JPH1023820A - Control device of working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the control device of a working machine, enabling an operator to check the working part of the working machine, effectively use the display part of the working machine to display various kinds of check information on the check and thereby rapidly and smoothly carry out the check without connecting to an external check device. SOLUTION: This working machine is provided with a working part, a display part 1 for displaying control information, and control parts 7, 8 for controlling the operations of the working part and the display part 1. Check information for checking the operation of the working part is memorized in the control parts 7, 8, and the control parts 7, 8 can freely be switched into an ordinary mode state for controlling the operation of the working part for an ordinary work or into a check mode for checking the operation of the work part on the basis of check information. Control information for the ordinary mode is displayed on the display 1 in the ordinary mode state, and control information for the check mode is also displayed on the display 1 in the check mode state.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a work machine, comprising a work unit, a display unit for displaying control information, and a control unit for controlling the operation of the work unit and the display unit.

[0002]

2. Description of the Related Art Conventionally, in a work machine control device, in order to perform an appropriate work (such as a harvesting work) in a combine for agricultural work, which is an example of a work machine, work data and sensors are used during normal work. While controlling the operation of the working unit such as the cutting unit and threshing unit based on the information of the detection means of
The state of each part and various control information for operation instructions are displayed on a display unit provided in the cockpit to inform the driver. In addition, the operation of each working unit is inspected (specifically,
Test operation of the actuator for working part operation,
When the detection operation of the detecting means such as a sensor is checked), for example, an external inspection device (checker) having the inspection information is connected to the control unit on the working machine side, and the inspection information is displayed on the inspection device. An inspection is performed (for example, see Japanese Patent Application Laid-Open No. 6-269058).

[0003]

However, in the above-mentioned prior art, in order to inspect the operation of the working unit, it is necessary to connect an external inspection device to the work machine. Inspection cannot be performed at the same time, and the inspection information is displayed on the inspection apparatus side, so that it is inconvenient to check the displayed contents.

The present invention has been made in view of the above circumstances, and has as its object to inspect a working unit without connecting an external inspection device, and to provide various kinds of inspection information at the time of the inspection. By using the display part of the work machine side effectively for the display of the inspection, the inspection can be performed quickly and smoothly,
An object of the present invention is to eliminate the above-mentioned disadvantages of the related art.

[0005]

According to the first aspect of the present invention, when the control state of the control unit of the work machine is switched to the normal mode state, the operation of the work unit is controlled to perform normal work. At the same time, while the control information for the normal mode is displayed on the display unit, when the operation mode is switched to the inspection mode, the operation of the working unit is inspected based on the inspection information, and the control information for the inspection mode is displayed. Displayed in the section.

Therefore, in the normal mode state, normal work can be performed in the work unit while checking the state of the machine by the displayed control information for the normal mode. Without connecting the information, various kinds of information for inspection are displayed on the display unit on the working machine side, and the inspection can be performed quickly and smoothly.

According to the configuration of claim 2, in the configuration of claim 1, in the normal mode state, a plurality of types of operation information are switched and displayed.

Therefore, if the plurality of types of operation information to be switched and displayed is, for example, information indicating the operation state of each part of the machine after the start of operation of the machine, the operator checks the change in the operation information and uses the information based on the change. Can perform an appropriate operation, and the like, and the suitable means of the structure of claim 1 can be obtained.

According to the configuration of claim 3, claim 1 or 2
In the inspection mode state, the detection information of the operation state detecting means for detecting the operation state of the working unit itself or the actuator for operating the working unit is displayed in the inspection mode state.

Accordingly, by inspecting the display of the detection information of the operation state detecting means, the inspection of the operation of the working unit itself and the inspection of the operation of the actuator for operating the operating unit can be easily performed. Suitable means having the structure of Item 1 or 2 is obtained.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a combine for agricultural work as a working machine will be described below with reference to the drawings. As shown in FIG. 1, the combine has a reaper 12 provided at a front portion of a body V having a pair of right and left crawler traveling devices 11.
A control unit 13, a threshing unit 14 for threshing and sorting the harvested grain culm, a Glen tank 15 for storing grains supplied from the threshing unit 14, and the like are mounted behind. Here, the reaper 12
The threshing unit 14 and the like correspond to a working unit.

