnetic valve C20 under the control of the control unit D2 are performed during agricultural work.

During the agricultural work, by setting in advance that the agricultural work is being performed by the input operation from the control box B3, and stipulating that the work to be performed from now on is "executing the agricultural work", the traveling vehicle B It is possible to prevent erroneous operations in driving the driving portion B1, moving and stopping the agricultural implements A and E, and the like.

The stipulation of "execution of farm work" is such that the "execution of farm work" is canceled by stopping the driving of the driving unit B1 of the traveling vehicle B or by setting "end of the execution of farm work" through an input operation from the control box B3. .

That is, when the drive unit B1 of the traveling vehicle B is started, the detection unit D1 starts detection. Inside, ON/OFF control of the electromagnetic clutch C10 and opening/closing control of the electromagnetic valve C20 are performed by detecting the presence of a worker at the driver's seat B2 by the detection unit D1.

When the control signal sent and received indicates that the farm work is being performed, the power is being transmitted, and the operator is in the driver's seat B2, it is determined that the farm work is continuing. , the ON state of the electromagnetic clutch C10 and the open state of the electromagnetic valve C20 are maintained to maintain the state of power transmission to the working portions A1 and A2.

On the other hand, when the transmitted/received control signal is a signal indicating that the farm work is being performed and that the power is being transmitted and the presence of the worker cannot be detected, it is determined that the farm work is stopped. The clutch C10 is switched to the disengaged state and the electromagnetic valve C20 is switched to the closed state to cut off the power transmission state to the working portions A1 and A2 (power disengaged state).

In the power cutoff state, the driving force of the driving portion B1 is not transmitted to the working portions A1 and A2, so that the working portions A1 and A2 are stopped even if the driving portion B1 is in the driving state, and the worker operates the agricultural working machine. Inspection of A can be performed safely.

Further, since the detection by the detection unit D1 continues while the driving unit B1 is being driven, when the operator returns to the driver's seat B2 after the inspection of the agricultural implement A is completed, the presence of the operator is detected. A detection result is transmitted/received as a control signal between the traveling vehicle side communication section D3 and the work implement side communication section C30.

When the control signal sent and received is a signal indicating that the operator is in the driver's seat B2, the electromagnetic clutch C10 is automatically turned on and the electromagnetic valve C20 is opened. to the power transmission state.

Control of the power transmission state and the power disconnection state by manual operation becomes possible when "execution of farm work" is canceled. This is done when A2 is to be disabled.

The control for switching from the power disconnection state to the power transmission state is not limited to being automatically performed as described above, and when the detection unit D1 detects the presence of the worker, it is determined that the state can be switched to the power transmission state. At the same time, this determination result is controlled to notify the operator visually and / or audibly, and based on this notification, the operator operates a switch or the like provided on the control panel to switch the power from the power cut state. You may make it switch to a transmission state.

Since the control of the agricultural work machine E is the same as the control of the agricultural work machine A, it is shown as the work machine (E) in FIG. , power transmitted to the electromagnetic clutch C10 and the electromagnetic valve C20 are indicated by two-dot chain arrows.

A detection control method for the detection unit D1 by the control device D, a switching control method for the electromagnetic clutch C10 based on the detection result, and a switching control method for the electromagnetic valve C20 will be described below with reference to FIG.

FIG. 4 is a flow chart showing the ON/OFF control method of the electromagnetic clutch C10 and the opening/closing control method of the electromagnetic valve C20 by the control device D, which is a program started when the drive unit B1 of the traveling vehicle B is started.

After the drive unit B1 is started, the detection operation of the worker at the driver's seat B2 by the detection unit D1 is started (step S1), and the detection operation of the detection unit D1 is continued until the drive unit B1 is stopped.

After the driving unit B1 is started, "agricultural work" is set (step S2), and by this setting, the operation of the farming machine A that will be performed from now on will be the on/off control of the electromagnetic clutch C10 and the electromagnetic valve C20 based on detection by the detection unit D1. is set (step S3), and the "agricultural work execution" control is started (step S4).

If "agricultural work" is not set in step S2, the ON/OFF control of the electromagnetic clutch C10 and the opening/closing control of the electromagnetic valve C20 are controlled manually by the operator (step S5). Continue until "enforce" is set.

When the "agricultural work execution" control is started in step S4, the detector D1 detects that a worker is present in the driver's seat B2 of the traveling vehicle B (step S6), and the electromagnetic clutch C10 is turned on. Then, the working part A1 is activated (step S7), the electromagnetic valve C20 is opened, the working part A2 is activated (step S7), and the farming machine A becomes ready for agricultural work (step S8).

