KR20190141087A - Propelling control apparatus for a harvester and working vehicle - Google Patents

Abstract

Provided is an apparatus for controlling driving of a harvester, to promote an increase in safety and convenience when an error incapable of acquiring driving control information occurs in the harvester. According to the present invention, a hydrostatic transmission (HST) (31) is interposed between an engine and a pair of left and right driving apparatuses. The HST (31) comprises a hydraulic pump driven by power of the engine (32) and a hydraulic motor driven by hydraulic oil. Power of the hydraulic motor is transferred to the left and right driving apparatuses. The HST (31) comprises a servo mechanism (66) changing the position of an inclined plate of the hydraulic pump (41). A driving control electronic control unit (ECU) (83) controlling the servo mechanism (66) includes control data for controlling a detection value of a main transmission lever sensor (85).

Description

Travel control device and work vehicle of harvester {PROPELLING CONTROL APPARATUS FOR A HARVESTER AND WORKING VEHICLE}

The present invention relates to a traveling control device and a work vehicle of a harvester for harvesting grains and the like.

For example, in a combine equipped with a hydrostatic transmission (HST), the hydraulic pump of the HST is driven by the power of the engine, and the hydraulic motor is driven by the oil discharged by the hydraulic pump. Power is transmitted to the crawlers on the left and right. As the left and right crawlers are driven at the same speed, the gas moves straight forward and backward, and the left and right crawlers are driven with a speed difference, so that the gas turns left and right.

Unlike a car or a tractor, a combine is generally not equipped with a braking device for braking a gas. Therefore, in the combine, the engine is stopped (operation prohibition) in order to ensure safety when an abnormality in which acquisition of information (driving control information) used for driving control, such as a failure of a sensor related to driving, becomes impossible. By this, measures to prohibit running at all are taken.

The shift lever is provided in the steering wheel so that displacement is possible from the neutral position to the front side and the rear side. In the structure which employ | adopted the electronic control type (electro-servo type), the shift lever sensor which accompanies a shift lever and outputs the detection value according to the position of a shift lever is provided. The detection value of the shift lever sensor is input to an ECU (Electronic Control Unit). Moreover, the pump inclination plate position sensor which outputs the detection value according to the inclination plate position (angle) of a hydraulic pump is provided in HST, and the detection value of the pump inclination plate position sensor is input to ECU.

When the shift lever is operated from the neutral position to the front side or the rear side, in the ECU, the target position of the inclined plate of the hydraulic pump is set based on the detected value of the shift lever sensor. In the ECU, the servo mechanism for changing the position of the inclined plate is controlled so that the deviation between the target position and the actual position of the inclined plate of the hydraulic pump approaches zero based on the detected value of the pump inclined plate position sensor. By changing the position of the inclined plate of the hydraulic pump, the discharge direction and the flow rate of oil from the hydraulic pump are changed, and the rotation direction and the rotation speed of the hydraulic motor are changed.

Japanese Patent Laid-Open No. 2008-57358

However, if the combine is prohibited from traveling on the road frequently, depending on the running situation, such as crossing a crosswalk or running on a hill, there may be a danger. In addition, if traveling is prohibited when the combine is in the package, the combine is suspended by a crane to replace or repair the traveling-related parts in the packaging or to replace or repair the traveling-related components in the repair shop. It must be lifted and taken out of the package, and the combine loaded into a truck and transported to the repair shop.

An object of the present invention is to provide a traveling control device for a harvester capable of improving the safety and convenience when an abnormality in which the traveling control information cannot be obtained occurs in the harvester.

In addition, the shift lever sensor and the pump inclination plate position sensor consist of a potentiometer which outputs the voltage according to the displacement amount in the reference position of a detection object, for example. Therefore, the sensor detection value at the time of a detection object being located in a reference position shifts from the reference value according to a reference position by the assembly variation of each sensor of a shift lever sensor and a pump inclination plate position sensor. Therefore, at the time of factory shipment of the combine, the ECU stores adjustment data for adjusting the detection value of each sensor according to the positional relationship between the detection target and the sensor. In the control of the servo mechanism of the HST by the ECU, the adjustment data is stored. Used.

However, when the memory in which the adjustment data is stored fails or the ECU is replaced for each memory, adjustment data that is not suitable for the positional relationship between the sensor and the detection object is used for the control of the servo mechanism. In this case, there is a possibility that the HST moves against the intention of the operator who operates the shift lever.

An object of the present invention is to provide a working vehicle which can suppress the use of the control data which is not suitable for the positional relationship between the detection object and the sensor for the control of the servo mechanism.

In order to achieve the above object, the traveling control device of the harvester according to the present invention includes an engine, a pair of left and right traveling device, a pump driven by the engine power and a motor driven by the pressure oil discharged from the pump, A traveling control device used for a harvester having a power transmission device for transmitting the power of a motor to a traveling device, the traveling control device comprising: information acquisition means for acquiring travel control information, and travel in a normal time where the information acquisition means can acquire travel control information. The power transmission device is controlled by the normal control means for controlling the power transmission device by the normal method using the control information, and the degeneracy method in which the information control means does not use the travel control information when the information acquisition means cannot obtain the travel control information. And degenerate control means for controlling.

According to this structure, a power transmission device is interposed between the engine and a pair of left and right traveling devices. A power transmission device is a structure containing the pump driven by the engine's power, and the motor driven by the hydraulic oil discharged from a pump. Power of the motor is transmitted to the pair of left and right traveling devices.

In normal times, the power transmission device is controlled by the normal method, and the control information is used in the control. If an abnormality occurs in which the harvesting control information cannot be obtained in the harvester, the control method of the power transmission device is switched from the normal method to the degenerating method without using the traveling control information in accordance with the occurrence of the abnormality, and then by the degenerating method. The power train is controlled. Thereby, even if the abnormality which cannot acquire the travel control information in a harvester arises, the power transmission device can be degenerately operated, power can be transmitted from the power transmission device to the traveling device, and the running of the harvester can be continued.

Therefore, when an abnormality occurs in which the harvester cannot acquire the driving control information while crossing the crossing, the harvester can cross the crossing to the end, and the risk that the harvester can not move within the crossing can be reduced. In addition, when an abnormality occurs in which the harvester cannot acquire the driving control information while driving the hill, it is possible to suppress that power is not transmitted from the power transmission device to the traveling device, and the harvester is contrary to the intention of the driver. You can reduce the risk of going down hills. Further, when an abnormality occurs in which the harvest control information cannot be obtained in the harvester, the harvester can be escaped out of the package frequently.

Therefore, it is possible to improve safety and convenience when an abnormality occurs in which harvesting control information cannot be obtained during the harvesting season.

The harvesting machine may be provided with a shift operation member which is operated from the neutral position to one side to advance the harvester and operated from the neutral position to the other side to reverse the harvester and an operation position detecting means for detecting the position of the shift operation member. In this structure, the information acquisition means acquires the position information of the shift operation member as the travel control information based on the detection signal input from the operation position detection means, and the normal control means is the shift operation acquired by the information acquisition means. When the positional information of the member is information indicating a position on one side with respect to the neutral position, the power transmission device is controlled so that the power in the direction of advancing the harvester from the power transmission device to the traveling device is output, and is acquired by the information acquisition means. When the positional information of the shift operation member is information indicating the position of the other side with respect to the neutral position, the power transmission device may be controlled so that the power in the direction of retracting the harvester from the power transmission device to the traveling device is output.

The harvesting machine may be provided with a switch operation member which switches to the first state and the second state separately from the shift operation member. When a harvester is equipped with a threshing apparatus, the switch operation member may be a barrel depth switch which selectively sets the length of the grain stem which enters a threshing apparatus to a 1st length and a 2nd length shorter than a 1st length. And when the switch operation member is in a 1st state at the time when the deterioration control means is unable to acquire the position information of a shift operation member because the detection signal of an operation position detection means is not input, it is a traveling apparatus from a power transmission apparatus. The power transmission device is controlled to output power in the direction of advancing the harvester, and when the switch operating member is in the second state, the power transmission device is controlled to output power from the power transmission device to the traveling device in the direction of retracting the harvester. You may also Thereby, a harvester can be advanced and reversed by operation of a switch operation member in the case of abnormality in which positional information of a shift operation member cannot be acquired.

The power transmission device may be configured to further include a servo mechanism for controlling the position of the pump inclined plate of the pump. In this structure, the normal control means sets the target position of the pump inclination plate according to the position of the shift operation member based on the position information of the shift operation member acquired by the information acquisition means, and the position of the pump inclination plate is the target position. It is desirable to feedback control the servo mechanism to conform to. On the other hand, the degenerate control means sets the target position of the pump inclined plate to the constant position on the forward side when the switch operation member is in the first state, and sets the target position of the pump inclined plate to the reverse side when the switch operating member is in the second state. The servo mechanism may be feedforward controlled by setting to a constant position of. Thereby, in the case of abnormality in which position information of a shift operation member cannot be acquired, a fixed amount of hydraulic oil can be discharged from a pump, and constant power can be transmitted from a motor to a power transmission device.

The harvester further includes a control device that is communicably connected to the travel control device, wherein the control device includes operation position adjustment data for adjusting the position detected by the operation position detection means to match the actual position of the shift operation member. It may be held. In this structure, the information acquisition means acquires the position information of the shift operation member from the detection signal input from the operation position detection means, and the degenerate control means indicates that the information acquisition means receives the operation position adjustment data. At the time when the position information of the shift operation member cannot be obtained because it cannot be used, the target position of the pump inclination plate corresponding to the position detected by the operation position detection means may be set, and the servo mechanism may be subjected to feedforward control.

Moreover, when a power transmission device is a structure which further includes the servo mechanism which controls the position of the pump inclination plate of a pump, and is a structure in which the inclination plate position detection means which detects the position of a pump inclination plate in a harvester is provided, the information acquisition means is a slope plate. Based on the detection signal input from the position detecting means, the position information of the pump inclined plate is obtained as the driving control information, and the normal control means sets the target position of the pump inclined plate based on the position information of the pump inclined plate, and the pump inclined plate The servo mechanism may be feedback-controlled so that the position of the coincides with the target position, the degenerate control means may set the target position of the pump inclined plate, and feed-forward control the servo mechanism.

In this case, the harvester further includes a control device that is communicatively connected to the travel control device, wherein the control device includes an inclined plate for adjusting the position detected by the inclined plate position detecting means to match the actual position of the pump inclined plate. Position adjustment data may be hold | maintained. And the information acquisition means acquires the position information of the pump inclination plate using the inclination plate position adjustment data from the detection signal input from the inclination plate position detection means, and the degenerate control means cannot use the inclination plate position adjustment data as the information acquisition means. Therefore, in the case where the position information of the pump inclination plate cannot be acquired, the target position of the pump inclination plate may be set based on the position detected by the inclination plate position detecting means, and the servo mechanism may be feedforward controlled.

In addition, in order to achieve the above object, the working vehicle according to the present invention includes an engine, a pair of left and right traveling devices, a pump driven by the engine's power, a motor driven by a pressure oil discharged from the pump, and a pump. A servo mechanism including a servo mechanism for changing the position of the inclined plate, a power transmission device for transmitting the power of the motor to the traveling device, a detection object provided to be displaceable, a sensor for outputting a detection value according to the position of the detection object, and a servo mechanism And a second control unit communicatively connected to the first control unit, wherein the first control unit and the second control unit are configured to adjust the detection value of the sensor according to the positional relationship between the detection object and the sensor. When the adjustment data is retained and the adjustment data held by the first control unit and the adjustment data held by the second control unit coincide with each other, the first control unit performs the matching. Using the control data, controlling the detection value of the sensor, based on the detection values obtained by the control and controls the servo.