The cutting section 12 receives a weeding tool 16 attached to the tip, a grain stalk raising device 17, a cutting blade 18 for cutting the root of the caused grain stalk, and a cut grain culm on the tip side. And a transporting device 19 for transporting to the threshing unit 14. Further, an ultrasonic sensor S1 for detecting the height of the cutting unit 12 from the ground and a stock sensor S2 for turning on when the grain stalk touches to detect that the cutting operation is being performed are provided. The height information from the ground by the ultrasonic sensor S1 is used for cutting height control when cutting the culm, and the detection information of the stock sensor S2 is used as one of control start conditions.

Further, in order to maintain the handling depth in the threshing unit 14 in an appropriate state, the tip sensor S3 ( 5 (see FIG. 5) are provided in the culm length direction (ear side and root side). Then, based on the detection information of the pair of head sensors S3, the transport front end side of the transport device 19 is swung in the culm length direction with respect to the rear end side,
An adjustment is made so that the head of the grain stem is located between the pair of head sensors.

The left and right crawler traveling devices 11 are configured to be individually driven to move up and down with respect to the body V. As a result, it is possible to perform the rolling control for maintaining the body V horizontal regardless of the inclination of the ground or maintaining the body V at the set angle. For this purpose, a rolling sensor S4 for detecting the inclination of the body V with respect to the horizontal is provided.

The threshing unit 14, as shown in FIG.
1, a feed chain 22 for transporting grain culms supplied from the mowing unit 12, a sorting device B including a torsion 23 and a rocking sorting plate 24, a first port 2 for grain recovery.
5, and a second port 26 for collecting a mixture of grain and straw waste. Of the processed material threshed in the handling room A, the single-grained product is supplied to the receiving net 2 provided at the lower part of the handling room A.
7 and leaked to the sorting device B,
7 falls into the sorting device B from the rear end.

The swinging sorting plate 24 of the sorting device B includes
3 includes a Glen pan 28 located above, a chaff sheave 29 located behind and a Glen sheave 30 located below. In the chaff sheave 29, the interval between adjacent strip-shaped members (referred to as chaff opening) is changed by simultaneously changing the angle of the plurality of strip-shaped members arranged in the processing object transfer direction around the horizontal axis. A chaff opening sensor S8 using a potentiometer for detecting the chaff opening.
(See FIG. 5).

The torsion 23 is for blowing off the straw debris on the oscillating sorting plate 24. The larger the degree of opening of the fan case cover 23a, the greater the amount of air that escapes from the opening. The wind force (referred to as toumi wind force) exerted on the processed material on the swing sorting plate 24 is reduced. A toumi wind sensor S9 (see FIG. 5) using a potentiometer for detecting toumi wind is provided.

With respect to the sorting device B, the control (sorting control) for adjusting the opening degree of the chaff and the wind power of the turtle according to the conditions such as the amount, type, and humidity of the processed material is performed as described above.
The grains leaking from the grain sieve 30 are oscillated on the sorting plate 2
The mixture of the grain and the straw waste collected from the first port 25 provided below and stored in the Glen tank 15 and dropped from the rear end of the chaff sheave 29 or the rear end of the Glen sheave 30 is discharged from the second port 26. It is collected and returned to the swing sorting plate 24.

FIG. 3 shows a power transmission system. The output of the engine E mounted on the machine body V is transmitted to the threshing unit 14 via the threshing clutch 31 and the traveling clutch 32
The transmission is transmitted to the transmission section 34 of the crawler traveling device 11 via the continuously variable transmission 33. Part of the output transmitted to the transmission section 34 is transmitted to the reaping section 12 via the reaping clutch 35. S7 is a threshing switch for detecting the on / off state of the threshing clutch 31, and S5 applies a magnetic field to the flywheel ring gear of the engine E to obtain a sine wave of a frequency corresponding to the number of teeth per unit time. S6 is a speed sensor for detecting the engine speed, which is formed by an electromagnetic pickup. S6 is a vehicle speed sensor provided in the transmission for detecting the vehicle speed.

