JPH11220925A - Controller for working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To readily perform operations to alter a part of the reference values with less labor by enabling individual memorizing processing of information about the reference values for plural sensors in each of mechanical parts. SOLUTION: When each of mechanical parts in which the reference values are memorized is kept in the reference state and each of the mechanical parts is commanded with individual commanding means 2 and S12, the operating state of each of the mechanical parts in the reference state is detected with the corresponding sensors in plural sensors S1 to S11 and information about the reference values for determining the actual operating state of each of the mechanical parts from the information detected by the sensors is subjected to memorizing processing by a reference value memorizing means 101 corresponding to each piece of information detected by the sensors. The actual operating state of each of the mechanical parts is determined on the basis of the information detected by the sensors S1 to S11 and the information about the memorized reference values by a controlling means 100 to control the operation of each of the mechanical parts based on the information about the actual operating state.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a plurality of operating state detecting means for detecting the operating state of each part of a machine, and detecting the operating state when a target machine part among the machine parts is in a reference state. In correspondence with each of the detection information of the means,
A reference value storage unit configured to store information of a reference value for obtaining an actual operation state of each unit of the machine from the detection information of the operation state detection unit; and detection information of the operation state detection unit and the reference value. Control means configured to determine the actual operation state of each section of the machine based on the information stored in the storage section, and to control the operation of each section of the machine based on the information of the actual operation state. It relates to a control device.

[0002]

2. Description of the Related Art In a control device for a working machine, in a combine for agricultural work, which is an example of a working machine, various sensors (a plurality of sensors, such as potentiometers) for detecting the operating state of each machine such as a cutting unit and a threshing unit. When controlling the operation of the mowing unit and threshing unit, etc., based on the detection information of the operating state detecting means), each unit operates in the reference state due to the characteristics of each sensor and the variation in the mounting position on the machine. The detection value of the sensor when it is made to slightly deviate from the standard value. For example, even if the output voltage of the vertical position detection sensor is set to be 4.5 volts as a standard when the reaping unit that can be raised and lowered is raised to the upper limit position (corresponding to the reference state), it is actually Is 4.45 volts, which is 0.05 volts less than the standard value.
Therefore, conventionally, based on detection information of a sensor when each part of the machine is operated in a reference state, information of a reference value for accurately obtaining an operation state of each part from the detection information of the sensor, that is, an actual operation state (for example, In the above example, the lifting position detection sensor corresponds to the cutting upper limit position 4.4.
5 volt information or minus 0.05 volt information indicating the difference from the standard value) is stored, and in actual control, the detection value of each sensor is corrected based on the reference value information. The information is converted into information indicating the actual operation state of each part, and control of each part of the machine can be appropriately executed based on the information of the actual operation state. Conventionally, information on reference values for a plurality of sensors has been stored in a batch process for all target sensors, for example, during shipping inspection.

[0003]

However, according to the above-mentioned prior art, the reference value information is provided only for the parts of the machine which have been replaced or repaired after shipment, or for the parts of the machine which have readjusted the sensors. It is also necessary to store the reference values of other sensors that do not need to be changed in the above-mentioned batch processing when changing the reference values. There was a problem that it was troublesome to take.

The present invention has been made in view of the above circumstances, and has as its object to solve the above-mentioned drawbacks of the prior art by using information on the reference value for a plurality of operating state detecting means in each machine part. The object is to enable individual storage for each.

[0005]

According to the first aspect of the present invention, among the machine parts, each machine part for storing a reference value is set to a reference state, and each machine part is individually commanded by individual command means. Then, the operating state of each part of the machine in the reference state is detected by the corresponding operating state detecting means of the plurality of operating state detecting means, and corresponding to each of the detection information of the operating state detecting means, Information of a reference value for obtaining the actual operation state of each part of the machine from the detection information of the operation state detection means is stored. Then, based on the detection information of the operation state detecting means and the information of the reference value stored as described above, the actual operation state of each part of the machine is obtained, and the operation of each part of the machine is controlled based on the information of the actual operation state. Is done.

