JPH08137517A - Controller device - Google Patents

Abstract

PURPOSE: To eliminate malfunctions and to secure a stable control operation by making the rewrite of a reference value to an EEPROM possible a specified length of time after the power supply is turned on. CONSTITUTION: Whether or not the fixed time elapses after the power supply of a tractor is discriminated first. When the fixed time does not elapse after the power supply, only the read of sensor and switch kinds is performed and other control is not executed. Then, in a case that the fixed time elapses and a check switch 68 and an elevating/lowering switch 69 are simultaneously pushed, the batch processing of the control reference values of the sensor kind is performed. That is, a lift arm is raised upto a maximum rising position, the tractor is placed on a horizontal place, a position operation lever is placed at a highest position, an inclination setting device 25 is placed at a neutral position and a lift arm angle sensor value, an inclination sensor value, a position setting value and an inclination setting value when the check switch 68 and the elevating/lowering switch 69 are both ON in the state are written in the EEPROM80.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION This invention is mainly used for tractors.
The present invention relates to a controller device used for agricultural machinery such as a combine and a combine.

[0002]

2. Description of the Related Art A tractor or combine is equipped with a control controller composed of a microcomputer, and a command from the controller causes, for example, elevation control of a plowing section or a cutting section. , Working unit
It is configured so that ring control is performed. These controllers are generally equipped with a ROM in which a reference value used for control is written. In recent years, even in the field of agricultural machinery, there has been a device that can rewrite the reference value at any time. Has appeared.

Taking a tractor as an example, for example, a detected value at a predetermined position of a lift arm angle sensor attached to a rotation base of a lift arm or a steering angle sensor for detecting a steering angle of a steering wheel is controlled. -La CP
U reads it and E is used as the reference value.
It is written in the EPROM and used for control.
Specifically, the lift arm is moved to the highest position so that the CPU of the controller recognizes the detected value of the lift arm angle sensor at that position as the reference upper limit position, or the
The tarry tiller is hoisted to keep the rear cover in a hanging state, and the reference values of various sensors used for control are rewritten so that the CPU can recognize the zero value of the depth sensor detected by the depth sensor at this time.

However, in the case of rewriting the reference value of the sensor used for these controls, in the case of the conventional device, the rewriting is always possible at the stage of shifting to the rewriting mode of the sensor reference value. There is a risk that the sensor reference value in an unstable state may be written in the EEPROM. If this reference value is used for control as it is, the machine may malfunction, and highly accurate control may not be possible. .

[0005]

SUMMARY OF THE INVENTION The present invention has been proposed in view of the above problems, and has taken the following technical measures. That is, the sensor reference value is written in an electrically rewritable non-volatile EEPROM mounted on the controller of the machine, and the actuator of the machine or a work machine attached to the machine is based on the written reference value. In a system for automatically controlling a controller, a controller means is provided which is capable of rewriting a reference value in the EEPROM after a lapse of a certain time after power is turned on. To do.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. First, the structure will be described. 1 is a tractor.
So equipped with front wheels 2, 2 and rear wheels 3, 3 on the front and rear of the machine,
The rotational power of the engine 5 in the bonnet 4 is appropriately decelerated by a transmission in the transmission case 6 and transmitted to the front wheels 2, 2 and the rear wheels 3, 3.

A hydraulic cylinder case 7 is fixedly provided on the upper rear portion of the transmission case 6, a single-acting hydraulic cylinder 8 is provided in the hydraulic cylinder case 7, and the hydraulic cylinder case 7 is also provided. Lift arms 9, 9 are rotatably supported on both left and right sides of the shaft. At the rear end of the three-point link mechanism 12 including the top link 10 and the lower links 11 and 11, a rotary tiller 14 as a ground working machine is movably connected, and the lift arms 9 and 9 and the lower arm. Link 11,
Lift rods 15 and 15a are interposed between and connected to 11, and the right lift rod 15a is composed of an extendable hydraulic cylinder.

Reference numeral 20 denotes a position operation lever, and a position setting device 16 for setting the height above ground of the rotary tiller 14 connected to the rear part of the tractor 1 at the rotation base of the position operation lever 20. Is attached. On the other hand, a lift arm angle sensor 23 for detecting the rotation angle of the lift arm 9 on one side, that is, the height of the rotary tiller 14, is attached to the position operation lever 20. Lift arm 9 to the set position,
9 is configured to rotate and stop at that position, which constitutes a position control system. In addition, this tractor-1 has a locomotive for horizontally controlling the work machine.
A ring control mechanism is provided. Specifically, a tilt sensor 24 for detecting left and right tilt is provided above the hydraulic cylinder case 7, a tilt setter 25 is provided beside the cockpit, and a hydraulic lift rod. A stroke sensor 26 for detecting the length of the hydraulic cylinder is provided on the lateral side of 15a.