A continuously variable transmission 33 for increasing or decreasing the vehicle speed
Is manually operated by a shift lever and automatically operated by an electric motor. That is, since the engine speed decreases as the engine load increases, the vehicle runs at a constant speed when the engine speed is optimum, but when the load increases and the engine speed decreases, the vehicle speed is reduced and If the load is reduced by reducing the threshing processing amount and conversely, if the load is reduced and the engine rotation speed becomes higher than the optimum rotation speed, the vehicle speed is increased to increase the cutting amount, that is, the threshing processing amount, so that the continuously variable transmission is performed. Vehicle speed control is performed to increase or decrease the running speed by performing a gear shift operation on the device 33. However, it does not become faster than the preset maximum vehicle speed.

As shown in FIG. 4, a display panel unit C for inputting command information such as start / stop of each control and displaying various control information is a combination of a liquid crystal display module and a membrane keyboard. The body-shaped panel is provided at a position that is easy for the operator of the control unit 13 to see and operate. On the front of the display panel unit C, a display screen 1 as a display section for displaying control information is provided.
And key input units 2, 3, and 4 for inputting information. The display screen 1 is composed of a liquid crystal graphic display of a dot matrix type. In a normal operation state, various operation information such as a fuel remaining amount, an hour meter (operating time), an engine speed, a load state, and the like are displayed on the screen. Is switched and displayed. The key input units 2, 3, and 4 are configured by push-button switches, and include a start / stop switch 2 for each control, a changeover switch 3, and a storage switch 4.

Next, the control structure of the combine is shown in FIG. The meter controller 7 and the control unit 8 are each configured using a microcomputer as a control unit for controlling the operation of each working unit (the reaping unit 12, the threshing unit 14, etc.) and the display screen 1, and the RS485 is used. They are provided so that they can communicate with each other in the form of an interface. Stock sensor S2 and head sensor S among the sensors S1 to S9
3. Each detection information of the rotation speed sensor 5, the threshing switch S7, and the fuel sensor S10 for detecting the remaining amount of fuel is input to the meter controller 7, and each detection of the ultrasonic sensor S1, the rolling sensor S4, and the vehicle speed sensor S6. Information has been input to the control unit 8.

On the other hand, from the meter controller 7, an actuator (oscillation motor) M1 for adjusting the handling depth,
A drive signal for an AES (automatic engine stop) actuator (relay or the like) M2 is output, and the control unit 8 outputs cutting height control and rolling control actuators M3 to M4, vehicle speed control, and chaff opening adjustment. Signal is output to each of the electric motors M5 to M7 for controlling the wind power and the wind power of the windmill. Here, each of the actuators M1 to M7 is connected to each of the working units (the cutting unit 12, the threshing unit 14, and the like).
And each of the sensors S
1 to S10 correspond to operation state detection means for detecting the operation state of each working unit itself or each of the actuators M1 to M7.

Each of the working units (the cutting unit 12, the threshing unit 14)
And the like are stored in the meter controller 7 (the control unit 8).
May be stored in the memory). Each of the meter controller 7 and the control unit 8 is connected to each working unit (the reaping unit 1).
2, the threshing unit 14) can be switched between a normal mode state in which the operation of the threshing unit is controlled for work and an inspection mode state in which the operation of the work unit is inspected based on the inspection information.

The meter controller 7 and the control unit 8 execute the normal control and the inspection control in both the normal mode and the inspection mode while communicating with each other. Incidentally, in the normal control, the actuators M1 to M4, the electric motors M5 to M7, and the like are driven based on the detection information of each sensor, the preset control information, and the like, and the above-described control (depth control, cutting depth) is performed. High control, rolling control, sorting control, vehicle speed control, etc.).