Accordingly, the information on the reference value can be individually stored and processed for each machine part for a plurality of operating state detecting means, so that, for example, machine parts for which parts are replaced or repaired, or sensors are readjusted. When changing the reference value information for each machine part as described above, it is sufficient to change and store the reference value only for the operation state detecting means for each machine part. When changing the reference value for, the number of operations for changing the reference value for some of the machine parts is smaller than that for storing the reference values for other machine parts in a batch process. It can be easily done with effort.

According to a second aspect of the present invention, in the first aspect, the apparatus is configured so as to be switchable between an individual storage mode and a collective storage mode. The information of the reference value is stored by an individual process based on the command of the individual command means for performing the command, and in the collective storage mode, all the components of the machine are collectively commanded as the components of the machine where the reference value is to be stored. All of the information of the reference values are stored in a batch process based on the command of the batch command means.

Therefore, for example, at the time of shipping inspection, etc.
By switching to the batch storage mode, it is possible to reliably store the information of the reference values for all parts of the machine without omission, but after shipping, select and store only some of the reference values as described above. Thus, the preferred measure of claim 1 is obtained.

According to a third aspect of the present invention, in the first or second aspect, the mode is such that the individual storage mode is selected by mode selection means for selecting one of the individual storage mode and the batch storage mode. Along with the main switch capable of switching power supply on and off being switched from the off state to the on state, the main switch is activated in the individual storage mode,
When the main switch is switched from the off state to the on state while the collective storage mode is selected by the mode selection means, the main switch is activated to the collective storage mode.

Therefore, when the power supply to each part of the machine is turned on, each storage mode can be activated while accurately distinguishing between the individual storage mode and the collective storage mode. Means are obtained.

According to a fourth aspect of the present invention, in any one of the first to third aspects, in the individual storage mode, one of a plurality of selection means provided corresponding to each part of the machine is operated. Then, the storage process of the information of the reference value is performed for each machine part corresponding to the operated selection means.

Therefore, for example, while the machine parts are sequentially selected and displayed by a switch, the storage processing of the reference value is performed in a state where the machine parts are selected.
Machine parts can be quickly selected by operating one of the multiple selection means that corresponds to the target machine part, as opposed to the time-consuming operation of selecting each machine part. As a result, the reference value can be stored, whereby the preferred means according to any one of claims 1 to 3 can be obtained.

According to a fifth aspect, in the fourth aspect, each of the plurality of selecting means is also used as automatic control instructing means for instructing execution of automatic control for each corresponding machine section.

Therefore, by effectively utilizing automatic control instructing means (for example, an automatic control on / off switch, etc.) always provided for instructing execution of automatic control for each part of the machine, for example, the plurality of selecting means are exclusively used. If the means is separately provided, it is possible to appropriately avoid the inconvenience that the apparatus configuration becomes complicated and expensive.
Is obtained.

[0015]

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. The combine is, as shown in FIGS. 1 and 2, a pair of right and left crawler traveling devices 11.
A cutting unit 12 is attached to a front portion of a body V having a vertical swinging operation around a horizontal axis X by a lifting cylinder M3. A control unit 13 and a cutting grain culm are provided behind the cutting unit 12. A threshing unit 14 for threshing / sorting, a grain tank 15 for storing grains supplied from the threshing unit 14, an unloader 9 for discharging grains in the grain tank 15, and the like. Here, the machine body V, the mowing unit 12, the threshing unit 14, the unloader 9, and the like correspond to each unit of the machine.

The cutting unit 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. A mowing elevating position sensor S11 that detects the elevating position of the mowing unit 12 with respect to the machine body V based on the swing angle around the horizontal axis X is provided as a potentiometer, and is provided.
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 a culm, and the stock sensor S
The detection information of No. 2 is used as one of the control activation conditions.

In order to maintain the handling depth in the threshing unit 14 in an appropriate state, a head sensor S3 for detecting the position of the head of a transported grain culm sandwiched by the transport device 19 at the base of the stock.
A pair (see FIG. 6) is provided in the length direction of the culm (the spike side and the root side). It is adjusted so that the tip of the grain stem is positioned between the pair of tip sensors S3. Here, an electric motor or the like for swinging the transfer device 19 is provided.
The actuator M1 for adjusting the handling depth is configured (see FIG. 7).

