JPH0928132A - Control unit for working vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control system capable of easily correcting parameters to be set for correction correspondingly to a setting device and sensor. SOLUTION: The control operation of a control unit 42 is designed to be switchable between feedback control mode to actuate an object to be controlled based on the respective signals from a setting device and a sensor and the correction of EEPROM 59 and writing mode to write a correction on the EEPROM 59 by a writing means E; and there are provided light-emitting diodes 50, 51 to inform that the operation of the control means 42 represents the writing mode when the control operation of the control unit 42 is switched to the writing mode.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work vehicle control device, and more particularly to a potentiometer type setting device for transmitting a setting signal as a control target to a control means, and a potentiometer type setting device for transmitting an operating position of a control target to the control means. Of the sensor, the setting device, and a storage unit for storing correction values corresponding to the respective sensors.

[0002]

2. Description of the Related Art Taking rolling control of a rice transplanter as an example of conventional technology, a potentiometer-type setting device for setting the rolling posture of the seedling planting device is provided on the side of the traveling machine. A sensor for measuring the rolling posture of the seedling planting device is provided, and an actuator such as an electric motor for rolling-driving the seedling planting device is provided at a position such as a rear end of a link mechanism that supports the seedling planting device so as to move up and down. In this control system, by driving the actuator in the direction in which the voltage value set by the setter and the voltage value of the feed signal from the sensor match, the seedling planting device is set in a predetermined rolling posture. The control to maintain at. or,
In this control system, when the setter is in the operation position indicating horizontal, the setter outputs a voltage value indicating horizontal, and when the rolling posture of the seedling planting device is horizontal, the sensor indicates the horizontal posture. Is ideal, but it is difficult to obtain the ideal signal value due to the mounting error. Conventionally, the value (parameter) for correcting the electrical error caused by the mounting error is stored in the nonvolatile memory such as EEPROM. It is stored in memory, and during control, high-precision rolling control is possible by the same processing as when the sensor is mounted in an appropriate posture by processing such as adding or reducing parameters to the signal value from the sensor. Those that do have also been put to practical use.

[0003]

Further, in the case where the signals from the setter and the sensor are corrected by the calculation based on the parameters stored in the memory or the like as in the conventional example, the setter and the sensor are set at the time of inspection and maintenance of the working machine. After removal, it is installed in the original position, or when the setter and sensor are replaced, the setter and sensor installation position or orientation is based on the position or orientation when the correction value (parameter) is stored. When it changes, an operation of storing the correction value in the memory or the like must be performed again. In addition, when storing the correction value, after setting the operation system of the setter and the sensor to a neutral position or a predetermined position such as the stroke end, the signals from the setter and the sensor are sent to the control means. This requires a switch operation or the like for inputting and storing the correction value obtained by calculation in a memory or the like. But,
There is room for improvement because it is difficult for the operator to confirm whether the correction value is stored in the memory or the like even when the switch operation is performed as described above after performing the work in the predetermined procedure.

Further, when the correction value is stored in the memory or the like as described above, it is necessary to store the setting device and the sensor in a state where the setting device and the sensor do not largely deviate from a predetermined mounting position or a predetermined posture. , If the position or posture is greatly deviated, not only can the operating range that should be originally operated become unusable due to mechanical operating limits, but
There is room for improvement because normal control cannot be performed. Specifically, it is necessary to apply a voltage equal to that of the power source of the work vehicle to the setting device and the sensor, and determine the mounting position and the posture of the setting device and the sensor so that the terminal voltage is within the predetermined range. There is room for improvement.

In the case of a work vehicle having a plurality of feedback type control systems each including a setter and a sensor, the control operation is usually adjusted for each control group. Even if it is necessary to change the correction values of the setter and sensor by this adjustment, it is not necessary to change the correction values of other control systems in many cases, and the correction values of only specific control systems can be changed. Is desired.

An object of the present invention is to rationally construct a control device for surely storing a correction value, and to suppress the storage of the correction value when the setter and the sensor are in an inappropriate mounting position and posture. Further, there is a point that the correction value of the required control system can be easily stored.

