JPH0322911A - Controller for agricultural working machine - Google Patents

Abstract

PURPOSE:To eliminate trouble in starting work directly in a manual control state set in the preceeding work by automatically carrying out changeover form an automatic control state to a state of ON in the initial operation to start the work. CONSTITUTION:A console panel 15 around a driver's seat 13 is projectingly provided with an operator control switch 19, a stepless speed change lever 31, reaping clutch levers 33, etc. When a reaping clutch is intended for connecting to start work, manual control is changed over to an automatic control state. Furthermore, the manual control and automatic control are changed over for each operation of the operator control switch 19 during work.

Description

[Detailed description of the invention] <Industrial application field> The present invention relates to a control device for agricultural machinery.

<Conventional Technology> In recent years, automation of various types of agricultural work has been progressing in agricultural machinery for agricultural work. For example, in combine harvesters, there are devices that automatically adjust the cutting height for reaping the grain, and devices that automatically control and steer the direction of travel, and tractors that automatically control the plowing depth. Devices have been devised to do this.

On the other hand, in agricultural work, due to the fact that the working conditions change significantly due to changes in the weather, etc., in addition to the automatic control work mentioned above, switching between automatic control and manual operation is required so that the worker can control the work status as appropriate. It is now possible to do this.

Problems to be Solved by the Invention> However, the above-mentioned conventional device that enables switching between automatic control and manual control has the following drawbacks.

That is, after working under manual control, the operator often forgets to switch to automatic control and operates the work section under manual control.

In this case, the operator intends automatic control, so
Insensitivity to changes in working conditions, contact of working parts with the ground,
Problems such as an extreme drop in work efficiency or damage to working parts due to overload were likely to occur.

To give a specific example, for example, in the handling depth control device of a combine harvester, after reaping and threshing work is performed under manual control, if the same work is performed in a field with a different rod length, the control state will be switched as described above. If you forget, the difference in the length of the grains will result in heavy handling, resulting in failure of the threshing section due to increased threshing load, clogging of the culm in the cutter, or mistakes in tying the nocks. When the length of the grain is short, there is a problem in that the grain is treated shallowly, resulting in untreated grains.

Therefore, if the threshing part breaks down or the cutter gets clogged due to deep handling, it takes a lot of effort to return the grain to its original working condition, and if there is some unhandled grain, it must be handled again. There is also the disadvantage that work efficiency is extremely degraded, such as the need to carry out additional work.

The apparatus of the present invention aims to solve the above-mentioned problem by automatically turning on automatic control by an initial operation at the start of work.

Means for Solving the Problems> In order to solve the above problems, the present invention provides a control device 57 that controls the operation of the working part, and allows the control device 57 to be selectively controlled between manual control and automatic control. The automatic control is automatically turned on at the initial operation to start work, and the switch from automatic control to manual control is operated by the operator operation switch 19, and the switch from manual control to automatic control is operated by operating the operation switch 19. Alternatively, it is characterized in that it automatically switches to automatic control under the condition of a specific mode in manual control mode.

<Operation> Based on the initial operation signal for starting work, the control device 57 automatically switches to automatic control according to a preset program. Switching from automatic control to manual control is arbitrarily performed by operating the operation switch 19 by the operator.

Switching from manual control to automatic control is performed by the control device 57 based on the re-operation of the operation switch 19, or automatically by the control device 57 when a certain mode is entered during the manual control mode.

Therefore, at the start of work, the machine is always in the automatic control state, and thereafter it is possible to sequentially switch between automatic control and manual control.

<Example> An example of the present invention will be described below in detail based on the drawings. FIG. 2 is an overall perspective view of a combine harvester using an embodiment of the present invention.

The combine main body 1 is supported by a running section 3, and a pre-processing section 5 is attached to the front so as to be movable up and down.

Further, on the left side of the combine main body 1, a feed chain 9 is provided which inherits and conveys the grain sent from the pre-processing section 5. A handling barrel 1l is supported in the combine main body 1 and is provided parallel to the feed chain 9, thereby forming a threshing section. In addition, a driver's seat 13 is provided on the front right side of the combine main body 1, an operation panel 15 is installed around the driver's seat 13, and a monolever 17 for operating the steering operation and raising and lowering the pre-processing section 5 is installed. has been done.