In the second weeding tool 16 from the left as viewed from the front of the fuselage, a culm carrying route L between the plurality of weeding tools 16 is provided.
In order to detect the horizontal position of the body V with respect to the row of cereals introduced into 1, L2, and L3, a detection bar that is rotatable around the vertical axis and is urged to return to the body horizontal position. And a pair of left and right direction sensors S10 provided with.
That is, the position of the machine V in the machine body lateral direction with respect to the grain culm row is detected by the rotation angle at which the detection bar contacts the grain stalk and rotates about the vertical axis. Then, based on the detection information of the left and right direction sensors S10, the left and right steering clutches are operated so as to intermittently operate the power transmission to the left and right crawler traveling devices 11 so that the body V travels along the grain culm row. The steering cylinder or the like to be operated constitutes the direction control actuator M2 (see FIG. 7).

The left and right crawler traveling devices 11 are configured to be able to individually drive up and down with respect to the body V, and a rolling sensor S4 for detecting the inclination of the body V with respect to the horizontal is provided. Irrespective of this, the rolling control for keeping the body V horizontal or at the set angle is enabled. Then, based on the detection information of the rolling sensor S4, a lifting cylinder or the like that moves the left and right crawler traveling devices 11 up and down with respect to the machine body V constitutes a rolling control actuator M4 (see FIG. 7).

The unloader 9 has a discharge port 9a with a downward attitude at the distal end, and the base end is supported by a support 10 in a state where it can freely swing up and down around a horizontal axis Z.
Are pivotally supported by the body V in a state in which they can be turned around the vertical axis Y by an unloader control actuator M5 composed of an electric motor for turning operation and the like. Then, a potentiometer for detecting the turning position of the support portion 10 is provided, and the potentiometer constitutes an unloader position sensor S6 for detecting the turning position of the unloader 9 (see FIG. 7). FIG. 2 shows a state in which the unloader 9 has been moved to the storage home position during a mowing operation or the like.

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. The chaff sheave 29 is operated such that a plurality of strip-shaped members juxtaposed in the processing object transfer direction are swung by a chaff opening adjustment motor M6 so as to simultaneously change the angle around the horizontal axis, and the adjacent strips are rotated. The gap (referred to as chaff opening) of the member is changed, and a chaff opening sensor S8 (FIG. 7) using a potentiometer for detecting the chaff opening is used.
Reference).

The turtle 23 is for blowing off the straw debris on the oscillating sorting plate 24. The opening of the turtle 23 is controlled by opening and closing the rear fan case cover 23a with the turtle wind power adjusting motor M7. The wind force applied to the processed material on the swing sorting plate 24 (referred to as Toumi wind force) is changed so that the wind force toward the front side decreases as the size increases, and the opening degree of the fan case cover 23a is detected to detect the Tomi wind force. Is provided.

With respect to the sorting device B, a control (sorting) for adjusting the chaff opening degree and the turtle wind in accordance with the type of the crop selected by the crop selection dial S12 to be described later, the amount of the processed material, the humidity and the like. Control) is performed. The grains leaking from the Glen Sheave 30 are collected from the foremost port 25 provided below the swinging sorting plate 24, stored in the Glen tank 15, and fall from the rear end of the chaff sheave 29 or the rear end of the Glen Sheave 30. The mixture of the grain and the straw waste is recovered from the second port 26 and returned to the swinging sorting plate 24.

Next, a power transmission system is shown in FIG. 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 output transmitted to the mission unit 34 of the crawler traveling device 11 via the continuously variable transmission 33 and a part of the output transmitted to the mission unit 34 is transmitted to the reaping unit 12 via the reaping clutch 35. S7 is a threshing switch for detecting the on / off state of the threshing clutch 31, and S5 is an engine E
A magnetic field is applied to the flywheel ring gear to obtain a sine wave having a frequency corresponding to the number of teeth per unit time. Here, as the load on the engine E increases, the rotational speed of the engine E decreases.
Is determined.

