JPS5884310A - Fault diagnosing device for mobile farm machine with automatic control mechanism - Google Patents

Abstract

PURPOSE:To ensure an accurate diagnosis for a fault of a farm machine, by storing previously the pseudo detecting signal and the proper answer signal to discriminate the propriety of the working of the farm machine in comparison with those stored signals and at the same time by rejecting an accidental fault due to the noises to recognize only the faults having high occurring frequency or the continuing faults. CONSTITUTION:A diagnosing device 60 is provided with a CPU61, a memory 62 and a display mechanism 63. The device 60 feeds the pseudo signal to a microcomputer 1 and stores the answer output of the signal to discriminate the presence or absence of a fault from the comparison with the proper output. Then the checking is repeated for each item, and the presence or absence of a fault is stored. The occurring frequencies of faults are counted, and a genuine fault is decided and displayed in case when the occurring frequency exceeds a prescribed level. In this case, an accidental fault due to the signal noise is not discriminated nor displayed. A fault which continuous longer than a prescribed duration is also discriminated and displayed in the same way.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention connects each assembly of multiple types of automatic shaving threads and one cutter group to a microcomputer, and time-divisionally processes these control systems in a preset order. The present invention relates to a failure diagnosis system for mobile agricultural machinery with an automatic interrupting mechanism in which a control loop is programmed to gradually change.

For mobile agricultural machinery equipped with automatic shaving:tS*a as described above, maintenance and management of the control system is extremely important to perform proper work, and it is necessary to check the quality of control operation in a timely manner. , inspectors are checking various inspection items. However, this inspection work is extremely complicated and requires means.
Moreover, it is difficult to accurately diagnose the failure unless you have a very high level of knowledge.

Therefore, in order to easily perform such diagnosis, instead of the actual detection signals from each sensor circuit, simulated detection signals of various -1#1 mechanisms stored in advance are input to the t-11J# circuit, and the responses are ° A diagnostic device was proposed that monitors the output signal and diagnoses the quality of control operation. *
*During the work, signal noise, which was not a problem, was diagnosed as a problem, which could lead to incorrect inspections and fillings.

This invention was made with the aim of eliminating errors in the diagnosis itself such as the above ε, and provides a simulated detection signal in place of the detection signal from the sensor and a case in which a proper response to these signals is made. The output signal is stored in advance in a memory circuit, and the simulated detection signal is sequentially input to the IQ microcomputer for each check item, and the response output value is monitored and compared with the appropriate output signal. A central processing unit for determining whether the control operation is good or not, and a control
It consists of a mechanism that displays abnormalities in operation for each check, and also has a mechanism that allows the occurrence of electricity to occur repeatedly for the same check item within a certain period of time. - Applicable only if it is more than 1, and if the same check sideways ^N is delayed by more than 2 when set
According to the present invention, a one-off abnormality caused by signal noise is rarely treated as an abnormality, and wX & High abnormality or dull continuation <** only t correctly as true J141 l
This eliminates the need for irregular inspections based on incorrect diagnoses, making it possible to perform medical inspections more efficiently.

An embodiment of the present invention will now be described with reference to FIG.

Figures 1 and 8 are schematic diagrams showing the entire rod structure of the combine harvester.
- A side view and a plane - A pair of left and right running rollers (
13, 11) Equipped with nine machines (1111ils without coins in illusion)
l s Z Fushi 2141% Oboro vertical frost II is installed, and a lifting device (・1...,
Reaping pre-processing consisting of 9 reaping racks (1), 9 reaping culms merging photographing and transmitting device 8, reaped grain culm rear conveyance device-9), etc.
The club chant is swingably connected to the bowl.

The above aS combines the following self 1-
j# It has a built-in structure.

The above-mentioned reaping) IQ shaving section ■ is configured to be able to move up and down IIKIIF+ by a hydraulic cylinder 1m1), and the J position electromagnetic 1111 * controls this hydraulic cylinder 411).
91 is a height detection sensor installed in the pre-processing section.
It operates based on the detection results from 1Is, and the pre-reaping process f11fi! An automatic mowing height control device is configured to set the ground height feeling of h- with a setting device 1141 and maintain it within a good range. In addition, the front ε anti-voltage high range detection sensor-asrt.