According to this structure, a power transmission device is interposed between the engine and a pair of left and right traveling devices. A power transmission device is a structure containing the pump driven by the engine's power, the motor driven by the hydraulic oil discharged from a pump, and the servo mechanism which changes the inclination plate position of a pump. Power of the motor is transmitted to the pair of left and right traveling devices.

In the first control unit for controlling the servo mechanism, adjustment data for adjusting the detection value of the sensor is held. On the other hand, adjustment data is also hold | maintained in the 2nd control part connected so that communication with a 1st control part is possible. At the time of factory shipment of the work vehicle, the same control data is retained in the first control unit and the second control unit, but, for example, in the case where the first control unit or the second control unit is replaced after the factory shipment, the adjustment is held in the first control unit. The data and the adjustment data held in the second control section are different. In this case, if the adjustment data held in the first control unit or the second control unit is used for the control of the servo mechanism, the control data that is not suitable for the positional relationship between the sensor and the detection object is used for the control of the servo mechanism, whereby the power transmission device There is a risk of movement contrary to the intention of the worker using the work vehicle.

Thus, when the adjustment data held in the first control unit and the adjustment data held in the second control unit coincide, the detection value of the sensor is adjusted using the matching adjustment data, and based on the detected value after the adjustment. The servo mechanism is controlled. Thereby, it can suppress that adjustment data which is not suitable for the positional relationship of a sensor and a detection object is used for control of a servo mechanism. As a result, the power transmission device can be restrained from moving against the intention of the operator.

When the adjustment data held by the first control unit and the adjustment data held by the second control unit are different, starting of the engine may be prohibited. By not starting the engine, the power transmission device can be prevented from making a movement contrary to the intention of the operator.

However, the work vehicle is provided with an acceptor for accepting an instruction for emergency operation of the engine in a situation where the start of the engine is prohibited. It is preferable that starting is allowed. By emergency operation of the engine, it is possible to frequently bring the work vehicle to a repair shop or the like.

The object to be detected by the sensor may be a shift operation member which is operated from the neutral position to the one side for the advancement of the work vehicle and operated from the neutral position to the other side for the backward of the work vehicle. In this case, during the emergency operation of the engine, the detection value of the sensor may be adjusted using default data different from the adjustment data. The default data is data for adjusting the detected value of the sensor by a certain amount. For example, for a plurality of objects of the work vehicle, the sensor detection value when the detection object is located at the reference position is acquired, and the average value of the deviation amount between the detection value and the reference value of the sensor according to the reference position of the detection object is The average value may be obtained as the default data. The detection value of the sensor can be adjusted at an average level so that the movement of the power transmission device against the operator's intention is suppressed by adjusting the detected value of the sensor using default data.

The work vehicle further includes a switch operating member that is switched between the first state and the second state, and the object to be detected is operated from one neutral side to one side for advancement of the work vehicle, and the other from the neutral position for backward movement of the work vehicle. When the switch operation member is in the first state during the emergency operation of the engine, when the switch operation member is in the first state, the inclined plate of the pump is located at a predetermined position in the forward direction, and when the switch operation member is in the second state, the inclined plate of the pump is The servo mechanism may be controlled to be located at a fixed position in this reverse direction. Thereby, the operation vehicle can be moved forward and backward by the operation of the switch operating member.

When the object to be detected is an inclined plate of the pump, the target position of the inclined plate of the pump may be set at the time of emergency operation of the engine, and the servo mechanism may be feedforward controlled.

In addition, when the object to be detected is the inclined plate of the pump, the inclined plate of the pump is located at the neutral position at the time of stopping before the engine is started. Therefore, during the emergency operation of the engine, the detected value of the sensor before starting for the emergency operation of the engine is pumped. The detection value of the sensor may be adjusted using default data different from the adjustment data as the value according to the neutral position of the inclined plate.

The detection object may be a steering member which is operated from the neutral position to the one side for the left turn of the working vehicle, and operated from the neutral position to the other side for the preferential turning of the working vehicle. In that case, at the time of emergency operation of the engine, default data different from the adjustment data may be used to adjust the detection value of the sensor. Thereby, as described above, the detection value of the sensor can be adjusted at an average level so that the movement of the power transmission device against the intention of the operator is suppressed.

According to the present invention, even when an abnormality in which the traveling control information cannot be obtained occurs in the harvester, the running of the harvester can be continued, so that the safety and convenience at the time of the abnormal occurrence can be improved.

Further, according to the present invention, it is possible to suppress the adjustment data not suitable for the positional relationship between the detection object and the sensor from being used for the servo mechanism control of the power transmission device, and the power transmission device is intended for the intention of the operator using the work vehicle. You can suppress the movement against you.

BRIEF DESCRIPTION OF THE DRAWINGS It is a right side view which shows the front part of the combine which concerns on one Embodiment of this invention.
2 is a diagram illustrating a configuration of an HST mounted on a combine.
3 is a block diagram showing main parts of an electrical configuration of a combine.
4 is a block diagram showing a specific configuration for traveling control.
5 is a flowchart showing the flow of processing executed for the control of the HST.

EMBODIMENT OF THE INVENTION Hereinafter, embodiment of this invention is described in detail, referring an accompanying drawing.

<Combination>

1 is a right side view showing the front portion of the combine 1 according to one embodiment of the present invention.

The combine 1 is a work vehicle which performs harvesting of grain stems and threshing from grain stems while driving a pavement. The base 11 of the combine 1 is supported by a pair of left and right traveling devices 12. The traveling device 12 employs a crawler having a stationary frequency capability in order to enable traveling of the combine 1 in the pavement.

The base 11 is provided with a steering wheel 13, a mowing device 14, a threshing device 15, and a grain tank 16.

The steering wheel 13 is disposed above the front end of the traveling device 12. The driver's seat 13 is provided with a driver's seat 17 on which the operator sits, and an operation panel 18 operated by the operator is provided, for example, in the front and left directions of the driver's seat 17. The operation panel 18 is provided with a main gear lever 21, a steering lever 22, and the like.

The main gear lever 21 is provided so that tilting is possible in the front-back direction. By the tilting operation of the main gear lever 21, forward and backward of the base body 11 can be switched, and the speed of the forward or backward can be changed.

The steering lever 22 is provided so that tilting is possible in the left-right direction and the front-back direction. By the left-right tilting operation of the steering lever 22, the straight, left turn and priority turn of the base 11 can be switched. In addition, the mowing device 14 can be raised and lowered by the front-back tilting operation of the steering lever 22.

The mowing device 14 is disposed in front of the traveling device 12. The mowing device 14 is provided with the grass dividing tool 23 in the front end part, and is equipped with the mowing blade 24 in the back of the grass dividing tool 23. The grass dividing tool 23 and the cutting blade 24 are supported by the cutting device frame 25F. At the rear end of the mowing device frame 25F, a mowing horizontal frame 25L extending in the horizontal direction is provided. One end of the cutting main frame 25M is connected to the cutting horizontal frame 25L. The harvesting main frame 25M extends from the harvesting transverse frame 25L to the rear side, and its other end (previously provided at the front lower side) is connected to the frame of the base 11 so as to be rotatable. A cylinder (not shown) can be operated by the front-back tilting operation of the steering lever 22, and the mowing main frame 25M can be rocked. The ascending position ascended from the ground, and the grass dividing tool 23 and the cutting blade 24 are moved up and down to the descending position close to the ground. When the base 11 advances in the state in which the dividing sphere 23 and the cutting blade 24 are located in the lowered position, the base of the grain stem placed on the pavement is divided by the dividing sphere 23, and the grain stem is the cutting blade 24. Mowed by

The threshing apparatus 15 and the grain tank 16 are arrange | positioned left and right at the upper position of the traveling apparatus 12, and the rear position of the harvesting | reaping apparatus 14. As shown in FIG. The harvested grain stem is conveyed to the threshing apparatus 15 by the harvesting apparatus 14. The threshing apparatus 15 conveys the base side of a grain stem suitably to a rear side by a threshing feed chain, and supplies the cutting side of a grain stem to a feeding chamber, and threshes. The grain is conveyed from the threshing apparatus 15 to the grain tank 16, and the grain is stored in the grain tank 16. The grain discharge auger 26 is provided continuously in the grain tank 16, and the grain stored in the grain tank 16 can be discharged | emitted to the outside of a gas by the grain discharge auger 26. As shown in FIG.

<Stepless speed shift device>

2 is a diagram illustrating a configuration of the HST 31.

The combine 1 is equipped with an HST (Hydro Static Transmission) 31. The HST 31 shifts and outputs the power of the engine 32 (see FIG. 3). Power output by the HST 31 is transmitted to the left and right traveling apparatuses 12 through a turning mechanism (not shown). As the swing mechanism, for example, a plurality of hydraulic clutches are provided, and the combination of the engaging (opening) and releasing (cutting) of the clutches transmits a constant speed power to the left and right traveling apparatuses 12 and The state which transmits power lower than the power transmitted to one side of the left and right traveling apparatuses 12 to another side, The state which transmits power to only one side of the left and right traveling apparatuses 12, The left and right traveling apparatuses 12 It is adopted that the configuration can take the state of transmitting the power transmitted to one side and the power in the reverse direction to the other side.

The HST 31 moves the hydraulic pump 41 and the hydraulic motor 42 to the first flow path 43 and the second flow path 44 so that the hydraulic oil circulates between the hydraulic pump 41 and the hydraulic motor 42. It has the structure of the connected closed circuit. The first flow path 43 is connected to the first port 45 of the hydraulic pump 41 and the first port 46 of the hydraulic motor 42. The second flow path 44 is connected to the second port 47 of the hydraulic pump 41 and the second port 48 of the hydraulic motor 42.

In addition, the charge pump 51 is attached to the HST 31 and provided. The charge pump 51 is a fixed displacement hydraulic pump, and discharges hydraulic oil to the charge flow path 53 by the rotation of the pump rotating shaft 52. The charge flow path 53 is connected to the 1st flow path 43 via the 1st check valve 54, and is connected to the 2nd flow path 44 through the 2nd check valve 55. As shown in FIG. In addition, the charge passage 53 is connected to the oil tank 57 via the charge relief valve 56.

By the function of the charge relief valve 56, the hydraulic pressure of the charge flow path 53 is maintained at a predetermined charge pressure. When the hydraulic pressure of the first flow path 43 is lower than the hydraulic pressure of the charge flow path 53, that is, the charge pressure, the first check valve 54 is opened to open the charge flow path 53 through the first check valve 54. Hydraulic oil is supplied to the first flow path 43. In addition, when the hydraulic pressure of the second flow path 44 is lower than the charge pressure, the second check valve 55 is opened to the second flow path 44 from the charge flow path 53 through the second check valve 55. Hydraulic oil is supplied. Thereby, the oil pressure of the 1st flow path 43 and the 2nd flow path 44 is maintained more than charge pressure.

The HST 31 includes a hydraulic pump 41, a hydraulic motor 42, a first flow path 43, a second flow path 44, a first check valve 54, a second check valve 55, and a charge relief valve. And 56 as an integrated HST in which a single case is housed.