Next, the structure of a rotary tiller 14, which is an example of a working machine, will be briefly described.
The tari cultivating device 14 includes a cultivating part 34, a main cover 35 that covers the upper part of the cultivating part 34, and a rear cover 36 pivotally attached to the rear part of the main cover 35.
Is configured to be rotatable around the axis of the tilling shaft 37. Further, a rear cover 36 is provided on the upper rear end of the main cover 35.
A depth sensor 42 for detecting the rotation angle of is provided.

Next, the block diagram shown in FIG. 2 will be described. A position setting device 16, a working depth setting device 55, an inclination setting device 25, a lift arm angle sensor 23, a depth sensor 42, an inclination sensor 24, a stroke sensor 26, and a horizontal manual are provided on an input side of a controller 54 including a microcomputer. Switch 5
7, a steering angle sensor 58 for detecting the steering angle of the front wheels 2, a check switch 68 that is pushed when checking the operation of various sensors and switches, and an elevating switch 69 that is operated when elevating the working machine. The up / down switch 69 is provided near the steering handle 70, but it may be provided beside the cockpit.

When the elevating switch 69 is pushed once, the working machine is raised, and when it is pushed again, the working machine is lowered to the height set by the position setter 16. Also, the controller 54
On the output side of, a proportional solenoid 62 for ascending and a proportional solenoid 64 for descending are connected to the hydraulic cylinder 8 of the hydraulic lifting device to control the supply and discharge of the operating pressure oil, and further the extension is provided to horizontally control the working machine. The solenoid 65 for shortening and the solenoid 66 for shortening are connected.

Ascending and descending proportional solenoids 62, 6
Reference numeral 4 indicates that the ON time of the control pulse is changed according to the difference between the set value and the detected value, that is, the deviation, and the control current according to the deviation is supplied. 80 is provided in this controller 54,
It is an electrically rewritable EEPROM and stores reference values of various sensors. A microcomputer checker 82 is connected to the controller 54 by a communication line,
Four push button switches 8 of microcomputer checker-82
By operating 4 as appropriate, the data of the EEPROM 80 is
Rewrite data.

In addition to the sensors, setting devices, and solenoids described above, the controller 54 described in this embodiment includes a rear wheel 3 one-side brake device (in conjunction with the operation of the steering wheel 70). A control means for auto-break control, which operates (not shown), is connected. Reference numeral 71 is a switch for detecting the low speed (first speed) of the auxiliary transmission, 72 is a 4WD detection switch interposed in the front wheel drive system, and 73 is a PTO switch for detecting the "ON" state of the PTO.

On the output side of the controller 54, a solenoid 75 for the right side brake and a solenoid 7 for the left side brake.
6. A half-break solenoid 77 for weakening the breaking force is connected. In this embodiment, the input port to the controller 54 is provided with only two ports of the brake "strong" and the brake "weak", and the sub-shift first speed switch 71, 4WD detection. Switch 72, PTO switch 73
There is no special input port for. These three switches 71, 72, 73 are connected in series, one end of which is connected to the ground line and the other end of which is connected to two input ports of "strong" and "weak" braking force. .

Next, the control program will be described with reference to FIG. First, turn on the power of tractor-1
The states of various sensors and switches connected to the printer 54 are read (step S1). Controller 54
As a result of reading various switches connected to, when all of the first read values are L (step S2),
In other words, the shipping inspection program of the controller 54 is executed when all the switches are closed and in the ON state (step S7). This shipping inspection program is for checking the hard circuit of the board of the controller 54, and when all the digital port inputs are L, the check program is executed without any time delay. To be executed. In this board operation check, the software for inspection is executed without waiting for a fixed time after the power is turned on, so the inspection time does not become long and a large amount of control is possible.
It is possible to complete the substrate inspection of LA 54 in a relatively short time.

