JP3226381B2 - Control device in working vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a working vehicle, and more particularly, to a manual control mode for controlling each part of the vehicle by a manual operation switch in an agricultural working vehicle such as a combine, a rice transplanter, a tractor, and the like. The present invention relates to an improvement in a control device capable of switching between an automatic control mode and automatic control mode automatically controlled by a sensor provided in each part of the body.

[0002]

2. Description of the Related Art In an agricultural work vehicle, a vehicle body,
Alternatively, each part of the work machine to be attached is automatically operated and controlled by a signal of a sensor provided in each part of the machine body, so that optimal control can always be performed according to crops, field conditions, and the like. Also, when an urgent response is required, or when there is too much disturbance and automatic control cannot return to perform optimal control, or when driving on a road that does not particularly require automatic control, operate the automatic manual changeover switch. Automatic control is disabled, and manual control can be performed by a manual operation switch.

[0003]

In the working vehicle described above, the automatic manual changeover switch for switching between automatic control and manual control is constituted by an alternate type switch such as a toggle switch or a seesaw switch. Therefore, if there is an automatic manual change-over switch that is already on before the key switch is turned on, the corresponding automatic control is executed immediately upon turning on the key switch, and depending on the control content, each part of the vehicle may be operated by the operator. However, it may operate unexpectedly and cause harm to the operator or the surroundings.
Conversely, the operator turns on / off the automatic manual changeover switch.
If work is started without confirming that the switch is off, the corresponding automatic control will not be performed if the automatic manual changeover switch is off, and no manual control will be performed if the operator misunderstands that it is being controlled automatically. There is a risk that the work will not be performed properly and the vehicle will be overloaded. Therefore, in vehicles equipped with both automatic control and manual control,
Although optimal control can be performed according to crops, field conditions, and the like, adverse effects occur due to operator forgetting to operate or the like, and there has been a demand for improvement of such a control device.

[0004]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides a manually operated switch provided on a control unit.
And the sensors provided in each part of the fuselage
Vehicle equipped with a controller for controlling each part of the vehicle
In the above, the control is required simultaneously with the start of work.
And two types of control, unnecessary control for the moment
The controller includes an initial setting unit for setting an automatic control mode or a manual control mode for each type of control, and a mode switching unit for inverting the automatic control mode or the manual control mode by a signal input of a momentary type automatic manual switch. When the controller is supplied with power by turning on the key switch and enters an operating state, the controller sets the control required at the same time as the start of work by the initial setting means in the automatic control mode prior to execution of various controls .
In addition to the setting, the unnecessary control is set for the manual control mode, and thereafter, various controls are executed in accordance with the set mode until the mode switching means operates.

[0005]

When the operator turns on the key switch to supply power to the controller, the controller enters an operating state. First, an automatic control mode or a manual control mode is set by the initial setting means for each type of control. The mode assigned by the initial setting is predetermined for each type of control. For example, there is a possibility that a part of the vehicle may operate unexpectedly against the operator's will at the same time as the power is turned on (or the engine is started) by automatic control. If there is a problem, or if automatic control is not particularly required at the beginning of the work, the manual control mode is assigned. Also, there is little possibility of causing harm even if a part of the vehicle operates unexpectedly by the automatic control, or either the automatic control or the manual control is required from the beginning of the work after satisfying the above conditions. For things, assign the automatic control mode. When the initial setting is completed, the controller executes various controls in accordance with the set mode. For the control in which the automatic control mode is set, the controller controls each part of the vehicle immediately or as soon as other automatic conditions are satisfied. The operation is controlled based on the signal of a sensor provided in each part of the body. Further, regarding the control in which the manual control mode is set, the control is not performed unless the operator operates the manual operation switch provided on the control unit or changes the automatic control mode by operating the automatic manual changeover switch, and each part of the vehicle is not controlled. Does not work unexpectedly. Further, when the control mode is changed before or after the operation is started, a momentary-type automatic manual changeover switch of the corresponding control is pressed. Thus, the mode switching means reverses the control mode each time the operation is performed, and can arbitrarily select the control in the automatic control mode or the manual control mode according to the crop, the field condition, or the like.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to a combine shown in the drawings. In FIG. 1, a combine 1 has a pretreatment device 4 erected up and down on a front portion of a body 3 having a crawler traveling device 2. . A threshing device 5 is mounted on the body 3 behind it, and a control unit 6, a grain tank 8 having a grain discharging auger 7 and the like are mounted on the right side of the body 3 in order from the front. The control unit 6 includes a cockpit 9 as shown in FIG. 2, and an engine (not shown) is mounted on a body frame below the cockpit 9. Further, a multi-lever 11 for performing left and right steering of the machine body and elevating operation of the pre-processing device 4 is provided on the front right side of the step 10 and a key switch 12 is provided on an operation column below the multi-lever 11. In addition, a display 14 and a threshing tachometer 15 that constitute a combine monitoring device are provided in front of the side panel 13 on the left side of the cockpit 9, respectively.
In the rear part, the traveling shift lever 16, the reaping clutch lever 1
7 and a threshing clutch lever 18 are provided. Further, in the rising portion of the side panel 13, automatic manual changeover switches 1 for handling depth control, sorting control, direction control, and horizontal control are provided.
9, 20, 21, 22 and the manual operation switch 23
A horizontal manual operation lever 24 and the like are provided at the rear. The automatic manual changeover switches 19, 20, 21,
Reference numeral 22 denotes a momentary switch in which the contact is closed only during a pressing operation.
It is composed of push button switches with 9a, 20a, 21a and 22a.