The hydraulic pump 41 is a variable displacement inclined plate piston pump, and includes a cylinder block, a plurality of pistons radially arranged in the cylinder block, a pump inclined plate in which the piston slides, and the like. The hydraulic pump 41 and the charge pump 51 have a pump rotation shaft 52 in common, and the cylinder block is provided so that it may rotate integrally with the pump rotation shaft 52.

In order to change the inclination angle of the pump inclination plate of the hydraulic pump 41, the electronically controlled servo cylinder 58 is provided. The servo cylinder 58 includes a first pressure chamber 62 supplied with hydraulic pressure from the pressure control valve 61 on the forward side, and a second pressure chamber 64 supplied with hydraulic pressure from the pressure control valve 63 on the reverse side. ) Moreover, the servo cylinder 58 has the rod 65 linearly moved by the differential pressure of the 1st pressure chamber 62 and the 2nd pressure chamber 64, By the linear drive of this rod 65, The inclination angle of the pump inclination plate is changed. The servo cylinder 58 which controls the inclination angle of the pump inclination plate of the hydraulic pump 41 is comprised by the servo cylinder 58, the pressure control valve 61 of a forward side, and the pressure control valve 63 of a reverse side. have.

The larger the inclination angle of the pump inclination plate with respect to the axis of the pump rotation shaft 52 of the hydraulic pump 41 (rotation axis of the cylinder block), the smaller the discharge amount of the hydraulic oil from the hydraulic pump 41, and the inclination angle of the pump inclination plate is When it is 90 degrees, the discharge of the hydraulic oil from the hydraulic pump 41 is stopped. In addition, when the inclination angle of the pump inclination plate exceeds 90 ° (when the tilt is reversed), when the inclination angle is less than 90 ° and the discharge direction of the hydraulic oil from the hydraulic pump 41 is reversed.

The hydraulic motor 42 is a variable displacement inclined plate type piston motor, and pressurizes a motor rotating shaft 71, a cylinder block which rotates integrally with the motor rotating shaft 71, and a plurality of pistons and pistons disposed radially in the cylinder block. A motor inclined plate etc. which can be provided are provided. When the inclination angle of the motor inclined plate with respect to the axis of the motor rotating shaft 71 of the hydraulic motor 42 is constant, the larger the amount of hydraulic oil supplied to the hydraulic motor 42, that is, the amount of hydraulic oil discharged from the hydraulic pump 41, the more. , The rotation speed of the motor rotating shaft 71 increases.

In addition, when the amount of hydraulic oil supplied to the hydraulic motor 42 is constant, the rotation speed of the motor rotating shaft 71 falls, so that the inclination angle of a motor inclination plate is large. In order to change the inclination angle of the motor inclination plate of the hydraulic motor 42, the sub transmission piston 72 is provided. The low speed switching valve 73 and the high speed switching valve 74 are connected to the sub transmission piston 72. The low speed switching valve 73 is turned on, the high speed switching valve 74 is turned off, and the hydraulic pressure is supplied from the low speed switching valve 73 to the sub transmission piston 72 so that the rod of the sub transmission piston 72 ( 75) is located at a low speed position, and the inclination angle of the motor inclined plate becomes relatively large. On the other hand, the low speed switching valve 73 is turned off, the high speed switching valve 74 is turned on, and the hydraulic pressure is supplied from the high speed switching valve 74 to the sub transmission piston 72, whereby The rod 75 is located at the high speed position, and the inclination angle of the motor inclined plate becomes relatively small. Therefore, by the on / off switching of the low speed switching valve 73 and the high speed switching valve 74, the position of the motor inclination plate is set to the position on the high speed side where the rotation speed of the motor rotation shaft 71 becomes relatively large, and the motor rotation shaft 71. The rotation speed of can be switched to the second stage of the position on the low speed side where the rotation speed becomes relatively small.

<Electrical Configuration>

3 is a block diagram showing main parts of an electrical configuration of the combine 1.

The combine 1 is equipped with a single main ECU (Electronic Control Unit) 81 for overall overall control and a plurality of ECUs for individual specific control. ECUs for individual specific control include, for example, an engine ECU 82 for controlling the engine 32, a travel control ECU 83 for controlling the HST 31, and the like. The main ECU 81, the engine ECU 82, and the travel control ECU 83 each include a micro controller unit (MCU).

The main ECU 81 is connected in communication with each ECU for individual concrete control, that is, the engine ECU 82, the travel control ECU 83, and the like. Moreover, the meter panel 84 arrange | positioned at the operation panel 18 (refer FIG. 1) of the steering wheel 13 is connected to the main ECU 81 as a control object. The main ECU 81 controls various instruments and indicators such as a traveling odometer provided in the meter panel 84. For example, when an abnormality arises in the combine 1, the main ECU 81 transmits the information regarding the abnormality to the meter panel 84, and displays the above content on a display. The indicator consists of a liquid crystal display, for example.

The traveling control ECU 83 has a main gear lever sensor 85 for outputting a detection signal according to the operation position of the main gear lever 21 and a steering lever for outputting a detection signal according to the operation position of the steering lever 22. The sensor 86 is connected and those detection signals are input.

In addition, the travel control ECU 83 is a switch 87 provided in the operation panel 18 of the steering wheel 13, and a switch 87 used in addition to the travel control and the swing control is connected to the switch 87. The signal according to the state of is input. As an example of the switch 87, the barrel depth switch which adjusts the length of grain stem, ie, barrel depth, which enters the threshing apparatus 15 is mentioned. The barrel depth switch may be a switch for selectively setting the barrel depth to a first length (depth) and a second length (shallow) shorter than the first length, for example.

The operation panel 18 is provided with a swing mode switch. The swing mode switch is a dial switch for switching the swing control mode between the soft swing mode, the brake swing mode and the spin swing mode, and the movable area corresponds to the soft swing mode, the brake swing mode and the spin swing mode, respectively. One soft position, a brake position and a spin position are set. The swing mode switch has a knob which is picked up by an operator's finger and rotated, and its position is switched by a pivoting operation of the knob, and outputs a signal corresponding to each position of the soft position, the brake position and the spin position.

In addition, the travel control ECU 83 includes a current sensor 88 for outputting a detection signal corresponding to the value of the current supplied to the pressure control valves 61 and 63 included in the HST 31, and the HST 31. The pump inclination plate position sensor 89 which outputs the detection signal according to the position (inclination angle in a reference position) of the pump inclination plate of the hydraulic pump 41 contained in is connected, and those detection signals are input.

The main ECU 81 receives information that each ECU for individual specific control acquires from detection signals and the like of various sensors, and transmits commands and information that each ECU requires for control to each ECU. For example, the main ECU 81 receives the engine start permission transmitted from the travel control ECU 83 and transmits a start command of the engine 32 to the engine ECU 82. In addition, the main ECU 81 adjusts detection values obtained from detection signals of the main gear lever sensor 85, the steering lever sensor 86, and the current sensor 88 connected to the travel control ECU 83. The adjustment data to be stored are held, and the adjustment data is transmitted to the travel control ECU 83.

The travel control ECU 83 is provided from the information obtained from the detection signals of the main gear lever sensor 85, the steering lever sensor 86, the current sensor 88, and the pump inclination plate position sensor 89, and the switch 87. Pressure control valves included in the engine 32 and the HST 31 for controlling the traveling and turning of the base 11 based on the information obtained from the input signal and the information input from the main ECU 81. Control valves 61 and 63, the low speed switching valve 73, the high speed switching valve 74, and a valve for switching the engagement / release of each clutch provided in the swing mechanism are controlled.

<Run control>

The travel of the base 11 is controlled by the travel control ECU 83. In this traveling control, the position of the main gear lever 21 is acquired from the detection signal of the main gear lever sensor 85.

When the position of the main gear lever 21 is a stop position, the respective angles are controlled by controlling the current supplied to the pressure control valve 61 on the forward side and the pressure control valve 63 on the reverse side of the HST 31. The opening degree is adjusted, so that the position of the pump inclined plate of the hydraulic pump 41 becomes a position of an inclination angle of 90 degrees. Thereby, since hydraulic oil is not discharged from the hydraulic pump 41, the hydraulic motor 42 does not rotate and power is not output from the HST 31. FIG. Therefore, the traveling device 12 does not operate, and the base 11 is stopped.

When the main gear lever 21 is tilted forward from the stop position, the servo cylinder (from the pressure control valve 61 on the forward side) is controlled by controlling the current supplied to the pressure control valves 61 and 63 of the HST 31. The oil pressure supplied to the first pressure chamber 62 of 58 is larger than the oil pressure supplied to the second pressure chamber 64 from the pressure control valve 63 on the reverse side. Thereby, a differential pressure is generated in the 1st pressure chamber 62 and the 2nd pressure chamber 64, and the position of the pump inclination plate of the hydraulic pump 41 becomes a position less than 90 degree of inclination angle by this differential pressure. As a result, the hydraulic oil is discharged from the hydraulic pump 41, the hydraulic motor 42 receives the hydraulic oil, rotates, and the power in the forward direction is output from the HST 31. At this time, if the state of the turning mechanism is a state in which the constant speed power is transmitted to the left and right traveling devices 12, the base 11 moves straight forward by rotating the left and right traveling devices 12 at constant speed in the forward direction.

When the main gear lever 21 is tilted to the rear side from the stop position, the second pressure is controlled from the pressure control valve 63 on the reverse side by controlling the current supplied to the pressure control valves 61 and 63 of the HST 31. The oil pressure supplied to the chamber 64 becomes larger than the oil pressure supplied to the first pressure chamber 62 of the servo cylinder 58 from the pressure control valve 61 on the forward side. Thereby, a differential pressure is generated in the 1st pressure chamber 62 and the 2nd pressure chamber 64, and the position of the pump inclination plate of the hydraulic pump 41 becomes a position larger than 90 degree of inclination angle by this differential pressure. As a result, the hydraulic oil is discharged from the hydraulic pump 41 in the forward and reverse directions, the hydraulic motor 42 receives the hydraulic oil and rotates in the reverse direction from the forward, and the power in the reverse direction is output from the HST 31. At this time, if the state of the turning mechanism is a state in which the constant speed power is transmitted to the left and right travel devices 12, the power in the reverse direction output from the HST 31 is transmitted to the travel device 12, and the left and right travel devices are provided. As the 12 rotates at a constant speed in the reverse direction, the base 11 moves straight backward.

When the inclination angle of the pump inclined plate of the hydraulic pump 41 is changed by the control of the electric current supplied to the pressure control valves 61 and 63 at the time of forward or backward movement, the discharge amount of the hydraulic oil from the hydraulic pump 41 is changed. And the rotation speed of the hydraulic motor 42 changes. Therefore, by adjusting the inclination angle of the pump inclined plate of the hydraulic pump 41 according to the tilting amount at the stop position of the main gear lever 21, the speed of the forward and backward of the base body 11 can be changed steplessly. .

Further, by the on / off switching of the low speed switching valve 73 and the high speed switching valve 74, it is possible to switch to two stages of the high speed stage in which the rotation speed of the hydraulic motor 42 becomes relatively large and the low speed stage in which the relatively small speed is reduced. . Therefore, the speed of forward and backward of the base 11 can be changed also by switching between the high speed stage and the low speed stage. In addition, a sub transmission lever (not shown) is provided in the operation panel 18 of the steering wheel 13, and switching of a high speed stage and a low speed stage may be instructed by operation of the sub transmission lever.