As shown in FIG. 5, a display panel unit C for displaying various types of control information is provided at a position where the operator of the control unit 13 can easily see and operate.
In the upper part on the front side of the display panel unit C, a fir / horizontal display section 4a for displaying the amount of grains in the tank or the tilt state of the machine, and a chaff / load display section 4b for displaying the chaff opening or the engine load. And a sheave / tow display unit 4c for displaying the amount of the processed material or the wind force on the swing sorting plate 24, and the display units 4a and 4b at the right end of the panel.
fir / horizontal display switching key 3a for switching the display of the fir / horizontal display section 4a of the b and 4c, and chaff / load display switching key 3 for switching the display of the chaff / load display section 4b.
b and a sheave / tow display switch key 3c for switching the display of the sheave / tow display unit 4c.
The switched character is illuminated from the back side so that it can be confirmed. Each of the display units 4a, 4b, and 4c is constituted by a liquid crystal segment type display unit that changes in 1 to 5 stages. As the detected value is larger, the number of display segments increases from the left end to the right. On the left side of the panel C, there is provided an engine tachometer 5 for displaying the engine speed detected by the speed sensor S5 by the deflection of a hand.
In the center, lamps 6 for displaying the remaining fuel amount and other information are provided.

On the left side of the seat of the control unit 13, command information such as start / stop of the above-mentioned respective controls (depth control, cutting height control, rolling control, direction control, sorting control, etc.), threshing control An operation unit is provided for inputting crop information and the like for the crop. The operation unit includes, as shown in FIG.
The C key is for directional control, the ATC key is for horizontal control, and so on. The control on / off key 2 having a plurality of keys corresponding to each control and the type of grain culm to be cut are selected from among rice, wheat, and soybean. A crop selection dial S12 for selection is provided. Here, every time the control ON / OFF key 2 is pressed,
A push button key that alternately switches between a push-up state and a push-down state is configured. The control is stopped in the push-up state, and the control is activated in the push-down state. , And corresponds to automatic control instruction means for instructing execution of automatic control for the corresponding machine parts. Although not shown, in addition to the control on / off key 2, a mowing lift switch for automatically raising the mowing unit 12 to the upper limit position and a mowing switch for automatically operating the unloader 9 to a home position for storage. An unloader automatic switch or the like is provided as another automatic control instruction means.

FIG. 7 shows a control structure of the combine. A meter controller 7 and a control unit 8 each using a microcomputer are connected to an RS48.
The five interfaces are provided so as to be freely communicable with each other. Stock sensor S among the sensors S1 to S11
2. Each detection information of the head sensor S3, the rotation speed sensor S5, and the threshing switch S7, and the display switching keys 3a to 3c.
And information from the control ON / OFF key 2 and crop selection information from the crop selection dial S12 are input to the meter controller 7, and among the sensors S1 to S11, the ultrasonic sensor S1, the rolling sensor S4, Unloader position sensor S6, chaff opening sensor S8, turtle wind sensor S9, direction sensor S10, and mowing elevating position sensor S1
1 are input to the control unit 8.
Here, the sensors S1 to S11 correspond to a plurality of operating state detecting means for detecting the operating states of the above-described respective parts of the machine. The meter controller 7 has an EEPRO
A nonvolatile memory 7A made of M or the like is provided.

An OFF position (OFF state) for turning off the power supply from a drive power source (not shown) to each section of the machine, an ON position (ON state) for turning on the power supply, and an engine E
A key-type main switch MW is provided which can be switched to a start position for starting operation of the main switch. The switching position information of the main switch MW is also input to the meter controller 7. That is, the main switch MW corresponds to a main switch that can switch on and off the power supply to each part of the machine. Although not shown, the Glen tank 1
The respective detection information of the fir sensor for detecting the amount of grain in 5 and the sheave sensor for detecting the amount of the processed material on the swing sorting plate 24 is input to the control unit 8.

On the other hand, the meter controller 7 outputs drive signals for the display units 4a to 4c and the actuator M1 for adjusting the handling depth, and the control unit 8 outputs the direction control actuator M2 (for steering). Cylinder), a cutting height control actuator M3 (the lifting cylinder M3), and a rolling control actuator M4.
And an actuator M5 for controlling the unloader, and electric motors M6-
A drive signal for M7 is output.