On the other hand, an outline of the control device will be described with reference to a control block diagram shown in FIG. 3. A controller constituting a main part of the control device is constituted by a microprocessor unit (MPU) 25. The MPU 25
For example, it is provided in the side panel 13 of the body, and includes a well-known CPU, RAM, ROM, and the like. And MP
Power is supplied to the power port of the U25 from the battery mounted on the machine via the key switch 12, and when the key switch 12 is turned on, the MPU 25 is activated. The input ports of the MPU 25 are connected to the above-mentioned automatic manual changeover switches 19, 20, 21, 22, the manual depth operation switch 23, the switch 26 of the horizontal manual operation lever 24, the culm length detection sensor 27 for the depth control, 28, a grain stalk presence / absence sensor 29, a horizontal control body inclination sensor 30
Connect. Incidentally, 31a · · 31x are upper and lower limit switches扱深control connected to the input port, upper and lower limit switch of horizontal control or other sensors required to control of a manually operated switches. Further, M
The output ports of the PU 25 are connected to the lamps 19a, 20a,
21a, 22a, a drive motor 33 for vertically rotating the depth handling body 32, a solenoid 36 attached to switching valves 35, 35 of hydraulic cylinders 34, 34 for vertically moving the left and right crawler traveling devices 2, 2, and Other solenoids 37a... 37x necessary for control are connected.

FIG. 4 shows a main flowchart of a program executed by the MPU 25, and shows the key switch 1
When the power-on reset is automatically applied to the MPU 25 after the power supply 2 is turned on, the CPU performs initial settings first, and then sequentially executes subroutines such as depth control, sorting control, direction control, and horizontal control. Output command to the output port. In addition, the MPU 25 may perform a reset by a voltage drop at the time of starting the engine or a reset by detecting a runaway of the microcomputer in addition to the power-on reset described above. In such a case, the control up to that point is stopped. The CPU restarts the control from the initial setting. FIG. 5 shows a schematic flowchart of the initial setting. In the initial setting, after performing processing such as stopping all output commands, the automatic control mode or the manual control mode is set for each type of control. More specifically, the depth flag (FG) of the depth control
And the selection flag (FG) of the selection control, the direction flag (FG) of the direction control and the horizontal flag (FG) of the horizontal control
Is reset, and then the process returns to the main flow.

When the CPU completes the initial setting, the CPU executes various controls. For example, in the depth control in which the automatic control mode is set by the initial setting, as shown in the flowchart of FIG. The presence or absence is determined by turning on / off the manual operation switch 23. here,
If the contacts on the shallow and deep handling sides are both off, there is no manual operation, and the setting and resetting of the handling depth flag (FG) is determined in the second step. In this case, the handling depth flag (F
G) is previously set by the initial setting, so that in the third step and the fourth step, the lighting instruction of the depth lamp 19a and the automatic control of the depth are executed. When the fourth step of the automatic depth control is completed, in a fifth step, the input state of the automatic manual changeover switch 19 of the depth control is checked, and if the automatic manual changeover switch 19 is not pressed and remains off. In this case, it returns (RET) without any change. When the automatic manual changeover switch 19 is pressed and the input signal rises from off to on, the depth flag (FG) is reset.
The handling depth control switches to the manual control mode.

Further, when the depth control is switched to the manual control mode, the flow in the second step is changed to the reset side. In this case, after the command to turn off the depth lamp 19a is issued, the automatic manual operation is performed again. It is checked whether or not the changeover switch 19 has been pressed. Here, if the automatic manual changeover switch 19 is kept off without being depressed, if there is no change, it returns as it is (RET). If the automatic manual changeover switch 19 is depressed and the input signal rises from off to on. This time, on the contrary, the depth flag (FG) is set, and thereafter the depth control is switched to the automatic control mode. Further, in the manual control mode, the automatic depth control is not executed, and the manual control of the depth is actually performed only after the manual depth operation switch 23 is operated. In this case, when either the shallow handling or deep handling contact of the manual handling switch 23 is turned on, it is determined in the first step, and if the shallow handling contact is on, the upper limit switch 31a is turned on. Until the drive motor 33 is turned on, the drive motor 33 rotates forward to the shallow handling side to rotate the leading end of the handling depth transport body 32 upward. Similarly, if the contact on the deep handling side is on, the lower limit switch 31
Until b is turned on, the drive motor 33 rotates in the reverse direction to the deep handling side to rotate the leading end of the handling transport 32 downward. When the upper / lower limit switches 31a and 31b are turned on, the drive motor 33 stops.