Then, even if one of the digital port inputs is L
If not, the process proceeds to the next step, and it is determined whether or not a fixed time has passed since the power supply of the tractor was turned on (step S3). After turning on the power, a fixed time (500 ms
When ec) has not elapsed, only the sensors and switches are read (step S6), and other controls are not executed. Then, when the check switch 68 and the elevating switch 69 are pressed at the same time even after a certain period of time has passed, the control reference values of the sensors are collectively processed (step S8). More specifically, the lift arm 9 is hoisted to the maximum raised position, the tractor-1 is placed in a horizontal position, the position operation lever 20 is placed in the highest position, and the tilt setting device 25 is placed in a neutral horizontal position. Check switch 68 and lift switch 6 in this state.
The lift arm angle sensor value, the tilt sensor value, the position setting value, and the tilt setting value when both 9 and 9 are ON are written in the EEPROM 80 (step S8). This writing process is performed only once after the power is turned on.

On the other hand, when the check switch 68 and the horizontal contraction switch 57 are pressed at the same time,
The control reference value individual writing process of the sensor or the setting device starts (step S9). The independent processing in this case is performed using the microcomputer checker 82 which can communicate with the controller 54. The sensor on the machine side that is the target of this embodiment is
The stroke sensor 26 and the steering angle sensor 58.

As described above, in this embodiment, the batch processing is performed by the switch provided in the tractor-machine, and the batch processing such as the stroke sensor 26 and the steering angle sensor 58 is difficult (that is, the stroke sensor 26). The control reference value of is a value when the lower link 11 is parallel to the ground, and the steering angle sensor 58 value is a value when the steering handle 70 is operated straight. It is difficult to incorporate the control reference value into the processing step), and the control reference value is written in the EEPROM 80 in another step.

In this embodiment, the control reference value is rewritten by the microcomputer checker 82 separately from the batch processing. The operation will be described with reference to the drawings. The microcomputer checker 82 is detachably mounted on the main body of the microcomputer checker 82 with an IC card containing a sensor, software for rewriting the reference value of the setter, and software for checking the operation of the sensor. Checks are made according to the IC card software.

4 and 5 explain the transition of the liquid crystal screen of the microcomputer checker 82. For example,
When the steering angle sensor 58 is newly attached or replaced and the reference value of the sensor is set, the push button switch 84 of the microcomputer checker 82 is operated to rewrite. First, press the 4th switch of the microcomputer checker 82 to advance to the "Sensor Adjustment" screen (step # 6), and then, as shown in FIG. 5, change from the sensor change screen to the setting reference value rewriting mode. Transition.

Then, the stored value currently stored in the EEPROM 80 is displayed on the liquid crystal screen of the microcomputer checker 82 (step). In this embodiment, "118" is the stored value. When the first switch of the microcomputer checker 82 is pushed, the stored value is incremented by 1, and when the second switch is pushed, the stored value is decremented by 1.
These switches are appropriately operated to rewrite the control reference value. In step, the reference value is changed from "118" to "126". And
Press switch 1 again to write in the written value
It is sent to the EEPROM 80 of the printer 54. At the step, the set value "126" and the written value "12" are displayed on the liquid crystal screen.
6 ”is simultaneously displayed, and the writing process is completed.

[0022]

As described above, according to the present invention, the sensor reference value is written in the electrically rewritable non-volatile EEPROM mounted on the controller of this machine, and based on the written reference value. In the automatic control of the actuator of this machine or the working machine mounted on the machine, a control means is provided which enables rewriting of the reference value to the EEPROM after a lapse of a fixed time after power-on. Therefore, since the sensor value is not read in a state where the sensor output is not stable and automatic control is not performed using this inappropriate reference value, there is no malfunction and stable control operation can be secured. .

[Brief description of drawings]

FIG. 1 is a side view of the entire tractor and rotary cultivator.

FIG. 2 is a block diagram of a controller portion.

FIG. 3 is a flowchart of a control program.

FIG. 4 is a diagram illustrating how the liquid crystal screen changes.

FIG. 5 is a diagram illustrating how the liquid crystal screen changes.

[Explanation of symbols]

 1 tractor 2 front wheel 3 rear wheel 14 rotary tiller 16 position setting device 20 position operation lever 23 lift arm angle sensor 24 tilt sensor 25 tilt setting device 26 stroke sensor 42 depth sensor 54 controller 55 setting of working depth vessel

Claims (1)

[Claims] 1. A sensor reference value is written in an electrically rewritable non-volatile EEPROM mounted on a controller of this machine, and based on the written reference value, this machine or work mounted on this machine. In a controller for automatically controlling an actuator of a machine, a controller is provided which is capable of rewriting a reference value in the EEPROM after a lapse of a fixed time after power-on. .