[0007]

The features of the present invention (claim 1) are a potentiometer type setter for transmitting a setting signal as a control target to the control means, and a potentiometer type for transmitting the operating position of the controlled object to the control means. The sensor, the setting device, and a storage device for transmitting the correction value stored corresponding to each of the sensors to the control device, and a writing device for storing the correction value based on the signal from the setting device or the sensor in the storage device. A feedback control mode in which the control operation of the control means is operated based on the signals from the setter and the sensor and the correction value of the storage means, and the writing means writes the correction value in the storage means. Mode, and when the control operation of the control means is switched to the write mode, the control operation of the control means is changed to the write mode. There the point made comprise informing means for informing that it is a de its action, and the effects are as follows.

Further, according to the present invention, when the control means is switched to the write mode, the signal value from the setter or sensor for which the correction value is to be set becomes a value unsuitable for writing to the storage means. In some cases, an alarm means for notifying this state is provided (claim 2), the setting device and the sensor have a plurality of sets of control systems controlled by these, and the control means writes When a mode is switched to, a specific unit of the plurality of control systems is selected, and a setting unit and a selection unit for writing a correction value based on a signal from the sensor into the storage unit by the writing unit are provided. It is also characterized by the point (claim 3), and its action and effect are as follows.

[0009]

According to the above feature (claim 1), when the correction value based on the signal from the setting device or the sensor is stored in the storage means, the control operation of the control means is switched to the writing mode to store the correction value. The correction value can be written to the writing means by the writing means, and the notifying means notifies that the control operation of the control means is in the writing mode, and the operator writes the correction value through the notifying means. The operation for writing can be performed in the state that the mode is recognized. In other words, in the present invention, the control mode of the control means can be recognized based on the notification status of the notification means, and therefore, when the control means is in the feedback control mode, the write switch or the like is not operated by mistake.

According to the second aspect of the present invention, when the control means is switched to the writing mode and the signal values from the setter and the sensor are inappropriate for writing, that is, the setter and the sensor are at predetermined mounting positions. Alternatively, the alarm means informs of this state when it is largely deviated from the predetermined posture, and the operator can reset the setting device and the sensor to appropriate positions and postures based on the notice. Become. That is, when the correction value is written in the storage means, the setter and the sensor only need to be in a predetermined position and a predetermined posture, but if the correction value is written with a large deviation, mechanical setting In the case of a setter due to the limit, the setting range becomes smaller, and
In the case of a sensor, the detection area becomes too small to cover the entire operation area of the actuator, and it may be damaged. On the other hand, in the present invention, it is possible to easily recognize that the setting device and the sensor are in an inappropriate position and posture by the notification of the alarm means, and suppress the writing in the inappropriate state to perform proper control. enable.

According to the third aspect of the present invention, by selecting the selecting means, the signal values from the setters and the sensors of the specific set of the feedback control system can be written in the storing means, and all the setters provided for the work vehicle. As compared with the case where the correction value of the sensor is written in the storage means, it is less troublesome. That is, according to the present invention, when it is necessary to write the correction value of the specific setter and the sensor in the storage means, such as after the inspection and adjustment of only one of the plurality of sets of feedback control systems, In this case, it is not necessary to change the correction value of a normal control system other than this specific feedback control system, and unnecessary operation is avoided.

[0012]

Therefore, the control device capable of surely storing the correction value by eliminating the erroneous operation is rationally constructed (Claim 1). Further, the storage of the correction value when the setter and the sensor are in an inappropriate mounting position and posture is suppressed (Claim 2), and the necessary correction value of the control system is simplified by avoiding unnecessary operation. It became possible to memorize (claim 3).