<Turning Control>

When the steering lever 22 is tilted from the center straight position to the left or right turning position at the time of traveling straight (forward / reverse) of the body 11, the body 11 is driven by the travel control ECU 83. Swing control for turning is started.

In swing control, it is determined from the output signal of a swing mode switch whether the position of a swing mode switch is a soft position, a brake position, or a spin position.

When the position of the swing mode switch is a soft position, a valve for switching engagement / release of each clutch provided in the swing mechanism is controlled so that the swing mechanism transmits constant speed power to the left and right traveling devices 12. Is switched to a state in which power at a lower speed than power transmitted to one of the left and right traveling devices 12 is transmitted to the other.

When the position of the swing mode switch is the brake position, a valve for switching engagement / release of each clutch provided in the swing mechanism is controlled, and the swing mechanism transmits constant speed power to the left and right traveling devices 12. Is switched to a state in which power is transmitted to only one of the left and right travel devices 12.

When the position of the swing mode switch is the spin position, a valve for switching the engagement / release of each clutch provided in the swing mechanism is controlled so that the swing mechanism transmits constant speed power to the left and right traveling devices 12. Is switched to a state in which power transmitted to one side of the traveling device 12 on the left and right and power in the reverse direction are transmitted to the other side.

<Specific configuration for driving control>

4 is a block diagram showing a specific configuration for traveling control.

The traveling control ECU 83 is a processing unit for driving control, and includes a target slope plate position calculation unit 101, an actual slope plate position calculation unit 102, a deviation calculator 103, and a PI (Proportional-Integral: Proportional Integral) calculation unit. 104, FF (feed forward) control unit 105, adder 106, forward side current detector 107, forward side average current calculator 108, forward side deviation calculator 109, forward side PI Computing unit 110, forward side FF control unit 111, forward side adder 112, reverse side current detector 113, reverse side average current calculator 114, reverse side deviation calculator 115, reverse side The PI calculating unit 116, the reverse side FF control unit 117, and the reverse side adding unit 118 are substantially provided. Each processing unit is realized in software by program processing, or by hardware such as a logic circuit.

The target tilt plate position calculation unit 101 adjusts the detection value obtained by digitizing the detection signal of the main gear lever sensor 85 using the adjustment data transmitted from the main ECU 81 to the travel control ECU 83. The detected value after the adjustment is set according to the position of the main gear lever 21. For example, due to the assembling variation of the main gear lever sensor 85, the detection value of the main gear lever sensor 85 when the main gear lever 21 is located at the neutral position (reference position) is determined according to the reference position. There may be a deviation from the reference value. The adjustment data is data for adjusting the detection value of the main gear lever sensor 85 in order to eliminate the deviation. The target inclined plate position calculation unit 101 is a target inclined plate that is a position target of the pump inclined plate of the hydraulic pump 41 according to the position of the main gear lever 21 in accordance with a predetermined calculation formula in a range below a preset maximum vehicle speed. Calculate the location. Moreover, the map which determined the relationship between the position of the main gear lever 21 and the target inclination plate position is stored in the memory of the traveling control ECU 83, and the target inclination plate position calculating part 101 is according to the map, and the main gear lever according to the map. You may set the target inclination board position according to the position of (21).

The actual inclination plate position calculation unit 102 adjusts the detection value obtained by quantifying the detection signal of the pump inclination plate position sensor 89 using the adjustment data transmitted from the main ECU 81 to the travel control ECU 83. The detected value after the adjustment is a value corresponding to the actual inclined plate position which is the actual position (inclined angle) of the pump inclined plate of the hydraulic pump 41. For example, due to the assembling variation of the pump inclination plate position sensor 89, the detection value of the pump inclination plate position sensor 89 when the pump inclination plate of the hydraulic pump 41 is located at the reference position is determined from the reference value according to the reference position. There may be a shift. The adjustment data is data for adjusting the detection value of the pump inclination plate position sensor 89 in order to eliminate the deviation.

The deviation calculator 103 subtracts a value corresponding to the actual inclined plate position calculated by the actual inclined plate position calculator 102 from the value according to the target inclined plate position calculated by the target inclined plate position calculator 101 to thereby achieve the target. The inclination plate position deviation, which is a deviation between the inclination plate position and the actual inclination plate position, is calculated.

The PI calculating unit 104 adds a P control term obtained by multiplying (in proportional operation) a predetermined proportional gain to an inclination plate position deviation and an I control term obtained by multiplying (integrating operation) a predetermined integral gain to the inclination plate position deviation. The target current value, which is the target of the current value supplied to the pressure control valves 61 and 63, is calculated.

The FF control section 105 calculates the correction amount of the target current value according to the deviation of the inclination plate position, for example, in accordance with the map stored in the memory of the travel control ECU 83. For example, in the memory of the travel control ECU 83, a map in which the relationship between the inclination plate position deviation and the correction amount of the target current value is determined is stored.

The adder 106 adds the target current value determined by the PI calculator 104 and the correction amount of the target current value set by the FF controller 105.

The forward current detecting unit 107 detects the value of the current supplied to the pressure control valve 61 on the forward side from the detection signal of the current sensor 88 provided in correspondence with the pressure control valve 61 on the forward side. do.

The forward-side average current calculation unit 108 obtains a moving average of the current values detected by the forward-side current detection unit 107 and calculates the value obtained thereby as an actual current value.

The forward-side deviation calculation unit 109 subtracts the actual current value calculated by the forward-side average current calculation unit 108 from the target current value output from the adder 106 and the correction value of the correction amount, thereby subtracting the target current value. The current value deviation, which is a deviation between the sum of the current value and the correction amount and the actual current value, is calculated.

The forward-side PI calculation unit 110 calculates the P control term obtained by multiplying the current value deviation by a predetermined proportional gain (proportional operation) and the I control term obtained by multiplying the current value deviation by a predetermined integral gain (integral operation). By adding, the chopper control duty for controlling the current supplied to the pressure control valve 61 is calculated.

The forward-side FF control unit 111 calculates the correction amount of the duty according to the current value deviation, for example, in accordance with a map stored in the memory of the travel control ECU 83. For example, a map in which the relationship between the current value deviation and the duty cycle correction amount is determined is stored in the memory of the travel control ECU 83.

The forward side adder 112 adds an adjustment amount of the duty determined by the forward side PI calculation unit 110 and the duty set by the forward side FF control unit 111. Then, the current supplied to the pressure control valve 61 on the forward side at the duty according to the addition value is chopper controlled.

The reverse current detecting unit 113 detects the value of the current supplied to the pressure control valve 61 on the reverse side from the detection signal of the current sensor 88 provided in correspondence with the pressure control valve 61 on the reverse side. do.

The reverse-side average current calculator 114 obtains a moving average of the current values detected by the reverse-side current detector 113, and calculates the value obtained thereby as an actual current value.

The reverse side deviation calculator 115 subtracts the actual current value calculated by the reverse side average current calculator 114 from the target current value output from the adder 106 and the correction value of the correction amount. The current value deviation, which is a deviation between the sum of the current value and the correction amount and the actual current value, is calculated.

The reverse side PI calculation unit 116 multiplies the P control term obtained by multiplying the current value deviation by a predetermined proportional gain (proportional operation), and the I control term obtained by multiplying the current value deviation by a predetermined integral gain (integral operation). By adding, the chopper control duty for controlling the current supplied to the pressure control valve 61 is calculated.

The reverse side FF control unit 117 calculates the correction amount of the duty according to the current value deviation, for example, in accordance with the map stored in the memory of the travel control ECU 83. For example, a map in which the relationship between the current value deviation and the duty cycle correction amount is determined is stored in the memory of the travel control ECU 83.

The reverse side adder 118 adds an adjustment amount of the duty determined by the reverse side PI calculation unit 116 and the duty set by the reverse side FF control unit 117. Then, the current supplied to the pressure control valve 63 on the reverse side in the duty according to the addition value is chopper controlled.

By the above structure, in the travel control when each part of the combine 1 is operating normally, the pressure control valve 61 of a forward side, and the pressure control valve of a reverse side according to the position change of the main gear lever 21 is performed. The current supplied to the 63 is controlled, and the position of the pump inclined plate of the hydraulic pump 41 is adjusted, so that the speed of forward and backward of the base 11 is changed steplessly. This travel control is a travel control by a normal method.

When an abnormality occurs in the combine 1 and the travel control information necessary for the travel control by the normal method cannot be obtained, the travel control ECU 83 executes the travel control by the degenerate method different from the normal method. do. The content of the travel control by the degenerate method differs depending on the kind of abnormality which occurred in the combine 1. Below, some specific examples of traveling control (degenerate control) by the degenerate method are given.

(1) The abnormality in which the position of the main gear lever 21 cannot be acquired

Since the malfunction of the main gear lever sensor 85 and an abnormality such as disconnection of the signal line connected to the main gear lever sensor 85 occurred, the travel control ECU 83 cannot obtain the position of the main gear lever 21. The above is considered. When this abnormality has occurred, a setting is made by the travel control ECU 83 to enable the switch 87 to be used for instructing forward and backward movement of the base 11. Information about the effect is transmitted from the travel control ECU 83 to the main ECU 81, and under the control of the main ECU 81, the switch 87 is placed on the display of the meter panel 84 by the body 11. ) Is used to indicate forward and backward directions. For example, the barrel depth switch can be used for the forward and backward directions of the body 11, and the forward depth of the body 11 can be instructed by turning on the barrel depth switch for setting the barrel depth to the first length. The reverse of the base 11 can be instructed by turning on the quick depth switch for setting the quick depth to the second length.

In this case, when the barrel depth switch for setting the barrel depth to the first length is on, the target inclined plate position calculation unit 101 does not calculate the target inclined plate position in accordance with the position of the main gear lever 21, and the hydraulic pump The target inclination plate position which is the position target of the pump inclination plate of 41 is set to a fixed position on the advancing side. On the other hand, when the barrel depth switch for setting the barrel depth to the second length is on, the target inclined plate position calculating unit 101 does not calculate the target inclined plate position in accordance with the position of the main gear lever 21, and the hydraulic pump ( The target inclination plate position which is the position target of the pump inclination plate of 41) is set to a constant position on the reverse side.

In such a case, the proportional gain and the integral gain in each of the PI calculating unit 104, the forward PI calculating unit 110, and the reverse PI calculating unit 116 are lower than those in normal control, for example, 0 (zero). Is set. Thereby, the effect of the feedback control term in running control becomes zero, and the servo mechanism 66 including the servo cylinder 58 and the pressure control valves 61 and 63 is feedforward controlled.

(2) Communication error between the main ECU 81 and the travel control ECU 83 (No. 1).

Due to a communication error between the main ECU 81 and the travel control ECU 83, the travel control ECU 83 can obtain adjustment data for the position detection of the main gear lever 21 from the main ECU 81. When there is no, when the position of the main gear lever 21 is acquired by the target inclination plate position calculation part 101, the detection value acquired from the detection signal of the main gear lever sensor 85 is not adjusted, and the detection is carried out. The value becomes the value according to the position of the main gear lever 21 as it is.

Then, the proportional gain and the integral gain in each of the PI calculation unit 104, the forward PI calculation unit 110, and the backward PI calculation unit 116 are set to a reduction, for example, zero (zero) than during normal control. Thereby, the effect of the feedback control term in running control becomes zero, and the servo mechanism 66 including the servo cylinder 58 and the pressure control valves 61 and 63 is feedforward controlled.