Using the meter controller 7 and the control unit 8, the sensors S1 to S1 when the target machine part among the machine parts is in the reference state.
Corresponding to each of the eleven detection information,
There is provided a reference value storage unit 101 configured to store reference value information for obtaining the actual operation state of each unit of the machine from the detection information of the detection unit in S11. For example, the detection value itself of the rolling sensor S4 when the horizontal state is set as the reference state with respect to the body V, or the detection of the cutting elevation position sensor S11 when the cutting section 12 is set as the reference state and is raised to the upper limit position. The value itself is the reference value information (hereinafter also referred to as fine adjustment data)
Is stored in the memory 7A.

The actual operation state of each section of the machine is obtained by using the meter controller 7 and the control unit 8 based on the detection information of the sensors S1 to S11 and the storage information of the reference value storage means 101; And control means 100 configured to control the operation of each section of the machine based on the information of the actual operation state. Specifically, each of the meter controller 7 and the control unit 8 includes a normal mode state in which the operation of each section of the machine is controlled for work, and a checker for inspecting the operation of each section of the machine based on inspection information stored in advance. It is configured to be switchable between the mode state and the fine adjustment mode state. In the normal mode state,
While communicating with each other, the meter controller 7 and the control unit 8 correct each of the detection information of the sensors S1 to S11 with the fine adjustment data to obtain the actual operation states of the respective parts of the machine. The actuators M1 to M5, the electric motors M6 to M7, and the like are driven based on control information that is set and stored in advance corresponding to the model, type, and the like, while determining the operation state of each machine unit.
Each control described above is executed.

Next, a control configuration for storing the reference value will be described. Individual command means 2 and S12 for individually commanding each machine part in which the reference value (fine adjustment data) is to be stored among the machine parts are provided by a plurality of selecting means 2 provided corresponding to each machine part. , S12. Specifically, each of the plurality of selecting means is configured to be shared by the control on / off key 2, the harvesting up switch, the unloader automatic switch, and the crop selection dial S12. Further, together with the individual commanding means 2 and S12, a batch commanding means 7 for commanding all of the machine parts as a machine part in which the reference value is to be stored is provided. More specifically, as shown in FIG.
Switch key 7a and command key 7b provided on the operation unit provided in
The information of the switching key 7a and the command key 7b is also input to the meter controller 7.

The reference value storage means 101 has an individual storage mode for storing the information of the reference value by individual processing based on the commands from the individual command means 2 and S12, and a separate storage mode for the collective command means 7a and 7b. It is configured to be switchable to a batch storage mode in which all the information of the reference value is stored by a batch process based on a command. In the individual storage mode, the processing of storing the information of the reference value is performed for each machine part instructed by the individual instructing means. That is, the selecting means 2, S12 operated among the plurality of selecting means 2, S12
Is stored in the machine corresponding to the reference value. For example, with the aircraft V in a horizontal state,
When the TC key is pressed, the detected value of the rolling sensor S4 at that time is stored as a reference value, and when the ADC key is pressed with the detection bars of the left and right direction sensors S10 returned to the initial position, the respective values at that time are pressed. When the detection value of the direction sensor S10 is stored as a reference value, and the reaping up switch is pressed in a state where the reaping unit 12 is raised to the upper limit position,
When the unloader automatic switch is pressed while the unloader 9 is moved to the home position for storage, the detection value of the mowing elevating position sensor S11 at that time is stored as a reference value.
The detection value of the unloader position sensor S6 at that time is stored as a reference value, and when the crop selection dial S12 is operated (switched) for the threshing unit 14, the chaff opening adjustment motor M6 is activated. Then, the chuff opening degree is sequentially operated between the fully open state and the fully closed state, and the detected values of the chuff opening degree sensor S8 in the fully opened state and the fully closed state are stored as information of the reference value. On the other hand, in the batch storage mode, the storage process of the reference values for all the machine parts to be processed, such as the machine V, the reaping unit 12, the threshing unit 14, and the like, is performed by using the switch keys 7a to store the reference values of the machine units. While switching, the process of instructing with the command key 7b and storing the detection values of the respective sensors at that time is performed as a collective process.