[0013]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, an engine 4 is mounted on the front part of a traveling machine body 3 provided with a steering type driven front wheel 1 and a driving type rear wheel 2, and at the rear part of the traveling machine body 3. A hydrostatic stepless transmission 5 to which power from the engine 4 is transmitted, and a mission case 6 are arranged, a driving seat 7 is arranged at the center of the traveling body 3, and a rear end portion of the traveling body 3 is arranged. The seedling planting device A is connected through the parallel four-link type link mechanism 9 that is driven and moved up and down by the elevating and lowering cylinder 8 to form a riding type rice transplanter as an example of a work vehicle. The elevating cylinder 8 is arranged in a vertically long posture with the cylinder body arranged downward and the piston rod arranged upward, and a suspension spring (not shown) is provided between the piston rod and the link mechanism.

A main speed change lever 10 for speed-changing the continuously variable transmission 5 is provided at a front portion of the traveling machine body 3, and the driving seat 7 is provided.
A sub-transmission lever 11 for operating a gear transmission system in the transmission case is provided on the left side of the transmission case. Lifting lever 13 for performing operations
It has. The main shift lever 10 stops traveling at the neutral position, and is swung forward from the neutral position to accelerate the machine body 3 in the forward direction, and is swung backward from the neutral position. 3 is linked to the continuously variable transmission 5 so as to increase the speed in the backward direction, the auxiliary transmission lever is in a neutral position, a planting position for selecting a traveling speed for planting work with the seedling planting device, and a planting position. It is configured so that it can be set to a moving position that allows the aircraft to travel at a higher speed.

The seedling planting device A includes a seedling stand 14 on which a mat-like seedling W is placed, a transmission case 15 to which power from the traveling machine body 3 is transmitted, and the transmission case 15 to the chain case 16.
Rotary case 1 that rotates with the power transmitted via
7. The rotary case 17 includes a pair of planting arms 18 provided one by one, and a plurality of ground leveling floats 19 for multiple line planting. It is supported so that it can be rolled around.

As shown in FIG. 4, the seedling planting apparatus A is rotatably connected to the lower end position of the vertical frame 9A at the rear end of the link mechanism 9 about the axis X, and the vertical frame 9A is Electric type rolling motor 23 at an intermediate position
A moving member 25 that is screwed into a screw shaft 24 that is driven by the operating shaft 27, 27 is provided between the moving member 25 and the pillar-shaped frames 26, 26 at both left and right positions of the seedling planting apparatus A.
The seedling planting apparatus A is configured so as to be able to drive and roll by moving the moving member 25 in the left-right direction via the. or,
Return springs 29, 29 between the upper end position of the vertical frame 9A and the brackets 28, 28 on the side opposite to the seedling placing surface of the seedling placing table 14.
And a rolling sensor 30 for measuring the rolling posture of the seedling planting apparatus A on one of the pillar-shaped frames 26.
It has.

As shown in FIG. 2, after the arm 32 provided on the planting depth adjusting shaft 31 rotatably supported on the lower surface of the chain case 16 of the plant A for planting seedlings about the axis of the lateral posture. Each of the leveling floats 19 is swingably supported around the swing axis Y in the lateral posture with respect to the end position,
The front and rear ends of the respective leveling floats 19 are bent and stretched link members 3
3, the front side of the leveling float 19 is supported so as to be vertically swingable around the swing axis Y. Further, of these ground leveling floats 19, the rod 3 that is connected to the front part of the leveling float 19 at the center in the left-right direction.
4 and the operation arm 36 of the potentiometer type float sensor 35, and the compression spring 3 for displacing the front part of the leveling float 19 downward via the operation arm 36.
7 is provided so that the rocking amount of the ground leveling float 19 around the rocking axis Y can be detected. In addition, the planting depth adjusting lever 39, which is connected to the planting depth adjusting shaft 31 via the shaft body 38, is artificially operated to engage and support the lever guide 40, and the whole seedling planting device and the field scene. The planting depth of the seedlings in the field can be adjusted by changing the relative distance in the up and down direction.

As shown in FIG. 3, seedlings are planted at the rear position of the traveling machine body 3 at a position overlapping with the axis P of the rear wheel 2 in a plan view and at the center position of the traveling machine body 3 in the left-right direction. Device A
Pitching sensor 41 for detecting the amount of inclination of the traveling machine body 3 in the pitching direction with respect to the position corresponding to the swing axis X of
It has.