A transmitter that emits ultrasonic waves toward the ground at regular intervals,
An ultrasonic sensor consisting of a receiver that receives the reflected flLt is employed, and *aδ is used to calculate the height above the ground from the time when the received waves are different.

And the Sennar 11 bridge, setting IIIm and electromagnetic control valve 11! l is connected to the micro combinator O@ as shown in FIG. In addition, I@ in the figure is a switch for switching between "automatic and manual" for cutting height control, and contact m is "
``Automatic'', the contact point is in the ``front'' position, and when it is in ``automatic'' mode, the pilot pump ■ spins the light. Also, the trout is t# goben 1jl -A! ! It is a switch for cutting height and manual # setting that allows welding wJ], and has priority operation even in automatic - J# mode. And I cut it with this switch while I'm #sashii! If you raise the &#process M@scream by 1 strong higher than the high level that can be measured with sensor I, automatic #J# will be interrupted, and then if the debt is lowered to within the range that can be measured with switch <1'4. I'll be back again
IIm is programmed to occur.

In addition, this cutting height control is controlled by a nine-contact type grain culm presence detection sensor installed in the stock conveyance route for the #epsilon combined conveyance device. When the -stroke of reaping υ is completed and the machine exits the aircraft, 1lIJ# automatically stops #lK, and when the next reaping starts, K11j# automatically stops.
It's starting to get more and more distant.

@a#! Control (AFC) Reaping] Fi before feeding the soft culm to the starting end of threshing tweed chain 4! , the rear edge feeding device 1ll (11) has an upper F swingable K11l wrapped around its rear fork point (Y) t-center to provide a function as a handling depth adjustment device, and a hydraulic cylinder @υ It is something that is driven wJ. The J position electromagnetic control valve (2) that controls the IIQε hydraulic cylinder @υ is connected to multiple culm length detection switches (318 m) (318 m) - (j18b) - installed along the hoisting device.
It operates based on the detection result from (B8c), and up to a preset value of 11111 according to the detected culm length.
taIk! , the rear conveyance device (9) is configured to move up and down. Also, the I1m of the rear transport device (insertion) itself
The temperature is detected by the variable resistor (Botefushi 1 meter) (Treasury) attached to the conveyance device (91 No. 91). is also connected to the microcomputer. In the figure, @ is a switch for switching between "automatic and manual" for Iik depth control, and @
is the automatic pilot switch, and @ is the manual control switch for the control valve. In addition, the mold depth δ control also causes the above-mentioned general culm presence detection sensor 4.
It operates as J Senday.

(q Steering-J# (ADC) The running loaf (1)-(1) is operated by a single-acting hydraulic cylinder (c) via a steering wheel inside the mission booth, @4. The power supply is interrupted and interrupted separately for the left and right sides, and the 1st hydraulic cylinder end, -
The 1st place electromagnetic control valve Uυ, which controls the grain culm detection sensor placed on both sides of the divider, is activated based on the detection result of the AS, and both sensors @1 are in contact with the grain culm row. The structure 6 is configured to steer and control the 4a body so as to guide the nayo-tsumaku divider into the darkness of the grain culm row. Also, when both sensors Ell detect the presence of a husk, it is determined that the grain is being harvested from a direction that intersects with the grain culm row, so-called bond harvesting, and the machine is set to keep moving straight. In addition, when the aircraft is opened laterally, the stock-distance in the aircraft's direction of movement @ (that is, the distance in ml)
is relatively large and detects #JK killing, so set the timer to continuously
Fl& is made to perform Jm. Each Isodane of this i1j# system is also connected to the microcomputer IIa.
connected to ll. In addition, H in the figure is the "auto-manual" changeover switch, aM9 is the pilot pump, 1, I
I is the switch for manual operation of the steering clutch.