The control on the display screen 1 of the display panel unit C and the detection of the operation state of the key input units 2, 3, 4 are performed by the meter controller 7. The start / stop switch 2 has a plurality of switches corresponding to each control as shown in FIG. 4 to instruct start and stop for each control described above, and each switch is also used for start and stop. . That is, when the switch corresponding to the active control is pressed, the control is stopped, and when the switch corresponding to the stopped control is pressed, the control is activated. The changeover switch 3 (hereinafter also referred to as CK-1) has two different operations for switching the meter controller 7 to the inspection mode state and for manually switching the control state in the normal mode or the inspection mode. It is configured to be switchable between a state, that is, an ON state in which the switch is connected to the ground by pressing the switch, and an open state in which the switch is not pressed.

In the normal mode state, the meter controller 7 displays the control information for the normal mode on the display screen 1, specifically, the plurality of types of operation information (rotational speed, load level, etc.) described above. In the inspection mode state, control information for the inspection mode is provided on the display screen 1, specifically, the working unit (the reaping unit 12, the threshing unit 14, or the like) itself or each of the control units. Each of the sensors S for detecting the operation state of the actuators M1 to M7
It is configured to display detection information such as 1 to S10.

Next, the control operation on the combine side will be described with reference to the control flowchart of the meter controller 7 shown in FIG. When the main key is turned on and the drive power supply is turned on, it starts up in the normal mode state,
Until a set time (500 ms, etc.) elapses, a sensor signal is input at set intervals (10 ms, etc.), and a self-operation flag is set when the switch CK-1 is on. When CK-1 is off, no flag is set. Then, set time (500ms
When the self-operation flag is in the set state, the mode is switched to the inspection mode as the CK-1 changes from the on-state to the off-state while the self-operation flag is in the reset state. Is performed.

In the inspection mode, as shown in FIG. 7A, the drive power supply is turned on in a state where CK-1, ie, the changeover switch 3 is turned on, and then the changeover switch 3 is turned off. With the change, the mode is switched to the inspection mode state.
Each time is switched between the ON state and the OFF state, each of the inspection states for executing the inspection of each of the working units such as the cutting unit 12, the threshing unit 14, the engine E, the machine body V, and the traveling device 11 is performed. The contents are sequentially switched and the contents of each inspection state are displayed on the display screen 1.

Inspection of each working unit includes, in addition to the input check for each of the sensors S1 to S10, a simple output check for each of the actuators M1 to M7, a self-diagnosis mode and a fine adjustment. It also performs operations such as mode and model setting mode. In the input check, for example, when the stock source sensor S2 provided in the reaper 12 is swung by hand, FIG.
As shown in the example, the display screen 1 displays "stock sensor", and at the same time, the buzzer is activated, and it can be confirmed that the stock sensor S2 is detecting and operating. In output check,
For example, in the depth adjustment, the depth adjustment automatic lamp is turned on, and the output to the deep side and the output to the shallow side are alternately repeated with the stop time interposed. The operation of M1 can be confirmed.
At the time of this output check, “output inspection” is displayed on the display screen 1.

In a storage unit such as an EEPROM in the meter controller 7 of the combine, various kinds of error information about each working unit or sensor generated during the operation of the machine are stored.
Locking the operation of actuators such as motors, abnormalities in sensor detection values (for example, when values are impossible,
For example, the number of occurrences when no operation is performed is stored.
In the self-inspection mode, the error information is displayed on the display screen 1, and based on the error information, a failure location is analyzed. Note that the error information is erased as the storage operation of the normal data in the fine adjustment mode or the storage operation of the model information in the model setting mode is performed, as described later.

In the fine adjustment mode, for example, a chaff opening volume is changed by operating a chaff setting volume (not shown), and data corresponding to the maximum and minimum end positions of the potentiometers constituting the chaff opening sensor S8 are stored. Read, and determine whether each data is a normal value. If the data is normal, the value is stored, and if the data is abnormal, the value is not stored and “chaff fully closed value error” is not stored.
Etc. are displayed. In the model setting mode, each time the changeover switch 3 is operated, the model name is sequentially displayed. Therefore, the storage switch 4 is operated while the model name to be controlled is displayed, and the operation of storing the model name is performed. Do.