As shown in FIG. 1, a control device 42 (an example of control means) having a microprocessor is arranged below the driver's seat 7, and a control box 43 is arranged at a side position of the driver's seat 7. In this box 43, as shown in FIG. 6, a rolling angle setting device 45 operated by a rolling angle setting dial 44, a potentiometer type control sensitivity setting device 47 operated by a control sensitivity setting dial 46,
A rolling switch 49 operated by a push-operation type knob 48 which can be freely returned to the neutral position and swingable in the left-right direction, a red light emitting diode 50 which is used both as an alarm means and an alarm means, and a green switch. Each light emitting diode 51 is provided.

As shown in FIG. 5, with respect to the control device 42, a main switch 54 for supplying electric power to the electric system of the vehicle body prior to starting the engine 4 and an adjustment which is operated during correction control which will be described later. Switch 55, shift lever sensor 5 for detecting the operating position of the main shift lever 10
6, an elevating lever sensor 57 for detecting the operating position of the elevating lever 13, the rolling angle setting device 45, the rolling switch 49, the rolling sensor 30, the pitching sensor 41, the control sensitivity setting device 47, the float sensor 35. An input system for inputting a signal from each is formed, and an output system for the electromagnetic valve 58 for the lifting cylinder 8, the rolling motor 23, and the two light emitting diodes 50, 51 is formed, and an EEPROM 59 as a storage means. And an input / output system for the checker C are formed.

The control device 42 includes a rolling angle setting device 45.
The target rolling angle of the seedling planting apparatus A is set based on the voltage signal from the rolling sensor 30, and the rolling of the seedling planting apparatus A is performed based on the voltage signal from the rolling sensor 30 so that a rolling angle corresponding to the target rolling angle is obtained. The rolling motor 23 is driven while discriminating the angle, and when the rolling switch 49 is operated, the rolling motor 23 is driven toward the operated side to force the rolling posture of the seedling planting apparatus A. Rolling control to change to. Further, the control device 42 uses the control sensitivity setting dial 46.
The setting position of is determined based on the voltage signal from the control sensitivity setting device 47, the control target is set, the pitching amount of the traveling machine body 3 is measured based on the signal from the pitching sensor 41, and based on the measurement result. Correct the control target,
By operating the electromagnetic valve 58 while feeding back the voltage signal from the float sensor 35 so as to obtain the swing angle of the leveling float 19 corresponding to this correction value, automatic raising / lowering control for raising / lowering the seedling planting apparatus A is performed. Control action is set. The reason for performing the correction based on the signal from the pitching sensor 41 is that the relative posture between the leveling float 19 and the farm field also changes during the pitching of the traveling machine body 3, and the leveling float 19 cannot obtain a desired ground contact state. Therefore, the control target based on the voltage signal from the control sensitivity setting unit 47 is corrected based on the pitching amount to eliminate the uplift or the excessive oversink of the ground float 19 in the field scene.

During these controls, the signals from the setter and the sensor are corrected based on the parameters written in the EEPROM 59 corresponding to each, and the setter and the sensor are mounted in the ideal postures and positions. Even if it is not installed, the control operation is set so that proper control can be performed assuming that it is installed in the ideal posture and position (the control operation is not described in detail). The operation of correction control when a new parameter is written in the EEPROM 59, such as when the positions are adjusted, when the setter or the sensor is replaced, etc. will be described below. Among the setting devices and sensors used in the above-described rolling control and automatic lifting control, those having correction parameters set are the rolling angle setting device 44, the rolling sensor 30, and the pitching sensor 4.
1, the float sensor 35.

It is also possible to check the processing operation by connecting the checker C (an example of the notifying means) via the connector 60 linked to the control system when setting this parameter.
As shown in FIG. 7, the checker C is provided with a cord 62 for connecting to a connector 60 with respect to a case 61, and a left 7-segment type liquid crystal capable of displaying a 2-digit digital number on the outer surface of the case 61. A display type first display portion 61A and a right side 7-segment type liquid crystal display type second display portion 61B are formed.