To briefly explain the arrangement of the operation panel l5, the third
As shown in the figure, an automatic return type operator operation switch 19, a deep handling manual switch 21, and a shallow handling manual switch 23 are provided in front of the driver's seat l3, and further on the right side, an automatic direction main switch 25, an automatic direction switch A switch 27 is provided. Further, a key switch 29 is installed on the side of the monolever l7.

On the other hand, the operation panel on the left side of the driver's seat l3 includes a continuously variable speed lever 31 and a reaping clutch lever 3, as shown in FIG.
3 etc. are provided protrudingly for easy operation.

The grain culms cut by the pre-processing section 5 are transported to a lifting and conveying device 7.
The grains are transported to the feed chain 9 of the combine main body 1, and the grains clamped by the feed chain 9 are threshed by the rotating handling cylinder l1.

Here, the handling depth is adjusted by the distance from the position where the feed chain 9 clamps to the tip of the ear. Therefore, when the lifting and conveying device 7 takes over the grain culm from the pre-processing section 5, the lifting and conveying device 7 moves up and down to move the clamping part of the grain, and from the clamping part of the conveying chain 41 of the lifting and conveying device 7. The handling depth can be adjusted by adjusting the length to the tip. In addition, the U-vibe 43 attached to the lifting and conveying device 7 is provided with a grain culm sensor 45 and a stock sensor 47 from the stock side of the grain to be transported.
and the tip sensor 49 are attached in order, and the stock sensor 4
7 and a tip sensor 49 detect the length from the clamping portion of the conveying chain 41 to the tip.

In other words, when the tip touches the tip sensor 49, it is treated as deep treatment, and when the tip no longer touches the stock sensor 47, it is treated lightly.

In the case of automatic handling depth control, the control device 57 makes a judgment based on the detection by the sensor and moves the portion where the grain culm is held by the conveying chain 4 by raising and lowering the soil conveying device 7. Automatically adjusts to the appropriate handling depth. In the combine harvester of this embodiment, such a lifting and conveying device 7 that moves up and down serves as a working unit as set forth in the claims.

The switches and sensors described above are connected to a control device 57 as shown in FIG. 5, and the operation of each part is controlled by the control device 57. In the device of this embodiment, the control device 57
is composed of a microcomputer. The reaping clutch switch 59 is linked to the reaping clutch,
When the reaping clutch switch 59 is placed in the human state, it is turned ON.

Further, an automatic pilot lamp 67 for the handling depth automatic pilot lamp 65J provided on the operation panel i5, a motor 69 for raising and lowering the lifting and conveying device 7, etc. are connected, and for example, a potentiometer 61 for detecting the amount of swing of the monolever is connected. ．． 63 and steering control solenoid valve 71.
72 is connected. Here, the motor 69 is driven to rotate in forward and reverse directions according to commands from the control device 57, and the steering control solenoid valves 71 and 72 are driven to open and close.

As shown in FIGS. 1 and 5, handling depth control will be described below as an example of the operation of the control device 57. Since the reaping clutch must be engaged when performing reaping work, it is determined by the reaping clutch 59 whether the reaping clutch is engaged or not. When the reaping clutch is not engaged, the automatic state flag of the control device 57 is set to zero, and the handling depth automatic pilot lamp 65 is turned off. The processing depth automatic control subroutine determines the value of the automatic status flag, and if it is zero, no automatic control is performed.

If the reaping clutch is engaged, it is determined whether the reaping clutch has been newly engaged in relation to the previous work, or whether the work is to be continued with the reaping clutch still engaged. When the clutch is newly engaged, the automatic state flag is set to 1.

If the reaping clutch remains engaged, the state of the operator operation switch 19 is determined, and if it is OFF, the numerical value of the automatic state flag is determined. Further, when the operator operation switch 19 is turned on, the automatic state flag is inverted. That is, when the automatic state flag is 1, it is set to zero, and when it is zero, it is set to 1. After that, the value of the automatic status flag is determined.