In the normal mode state, as shown in FIG. 7B, the control states are displayed in a predetermined order, and each time the changeover switch 3 is switched between the off state and the on state. Next, operation information indicating the control state of each part of the machine is sequentially displayed on the display screen 1. 8A shows an hour meter (operating time) display, FIG. 8B shows a bar graph display of the engine speed, and FIG. 8C shows a load level (numeral is large) represented by a number from 1 to 4. The display shows a bar graph on the left side of each display. The display operation in the normal mode is such that after the start of the normal mode, the model is displayed for 2 seconds, the hour meter is displayed and the apparatus stands by. When the engine starts, the engine speed is displayed. The engine load is displayed as the state changes. As described above, in the normal mode, the meter controller 7
The operation information is displayed on the display screen 1.

As shown in FIG. 7 (b), in the normal mode state, the abnormality control mode is activated upon detecting any abnormality in each machine section, and the display screen 1 is changed from the normal display to the machine section. The display is switched to an alarm display, which is an abnormal display for displaying an abnormal state, and in the abnormal control mode, the display on the display screen 1 is returned to the normal display as the changeover switch 3 is switched between the off state and the on state. It is configured. The alarm display indicates a failure location and the like. In addition, you may make it generate | occur | produce an alarm sound by a buzzer, and blink by a lamp together with the said alarm display, In that case,
When the changeover switch 3 is operated, the alarm sound and the blinking display are stopped.

[Alternative Embodiment] In the above embodiment, an example in which the control device for a working machine of the present invention is applied to a combine for farm work as a work machine has been described. It is also applicable to construction machines for civil engineering work. The specific configurations and the like of the working unit and the control unit are appropriately set according to the working machine.

The control information for the normal mode is not limited to information for switching and displaying a plurality of types of operation information. For example,
The desired control information (for example,
(Vehicle speed) can be displayed. As the operation information, information other than the engine speed and the like shown in the embodiment may be added or may be deleted.

The control information for the inspection mode is not limited to the display of the detection information of each of the sensors S1 to S10 as the operation state detecting means. For example, each actuator M1
When performing the operation test of M7, the name of the driven actuator may be displayed.

The display unit is not limited to the liquid crystal display screen 1, but various image display devices and the like can be used.

[Brief description of the drawings]

FIG. 1 is a side view of a combine.

FIG. 2 is a side perspective view of the threshing unit of the combine.

FIG. 3 is a power transmission diagram of the combine.

FIG. 4 is a front view of a display panel provided in the combine.

FIG. 5 is a block diagram of a control configuration of the combine.

FIG. 6 is a flowchart of a control operation on the combine side.

FIG. 7 is a time chart showing a control operation in a normal mode and an inspection mode.

FIG. 8 is a diagram of a display screen in a normal mode.

[Explanation of symbols]

 12, 14 Working unit 1 Display unit 7, 8 Control unit M1 to M7 Actuating actuator S1 to S10 Operating state detecting means

Claims (3)

[Claims] A working unit; a display unit for displaying control information;
A control device for a work machine, comprising: a control unit configured to control an operation of the working unit and the display unit, wherein inspection information for inspecting an operation of the working unit is stored in the control unit; The unit is configured to be freely switchable between a normal mode state in which the operation of the working unit is controlled for work and an inspection mode state in which the operation of the working unit is inspected based on the inspection information. A work machine control device configured to display control information for a normal mode on the display unit in a state, and to display control information for an inspection mode on the display unit in the inspection mode state. 2. The work machine control device according to claim 1, wherein the control unit is configured to switch and display a plurality of types of operation information as the control information for the normal mode. 3. The control unit is configured to display, as the control information for the inspection mode, detection information of an operation state detection unit that detects an operation state of the working unit itself or an actuator for operating the working unit. The control device for a work machine according to claim 1 or 2, wherein