As shown in the flow chart of FIG. 8, the correction control can be performed by turning on the main switch 54 without starting the engine 4. After this turning-on operation, the adjustment switch 55 is turned on, and then the adjustment switch 55 is turned on. When the starting condition is satisfied and the rolling angle setting dial 44 is set to the “horizontal” position based on the signal from the rolling angle setting device 45, the control for writing the parameters is in the starting state. As shown in FIG. 12, the red light emitting diode 50 and the green light emitting diode 51 are alternately blinked every 500 milliseconds, and when the checker C is connected, as shown in FIG. By displaying the character "Ad" on 21A, it is notified that the activation state has been reached (steps # 101 to # 104). still,#
The 102 step activation condition means that the control sensitivity setting dial 46 is set to position "2", the main transmission lever 10 is in the neutral position, and the lift lever 13 is in the neutral position. , When the determination is made based on the signals from the shift lever sensor 56 and the signals from the lift lever sensor 57.

Next, a signal from the rolling angle setting device 45 is input, and the rolling setting dial 44 is inputted from this signal.
If is set to "lower left" continuously for 1 second or more, after announcing that it is a mode for correcting the rolling system,
Move to processing of rolling system correction routine (# 105- #
107, # 200 step), if the rolling setting dial 44 is continuously set to "lower right" for 1 second or more, after notifying that the mode is for correcting the pitching sensor, the process proceeds to the pitching sensor correction routine. (# 1
08, # 109, # 300 steps), when it is set to “horizontal”, the signal from the control sensitivity setting device 47 is input, and when the sensitivity is set to “7” (MAX), the float sensor 35 After notifying that it is a mode for correcting the above, if it is continuously set for 1 second or more, the process proceeds to the float sensor correction routine (# 110 to # 112, # 400 step), and this control operation is continued until it is reset. (Step # 113). In addition, # 10 for selecting a specific control set of a plurality of control systems
These are referred to as selecting means D and D for 5 steps and # 110 steps, respectively.

Incidentally, in this control, if any inconvenience occurs during any of the steps, the main switch 5
All the control contents are cleared by the turning operation of 4, and the control from the initial state becomes possible.

Further, as shown in FIG. 12, when informing the mode of step # 106, the red light emitting diode 50 is made to blink by setting the ON time and the OFF time to 100 milliseconds and the checker C is connected. In the case of normal operation, “A1” is displayed on the first display section 61A, and in the case of normal operation, “0P” is displayed on the second display section 61B, and some abnormality such as defective connection occurs. If the second display 6
"0E" is displayed on 1B, and when the # 108 step mode is notified, the green light emitting diode 51 is set to ON and OFF times to 100 milliseconds to blink, and the checker C is connected. If the first display 61
In addition to displaying "A2" on A, "0P" is displayed on the second display portion 61B when the operation is normal, and on the second display portion 61B when some abnormality such as defective connection occurs. When "0E" is displayed, and when the # 111 step mode is informed, the red and green light emitting diodes 50 and 51 are set to ON time and OFF time to 100 milliseconds to blink at the same time, and the checker C is displayed. Is connected, "A3" is displayed on the first display section 61A, and "0P" is displayed on the second display section 61B in the case of normal operation. If it has occurred, "0E" is displayed on the second display portion 61B.

The processing of the rolling system correction routine at step # 200 is carried out in a state where the rolling posture of the seedling planting apparatus A around the axis X is kept horizontal with respect to the body. As shown, a signal from the rolling sensor 30 is input, and if a predetermined condition is satisfied (steps # 201 and # 202), the next control is performed.
The condition of this step # 202 is that the signal voltage from the rolling sensor 30 outputs a voltage indicating approximately horizontal.