In step S8, the traveling vehicle B stops (step S9) while the farming machine A is ready for agricultural work, and the worker leaves the driver's seat B2 of the traveling vehicle B by getting off the vehicle. If the presence cannot be detected (step S10), the electromagnetic clutch C10 is disconnected to stop the working part A1 (step S11), and the electromagnetic valve C20 is closed to stop the working part A2 (step S11). Then, the farming machine A enters a state in which farming cannot be performed (step S12).

Step S11 is continued until the worker returns to the driver's seat B2 of the traveling vehicle B and the detection unit D1 detects the presence of the worker in the driver's seat B2 (step S13).

In step S13, when the detection unit D1 detects the presence of the driver's seat B2, the electromagnetic clutch C10 is turned on to operate the work unit A1 (step S14), and the electromagnetic valve C20 is opened to work. The part A2 is activated (step S14), and the farming machine A becomes ready for farming again (step S15).

In order to end the "farm work execution" control, "farm work end" is set (step S16). All the operations are manually controlled by the operator (step S5), and all programs are terminated by stopping the drive unit B1 (step S17) after setting "end of farm work" in step S16. do.

In order to terminate the "agricultural work" control, the "agricultural work" control may be terminated by stopping the driving unit B1 of the traveling vehicle B. In this case, the driving unit B1 of the traveling vehicle B is stopped. At this time, the electromagnetic clutch C10 is disconnected and the electromagnetic valve C20 is closed.

Therefore, the ON/OFF control method of the electromagnetic clutch C10 and the opening/closing control method of the electromagnetic valve C20 can turn on the electromagnetic clutch C10 by detecting the presence of a worker in the driver's seat B2 of the traveling vehicle B. , the electromagnetic valve C20 can be opened.

Further, when the presence of the operator in the driver's seat B2 of the traveling vehicle B cannot be detected, the electromagnetic clutch C10 can be disconnected and the electromagnetic valve C20 can be closed.

Although the embodiments of the present invention have been described in detail above with reference to the drawings, the specific configuration of the present invention is not limited to these embodiments, and can be designed without departing from the scope of the present invention. is included in the present invention.

In addition, each of the above-described embodiments can be combined by diverting each other's techniques unless there is a particular contradiction or problem in the purpose, configuration, or the like.

A: Agricultural working machine E: Agricultural working machine A1: Working unit A2: Working unit B: Traveling vehicle B1: Driving unit B2: Driver's seat C10: Electromagnetic clutch C20: Electromagnetic valve C30: Working machine side communication unit D: Control device D1: Detection Part D2: Control part D3: Traveling vehicle side communication part

Claims (3)

An agricultural work machine having a working part that operates by being transmitted with the driving force of a driving part as power , the detecting part being provided in the driver's seat of a traveling vehicle and detecting the presence of a worker in the driver's seat;
It is arranged in the agricultural implement and is connected across the driving section and the working section, and operates to switch the power of the driving section to the working section between a power transmission state and a power disconnection state. a switching unit;
an agricultural machine side communication unit that is provided in the switching unit and that transmits and receives a control signal;
The switching unit operates to switch to a power cutoff state when the detection unit receives a control signal that cannot detect the presence of a worker, and operates to switch to a power cutoff state when the detection unit receives a control signal that detects the presence of a worker. An agricultural work machine characterized by being controlled to switch to a transmission state . A control device for controlling the agricultural work machine according to claim 1,
a detection unit provided in the driver's seat of the traveling vehicle to detect the presence of a worker in the driver's seat;
a traveling vehicle-side communication unit connected to the agricultural implement-side communication unit;
The detecting unit is caused to perform a detection operation, and when the detecting unit cannot detect the presence of the worker in the driver's seat, a control signal is transmitted from the traveling vehicle side communication unit to operate the switching unit in a power cutoff state. and , when the detection unit detects the presence of the worker in the driver's seat, control to transmit a control signal for operating the switching unit to a power transmission state from the traveling vehicle side communication unit . Department and
A control device comprising: A control method for controlling the agricultural work machine according to claim 1,
The presence of a worker in the driver's seat is detected, and a control signal based on the detection result is transmitted to the agricultural implement-side communication unit. When the signal indicates that the presence of a worker cannot be detected, the switching unit is switched to the power cutoff state, and when the signal indicates that the presence of the worker in the driver's seat has been detected, the switching unit is switched to power transmission. A control method characterized by switching between states .

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