(3) Communication error between the main ECU 81 and the travel control ECU 83 (No. 2).

Due to a communication error between the main ECU 81 and the travel control ECU 83, the travel control ECU 83 calculates a value according to the actual ramp plate position of the pump ramp of the hydraulic pump 41 from the main ECU 81. When the adjustment data for the inertia cannot be obtained, when the value according to the actual inclination plate position is calculated by the actual inclination plate position calculating unit 102, the value of the detection value obtained by the quantification of the detection signal of the pump inclination plate position sensor 89 is determined. No adjustment is made, and the detected value becomes a value according to the actual inclined plate position as it is.

Then, the proportional gain and the integral gain in each of the PI calculation unit 104, the forward PI calculation unit 110, and the backward PI calculation unit 116 are set to a reduction, for example, zero (zero) than during normal control. Thereby, the effect of the feedback control term in running control becomes zero, and the servo mechanism 66 including the servo cylinder 58 and the pressure control valves 61 and 63 is feedforward controlled.

<Action effect>

As described above, the HST 31 is interposed between the engine 32 and the pair of left and right traveling devices 12. The HST 31 is configured to include a hydraulic pump 41 driven by the power of the engine 32 and a hydraulic motor 42 driven by pressure oil discharged from the hydraulic pump 41. Power of the hydraulic motor 42 is transmitted to the pair of left and right traveling devices 12.

In normal times, the HST 31 is controlled by the normal method, and the control information is used for the control. When an abnormality in which the traveling control information cannot be obtained occurs in the combine 1, the control method of the HST 31 is switched from the normal method to the degeneracy method that does not use the traveling control information in accordance with the occurrence of the abnormality. The HST 31 is controlled by the degeneracy method. As a result, even when an abnormality in which the traveling control information cannot be obtained occurs in the combine 1, the HST 31 can be degenerately operated, power is transmitted from the HST 31 to the traveling device 12, and the combine ( The driving of 1) can be continued.

Therefore, when an abnormality occurs in which the combine 1 cannot obtain driving control information while crossing the crossing, the combine 1 can cross the railroad crossing to the end, and the combine 1 can not come or go in the crossing. Can be reduced. Further, when an abnormality occurs in which the combine 1 cannot acquire the driving control information while driving on the hill, the transmission of power from the HST 31 to the traveling device 12 can be suppressed, and the combine 1 ) Can reduce the risk of going down hills against the intention of the driver. Further, when an abnormality in which the traveling control information cannot be obtained in the combine 1 occurs in the package, the combine 1 can be escaped out of the package frequently.

Therefore, the safety and convenience when the abnormality which cannot acquire the drive control information in the combine 1 generate | occur | produce can be aimed at.

<Variation example>

As mentioned above, although one Embodiment of this invention was described, this invention can also be implemented in another aspect.

For example, although the combine 1 was employ | adopted as an example of a harvester in the above-mentioned embodiment, this invention is not limited to the combine 1, but also in the harvester which harvests vegetables, such as ginseng, a radish, a green bean, and a cabbage, Applicable

In addition, in the above-described configuration, various design changes can be made within the scope of the matters described in the claims.

EMBODIMENT OF THE INVENTION Hereinafter, another embodiment of this invention is described in detail, referring an accompanying drawing.

<Combination>

1 is a right side view showing the front portion of the combine 1 according to one embodiment of the present invention.

The combine 1 is a work vehicle which performs harvesting of grain stems and threshing from grain stems while driving a pavement. The base 11 of the combine 1 is supported by a pair of left and right traveling devices 12. The traveling device 12 employs a crawler having a stationary frequency capability in order to enable traveling of the combine 1 in the pavement.

The base 11 is provided with a steering wheel 13, a mowing device 14, a threshing device 15, and a grain tank 16.

The steering wheel 13 is disposed above the front end of the traveling device 12. The driver's seat 13 is provided with a driver's seat 17 on which the operator sits, and an operation panel 18 operated by the operator is provided, for example, in the front and left directions of the driver's seat 17. The operation panel 18 is provided with a main gear lever 21, a steering lever 22, and the like.

The main gear lever 21 is provided so that tilting is possible in the front-back direction. By the tilting operation of the main gear lever 21, forward and backward of the base body 11 can be switched, and the speed of the forward or backward can be changed.

The steering lever 22 is provided so that tilting is possible in the left-right direction and the front-back direction. By the left-right tilting operation of the steering lever 22, the straight, left turn and priority turn of the base 11 can be switched. In addition, the mowing device 14 can be raised and lowered by the front-back tilting operation of the steering lever 22.

The mowing device 14 is disposed in front of the traveling device 12. The mowing device 14 is provided with the grass dividing tool 23 in the front end part, and is equipped with the mowing blade 24 in the back of the grass dividing tool 23. The grass dividing tool 23 and the cutting blade 24 are supported by the cutting device frame 25F. At the rear end of the mowing device frame 25F, a mowing horizontal frame 25L extending in the horizontal direction is provided. One end of the cutting main frame 25M is connected to the cutting horizontal frame 25L. The harvesting main frame 25M extends from the harvesting transverse frame 25L to the rear side, and its other end (previously provided at the front lower side) is connected to the frame of the base 11 so as to be rotatable. A cylinder (not shown) can be operated by the front-back tilting operation of the steering lever 22, and the mowing main frame 25M can be rocked. The ascending position ascended from the ground, and the grass dividing tool 23 and the cutting blade 24 are moved up and down to the descending position close to the ground. When the base 11 advances in the state in which the dividing sphere 23 and the cutting blade 24 are located in the lowered position, the base of the grain stem placed on the pavement is divided by the dividing sphere 23, and the grain stem is the cutting blade 24. Mowed by

The threshing apparatus 15 and the grain tank 16 are arrange | positioned left and right at the upper position of the traveling apparatus 12, and the rear position of the harvesting | reaping apparatus 14. As shown in FIG. The harvested grain stem is conveyed to the threshing apparatus 15 by the harvesting apparatus 14. The threshing apparatus 15 conveys the base side of a grain stem suitably to a rear side by a threshing feed chain, and supplies the cutting side of a grain stem to a feeding chamber, and threshes. The grain is conveyed from the threshing apparatus 15 to the grain tank 16, and the grain is stored in the grain tank 16. The grain discharge auger 26 is provided continuously in the grain tank 16, and the grain stored in the grain tank 16 can be discharged | emitted to the outside of a gas by the grain discharge auger 26. As shown in FIG.

<Stepless speed shift device>

2 is a diagram illustrating a configuration of the HST 31.

The combine 1 is equipped with an HST (Hydro Static Transmission) 31. The HST 31 shifts and outputs the power of the engine 32 (see FIG. 3). Power output by the HST 31 is transmitted to the left and right traveling apparatuses 12 through a turning mechanism (not shown). As the swing mechanism, for example, a plurality of hydraulic clutches are provided, and the combination of the engaging (opening) and releasing (cutting) of the clutches transmits a constant speed power to the left and right traveling apparatuses 12 and The state which transmits power lower than the power transmitted to one side of the left and right traveling apparatuses 12 to another side, The state which transmits power to only one side of the left and right traveling apparatuses 12, The left and right traveling apparatuses 12 It is adopted that the configuration can take the state of transmitting the power transmitted to one side and the power in the reverse direction to the other side.

The HST 31 moves the hydraulic pump 41 and the hydraulic motor 42 to the first flow path 43 and the second flow path 44 so that the hydraulic oil circulates between the hydraulic pump 41 and the hydraulic motor 42. It has the structure of the connected closed circuit. The first flow path 43 is connected to the first port 45 of the hydraulic pump 41 and the first port 46 of the hydraulic motor 42. The second flow path 44 is connected to the second port 47 of the hydraulic pump 41 and the second port 48 of the hydraulic motor 42.

In addition, the charge pump 51 is attached to the HST 31 and provided. The charge pump 51 is a fixed displacement hydraulic pump, and discharges hydraulic oil to the charge flow path 53 by the rotation of the pump rotating shaft 52. The charge flow path 53 is connected to the 1st flow path 43 via the 1st check valve 54, and is connected to the 2nd flow path 44 through the 2nd check valve 55. As shown in FIG. In addition, the charge passage 53 is connected to the oil tank 57 via the charge relief valve 56.

By the function of the charge relief valve 56, the hydraulic pressure of the charge flow path 53 is maintained at a predetermined charge pressure. When the hydraulic pressure of the first flow path 43 is lower than the hydraulic pressure of the charge flow path 53, that is, the charge pressure, the first check valve 54 is opened to open the charge flow path 53 through the first check valve 54. Hydraulic oil is supplied to the first flow path 43. In addition, when the hydraulic pressure of the second flow path 44 is lower than the charge pressure, the second check valve 55 is opened to the second flow path 44 from the charge flow path 53 through the second check valve 55. Hydraulic oil is supplied. Thereby, the oil pressure of the 1st flow path 43 and the 2nd flow path 44 is maintained more than charge pressure.

The HST 31 includes a hydraulic pump 41, a hydraulic motor 42, a first flow path 43, a second flow path 44, a first check valve 54, a second check valve 55, and a charge relief valve. And 56 as an integrated HST in which a single case is housed.

The hydraulic pump 41 is a variable displacement inclined plate piston pump, and includes a cylinder block, a plurality of pistons radially arranged in the cylinder block, a pump inclined plate in which the piston slides, and the like. The hydraulic pump 41 and the charge pump 51 have a pump rotation shaft 52 in common, and the cylinder block is provided so that it may rotate integrally with the pump rotation shaft 52.

In order to change the inclination angle of the pump inclination plate of the hydraulic pump 41, the electronically controlled servo cylinder 58 is provided. The servo cylinder 58 includes a first pressure chamber 62 supplied with hydraulic pressure from the pressure control valve 61 on the forward side, and a second pressure chamber 64 supplied with hydraulic pressure from the pressure control valve 63 on the reverse side. ) Moreover, the servo cylinder 58 has the rod 65 linearly moved by the differential pressure of the 1st pressure chamber 62 and the 2nd pressure chamber 64, By the linear drive of this rod 65, The inclination angle of the pump inclination plate is changed. The servo cylinder 58 which controls the inclination angle of the pump inclination plate of the hydraulic pump 41 is comprised by the servo cylinder 58, the pressure control valve 61 of a forward side, and the pressure control valve 63 of a reverse side. have.

The larger the inclination angle of the pump inclination plate with respect to the axis of the pump rotation shaft 52 of the hydraulic pump 41 (rotation axis of the cylinder block), the smaller the discharge amount of the hydraulic oil from the hydraulic pump 41, and the inclination angle of the pump inclination plate is When it is 90 degrees, the discharge of the hydraulic oil from the hydraulic pump 41 is stopped. In addition, when the inclination angle of the pump inclination plate exceeds 90 ° (when the tilt is reversed), when the inclination angle is less than 90 ° and the discharge direction of the hydraulic oil from the hydraulic pump 41 is reversed.