When the condition is satisfied in step # 202 (when there is no notification of non-satisfaction), the rolling angle setting dial 44 is returned to the horizontal posture so that the correction based on the signal from the rolling sensor 30 at this timing is performed. The parameters are written in the EEPROM 59, and after completion of the wait for 1 second, the completion of writing is notified (steps # 203 to # 206), and thereafter, the correction parameters based on the signal from the rolling angle setting device 45 are automatically set. EEPROM 59
Is written into the memory, and after the wait of 1 second, the end of writing is notified, and after the wait of 1 second, the end of the process in this mode is notified (# 207 to # 211 steps). The # 204 step and # 207 step for writing the parameters in the EEPROM 59 in this manner are referred to as writing means E, E, respectively.

If the condition is not satisfied in step # 202, the fact that the condition is not satisfied is notified by lighting the red light emitting diode 50 (continuously maintaining the light emitting state), and the signal from the rolling sensor 30 is appropriately set. If you can't,
By operating the rolling angle setting dial 44 "horizontally", it is possible to get out of the control of this mode (# 212, # 213 steps). If the condition is not satisfied, the rolling posture of the seedling planting apparatus A is not horizontal, or the mounting posture of the rolling sensor 30 is not appropriate. After leaving the flow, after setting the rolling posture of the seedling planting apparatus A to be horizontal and appropriately operating the mounting posture of the rolling sensor 30,
The processing in this mode can be performed again.

As shown in FIG. 13, at the time of the notification in step # 206, the red light emitting diode 50 is set to ON time and OFF time to blink for 250 milliseconds, and the checker C is connected. In the case, the first display portion 61A
"A1" is displayed on the screen, and the numerical value of the parameter for the rolling sensor 30 is displayed on the second display section 61B.
Further, at the time of the notification in step # 209, the red light emitting diode 50 is set to ON time and OFF time to blink for 500 milliseconds (even if the checker C is connected.
(There is no change from the notification content in step 206), or # 21
For the notification in one step, the red light emitting diode 50 and the green light emitting diode 51 are alternately blinked every 500 milliseconds, and when the checker C is connected, the first display portion 21A is displayed. The character "Ad" is displayed.
In other words, when writing of this parameter is completed,
The display is the same as the display in step # 104, and writing of other parameters can be continued.

The processing of the pitching sensor correction routine in step # 300 is performed by setting the traveling machine body 3 in the horizontal posture in the pitching direction.
As shown in 0, when a signal from the pitching sensor 41 is input and a predetermined condition is satisfied (# 301, # 3
(02 step) Move to the next control. The condition of step # 302 is that the signal voltage from the pitching sensor 41 outputs a voltage indicating approximately horizontal.

When the condition is satisfied in step # 302 (when there is no notification of non-satisfaction), the rolling angle setting dial 44 is returned to the horizontal posture so that the correction based on the signal from the pitching sensor 41 at this timing is performed. The parameters are written in the EEPROM 59, after the wait of 1 second, the end of the writing is notified, and after the wait of 1 second, the end of the processing in this mode is notified (# 303).
~ Step # 308). Note that the EEPROM5
The # 304 step for writing the parameter to 9 is referred to as the writing means E.

If the condition is not satisfied at step # 302, the green light emitting diode 51 is turned on (the light emitting state is continuously maintained) to notify that the condition is not satisfied, and the signal from the pitching sensor 41 is set appropriately. If you can't,
By operating the rolling angle setting dial 44 "horizontally", it is possible to get out of the control of this mode (steps # 309 and # 310).

If the condition is not satisfied, the pitching posture of the traveling machine body 3 is not horizontal, or the mounting posture of the pitching sensor 41 is not proper, so the rolling angle setting dial 44 is operated to "horizontal" to set this mode. In the state of getting out of the flow, the pitching posture of the traveling machine body 3 is set to be horizontal, the mounting posture of the pitching sensor 41 is appropriately operated, and then the processing in this mode can be performed again.