In addition, 6η・Punishment is located at the foot of the control seat G (II).There are 9 left and right steering pegs (69, a switch for steering clutch foot operation operated by pressing K of il J19, which is linked to the threshing clutch). When the switch operated by the threshing clutch is on (threshing clutch), the hydraulic cylinder (c) is operated by pedal operation, and when the switch is off (threshing clutch disengaged), the steering clutch is directly operated by the pedal operation force. - is now cut off.

(2) Vehicle speed control (AVC) The Mitsushiran booth @ of the cloak traveling device 11) * 11) is equipped with hydraulic non-equipment changing devices (H, S, T), that is, installed inside the threshing device (3). The input section of the handling cylinder (6) is equipped with a sensor that detects the handling cylinder torque and cylinder rotation speed separately and temporarily as pulse signals. Equipped with a vehicle speed sensor that generates a number of pulses proportional to the speed, each sender @1. The outputs from H are input to the handling cylinder torque measurement circuit-1, the handling cylinder rotation speed measurement circuit-1, and the vehicle speed measurement circuit @force, respectively, and I! kjIi torque σ)
The handling trunk rotation error and car shielding are measured.

In addition, the measured torque (1) and rotational speed of the handling cylinder (1) and rja-jL are comprehensively compared and judged as described later in the judgment section 1, and the handling cylinder load is determined. Based on the result, the next single speed determining circuit 4 determines the appropriate vehicle speed for the current handling m*load, that is, the target vehicle 4(V,)'. Then, the detected vehicle speed (Y) and the target vehicle speed (V-) are compared in a comparison/discrimination circuit, and both vehicles are 31C%Q (Vρ
Based on the result of this determination, the forward/reverse motor l for automatically operating the gear shift lever ring of the transmission m- is turned on to change the British vehicle connection to the target vehicle (W). In addition, a friction transmission device 1 is interposed between the gear shift lever (6) and the motor, allowing manual gear shifting to be performed preferentially regardless of the motor υ. .

Next, we will explain the function of the m (f) cylinder load determination circuit. Figure 4 is a line diagram showing the ranks for determining the threshing load. 1gN @ speed (no) as standard!! (8-9 (8-9)
1 (ril'Jf with 8- in advance and double dazzling floor C through 1 example)
ll) is ranked (Aa)-(Am)" and the handling cylinder torque range is set in advance by J!!(Δt1) by a set amount based on the value (-).

(△【Use the poem in advance to enter the multi-intermittent step #11 (in the example of Eisō, the beam step)
Ranked (&), (sa)...), and
The overlapping rank group of both ranks is divided into multiple stages W1 (
They are ranked in two stages: (C,) and (■...).

In other words, threshing loads are ranked based on the product of rotation and torque.

Then, the handling #4 rotational speed group and handling trunk torque (7) detected as described above are assigned to the dog's rank (A,)...-(BL).
Threshing load rank (Cri・
- It is determined which category it belongs to.

Here, among the previous ε threshing load ranks (C1), rank (C4) is considered to be an appropriate load rank and does not require vehicle speed increase/deceleration, and is therefore a low load rank (cm).

(CL) increases the vehicle speed, and also increases the vehicle speed on the high load side.
In (Q)-(C4)-(Ca)-(Cr), the vehicle speed is decreased.

In addition, each rank (Q) for speed increase, (each 9 for C and deceleration)
9 (Q) - (Q) - (Cm) - (Cy) is the target vehicle speed correction IIk (th”ks) - (Hmm-...
is a preset amount, and the load rank (C1) is determined from the actual detected transfer rate (to) and torque (1).
Accordingly, the target single continuous correction amount (mu gradient) is determined, and the previous target vehicle velocity (V,) is increased or decreased in the vehicle speed determination circuit, and the actual measured vehicle velocity ( ■ is compared, so 6ru0. Also, when starting the function work, manually operate the gear shift lever to select the desired vehicle speed, and then
is activated, the actual vehicle speed at time 9 is set as the initial target vehicle speed, and the target vehicle speed is sequentially updated as the upper εjL load is detected.

