JPH0815410B2 - Agricultural work machine control device - Google Patents

Description

TECHNICAL FIELD The present invention relates to a control device for an agricultural work machine.

<Prior Art> In recent years, in agricultural machines for agricultural work, automation of various agricultural works has been advanced. For example, in combine harvesters, there is a device that automatically adjusts the cutting height for cutting grain culms, and a device that automatically controls the traveling direction and steers, and a tractor automatically controls the plowing depth. A device to do so has been devised.

On the other hand, for 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 described above, switching is performed between automatic control and manual operation so that the worker can appropriately operate the working state. You can do it.

<Problems to be Solved by the Invention> However, the conventional device capable of switching between automatic control and manual control has the following drawbacks.

That is, after working by manual control, the operator often operates the working unit in the manual control state while forgetting to switch to the automatic control. In this case, since the operator intends to automatically control, he or she becomes insensitive to changes in the working state, and troubles such as contact with the ground of the working part, extreme reduction in working efficiency, or damage to the working part due to overload occur. It was easy.

If a specific example is shown, for example, in the combine handling depth control device, after performing the mowing threshing work by manual control,
If the same work is performed in fields with different rod lengths, if the control state is forgotten to switch as described above, the grain length will be changed to a deep handling state and the threshing load will increase the threshing load. When the length of the grain culm is short due to a failure of the part, clogging of the culm in the cutter, or a binding error of the knotter, there is a problem that it becomes a shallow handling and the unhandled residue occurs.
Therefore, if the operation becomes a deep operation and the threshing part fails or the cutter is clogged, it takes a lot of effort to return to the original work state. There is also a drawback that the work efficiency is extremely deteriorated, for example, it becomes necessary to perform gripping.

An object of the apparatus of the present invention is to solve the above problem by automatically turning on the automatic control by an operation at the start of work.

<Means for Solving the Problems> The present invention for solving the above problems includes a control device 57 that controls the operation of a working unit, and the control device 57 can be selected between manual control and automatic control. In addition to the above, the automatic control is selected only in the automatic instruction state depending on whether or not the automatic state flag is in the automatic instruction state.At the start of work, the automatic state flag is automatically selected in the automatic instruction state. During traveling, the operator operates the switch 19 to select the state of the automatic state flag, and then detects the state of the automatic state flag to switch between automatic control and manual control, or manual control. It is characterized by being configured with a built-in program that automatically switches on the condition of a specific mode among the modes.

<Operation> Based on the signal at the time of starting the work, the control device 57 is automatically switched to the automatic control by a preset program. Switching from the automatic control to the manual control is arbitrarily performed by the operation of 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,
Alternatively, it is automatically performed by the controller 57 when a specific mode is set in the manual control mode.

Therefore, at the start of the work, the automatic control state is always maintained, and thereafter, the sequential automatic control and the manual control can be switched.

<Example> Hereinafter, an example of the present invention will be described in detail with reference to the drawings. FIG. 2 is an overall perspective view of a combine using one embodiment of the present invention.

The combine body 1 is supported by the traveling unit 3, and the pretreatment unit 5 is attached to the front of the combine body 1 so as to be vertically movable. Further, on the left side of the combine body 1, there is provided a feed chain 9 that inherits and conveys the grain culm sent from the pretreatment unit 5. In the combine body 1, a handling cylinder 11 provided in parallel with the feed chain 9 is supported and constitutes a threshing section. Further, a driver's seat 13 is provided on the front right side of the combine body 1, an operation panel 15 is installed around the driver's seat 13, and a monolever 17 for operating the steering operation and the elevation of the pretreatment unit 5 is provided upright. ing.

The layout of the operation panel 15 will be briefly described.
As shown in the figure, in front of the driver's seat 13, an operator-operated switch 19 of automatic reset type, a deep manual switch 21, a shallow manual switch 23 are provided. A switch 27 is provided.
A key switch 29 is installed on the side of the monolever 17.

On the other hand, on the operation panel on the left side of the driver's seat 13, as shown in FIG. 4, a continuously variable transmission lever 31, a cutting clutch lever 33, etc. are provided so as to be swingable. The grain culm cut by the pretreatment unit 5 is conveyed to the feed chain 9 of the combine body 1 by the lifting / conveying device 7, and the grain culm held by the feed chain 9 is threshed by the rotating handling cylinder 11. Here, the handling depth is adjusted by the distance from the position held by the feed chain 9 to the tip. Therefore, when the lifting / conveying device 7 inherits the culm from the pretreatment unit 5, the lifting / conveying device 7 moves up and down to move the gripping part of the culm, and the lifting chain 41 of the lifting / conveying device 7 holds it from the holding part. The handling depth is adjusted by adjusting the length to the tip. In addition, a grain culm sensor 45, a stock gen sensor 47, and a tip sensor 49 are sequentially attached to the U pipe 43 attached to the lifting and conveying device 7 from the root side of the culm to be conveyed. The sensor 49 detects the length from the pinched portion of the conveying chain 41 to the tip.