The hydraulic motor 42 is a variable displacement inclined plate type piston motor, and pressurizes a motor rotating shaft 71, a cylinder block which rotates integrally with the motor rotating shaft 71, and a plurality of pistons and pistons disposed radially in the cylinder block. A motor inclined plate etc. which can be provided are provided. When the inclination angle of the motor inclined plate with respect to the axis of the motor rotating shaft 71 of the hydraulic motor 42 is constant, the larger the amount of hydraulic oil supplied to the hydraulic motor 42, that is, the amount of hydraulic oil discharged from the hydraulic pump 41, the more. , The rotation speed of the motor rotating shaft 71 increases.

In addition, when the amount of hydraulic oil supplied to the hydraulic motor 42 is constant, the rotation speed of the motor rotating shaft 71 falls, so that the inclination angle of a motor inclination plate is large. In order to change the inclination angle of the motor inclination plate of the hydraulic motor 42, the sub transmission piston 72 is provided. The low speed switching valve 73 and the high speed switching valve 74 are connected to the sub transmission piston 72. The low speed switching valve 73 is turned on, the high speed switching valve 74 is turned off, and the hydraulic pressure is supplied from the low speed switching valve 73 to the sub transmission piston 72 so that the rod of the sub transmission piston 72 ( 75) is located at a low speed position, and the inclination angle of the motor inclined plate becomes relatively large. On the other hand, the low speed switching valve 73 is turned off, the high speed switching valve 74 is turned on, and the hydraulic pressure is supplied from the high speed switching valve 74 to the sub transmission piston 72, whereby The rod 75 is located at the high speed position, and the inclination angle of the motor inclined plate becomes relatively small. Therefore, by the on / off switching of the low speed switching valve 73 and the high speed switching valve 74, the position of the motor inclination plate is set to the position on the high speed side where the rotation speed of the motor rotation shaft 71 becomes relatively large, and the motor rotation shaft 71. The rotation speed of can be switched to the second stage of the position on the low speed side where the rotation speed becomes relatively small.

<Electrical Configuration>

3 is a block diagram showing main parts of an electrical configuration of the combine 1.

The combine 1 is equipped with a single main ECU (Electronic Control Unit) 81 for overall overall control and a plurality of ECUs for individual specific control. ECUs for individual specific control include, for example, an engine ECU 82 for controlling the engine 32, a travel control ECU 83 for controlling the HST 31, and the like. The main ECU 81, the engine ECU 82, and the travel control ECU 83 each include a micro controller unit (MCU).

The main ECU 81 is connected in communication with each ECU for individual concrete control, that is, the engine ECU 82, the travel control ECU 83, and the like. Moreover, the meter panel 84 arrange | positioned at the operation panel 18 (refer FIG. 1) of the steering wheel 13 is connected to the main ECU 81 as a control object. The main ECU 81 controls various instruments and indicators such as a traveling odometer provided in the meter panel 84. For example, when an abnormality arises in the combine 1, the main ECU 81 transmits the information regarding the abnormality to the meter panel 84, and displays the above content on a display. The indicator consists of a liquid crystal display, for example.

The traveling control ECU 83 has a main gear lever sensor 85 for outputting a detection signal according to the operation position of the main gear lever 21 and a steering lever for outputting a detection signal according to the operation position of the steering lever 22. The sensor 86 is connected and those detection signals are input.

In addition, the travel control ECU 83 is a switch 87 provided in the operation panel 18 of the steering wheel 13, and a switch 87 used in addition to the travel control and the swing control is connected to the switch 87. The signal according to the state of is input. As an example of the switch 87, the barrel depth switch which adjusts the length of grain stem, ie, barrel depth, which enters the threshing apparatus 15 is mentioned. The barrel depth switch may be a switch for selectively setting the barrel depth to a first length (depth) and a second length (shallow) shorter than the first length, for example. In addition, the switch 87 includes an emergency start switch operated to instruct an emergency start of the engine 32.

The operation panel 18 is provided with a swing mode switch. The swing mode switch is a dial switch for switching the swing control mode between the soft swing mode, the brake swing mode and the spin swing mode, and the movable area corresponds to the soft swing mode, the brake swing mode and the spin swing mode, respectively. One soft position, a brake position and a spin position are set. The swing mode switch has a knob which is picked up by an operator's finger and rotated, and its position is switched by a pivoting operation of the knob, and outputs a signal corresponding to each position of the soft position, the brake position and the spin position.

In addition, the travel control ECU 83 includes a current sensor 88 for outputting a detection signal corresponding to the value of the current supplied to the pressure control valves 61 and 63 included in the HST 31, and the HST 31. The pump inclination plate position sensor 89 which outputs the detection signal according to the position (inclined angle) of the pump inclination plate of the hydraulic pump 41 contained in is connected, and those detection signals are input.

The main ECU 81 receives information that each ECU for individual specific control acquires from detection signals and the like of various sensors, and transmits commands and information that each ECU requires for control to each ECU. For example, the main ECU 81 receives the engine start permission transmitted from the travel control ECU 83 and transmits a start command of the engine 32 to the engine ECU 82. In addition, the memory provided in the main ECU 81 includes detection signals of the main gear lever sensor 85, the steering lever sensor 86, and the pump inclination plate position sensor 89 connected to the travel control ECU 83. The adjustment data for adjusting the detection value acquired from the data is retained, and the main ECU 81 transmits these adjustment data to the travel control ECU 83.

The travel control ECU 83 is provided from the information obtained from the detection signals of the main gear lever sensor 85, the steering lever sensor 86, the current sensor 88, and the pump inclination plate position sensor 89, and the switch 87. Pressure control valves included in the engine 32 and the HST 31 for controlling the traveling and turning of the base 11 based on the information obtained from the input signal and the information input from the main ECU 81. Control valves 61 and 63, the low speed switching valve 73, the high speed switching valve 74, and a valve for switching the engagement / release of each clutch provided in the swing mechanism are controlled.

<HST control>

5 is a flowchart showing the flow of processing executed for the control of the HST 31.

For travel control, the travel control ECU 83 judges whether or not adjustment data has been received from the main ECU 81 (step S11). In the adjustment data, as described above, adjustment data for adjusting the detection value acquired from the detection signal of the main gear lever sensor 85 (hereinafter referred to as "adjustment data of the peripheral gear lever sensor 85") and a pump Adjustment data (hereinafter referred to as "adjustment data of the pump inclination plate position sensor 89") for adjusting the detection value acquired from the detection signal of the inclination plate position sensor 89 is included.

At the time of factory shipment of the combine 1, adjustment data identical to each adjustment data held in the memory of the main ECU 81 is stored in a memory provided in the travel control ECU 83. In the travel control ECU 83 having received the respective adjustment data from the main ECU 81, it is determined whether the received respective adjustment data and the respective adjustment data stored in the memory of the travel control ECU 83 match ( Step S12).

If both of the main ECU 81 and the travel control ECU 83 have not been exchanged since the factory shipment of the combine 1, the same adjustment data is equal to the memory of the main ECU 81 and the memory of the travel control ECU 83. Is retained, the respective adjustment data received by the travel control ECU 83 from the main ECU 81 and the respective adjustment data held in the memory of the travel control ECU 83 coincide (YES in step S12). . In this case, a signal for permitting the start of the engine 32 is transmitted from the travel control ECU 83 to the main ECU 81 (step S13). After starting the engine 32, when the engine start switch provided in the operation panel 18 (refer to FIG. 1) is operated, a start command of the engine 32 is sent from the main ECU 81 to the engine ECU 82. Is sent. In response to this, the engine 32 is started by the engine ECU 82.

Peripheral speed is shifted by the variation of the assembly of the main speed lever sensor 85 in that the detected value of the main speed lever sensor 85 when the main speed lever 21 is positioned at the reference position is shifted from the reference value according to the reference position. The adjustment data of the lever sensor 85 is provided for adjusting the detection value of the main gear lever sensor 85 according to the positional relationship of the main gear lever 21 and the main gear lever sensor 85. By the travel control ECU 83, the adjustment data of the main gear lever sensor 85 is used, and the detection value acquired from the detection signal of the main gear lever sensor 85 is adjusted, and for the driving control, after the adjustment The pressure control valves 61 and 63 of the HST 31 are controlled based on the detection value (hereinafter, referred to as the "peripheral lever detection value after adjustment") (step S14).

In the point that the detection value of the pump inclination plate position sensor 89 when the pump inclination plate of the hydraulic pump 41 is located in a reference position shifts from the reference value according to a reference position by the assembly variation of the pump inclination plate position sensor 89, The adjustment data of the pump inclination plate position sensor 89 is provided to adjust the detection value of the pump inclination plate position sensor 89 according to the positional relationship of the pump inclination plate and the pump inclination plate position sensor 89. By the travel control ECU 83, the adjustment data of the pump inclination plate position sensor 89 is used, and the detection value acquired from the detection signal of the pump inclination plate position sensor 89 is adjusted, and for the travel control, after the adjustment The pressure control valves 61 and 63 of the HST 31 are controlled based on the detected value (hereinafter referred to as "the pump inclination plate detected value after adjustment") (step S14).

In the traveling control by the normal method, specifically, when the peripheral speed lever detection value after adjustment is a value which shows the stop position of the peripheral speed lever 21, the pressure control valve 61 and the reverse side of the forward side of the HST 31 are shown. By the control of the electric current supplied to the pressure control valve 63, each opening degree is adjusted, and the position of the pump inclination plate of the hydraulic pump 41 is set to the position of the inclination angle of 90 degrees. Thereby, since hydraulic oil is not discharged from the hydraulic pump 41, the hydraulic motor 42 does not rotate and power is not output from the HST 31. FIG. Therefore, the traveling device 12 does not operate and the base 11 is stopped.

When the main gear lever 21 is tilted forward from the stop position, for example, according to a predetermined formula, the target inclined plate position as the target of the position of the pump inclined plate of the hydraulic pump 41 according to the detected main gear lever detection value (inclination) A value indicating an angle of less than 90 °) is set. Further, a map in which the relationship between the main gear lever detection value and the value indicating the target inclination plate position is determined is stored in the memory of the travel control ECU 83, and the target inclination plate according to the position of the main gear lever 21 is according to the map. A value indicating the position may be set.

And the current supplied to the pressure control valves 61 and 63 is feedback-controlled according to the deviation of the value which shows the target inclination plate position of the HST 31, and the detected value of the pump inclination plate after adjustment. Thereby, the oil pressure supplied to the 1st pressure chamber 62 of the servo cylinder 58 from the pressure control valve 61 of a forward side is supplied to the 2nd pressure chamber 64 from the pressure control valve 63 of a reverse side. It becomes larger than the oil pressure which becomes, and the position of the pump inclination plate of the hydraulic pump 41 becomes a position of less than 90 degree of inclination by the differential pressure of the 1st pressure chamber 62 and the 2nd pressure chamber 64. As a result, hydraulic oil is discharged from the hydraulic pump 41, the hydraulic motor 42 receives the hydraulic oil, rotates, and the power in the forward direction is output from the HST 31. At this time, if the state of the turning mechanism is a state in which the constant speed power is transmitted to the left and right traveling devices 12, the base 11 moves straight forward by rotating the left and right traveling devices 12 at constant speed in the forward direction.

When the main gear lever 21 is tilted to the rear side from the stop position, the target inclined plate position of the hydraulic pump 41 according to the detected main gear lever value (position greater than 90 °) in the same manner as when tilting forward. ) Is set.