When the automatic status flag is zero, the handling depth automatic pilot lamp 65 turns off and the automatic handling depth control stops, and when the automatic status flag is 1, the handling depth automatic pilot lamp 65 lights up and the handling depth automatic control stops. Control takes place.

Since the operator operation switch 19 is an automatic return type switch, it is in the OFF state except when the switch is operated, and the automatic state flag is inverted every time the switch is operated, and the manual control state and the automatic control state are switched.

Manual control operations are performed by a deep handling manual switch 21 and a shallow handling manual switch 23. Both the deep handling manual switch 21 and the shallow handling manual switch 23 are automatic 1 summer return type switches, and only when they are kept in the ON state, the motor 69 is driven in the deep handling direction or the shallow handling direction, and the lifting The transport device 7 moves up and down.

Because the control device 57 has the above-described function, when the reaping clutch is engaged to start work, the automatic control state is always established, and during work, the automatic control is activated each time the operator operation switch 19 is operated. Control and manual control replace each other.

Therefore, when starting work with a new reaping clutch, even if you forget to switch from manual control to automatic control, automatic control is always in effect, and the shallow handling position and deep handling position under manual control are always the same. This solves the problem of troubles caused by work proceeding in the same position.

FIG. 7 is a block diagram showing another embodiment.

In this second embodiment, the operator operation switch 19 is omitted, and switching from automatic control to manual control is automatically performed by operating the deep handling manual switch 2l or the shallow handling manual switch 23. programmed. As shown in FIG. 7, when a manual operation is performed, the automatic state flag is set to zero.

On the other hand, when switching from manual control to automatic control, the length from the conveyance chain 4l of the lifting conveyance device 7 to the tip of the ear is too short, and the stock sensor 47 changes from the ON state to the OFF state.
It is programmed to set the automatic state flag to 1 and switch to automatic control when the deep handling direction movement transmission mode is entered.

With such a configuration, the grain culm is automatically moved in the deep handling direction in the deep handling direction movement transmission mode, and grains are prevented from being left untreated.

Therefore, even if the amount of shallow handling operation is too large due to an error in manual operation, the control is automatically switched to automatic control, and no unhandled parts are left. Furthermore, switching from automatic control to manual control is performed smoothly, simplifying the operation. Further, since there is no need to provide a special changeover switch, assembly is easy and costs can be reduced.

Although the device of this embodiment is for automatic handling depth control, it can also be applied to direction automatic control for controlling the traveling direction and other automatic control devices.

<Effects of the Invention> According to the control device of the present invention configured as described above, the automatic control is always in the ON state at the initial operation to start work, so that the manual control work state set in the previous work is maintained. This eliminates the problem of starting work without changing the settings.

Since there are fewer switch operations, work efficiency is improved and erroneous operations are reduced.

[Brief explanation of drawings]

Figure 1 is a flowchart of the control device, Figure 2 is an overall perspective view of the combine, Figure 3 is a perspective view of the operation panel, Figure 4 is a plan view of the operation panel located on the left side of the driver's seat, and Figure 5 is the control A circuit diagram showing the connection relationship between the device and other switches, etc.
FIG. 6 is a simplified diagram of a combine lifting and conveying device showing the positional relationship between the handling cylinder, a sensor for detecting the handling depth, and the grain scale, and FIG. 7 is a flowchart showing the control system of the second embodiment. 7: Lifting and conveying device 19: Operator operation switch 45: Grain culm sensor 47: Stock sensor 49: Ear tip sensor 57: Control device Fig. 3

Claims (1)

[Claims] 1) A control device (57) is provided to control the operation of the working part,
The control device (57) can be selected between manual control and automatic control, and the automatic control is automatically turned on at the initial operation of starting work.
The changeover switch from automatic control to manual control is made by the operator operation switch (19), and the changeover from manual control to automatic control is made under the condition of switch operation of the operation switch (19) or a specific mode in the manual control mode. A control device for agricultural machinery that automatically switches to automatic control.