And, each device of this control #l system is also connected to the microcomputer 4, and the presence/absence detection sensor g
It also works if the woman turns the activation voice of this control to -. still,
111 in the diagram indicates that the front ε-shift leg is neutral N and the forward gear is N)
, the sensor detects whether the vehicle is out of the reverse range (3), and the single-speed control is designed to operate only in the forward range (F). - is the manual switch for starting vehicle speed control, - is the automatic pilot controller H9, and when the forward assist switch is turned on, this controller R4 flashes, and the general controller presence/absence detection sensor is turned on and the vehicle speeds up. When the control is activated, the Khumbu lights up continuously. Also, -9M is a relay for driving the motor 15υ and reverse rotation, and -9M is a main switch.

7, and the following system # (AHC), (AFC) (AD
C) and (AMC) microcomputer connected to the sensor circuit and actuator circuit tube,
Each 111111 according to the program of the built-in storage circuit.
1 is time-divided and sequentially processed.

As described above, when diagnosing the failure of the 41IriL coupling ratio control mechanism, the microcomputer I
Connect the diagnostic device to I@.

This diagnostic device is composed of a central geographic equipment l1 diagnostic program, an output signal, and a fault display mechanism, and is configured to transmit signals in advance in place of the send signals and operation signals sent to each ill #K to the microcomputer. Sequentially input simulated signals for each check item, monitor the output in response to the simulated signal, and compare this response output with the appropriate output data stored in advance. It determines whether or not there is an abnormality, and if there is an abnormality, it is displayed as a percentage l1 II & The structure is equipped with each check item for each check item. .

Then, the sequential checks for each item are repeated, and for each check cycle, the presence or absence of an abnormality is recorded for each check item, and the J1411 occurrence is checked every certain period of time. It is programmed to count, and if it exceeds the set number, a true failure is displayed as Wkfl1m, and a one-off abnormality determination caused by signal noise is not displayed. Furthermore, when an abnormality is determined, its duration is also measured, and even if this is longer than a set time, it is programmed to be immediately displayed as a true failure.

It is also possible to connect a device that records this failure diagnosis data and decorate the dormitory with a decoration that will be useful for re-diagnosis, etc.

[Brief explanation of drawings]

Figure II [i is failure diagnosis fi of mobile agricultural machine with automatic IIl# mechanism according to the present invention! Place o*1ioiist example, 11
Figure 1 is a schematic side view of the combine harvester, Figure 8 is a schematic plan view of the front part of Punpine - 1 Figure 8 is a configuration diagram of the vehicle speed control mechanism, 41
Figure PJ4 is a line for ranks for determining threshing load. Figure %II5 is a configuration diagram of the entire self-1 control mechanism. J@...Microcomputer, -t...
・Central processing M/A device, -... Storage circuit, -...
...Mugiiso structure.

Claims (1)

[Claims] Equipped with an automatic control mechanism that connects each assembly group and actuator group of multiple types of automatic control 1ik to a microcomputer, and programs a control loop so that these control systems are time-divisionally processed in a preset order. 111I is a fault diagnosis VFR device for agricultural machinery, which includes a storage circuit in which simulated detection signals replacing the detection signals from Issen and output signals from the Kubakai in response to these signals are stored in advance. , #aε model detection value number is input into the #ε microcumbiata σ clause for each check item in sequence, and the response output signal is compared with the response output signal and the # period proper output signal to determine whether the brake operation is good or not. It consists of a central processing unit temporary for distinguishing between "Y" and "Isoan" that displays abnormalities in #J@ operation every JJ time, and when the number of times an abnormality occurs in the same check item within a certain period of time is greater than the set number of times. 113#J-Failure of mobile agricultural machinery with mechanism, characterized in that it is programmed to display ＼＾＾ of the corresponding check item only in the case of , and when All of the same check item continues for a set time or more Diagnostic equipment.