In other words, when the tip touches the tip sensor 49, deep handling is performed, and when the tip sensor no longer touches the stock origin sensor 47, shallow handling is performed.

Then, in the case of the automatic handling depth control, the control device 57 makes a judgment based on the detection of the above-mentioned sensor, and the lifting / conveying device 7 is moved up and down to move the sandwiched portion of the grain stem by the conveying chain 41 so that it is properly adjusted. It is automatically adjusted so that it can be handled easily. In the combine of the present embodiment, such a lifting / conveying device 7 that moves up and down serves as a working unit shown in the claims.

The switches and sensors described above are connected to the controller 57 as shown in FIG. 5, and the controller 57 controls the operation of each part. In the device of this embodiment, the control device 57 is composed of a microcomputer. The reaping clutch switch 59 is interlocked with the reaping clutch, and is turned on when the reaping clutch switch 59 is turned on.

Further, a handling depth automatic pilot lamp 65, a direction automatic pilot lamp 67 provided on the operation panel 15 and a motor 69 for raising and lowering the hoisting and conveying device 7 are connected, and other potentiometers 61, 6 for detecting the swinging amount of the monolever, for example.
3 and steering control solenoid valves 71, 72 are connected. Here, the motor 69 is driven in forward and reverse rotation by a command from the control device 57, and the steering control solenoid valves 71, 7
2 opens and closes.

As shown in FIGS. 1 and 5, handling depth control will be described as an example of the operation of the control device 57. Since the reaping clutch must be engaged when performing the reaping work, the reaping clutch switch 59 determines whether or not the reaping clutch is engaged. 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 automatic handling depth control subroutine judges the value of the automatic state flag, and when it is zero, the automatic control is not performed.

On the other hand, when the reaping clutch is engaged, it is determined whether the reaping clutch is newly engaged in relation to the previous work or whether the reaping clutch is still engaged and further work is to be continued. When a new clutch is engaged,
The automatic state flag is set to 1.

If the reaping clutch is still on,
The state of the operator operation switch 19 is determined, and when it is OFF, the 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. Then, the numerical value of the automatic state flag is determined.

When the automatic state flag is zero, the deep handling automatic pilot lamp 65 is turned off and the automatic deep handling control is stopped. When the automatic state flag is 1, the deep handling automatic pilot lamp 65 is turned on and the deep handling automatic control is performed. Control is performed.

Since the operator operation switch 19 is an automatic reset 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.

The manual control operation is performed by the deep handling manual switch 21 and the shallow handling manual switch 23. Both the deep handling manual switch 21 and the shallow handling manual switch 23 are automatic reset type switches, and the motor 69 is driven in the deep handling direction or the shallow handling direction only when the switch is continuously operated in the ON state, and the lifting and conveying device. 7 goes up and down.

Since the control device 57 has the above-described operation, when the work is started by putting the mowing clutch, the control device 57 is always in the automatic control state, and during the work, the automatic operation is performed every time the operator operating switch 19 is operated. Control and manual control are interchanged.

Therefore, when a new reaping clutch is inserted and work is started, even if you forget to switch from manual control to automatic control, automatic control is always available. This eliminates the drawback that the work proceeds in the position and troubles occur.

FIG. 7 is a block diagram showing another embodiment. In the second embodiment, the operator operation switch 19 is omitted, and the switching from the automatic control to the manual control is automatically performed by operating the deep operating manual switch 21 or the shallow operating manual switch 23. Is programmed. As shown in FIG. 7, when the manual operation is performed, the automatic state flag is set to zero.

On the other hand, when the manual control is switched to the automatic control, the length of the lifting conveyor 7 from the conveyor chain 41 to the tip is too short, and the stock sensor 47 is switched from the ON state to the OFF state. When the transmission mode is entered, the automatic state flag is set to 1 and programmed to switch to automatic control.

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

Therefore, even if the shallow operation amount is too large due to an error in the manual operation, the automatic control is automatically performed, and the unoperated portion does not remain. Further, the automatic control is smoothly switched to the manual control, and the operation is simplified. Also, since it is not necessary to provide a special changeover switch,
It is easy to assemble and the cost can be reduced.

Although the device of this embodiment is for the case of automatic depth control, it can also be applied to other automatic direction control devices 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 start of work.
It is possible to prevent various troubles caused by starting work in the manually controlled work state set in the previous work.

Since the number of switch operations and the like is reduced, work efficiency is improved and erroneous operations are reduced.

[Brief description of drawings]

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

Claims (1)

[Claims] 1. A control device (57) for controlling the operation of a working unit is provided, the control device (57) is configured to be selectable between manual control and automatic control, and an automatic state flag indicates an automatic instruction state. Whether or not the automatic control is selected only in the automatic instruction state, the automatic state flag is automatically selected to the automatic instruction state at the start of work, and the operator operation switch (19) is operated to switch the operation while the work is running. After the state of the automatic state flag is selected, either the automatic control or the manual control is switched by detecting the state of the automatic state flag, or the automatic control is automatically performed on the condition of a specific mode in the manual control mode. A control device for agricultural work machines that has a built-in program for switching to control.