JPH0730602U - Automatic control device for mobile agricultural machinery - Google Patents

Abstract

(57) [Abstract] [Purpose] The automatic switch that automatically turns on and off, the switch that switches the automatic control mode, and the multiple pilot lamps that accompany it are integrated into one, and correct operation is performed without operating the switch incorrectly. Allow automatic control. A self-returning operation switch 21 in which a pilot lamp 37 is integrally attached to an automatic control device 24 for controlling each part of the machine body, a mode switching means for switching a control mode, and a display state of the pilot lamp 37 are changed. Lamp output means.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to an automatic control device for a mobile agricultural machine such as a combine, a tractor, and a rice transplanter, and more specifically, to provide an automatic control device that can be optimally used as a direction automatic control device for a combine.

[0002]

[Prior art]

 A mobile agricultural machine equipped with an automatic control device that automatically controls each part of the machine based on the detection results of sensors provided in each part of the machine is well known, and in a combine, an automatic direction control device, an automatic sorting control device, Various automatic control devices such as a deep handling automatic control device and a horizontal automatic control device for a machine body are known. Further, as a concrete example of publicly known technology by taking an automatic direction control device for a combine, there is JP-A-56-167808, which is an application of the applicant.

[0003]

[Problems to be solved by the device]

 The above-mentioned automatic control device for a mobile agricultural machine is provided with an automatic switch for turning the automatic control on and off, and a pilot lamp for indicating whether or not the automatic control is being performed, separately on the operation panel of the control section. In addition, in some complicated and diversified automatic controls, in addition to these automatic switches and pilot lamps, a changeover switch that changes the control contents of automatic control according to the work form and the pilot lamps associated with it It is provided on the operation panel. In addition, in the above-described automatic direction control device for combine harvesters, in addition to the automatic switch for turning on / off the automatic switch and the pilot lamp, a split switch for changing the control content of trimming and side trimming and splitting, and the accompanying switch. In addition, as another embodiment, a pilot lamp is provided to operate the automatic switch and the middle division changeover switch so that the middle division changeover switch is linked to the automatic switch. It is possible to select between line cutting and side cutting control, split control, and automatic cutting.

However, according to the above-mentioned automatic control device, an automatic switch for turning on and off the automatic control and a pilot lamp, and a changeover switch for changing the control content and a pilot lamp associated therewith are separately provided on the operation panel of the control section. Therefore, the switch and the lamp must be installed together in the control section where space is limited. There is a problem that it becomes difficult. Also, if these operation switches and pilot lamps are installed at positions distant from each other on the operation panel, it will be difficult to check the lighting status of the pilot lamps along with the switch operation. However, there is a problem that the correspondence becomes even more unclear and erroneous operations are likely to occur. Moreover, even with the same automatic control such as directional automatic control, there are separate automatic switches for turning on and off the automatic control and changeover switches for changing the control content, and the operator must operate multiple switches individually. No, or even if they are combined into one operation switch, the operator must consider the operation direction corresponding to the three positions of the switch, which makes the switch operation complicated. There is.

[0005]

[Means for Solving the Problems]

 In order to solve the problem of such an automatic control device for a mobile agricultural machine, the present invention provides a mobile agricultural machine equipped with an automatic control device for controlling each part of the machine based on the detection result of a sensor. It has a self-reset type operation switch attached integrally, a mode switching means for switching the control mode, and a lamp output means for changing the display state of the pilot lamp, and controls the operation of the operation switch. When the control device detects it, the mode switching means sequentially shifts to the set control modes and the control mode of the automatic cutoff, and the lamp output means outputs a different display corresponding to the control mode to the pilot lamp. Is characterized by.

[0006]

The operator performs the work by selecting whether to control each part of the machine body manually or automatically before or during the work. Further, in the case of automatic control, there are controls that require changes in control content depending on the work mode. Then, in that case, the operator must change the control mode so as to match the corresponding control content. In that case, the operator confirms the current control mode by checking the lighting state of the pilot lamp provided on the operation panel of the control section, and if it is necessary to change the control mode, a self-recovery type integrated with the pilot lamp is used. Press the operation switch to change the control mode to match the corresponding control content. At this time, when the control device detects that the operation switch has been operated, the mode switching means sequentially shifts the control mode to each set control mode and automatic switching each time the switch is operated. At the same time, the lamp output means outputs a different display corresponding to the control mode to the pilot lamp. Therefore, the operator can simultaneously perform automatic and manual selection and change of the control mode by pressing a single operation switch. Moreover, it is possible to confirm whether or not the control mode has been surely changed to an appropriate one. It can be confirmed immediately by the lighting status of the pilot lamp attached to the vehicle.