Since the manual operation by the manual operation switch 23 is performed before the determination of the manual operation flag in the second step, the automatic control mode in which the manual operation flag (FG) is set is used. However, when the depth-of-depth manual operation switch 23 is operated, the shallow / depth-side operation command takes precedence, during which the depth-of-depth automatic operation is substantially stopped. The automatic depth control in the automatic control mode uses well-known control contents, and therefore detailed description is omitted. However, two culm length detection sensors 27 and 28 in which the ears of the harvested culm are arranged in the culm direction.
The transporting body 32 is vertically moved up and down by the drive motor 33 so as to be conveyed during the transfer. In this case, the drive motor 33 actually operates only when the grain culm presence sensor 29 provided in the transport path detects the grain culm and is turned on. Various automatic conditions can be added, such as automatic operation of the handling depth without operation.

On the other hand, in the horizontal control in which the automatic control mode is "reset" by the initial setting means, as shown in a partial flowchart of FIG.
6 starts with the determination of the presence or absence of a manual operation. After that, the horizontal flag (FG), the lighting of the horizontal lamp 20a,
The switching of the manual / automatic mode by the pressing operation of the light-off, horizontal automatic, and horizontal automatic manual switch 20 is sequentially performed, and the control is performed in the same procedure as the above-described depth control. In addition,
In this case, the difference from the depth control is that the control is started from a state in which the automatic control mode is reset in the initial setting, and that after the key switch is turned on, the horizontal automatic manual changeover switch 20 is operated. Horizontal control is performed in a manual control mode. The horizontal manual operation switch 26
Is operated and a right tilt command is issued, the rising solenoid 36 attached to the right switching valve 35 is energized until the right upper limit switch 31c is turned on, and the right crawler traveling device 2 rises with respect to the body. . When the right upper limit switch 31c is turned on, the right rise command is cut off (right operation is stopped), and the rising solenoid 3 attached to the left switching valve 35 is turned on until the left lower limit switch 31d is turned on.
6 is energized, the left crawler traveling device 2 descends with respect to the fuselage, and is controlled to a right tilt posture in which the right side of the fuselage is low and the left side is high.

Similarly, when the horizontal manual operation switch 26 is operated and a low vehicle height command is issued, the left and right switching valves 35, 35 are turned on until the right upper limit switch 31c or the left upper limit switch 31e is turned on. Are simultaneously energized, the right and left crawler traveling devices 2 are raised with respect to the body frame, and the body is controlled to a low attitude approaching the field. Although the flow is omitted, the same attitude control is performed for each of the left tilt command and the vehicle height command. The horizontal automatic operation in the automatic control mode is for controlling the vertical movement of the left and right crawler traveling devices 2 based on the detection result of the body inclination sensor 30 so that the body has a set inclination angle (for example, horizontal). Then, for example, the right and left crawler traveling devices 2 are simultaneously raised and lowered reciprocally based on the vehicle heights of the left and right crawler traveling devices 2 which have been vertically moved up and down by the horizontal manual operation switch 26. Alternatively, only one of the crawler traveling devices 2 is moved up and down to control the posture so that the machine body becomes horizontal. The threshing device 5
The automatic manual changeover switches 21 and 22 are also used for directional control for controlling the steering direction by following the grain culm row by a direction sensor (not shown) by controlling the Each is controlled by a switch, a sensor, an actuator, and the like.

As described above, the CPU executes various controls in accordance with the program. In particular, the depth control and the sorting control which are required at the start of the work or during the work are set to the automatic control mode in the initial setting. You. Therefore, after the key switch 12 is turned on, the automatic manual changeover switches 19 to 2
Even if the operator forgets the mode switching by 2, the depth control and the sorting control are performed by the automatic control mode from the beginning of the work, and the automatic control is performed reliably without the manual control particularly by the manual operation switches 23. For example, it is possible to eliminate the occurrence of unhandled products, the overload of the threshing device 5, or the failure of sorting. In addition, the depth control and the sorting control control the operation of the depth transport body 32 and the actuator provided inside the threshing device 5, and even if these drive motors 33 and actuators are operated, there is a risk of causing harm to the surroundings. In addition, by setting appropriate automatic conditions (such as the presence or absence of a grain culm), it is possible to check that the key switch 12 is activated at the same time as being turned on.