Further, a mode selection means for selecting one of the individual storage mode and the collective storage mode includes a display switching key 3 provided on the display panel unit C.
a, 3b, 3c. Then, the reference value storage unit 101 switches the main switch MW from the OFF state while the individual storage mode is selected by the mode selection unit (only the chaff / load display switching key 3b is pressed). A state in which the individual storage mode is started in accordance with the switching to the ON state, and the collective storage mode is selected by the mode selection means (chaff / load display switching key 3b, sheave / toumi display switching) When the main switch MW is switched from the off state to the on state in a state where both the keys 3c are pressed), the system is configured to be activated in the collective storage mode.

Next, the control operation of the combine will be described with reference to the control flowcharts shown in FIGS. In the main flow (FIG. 8), when the main switch MW is turned on to start control, first, in an initial routine, system initialization processing and the like are performed, and the above-described fine adjustment mode (individual storage mode or batch storage mode) is performed. ) And a checker mode start condition are determined. When the fine adjustment mode is determined based on the setting state of each flag of the later-described collective storage mode or individual storage mode, the fine adjustment program is executed in the fine adjustment routine, and the fine adjustment mode ends when the main switch MW is turned off. The processing is performed and the control ends. When the checker mode is determined based on the setting state of the checker mode flag described later, a checker program is executed in a checker routine, and when the main switch MW is turned off, the checker mode end processing is performed and the control ends. If neither the fine adjustment mode nor the checker mode is determined,
In the normal mode, each control program for each section is executed in a normal control routine, and when the main switch MW is turned off, a normal mode end process is performed to end the control.

In the initial routine (FIG. 9), initialization of the system, initialization of input signals from sensors and the like and output signals to actuators and the like, and reading of model and format data are performed. The individual storage mode flag and the checker mode flag are set. next,
Batch storage mode condition 1 (chaff / load display switching key 3
b, and both the sheave and toumi display switching key 3c are depressed). If the condition 1 is not satisfied, the batch storage mode flag is reset, and then the condition 2 of the individual storage mode (chaff It is determined whether or not only the load display switching key 3b is pressed), and if the condition 2 is not satisfied, the individual storage mode flag is reset. On the other hand, the condition 1 does not reset the batch storage mode flag, and the condition 2 does not reset the individual storage mode flag. next,
It is determined whether or not the condition 3 of the checker mode (only the fir / horizontal display switching key 3c is pressed) is satisfied. If the condition 3 is not satisfied, the checker mode flag is reset. Do not reset
End the initial routine.

In the fine adjustment routine (FIG. 10), in the batch storage mode, the target parts of the machine are sequentially switched by the switching key 7a (at this time, although not shown, provided on the display panel or the like). A process of confirming whether or not the detected values of the corresponding sensors are normal as fine adjustment data by pressing the command key 7b after setting the switched machine parts to the reference state and displaying the names of the respective parts on a display unit. Is performed for all the parts of the target machine.
Here, when the detected value of each sensor is out of the normal range as the fine adjustment data, an error process is performed (information such as which sensor detected abnormal value is stored). On the other hand, in the individual storage mode, when a corresponding key or the like of the selection means 2 or S12 is operated after setting each part of the target machine to the reference state, the detection value of the corresponding sensor is finely adjusted. Check whether the data is normal. Here, when the detected value of the sensor is out of the normal range as the fine adjustment data, an error process is performed (information such as which sensor detected value is not normal is stored).

In the ending process of the fine adjustment mode (FIG. 11),
Except for the case where the error processing is performed, the detection values of all the sensors are stored as fine adjustment data in the batch storage mode, and the detection values of the individually selected sensors are stored in the individual storage mode. A process for storing as adjustment data is performed.

[Another Embodiment] Next, another embodiment of the fine adjustment routine will be described with reference to FIG. In this form,
When the fine adjustment routine is started, if the information of the reference value (fine adjustment data) is not stored in the memory 7A (that is, the fine adjustment data is reset to 0 by the initial processing), the batch storage mode is set. It is determined that if the information of the reference value is stored, it is determined that the storage mode is the individual storage mode. The processing in each storage mode is performed in the same manner as in FIG.