[0007]

【Example】

 One embodiment of the present invention will be described based on the combine shown in the drawing. In FIG. 1, the combine 1 has a mowing unit 4 including a cutting blade, a raising device and the like at the front of a machine body 3 having a crawler traveling device 2. Erected vertically. Further, a threshing device 5 is mounted on the machine body 3 behind it, and on the right side of the machine body 3, a control unit 6, a grain tank 8 having a grain discharge auger 7, and the like are sequentially mounted from the front part. As shown in FIG. 2, the control section 6 is provided with a cockpit 9, and a diesel engine (not shown) is mounted on the frame of the fuselage below the cockpit 9. On the right side of the front part across step 10, a multi-level lever 11 for steering the machine body to the left and right and a raising and lowering operation of the reaping unit 4, and a key switch 12 on an operation column below the multi-level bar 11 are provided. Further, on the front part of the side panel 13 on the left side of the cockpit 9, a display device 14, a horn 15, and a threshing tachometer 16 which constitute a monitor of the combine are provided. In addition, in the rear part, the traveling speed change lever 17, the threshing clutch lever 18, the reaping clutch lever 19, the levers such as the cross lever 20 for manually raising and lowering the left and right crawler traveling devices 2, and the pilot lamp are integrated. Operation switches such as a direction control operation switch 21, a sorting control operation switch 22, and an aircraft horizontal control operation switch 23, which consist of an attached self-reset type (momentary type) operation switch, are provided.

FIG. 3 is a control block diagram showing an outline of a control device for carrying out direction control and monitor control. The microcomputer unit 24 constituting the control device is composed of a well-known CPU, RAM, ROM and the like. And is provided, for example, in the side panel 13 of the airframe. The key switch 12 and the output 25 of the glow timer for preheating the diesel engine are connected to the input port of the microcomputer unit 24, and the oil pressure switch 26 for detecting the presence or absence of engine oil and the L terminal output of the alternator are connected. 27, the operation switch 21 for controlling direction is also connected to the digital input port of the microcomputer unit 24. Similarly, the analog input port of the microcomputer unit 24 is provided in potentiometers 30 and 31 for detecting the amount of rotation of the left and right direction sensors 28 and 29 attached to the divider frame of the mowing unit 4, and to the swing selection body of the threshing device 5. Potentiometers 34 and 35 for detecting the angle of the swing sheave 32 and the opening / closing degree of the slide sheave 33 are connected to each other. Further, at the output port of the microcomputer unit 24, a driver 36 for operating the indicator 14, a pilot lamp 37 integrally formed with the operation switch 21 for the direction control described above, and a left and right side switch provided in the traveling mission case. Connect the solenoid valves 38 and 39 of the hydraulic cylinder that turns the clutch on and off. As the above-mentioned display 14, a VFD (Vacuum Fluorescent Display) for fluorescent display is used, and character display and pattern display can be switched and used. However, as the display unit 14, for example, a character such as an LED (Light Emitting Diode), an LCD (Liquid Crystal Display), or a display unit capable of simultaneously displaying a pattern may be used.

FIG. 4 shows a main flow chart of the automatic direction control. When the key switch 12 is turned on and the microcomputer unit 24 is brought into an operating state, the microcomputer 24 executes the main flow shown in the figure after initial setting. Then, the main flow starts by judging the operation state of the operation switch 21 for controlling the direction provided in the control section 6, and if the operation switch 21 is not pressed, the pilot lamp 37 is turned on by the set state of the automatic state flag. And the execution of the actual automatic direction control program. Specifically, since the automatic state flag is set to 0 in the initial setting, the automatic state flag remains set to 0 unless the operation switch 21 is operated after the key switch 12 is turned on. In that case, the pilot lamp A turn-off command is issued to 37, and the main flow for automatic direction is restored. Therefore, in this case, the automatic direction control is not substantially performed, and the automatic direction control is set to the off mode, and another program (monitor control) is executed. When the operator pushes the operation switch 21 once from this state of automatic switching, the operation switch 21 changes from off to on, and when the microcomputer 24 detects it, the automatic state flag before change is set. For example, the automatic state flag is set to 1 according to the state (flag = 0). Further, in the next step, a continuous lighting command is issued to the pilot lamp 37 by the set automatic state flag (flag = 1), and the automatic direction control is executed under the standard control mode.