On the other hand, the horizontal control and the direction control in which the automatic control mode is reset in the initial setting are performed by the key switch 1.
After the switch 2 is turned on, unless the automatic manual changeover switches 21 and 22 are pressed to switch the mode, the automatic horizontal and automatic direction are not executed. This means that when the horizontal automatic operation and the automatic directional operation are activated, the attitude of the aircraft is controlled based on the aircraft inclination sensor 30 so that the aircraft is horizontal at the same time that the key switch 12 is turned on, or the engine is started to start running. At the same time, there is a risk that the steering direction of the aircraft is changed by the direction sensor, in which case, the aircraft is suddenly swung right and left, and the traveling direction is suddenly changed, and there is a possibility that the operator or the surroundings may be harmed, Actively reset the automatic control mode. Moreover, the above-mentioned horizontal automatic and directional automatic controls are not necessarily required from the beginning of the work, and after the work is started, the operator operates the manual operation switch 26 based on the recognition that the body is not horizontal or the traveling direction is different. The multi-lever 11 can be manually operated urgently. Also, if you want to further improve the mowing performance, or to temporarily leave the aircraft and run unmanned,
This is a control of a character that is sufficient if horizontal automatic or automatic direction is performed. Therefore, at the start of the work, or at any time during the work required control, set the automatic control mode in the initial setting,
Conversely, when the key switch 12 is turned on or when the operation is started, the control is not always necessary, and there is a concern that the control may be adversely affected. Can be executed. Thereafter, by pressing the momentary-type automatic manual changeover switches 19 to 22 as necessary, the automatic control mode or the manual control mode can be selected to perform appropriate control according to the work state. When the automatic control mode is selected, the lamps 19a to 22a attached to the automatic manual changeover switches 19 to 22 are turned on, so that the various control modes can be clearly and immediately identified.

[0016]

As described above, according to the present invention, the manual operation switches 23 and 26 provided on the control unit 6, the sensors 27 to 30 provided on each part of the body, and the controller 25 for controlling each part of the vehicle based on the signals from these switches are provided. In the working vehicle provided with the above, the controller 25 comprises an initial setting means for setting an automatic control mode or a manual control mode for each type of control, and a momentary type automatic manual changeover switch 19 for setting the automatic control mode or the manual control mode. And a mode switching means for inverting the signal by inputting a signal from the controller 22 to the controller 25. When the key switch 12 is turned on and the controller 25 is supplied with power and is put into an operating state, the controller 25 uses an initial setting means prior to execution of various controls. The automatic control mode or manual control mode is set, and thereafter, until the mode switching means operates. Since various controls are executed in accordance with the set mode, even if the operator forgets to switch the mode of various controls, the necessary control at the same time as the start of work is set to the automatic control mode, Unnecessary control is set to the manual control mode and automatic control is not performed, so that each part of the vehicle does not operate unexpectedly against the will of the operator, and After turning on the key switch, the control mode can be easily changed as necessary,
Appropriate control can always be performed.

[Brief description of the drawings]

FIG. 1 is a perspective view of a combine.

FIG. 2 is a plan view of a control unit.

FIG. 3 is a block diagram of a control device.

FIG. 4 is a main flowchart.

FIG. 5 is a flowchart of an initial setting.

FIG. 6 is a flowchart of depth control.

FIG. 7 is a flowchart of horizontal control.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Combine 6 Control part 12 Key switch 19 Automatic depth control manual switch 20 Horizontal automatic manual change switch 23 Manual depth control switch 24 Horizontal manual operation lever 25 Microprocessor unit (controller) 27 Sculpture length detection sensor 30 Airframe inclination sensor

Continuation of the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) A01D 41/00-41/127 A01B 69/00 A01D 69/00 G05D 1/00-1/02

Claims (1)

(57) [Claims] 1. A work vehicle including a manual operation switch provided on a control section, a sensor provided on each section of the body, and a controller for controlling each section of the vehicle based on signals from the switches, the control is required at the same time as starting work. Control and take
The controller consists of two types of control, which are unnecessary, and the controller includes an initial setting unit for setting an automatic control mode or a manual control mode for each type of control, and a momentary control unit for setting the automatic control mode or the manual control mode. Mode switching means for inverting by a signal input of an automatic manual changeover switch of a type, and when the key switch is turned on to supply power to the controller and become operative, the controller sets an initial setting means prior to execution of various controls. Work by
For the controls required at the same time as starting, set the automatic control mode.
A control device for a work vehicle configured to perform a manual control mode for unnecessary control and to execute various controls in accordance with the set mode until the mode switching unit operates.