And the current supplied to the pressure control valves 61 and 63 is feedback-controlled according to the deviation of the value which shows the target inclination plate position of the HST 31, and the detected value of the pump inclination plate after adjustment. As a result, the hydraulic pressure supplied from the reverse pressure control valve 63 to the second pressure chamber 64 of the servo cylinder 58 is supplied from the forward pressure control valve 61 to the first pressure chamber 62. It becomes larger than the oil pressure which becomes, and the position of the pump inclination plate of the hydraulic pump 41 becomes a position larger than 90 degree of inclination angle by the differential pressure of the 1st pressure chamber 62 and the 2nd pressure chamber 64. As a result, the hydraulic oil is discharged from the hydraulic pump 41 in the reverse direction with the forward movement, the hydraulic motor 42 receives the hydraulic oil and rotates in the reverse direction with the forward movement, and the power in the reverse direction is output from the HST 31. At this time, if the state of the turning mechanism is a state in which the constant speed power is transmitted to the left and right travel devices 12, the power in the reverse direction output from the HST 31 is transmitted to the travel device 12, and the left and right travel devices are provided. As the 12 rotates at a constant speed in the reverse direction, the base 11 moves straight backward.

Further, at the time of forward or backward movement, the high speed stage where the rotational speed of the hydraulic motor 42 becomes relatively large and the low speed stage which becomes relatively small by the on / off switching of the low speed switching valve 73 and the high speed switching valve 74 are performed. You can switch to two stages. Therefore, the speed of forward and backward of the base 11 can be changed also by switching between the high speed stage and the low speed stage. In addition, a sub transmission lever (not shown) is provided in the operation panel 18 of the steering wheel 13, and switching of a high speed stage and a low speed stage may be instructed by operation of the sub transmission lever.

On the other hand, when the main ECU 81 is replaced after the factory shipment of the combine 1, the travel control ECU 83 does not receive the adjustment data from the main ECU 81 (NO in step S11), Alternatively, the travel control ECU 83 receives respective adjustment data from the main ECU 81, and the received adjustment data does not coincide with the adjustment data held in the memory of the travel control ECU 83. In this case (NO in step S12), a signal forbidding the start of the engine 32 from the travel control ECU 83 is transmitted to the main ECU 81 (step S15).

Then, the travel control ECU 83 judges the presence or absence of the input of the emergency start instruction by operation of the emergency start switch arranged in the operation panel 18 (refer FIG. 1), for example (step S16). Then, when the emergency start instruction is input to the travel control ECU 83, a signal for allowing start for emergency operation of the engine 32 is transmitted from the travel control ECU 83 to the main ECU 81 (step S17). . In response to this, the start command of the engine 32 is transmitted from the main ECU 81 to the engine ECU 82, and the engine 32 is started by the engine ECU 82.

Then, the travel control ECU 83 executes travel control by a degenerate method different from the normal method (step S18). In addition to the adjustment data, the memory of the travel control ECU 83 holds default data for adjusting a predetermined amount of a detection value obtained from the detection signal of the main gear lever sensor 85. For example, with respect to the several object of the combine 1, the detected value of the main gear lever sensor 85 when the main gear lever 21 is located in a reference position is acquired, and the detected value and the main gear lever The average value of the deviation amount of the reference value of the main gear lever sensor 85 according to the reference position of 21 is obtained, and the average value is held in the memory of the travel control ECU 83 as default data. In running control by the degenerate method, the default data is used, and the detection value acquired from the detection signal of the main gear lever sensor 85 is adjusted.

And the value which shows the target inclination plate position of the hydraulic pump 41 is set according to the detection value after adjustment by the default data. Based on the value indicating the target inclined plate position of the HST 31, the current supplied to the pressure control valves 61, 63 is feedforward controlled. That is, the target value of the electric current supplied to the pressure control valves 61 and 63 is set according to the value which shows the target inclination plate position of the HST 31, and the current of the target value is sent to the pressure control valves 61 and 63. Supplied.

<Action effect>

As described above, the HST 31 is interposed between the engine 32 and the pair of left and right traveling devices 12. The HST 31 changes the inclined plate positions of the hydraulic pump 41 driven by the power of the engine 32, the hydraulic motor 42 driven by the hydraulic oil discharged from the hydraulic pump 41, and the hydraulic pump 41. It is the structure containing the servo mechanism 66 to make. Power of the hydraulic motor 42 is transmitted to the pair of left and right traveling devices 12.

In the travel control ECU 83 for controlling the servo mechanism 66, adjustment data for adjusting the detection value of the main gear lever sensor 85 is stored. On the other hand, the adjustment data is also held in the main ECU 81 which is connected in communication with the travel control ECU 83. At the time of factory shipment of the combine 1, the same control data is retained in the travel control ECU 83 and the main ECU 81, but for example, the main ECU 81 has been replaced after the factory shipment of the combine 1. In this case, the adjustment data held in the travel control ECU 83 and the adjustment data held in the main ECU 81 are different. In this case, when the adjustment data held in the travel control ECU 83 or the main ECU 81 is used for the control of the servo mechanism 66, the positional relationship between the main gear lever sensor 85 and the main gear lever 21 The adjustment data which is not suitable for the servo mechanism 66 is used for the control of the servo mechanism 66, so that the HST 31 may move against the intention of the operator who uses the combine 1.

Thus, when the adjustment data held in the travel control ECU 83 and the adjustment data held in the main ECU 81 coincide with each other, the detected value of the main gear lever sensor 85 using the matched adjustment data. Is adjusted, and the servo mechanism 66 is controlled based on the detected value after the adjustment. Thereby, control data which is not suitable for the positional relationship of the main gear lever sensor 85 and the main gear lever 21 can be suppressed from being used for the control of the servo mechanism 66. As a result, the HST 31 can be restrained from moving against the intention of the operator.

When the adjustment data held by the travel control ECU 83 and the adjustment data held by the main ECU 81 are different (including when the run control ECU 83 does not receive the adjustment data from the main ECU 81). In this case, starting of the engine 32 is prohibited. By not starting the engine 32, it is possible to prevent the HST 31 from moving against the intention of the operator.

However, the switch 87 provided in the operation panel 18 is provided with the emergency start switch, and the instruction of emergency start of the engine 32 is received by operation of the emergency start switch, It is desirable to be allowed to start for emergency operation. By the emergency operation of the engine 32, it becomes possible to make the combine 1 frequent to a repair shop and the like.

The main gear lever 21 of the main gear lever sensor 85 is operated from the neutral position to one side for the advancement of the combine 1, and operated from the neutral position to the other side for the reverse of the combine 1. In the emergency operation of the engine 32, the detection value of the main gear lever sensor 85 is adjusted using default data different from the adjustment data. Thereby, the detection value of the main gear lever sensor 85 can be adjusted in an average level so that the movement of the HST 31 which opposes an operator's intention can be suppressed. And according to the detection value after adjustment by the default data, the value which shows the target inclination plate position of the hydraulic pump 41 is set, and based on this, the electric current supplied to the pressure control valves 61 and 63 feeds forward. By being controlled, the combine 1 can be advanced and retracted.

<Variation example>

As mentioned above, although one Embodiment of this invention was described, this invention can also be implemented in another aspect.

For example, in the above-described embodiment, when the adjustment control data received by the travel control ECU 83 from the main ECU 81 and the adjustment data held in the memory of the travel control ECU 83 do not match, The running control by the degenerate method is executed, and the detection value of the main gear lever sensor 85 is adjusted using default data different from the adjustment data, and the pressure control valve is based on the detection value after adjustment by the default data. The current supplied to the 61 and 63 is assumed to be feedforward controlled. In addition to this, also in the travel control by the degenerate method, the current supplied to the pressure control valves 61 and 63 may be feed-forward controlled.

That is, since the pump inclination plate of the hydraulic pump 41 is located in the neutral position at the time of the stop before starting of the engine 32, the detected value of the pump inclination plate position sensor 89 before the emergency start of the engine 32 will be made into the pump inclination plate. Can be regarded as a value according to the neutral position. Therefore, in the memory of the travel control ECU 83, for example, the intermediate value of the detection value obtained from the detection signal of the pump inclination plate position sensor 89 is retained as default data, and the default data and the engine 32 are stored. The deviation of the detection value of the pump inclination plate position sensor 89 before the emergency start can be used to adjust the detection value of the pump inclination plate position sensor 89. And the current supplied to the pressure control valves 61 and 63 can be feedback-controlled according to the deviation of the value which shows the target inclination plate position, and the pump inclination plate detection value after adjustment.

In addition, when the adjustment data received by the travel control ECU 83 from the main ECU 81 and the adjustment data held in the memory of the travel control ECU 83 do not match, for example, the travel control ECU 83 Information is transmitted from the main ECU 81 to the main ECU 81, and under the control of the main ECU 81, an indicator 87 of the meter panel 84 is provided with a switch 87, for example, a barrel depth switch. May be displayed for the forward and backward directions. And when the barrel depth switch for setting the barrel depth to the first length is turned on, the target ramp plate position of the pump inclined plate of the hydraulic pump 41 is set at a constant position on the forward side, and the barrel to set the barrel depth to the second length. When the depth switch is on, the target inclined plate position is set at a predetermined position on the reverse side, and the current supplied to the pressure control valves 61 and 63 may be feed forward control or feedback control.

In addition, in each memory of the main ECU 81 and the travel control ECU 83, adjustment data for adjusting the detection value acquired from the detection signal of the steering lever sensor 86 (hereinafter referred to as "the steering lever sensor 86"). Control data ”). Due to the assembling variation of the steering lever sensor 86, the steering lever sensor 86 is shifted from the reference value according to the reference position when the detected value of the steering lever sensor 86 when the steering lever 22 is positioned at the reference position. ) May be provided to adjust the detected value of the steering lever sensor 86 according to the positional relationship between the steering lever 22 and the steering lever sensor 86. By the travel control ECU 83, the adjustment data of the steering lever sensor 86 is used, the detection value acquired from the detection signal of the steering lever sensor 86 is adjusted, and for the steering control, the detection value after the adjustment Based on this, the pressure control valves 61 and 63 of the HST 31 may be controlled.

In the above-mentioned embodiment, although the combine 1 was employ | adopted as an example of a work vehicle, this invention is not limited to the combine 1, but combines, such as a harvester which harvests vegetables, such as ginseng, a radish, a green bean, and a cabbage, 1) It can be applied to other work vehicles.

In addition, in the above-described configuration, various design changes can be made within the scope of the matters described in the claims.