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

A concrete control method of the automatic direction control is schematically shown in FIGS. 5 to 7, and the direction sensor 28 of the planted grain culms k, k is set so that the combine 1 travels following the grain culm row. The microcomputer 24 calculates the traveling direction according to the state of contact with 29, and further controls the left and right solenoid valves 38, 39 to be turned on and off based on the calculation result, and finally the left and right hydraulic cylinders are used to control Turn on and off the side clutch of the and automatically control the combine in the proper direction. Therefore, in the case of standard control, the contact angle of the right direction sensor 28 with the grain culm k is detected by the potentiometer 30, and the detected angle is detected in three detection zones (whether the culm is not in contact with the grain culm, Is too far from = a, appropriate = b, too close to the culm = c), and in which zone the direction sensor 28 is currently located is calculated. At the same time, the contact angle of the left direction sensor 29 with the grain culm k is detected by the potentiometer 31, and the detected angle is similarly detected in three detection zones (either not contacting the grain culm or being too far from the grain culm. Yes = d, proper = e, too close to grain culm = f)) and calculate which zone the direction sensor 29 is currently located in. Then, based on the combination of the detection results of the zones where the left and right direction sensors 28 and 29 are located, the direction control of the machine body in the standard control mode as shown in FIG. 6 is performed.

Therefore, when the direction sensors 28 and 29 are located in the zone (a) and the zone (d), the microcomputer 24 energizes the right solenoid valve 38 to correct the direction of the body to the right side, and the right side. Release the clutch. Further, if the direction sensors 28, 29 are located in the zone (a) and the zone (e), the left and right solenoid valves 38, 39 are not energized and the aircraft is allowed to go straight. A) and zone (f), the microcomputer 24 energizes the left solenoid valve 39 and disengages the left side clutch to correct the aircraft to the left. Although not described below, even in other zone combinations, the aircraft is controlled in the directions shown in the operation diagrams. Further, in the case of the middle split control, the direction control is performed based on the detection of the zone where the right direction sensor 28 is located. In this case, as shown in FIG. If the direction sensor 28 is located in the zone (b), the microcomputer 24 issues a command to turn the aircraft to the left. Furthermore, if the direction sensor 28 is located in the zone (b) at the proper position of the grain culm k, the aircraft will continue to go straight, and if the direction of the grain culm k is shifted to the right and the direction sensor 28 is located in the zone (c), Issue a command to correct the aircraft to the right. Therefore, in the standard control mode, based on the detection results of the left and right direction sensors 28 and 29, proper direction automatic control is performed without being affected by stock stalls, etc. and without leaving uncut areas. Especially in the case of a line cutting process, the direction control is performed mainly on the basis of the detection result of the direction sensor 29 for line cutting provided on the left side, and in the case of a horizontal line cutting process which is orthogonal to the line, a horizontal direction provided mainly on the right side. Direction control is performed based on the detection result of the mowing direction sensor 28. On the other hand, in the middle control mode, the direction automatic control is performed along the right grain culm row based on the detection result of only the right direction sensor 28. For this reason, even when the stock is partially narrowed and the crop is cut off one row more than usual, stable direction control is always performed along the right grain culm row without being affected by it.

The other monitor control executed by the microcomputer 24 will be described with reference to the flowchart of FIG. 8. The monitor control starts from the detection of the state of the key switch 12. Here, when the key switch 12 is switched from OFF to ON, the glow coil preheats the diesel engine (the glow coil is energized separately for a predetermined time through the glow timer when the key switch is turned ON), and the microcomputer 24 causes the display unit to display. The character display command of "glow" is issued to the driver 36 of 14. Then, after a predetermined time has elapsed after the key switch 12 was turned on, the preheating by the glow coil is completed and the glow timer 25 times up. Then, when the microcomputer 24 detects this, it issues a glow completion display command to the driver 36. Further, when the operator confirms the glow completion display and then turns on the key switch 12 to the engine starting position, the starter motor rotates and the engine starts. When the engine is started, the L terminal 27 of the alternator rises above a predetermined voltage and outputs to the microcomputer 24 that the engine is rotating. Further, when the microcomputer 24 detects that the engine is rotating, the oil charge flag is reset in the initial setting. Therefore, the microcomputer 24 uses the oil pressure switch 26 and the L terminal voltage 27 of the alternator to detect the engine charge. It is diagnosed whether there is not enough oil and whether the battery is properly charged, and the results are "engine oil", "OK" or "NG", and "charge", respectively. Notify the operator as "OK" or "NG".