In the above embodiment, the information of the reference value is
Although the detection value itself of the operation state detection means for detecting the operation state of each part of the machine in the reference state is stored,
Instead of the detected value itself, information on a difference between a standard detected value obtained from the operation state detecting means when each machine part is in the reference state and an actual detected value in the reference state may be stored.

In the above embodiment, the individual command means is constituted by a plurality of selection means corresponding to each machine part. In addition, a switch for switching and selecting each machine part of interest and a command switch and the like are provided. It may be composed of a smaller number of switches.

In the above embodiment, the collective command means is constituted by the selection switch for switching each component of the target machine and the command switch. In addition to this, each component of the target machine is set to the reference state, and It may be constituted by a single command switch for collectively executing the storage processing of the reference value for each part of the machine.

In the above embodiment, the present invention is applied to a combine for agricultural work as a working machine. However, the present invention is also applied to various work machines for agricultural work other than combine, construction machines for civil engineering work, and the like. it can.

[Brief description of the drawings]

FIG. 1 is a side view of a combine.

FIG. 2 is a plan view of the combine.

FIG. 3 is a side perspective view of the threshing unit of the combine.

FIG. 4 is a power transmission diagram of the combine.

FIG. 5 is a front view of a display panel.

FIG. 6 is a plan view of an operation unit.

FIG. 7 is a block diagram of a control configuration.

FIG. 8 is a flowchart of a control operation.

FIG. 9 is a flowchart of a control operation.

FIG. 10 is a flowchart of a control operation.

FIG. 11 is a flowchart of a control operation.

FIG. 12 is a flowchart of a control operation in another embodiment.

[Explanation of symbols]

 2 Automatic control instruction means 2, S12 Individual instruction means 2, S12 selection means 3b, 3c Mode selection means 7a, 7b Batch instruction means 100 Control means 101 Reference value storage means MW Main switch S1 to S11 Operation state detection means

Claims (5)

[Claims] A plurality of operating state detecting means for detecting an operating state of each section of the machine; and information detected by the operating state detecting means when a target machine section of the machine sections is in a reference state. A reference value storage unit configured to store reference value information for obtaining an actual operation state of each unit of the machine from the detection information of the operation state detection unit; and a detection of the operation state detection unit. Control means configured to determine the actual operation state of each machine part based on the information and the storage information of the reference value storage means, and to control the operation of each machine part based on the information of the actual operation state. A control device for a work machine, comprising: individual command means for individually instructing each machine part in which the reference value is to be stored, among the machine parts, wherein the reference value storage means comprises the individual command means. For machines each unit commanded by a control device for a working machine that is configured to perform a process of storing the information of the reference value. 2. The machine according to claim 1, further comprising: a collective command unit configured to collectively instruct all of the machine units as the machine units in which the reference value is to be stored, wherein the reference value storage unit includes the individual command unit. A separate storage mode in which the information of the reference value is stored by individual processing based on the instruction of the above, and a collective storage mode in which all of the information of the reference value is stored by the collective processing based on the instruction of the batch instruction means. The control device for a work machine according to claim 1, wherein the control device is configured to be switchable. 3. A mode selection means for selecting one of the individual storage mode and the collective storage mode, wherein the reference value storage means is configured such that the individual storage mode is selected by the mode selection means. When the main switch capable of turning on and off the power supply is switched from the off state to the on state in the state in which the power supply is turned on, the individual storage mode is activated, and the collective storage mode is selected by the mode selection means. The control device for a work machine according to claim 1 or 2, wherein the controller is configured to be activated in the collective storage mode when the main switch is switched from an off state to an on state in a state. 4. The apparatus according to claim 1, wherein the individual command means comprises a plurality of selection means provided corresponding to each of the machine parts, and the reference value storage means is operated among the plurality of selection means. The control device for a work machine according to any one of claims 1 to 3, wherein a storage process of the information of the reference value is performed for each unit of the machine corresponding to the selection unit. 5. The control device for a work machine according to claim 4, wherein each of said plurality of selecting means is also used as automatic control instructing means for instructing execution of automatic control for each corresponding machine section.