As shown in FIG. 14, at the time of notification in step # 306, the green light emitting diode 50 is set to ON time and OFF time to blink for 250 milliseconds, and the checker C is connected. In the case, the first display portion 61A
"A2" is displayed on the second display portion 61B, and the numerical value (written numerical value) of the parameter for the pitching sensor 41 is displayed on the second display portion 61B. Further, the red light emitting diode 50 and the green light emitting diode in step # 308 are displayed. 51 and 50
Flashes alternately every 0 milliseconds, and when the checker C is connected, "A" is displayed on the first display section 21A.
The character "d" is displayed. That is, when the writing of this parameter is completed, the same display as the display in step # 104 is restored and the writing of other parameters can be continued.

The processing of the float sensor correction routine in step # 400 is performed by setting the leveled float 19 for operating the float sensor 35 in a posture that is horizontal with respect to the seedling planting apparatus A. As shown in FIG. 11, the rolling angle setter 45, the float sensor 35
When the signal from is input and the condition is satisfied (# 40
1, step # 402) Move to the next control. This # 402
The condition of the step is that the signal voltage from the float sensor 35 outputs a voltage indicating approximately horizontal.

When the condition is satisfied in step # 402 (when there is no notification that the condition is not satisfied), the control sensitivity setting dial 4
By returning 6 to the "center" position (the position numbered 4),
The correction parameter based on the signal from the float sensor 35 at this timing is written in the EEPROM 59, and after the wait of 1 second, the writing end is notified,
Further, after waiting for 1 second, the end of processing in this mode is notified (steps # 403 to # 408).
Incidentally, the step # 404 for writing the parameter in the EEPROM 59 in this way is referred to as a writing means E.

If the condition is not satisfied at step # 402, the condition is not satisfied and the red and green light emitting diodes 5 are used.
Simultaneous lighting of 0 and 51 (continues to emit light)
If it is notified and the signal from the float sensor 35 cannot be properly set, the rolling angle setting dial 44 is operated "horizontally" to get out of the control of this mode (# 409, #). 410 steps). If the condition is not satisfied, the float sensor 35
Is not horizontal with respect to the seedling planting apparatus A, the rolling angle setting dial 44 is operated to be “horizontal” to set the attitude of the float sensor 35 to be horizontal in a state of exiting the flow of this mode, and then again. Processing in this mode can be performed.

As shown in FIG. 15, at the time of notification in step # 406, the red and green light emitting diodes 50,
When the checker C is connected, "A3" is displayed on the first display section 61A and the second section is set to the second section.
Numerical values of the parameters for the float sensor 35 are displayed on the display unit 61B, and the red light emitting diode 50 and the green light emitting diode 5 are used for the notification in step # 408.
Alternately blinking 1 and 500 every 500 milliseconds, and when the checker C is connected, the character "Ad" is displayed on the first display portion 21A. That is, when the writing of this parameter is completed, the same display as the display in step # 104 is restored and the writing of other parameters can be continued.

As described above, the control device 42 is the seedling planting device A.
It is possible to perform the rolling control and the elevation control of the device while also enabling the correction control to write the correction parameter by a predetermined operation. In this correction control, all the parameters are not written at the same time, but the selective writing is performed. Therefore, even when a part of the sensor system is inspected, which control is selected by the selection means D can be known by the notification of the light emitting diodes 50 and 51 as the notification means, and no erroneous operation is performed. In addition, if the adjustment does not take time and the signal value from the setter or sensor to which the correction value (parameter) should be set at the time of writing is an unsuitable value, an alarm means is provided. This state is recognized through the light emitting diodes 50 and 51 as described above, and an appropriate operation is enabled.

In addition to the control system described above, this rice transplanter is provided with a control system configured as shown in FIG. 16. In this control system, the seedling of the seedling planting device A is compared with the arithmetic unit 63 having a microprocessor. It has a lateral feed sensor 64 for measuring the number of lateral feeds of the platform 14, and an input system for inputting a signal from the keyboard 65, and also has an output system for a liquid crystal display 66 provided on the panel at the front position of the driver's seat, The value of the distance between plants and the distance between threads are input in advance from the keyboard 65, and the consumption of seedlings is calculated based on the signal from the lateral feed sensor 64 during the work, and the total travel distance of the machine body 3 is input from the keyboard 65. As a result, the planted area with respect to the seedling consumption amount can be output to the liquid crystal display 66 to obtain the required number of mat-shaped seedlings W.