1: Combines (harvesters, working vehicles)
12: traveling device
15: threshing device
21: main gear lever (shift operation member)
22: steering lever
31: HST (Power Train)
32: engine
41: hydraulic pump (pump)
42: hydraulic motor (motor)
66: servo mechanism
81: main ECU (control unit, second control unit)
83: Travel control ECU (travel control device, information acquisition means, normal control means, degenerate control means, first control unit)
85: main gear lever sensor (operation position detecting means, sensor)
86: Steering lever sensor (sensor)
87: switch (switch operating member)
89: pump inclination plate position sensor (incline plate position detection means, sensor)
102: actual inclined plate position calculation unit (inclined plate position detection means)

Claims (23)

A power transmission device including an engine, a pair of left and right traveling devices, a pump driven by the power of the engine, and a motor driven by pressure oil discharged by the pump, and transmitting power of the motor to the traveling device. It is a traveling control device used for harvesting equipment,
Information acquisition means for acquiring travel control information;
Normal control means for controlling the power transmission device by a normal method using the travel control information in a normal time in which the information acquisition means can acquire the travel control information;
And degenerate control means for controlling the power transmission device by a degenerate method in which the information obtaining means does not use the traveling control information when abnormality is impossible to acquire the traveling control information. The said harvester is a shift operation member operated in one side from a neutral position to advance the harvester, and operated from the neutral position to the other side in order to reverse the harvester, and the position of the shift operation member. Operation position detecting means for detecting is provided,
The information acquisition means acquires the position information of the shift operation member as the travel control information based on the detection signal input from the operation position detection means,
The said normal control means, when the positional information of the said shift operation member acquired by the said information acquisition means is the information which shows the position of the said one side with respect to the said neutral position, the said harvester will transfer the said harvester to the said traveling device. When the power of the direction to advance is output and the positional information of the said shift operation member acquired by the said information acquisition means is information which shows the position of the said other side with respect to the said neutral position, it will transfer from the said power transmission apparatus to the said traveling apparatus. And the power transmission device so that the power in the direction of reversing the harvester is output. The said harvester is further equipped with the switch operation member which switches to a 1st state and a 2nd state,
The degenerate control means transmits the power when the switch operation member is in the first state in the abnormal state when the position signal of the shift operation member cannot be acquired because the detection signal of the operation position detection means is not input. Power from the device is output to the traveling device in the direction of advancing the harvester, and when the switch operating member is in the second state, power from the power transmission device to the travel device is output from the direction of retracting the harvester. And a driving control device for controlling the power transmission device. The said power transmission apparatus is a structure further containing a servo mechanism which controls the position of the pump inclination plate of the said pump,
The said normal control means sets the target position of the said pump inclination plate according to the position of the said shift operation member based on the positional information of the said shift operation member acquired by the said information acquisition means, and the position of the said pump inclination plate corresponds Feedback control the servo mechanism to match the target position,
The degenerate control means sets the target position of the pump inclined plate to a constant position on the forward side when the switch operating member is in the first state, and the pump inclined plate of the pump inclined plate when the switch operating member is in the second state. And a forward control of the servo mechanism by setting a target position to a constant position on the reverse side. The said harvester is further equipped with the threshing apparatus which threshes from a grain stem,
The switch control member is a traveling depth control device that selectively sets the length of the grain stem that enters the threshing apparatus to a first length and a second length shorter than the first length. The said harvester is further equipped with the control apparatus connected to the said travel control apparatus so that communication is possible,
The power transmission device further comprises a servo mechanism for controlling the position of the pump inclined plate of the pump,
The control device holds operation position adjustment data for adjusting the position detected by the operation position detecting means to match the actual position of the shift operation member,
The information acquiring means acquires the position information of the shift operation member by using the operation position adjustment data from the detection signal input from the operation position detection means,
The said degenerate control means is the said pump according to the position detected by the said operation position detection means at the time of the abnormality which cannot acquire the position information of the said shift operation member because the said information acquisition means cannot use the said operation position adjustment data. And a feed control of the servo mechanism by setting a target position of the inclined plate. The said harvester is further provided with the control apparatus connected with the said travel control apparatus so that communication is possible,
The power transmission device further comprises a servo mechanism for controlling the position of the pump inclined plate of the pump,
The control device holds operation position adjustment data for adjusting the position detected by the operation position detecting means to match the actual position of the shift operation member,
The information acquiring means acquires the position information of the shift operation member by using the operation position adjustment data from the detection signal input from the operation position detection means,
The said degenerate control means is the said pump according to the position detected by the said operation position detection means at the time of the abnormality which cannot acquire the position information of the said shift operation member because the said information acquisition means cannot use the said operation position adjustment data. And a feed control of the servo mechanism by setting a target position of the inclined plate. The said power transmission device is a structure of any one of Claims 1-4 which further includes the servo mechanism which controls the position of the pump inclination plate of the said pump,
The harvester is provided with an inclined plate position detecting means for detecting the position of the pump inclined plate,
The information acquiring means acquires the position information of the pump inclined plate as the travel control information based on a detection signal input from the inclined plate position detecting means,
The said normal control means sets a target position of the said pump inclination plate based on the positional information of the said pump inclination plate, and feedback-controls the said servomechanism so that the position of the said pump inclination plate may correspond with the said target position,
And the degenerate control means sets a target position of the pump inclined plate to feed forward control the servo mechanism. The said power transmission device is a structure further including the servo mechanism which controls the position of the pump inclination plate of the said pump,
The harvester is provided with an inclined plate position detecting means for detecting the position of the pump inclined plate,
The information acquiring means acquires the position information of the pump inclined plate as the travel control information based on a detection signal input from the inclined plate position detecting means,
The said normal control means sets a target position of the said pump inclination plate based on the positional information of the said pump inclination plate, and feedback-controls the said servomechanism so that the position of the said pump inclination plate may correspond with the said target position,
And the degenerate control means sets a target position of the pump inclined plate to feed forward control the servo mechanism. The said power transmission device is a structure further containing a servo mechanism which controls the position of the pump inclination plate of the said pump,
The harvester is provided with an inclined plate position detecting means for detecting the position of the pump inclined plate,
The information acquiring means acquires the position information of the pump inclined plate as the travel control information based on a detection signal input from the inclined plate position detecting means,
The said normal control means sets a target position of the said pump inclination plate based on the positional information of the said pump inclination plate, and feedback-controls the said servomechanism so that the position of the said pump inclination plate may correspond with the said target position,
And the degenerate control means sets a target position of the pump inclined plate to feed forward control the servo mechanism. The said power transmission device is a structure further including a servo mechanism which controls the position of the pump inclination plate of the said pump,
The harvester is provided with an inclined plate position detecting means for detecting the position of the pump inclined plate,
The information acquiring means acquires the position information of the pump inclined plate as the travel control information based on a detection signal input from the inclined plate position detecting means,
The said normal control means sets a target position of the said pump inclination plate based on the positional information of the said pump inclination plate, and feedback-controls the said servomechanism so that the position of the said pump inclination plate may correspond with the said target position,
And the degenerate control means sets a target position of the pump inclined plate to feed forward control the servo mechanism. The said harvester is further equipped with the control apparatus connected with the said travel control apparatus so that communication is possible,
The control device holds inclination plate position adjustment data for adjusting the position detected by the inclination plate position detecting means to match the actual position of the pump inclination plate,
The information acquiring means acquires the position information of the pump inclined plate using the inclined plate position adjustment data from the detection signal inputted from the inclined plate position detecting means,
The degenerate control means is based on the position detected by the inclined plate position detecting means at the time when the information acquiring means cannot use the inclined plate position adjustment data so that the position information of the pump inclined plate cannot be acquired. And a feed control of the servo mechanism by setting a target position of a pump inclined plate. The said harvester is further provided with the control apparatus connected with the said travel control apparatus so that communication is possible,
The control device holds inclination plate position adjustment data for adjusting the position detected by the inclination plate position detecting means to match the actual position of the pump inclination plate,
The information acquiring means acquires the position information of the pump inclined plate using the inclined plate position adjustment data from the detection signal inputted from the inclined plate position detecting means,
The degenerate control means is based on the position detected by the inclined plate position detecting means at the time when the information acquiring means cannot use the inclined plate position adjustment data so that the position information of the pump inclined plate cannot be acquired. And a feed control of the servo mechanism by setting a target position of a pump inclined plate. The said harvester is further provided with the control apparatus connected with the said travel control apparatus so that communication is possible,
The control device holds inclination plate position adjustment data for adjusting the position detected by the inclination plate position detecting means to match the actual position of the pump inclination plate,
The information acquiring means acquires the position information of the pump inclined plate using the inclined plate position adjustment data from the detection signal inputted from the inclined plate position detecting means,
The degenerate control means is based on the position detected by the inclined plate position detecting means at the time when the information acquiring means cannot use the inclined plate position adjustment data so that the position information of the pump inclined plate cannot be acquired. And a feed control of the servo mechanism by setting a target position of a pump inclined plate. The said harvester is further provided with the control apparatus connected with the said travel control apparatus so that communication is possible,
The control device holds inclination plate position adjustment data for adjusting the position detected by the inclination plate position detecting means to match the actual position of the pump inclination plate,
The information acquiring means acquires the position information of the pump inclined plate using the inclined plate position adjustment data from the detection signal inputted from the inclined plate position detecting means,
The degenerate control means is based on the position detected by the inclined plate position detecting means at the time when the information acquiring means cannot use the inclined plate position adjustment data so that the position information of the pump inclined plate cannot be acquired. And a feed control of the servo mechanism by setting a target position of a pump inclined plate. Engine,
With a pair of left and right traveling devices,
A pump driven by the power of the engine, a motor driven by the hydraulic oil discharged by the pump, and a servo mechanism for changing the position of the inclined plate of the pump, wherein the power transmission device transmits the power of the motor to the traveling device. Wow,
A detection object provided to be displaceable,
A sensor for outputting a detection value according to the position of the detection object;
A first controller for controlling the servo mechanism;
A second control unit communicatively connected to the first control unit,
The first control unit and the second control unit have adjustment data for adjusting the detection value of the sensor according to the positional relationship between the detection object and the sensor,
When the adjustment data held by the first control unit and the adjustment data held by the second control unit match, the first control unit adjusts the detection value of the sensor by using the matched adjustment data. The work vehicle which controls the said servomechanism based on the detection value after adjustment. The work vehicle according to claim 16, wherein the first control unit prohibits starting of the engine when the adjustment data held by the first control unit and the adjustment data held by the second control unit are different. 18. The apparatus according to claim 17, further comprising: an accepting section for accepting an instruction for emergency operation of the engine in a situation in which starting of the engine is prohibited by the first control section;
The first control unit permits starting for emergency operation of the engine in response to an instruction for emergency operation of the engine being received in the reception unit. The shift target member according to claim 18, wherein the detection object is a shift operation member which is operated from the neutral position to one side for the advancement of the work vehicle, and operated from the neutral position to the other side for the reverse of the work vehicle,
The said 1st control part uses the default data which the said 1st control part hold | maintains separately from adjustment data at the time of emergency operation of the said engine for adjustment of the detection value of the said sensor. 19. The apparatus of claim 18, further comprising a switch operating member switched between the first state and the second state,
The detection object is a shift operation member which is operated from the neutral position to one side for the forward of the work vehicle, and operated from the neutral position to the other side for the backward of the work vehicle,
When the switch operation member is in the first state during the emergency operation of the engine, the first control unit is configured such that the inclined plate of the pump is located at a predetermined position in the forward direction, and the switch operation member is in the second state. And the servo mechanism so that the inclined plate of the pump is positioned at a predetermined position in the reverse direction. The said detection object is a slope plate of the said pump,
The said 1st control part sets the target position of the inclination plate of the said pump at the time of emergency operation of the said engine, and feeds forward control of the said servomechanism. The said detection object is a slope plate of the said pump,
In the emergency operation of the engine, the first control unit sets the detected value of the sensor before starting for emergency operation of the engine according to the neutral position of the inclined plate of the pump, and the first control unit controls the control data. And adjusts the detection value of the sensor, using default data held separately. The steering target according to claim 18, wherein the detection object is a steering member which is operated from the neutral position to one side for the left turn of the working vehicle, and is operated from the neutral position to the other side for the priority turning of the working vehicle,
The said 1st control part uses the default data which the said 1st control part hold | maintains separately from adjustment data at the time of emergency operation of the said engine for adjustment of the detection value of the said sensor.

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