Further, when the microcomputer 24 finishes the initial diagnostic display of glow, engine oil, charge, etc., the microcomputer 24 sets an oil charge flag, and then when an abnormality occurs in the engine oil or charge. Except for the above, the display command is not issued, and basically, the angle of the swing sheave 32 and the degree of opening / closing of the slide sheave 33 are commanded to be displayed to the driver 36, and the driver 36 displays these on a pattern by a graph or a character. Based on this, the display 14 is caused to display. As shown in FIGS. 9 and 10, the swing sheave 32 switches the angle of the fin a of the chaff sheave 32a provided in the swing selection body of the threshing device 5 to change the grain sheave 33a according to the flow rate of the threshed grain b. This is a general term for changing the degree of leakage to the upper side, and the angle adjustment of the fin a is performed by an operation lever mechanically linked to the control unit 6 or a layer thickness detection sensor (not shown) provided on the chaff sheave 32a. It can be adjusted by automatically driving the actuator based on the detection result. Similarly, the slide sheave 33 similarly adjusts the open area of the grain sheave 33a provided on the swing selection body of the threshing device 5 by the slide adjustment of the closing plate 33b, and according to the flow rate of the threshed grain b, the first spiral. This is a general term for changing the degree of leakage to the upper side, and the slide adjustment of the closing plate 33b is also performed by the operation lever mechanically linked to the control portion 6, or the detection of the layer thickness detection sensor provided on the chaff sheave 32a. It can be adjusted by automatically driving the actuator based on the result. The angle adjustment of the fins a of the chaff sheave 32a and the slide adjustment of the closing plate 33b of the gren sheave 33a occupy extremely important elements in the wind selection of threshed kernels and straw debris, and each of them controls the flow rate. Causes screening failures if not properly adjusted, and therefore the operator must constantly monitor their condition. Therefore, in the monitor control, when the initial diagnosis display at the time of engine start is finished, these angles and open / close degrees detected by the potentiometers 34 and 35 are immediately displayed on the display 14, and the operator is working. It is safe to demand the appropriate response from

[0015]

[Effect of device]

 As described above, according to the present invention, the automatic control device 24 for controlling each part of the machine body is provided with the pilot lamp 37 integrally with the self-reset type operation switch 21, the mode switching means for switching the control mode, and the pilot. Since a lamp output means for changing the display state of the lamp 37 is provided, the operation switch and the pilot lamp provided on the operation panel 13 of the control unit 6 and the like are integrated into a single unit, and the control unit 6 itself is smoothly operated. And can be put together into one with good operability. Further, when setting the control mode of the automatic control and the automatic cut-off, the control mode at the present time can be confirmed by the lighting state of the pilot lamp 37, and the operation switch 21 of the self-reset type in which the pilot lamp 37 is integrally attached is also provided. By pressing the button as it is, the control mode can be changed to the corresponding control mode by the mode switching means, and the operability is extremely good without the hassle of switching multiple switches one by one while considering the operating direction. be able to. Moreover, the changed control mode is output and displayed on the pilot lamp 37 by the lamp output means in a different display form corresponding to the control mode. Therefore, it is necessary to confirm whether the control mode has been changed to an appropriate one. Can be confirmed immediately, and therefore, accurate automatic control can be performed without erroneous operation due to switch operation.

[Brief description of drawings]

FIG. 1 is a perspective view of a combine.

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

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

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

FIG. 5 is an operation explanatory view of a direction sensor.

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

FIG. 7 is a steering operation diagram in a mid-division control mode.

FIG. 8 is a flowchart of monitor control.

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

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

[Explanation of symbols]

 1 combine 21 operation switch 24 microcomputer unit 28 directional sensor (right) 29 directional sensor (left) 37 pilot lamp 38 electromagnetic solenoid valve (right) 39 electromagnetic solenoid valve (left)

Claims (1)

[Scope of utility model registration request] 1. A mobile agricultural machine equipped with an automatic control device for controlling each part of a machine body based on a detection result of a sensor, wherein the automatic control device comprises a self-returning operation switch integrally provided with a pilot lamp, and a control mode. And a lamp output means for changing the display state of the pilot lamp. When the control device detects that the operation switch has been operated, the mode switching means sequentially operates the set control modes. And an automatic control device for a mobile agricultural machine, characterized in that the lamp output means outputs a different display corresponding to the control mode to a pilot lamp while shifting to a control mode of automatic cutting.