[Other Embodiments] In addition to the above embodiments, the present invention is
For example, as shown in FIG. 3, the rolling sensor 71 is provided at a position where the axis P of the rear wheel 2 intersects at the center in the left-right direction on the traveling machine body 3 side, and as shown in FIG. An input system for the signals from the rolling sensor 71 and the signals from the rolling angle setting device 45 and the rolling switch 49 is formed for the device as in the embodiment.
By providing the stroke sensor 72 that feeds back the drive amount of the rolling motor 23 to the control device, the rolling amount of the traveling machine body 3 is measured by the sensor 71 provided on the traveling machine body 3 side, and at the same time seedling planting is performed based on the measurement result. The control of the control system is such that the rolling amount of the plant A is determined, and the stroke sensor 72 feeds back the rolling amount of the plant A with the stroke sensor 72 so that the plant A is set in a desired rolling posture. It is also possible to set the operation.

Further, in the present invention, as shown in FIG. 17, the notification means is constituted by a dedicated notification lamp 73, the warning means is constituted by a dedicated warning lamp 74, and the notification means and the warning means are constituted by a buzzer 75. It is also possible to combine the functions.

It should be noted that although reference numerals are given in the claims for convenience of comparison with the drawings, the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

[Figure 1] Overall side view of rice transplanter

FIG. 2 is a side view of a leveling float support structure.

[Figure 3] Overall plan view of rice transplanter

[Figure 4] Front view of the rolling system of the seedling planting device

FIG. 5 is a block diagram of a control system.

FIG. 6 is a plan view of a control box.

FIG. 7 is a plan view of the checker.

FIG. 8 is a flowchart of a correction control operation.

FIG. 9 is a flowchart of a rolling system correction processing routine.

FIG. 10 is a flowchart of a pitching sensor correction routine.

FIG. 11 is a flowchart of a float sensor correction routine.

FIG. 12 is an explanatory diagram of notification contents during correction control operation.

FIG. 13 is an explanatory diagram of notification contents of a rolling correction routine.

FIG. 14 is an explanatory diagram of notification contents of a pitching sensor correction routine.

FIG. 15 is an explanatory diagram of notification contents of a float sensor correction routine.

FIG. 16 is a block diagram of a control system that displays the consumption amount of the seedlings with respect to the traveling distance.

FIG. 17 is a block diagram of a control system of another embodiment.

[Explanation of symbols]

 42 control means 50, 51 notification means, alarm means 59 storage means D selection means E writing means

Claims (3)

[Claims] 1. A potentiometer-type setting device for transmitting a setting signal as a control target to a control means (42), a potentiometer-type sensor for transmitting an operating position of a control target to the control means (42), and these setting devices and sensors, respectively. Writing means for storing the correction value stored correspondingly to the control means (42) and for storing the correction value based on the signal from the setter or the sensor in this storage means (59) (E), the control operation of the control means (42), the feedback control mode for operating the controlled object based on the signals of the setter and the sensor and the correction value of the storage means (59), and the writing means ( The writing mode for writing the correction value in the storage means (59) is configured to be freely switchable by E), and the control operation of the control means (42) is switched to the writing mode. When the control means (4
A control device for a work vehicle comprising notifying means (50) and (51) for notifying that the control operation of 2) is the writing mode. 2. When the control means (42) is switched to the write mode, the signal value from the setter or sensor for which the correction value is to be set is inappropriate for writing to the storage means (59). 2. The work vehicle control device according to claim 1, further comprising alarm means (50), (51) for notifying of this state when the value is present. 3. The setting device and the sensor have a plurality of sets of control systems which are controlled by these, and when the control means (42) is switched to a writing mode, the plurality of control systems are controlled. 2. A selection means (D) for selecting a specific set of the set and writing a correction value based on a signal from the setter or the sensor into the storage means (59) by the writing means (E). Or the control device for a work vehicle according to 2.