JP4409881B2 - Control device for work vehicle - Google Patents

Description

  The present invention relates to a control device for an agricultural work vehicle such as a combine or a tractor or other work vehicles.

  Conventionally, agricultural work vehicles such as combines have been used as fuel for electronic governors that control the output (load) of sensors and setting devices, for example, agricultural machinery, for transmitting control amount signals to control means as control targets. An injection amount detection sensor (a rack position detection sensor for adjusting the position of the fuel injection plunger), a vehicle height sensor for detecting the relative height of a pair of left and right traveling crawlers of the traveling unit with respect to the traveling machine body, and the signal In order to adjust the rack position of the input device such as a sensor for detecting the operation amount of the controlled object according to the vehicle, for example, a vehicle speed sensor for detecting the traveling speed of the farm machine, and the rack of the fuel injection pump, for example. Rack actuators such as electromagnetic solenoids, and output system equipment such as hydraulic cylinders for adjusting the relative height of the traveling crawler, Normally, each of these input and output systems equipment is controlled by a control means such as a microcomputer.

  Recently, a display device such as a liquid crystal display or a display instrument is provided in the vicinity of the operation unit of this type of farm work machine, and the operation status is displayed by displaying status information of each part of the farm work machine on these display devices. The operator can visually recognize (for example, refer to Patent Document 1) (for example, the engine speed and load, the vehicle speed, the amount of grain loaded in the grain tank, and the like).

JP 2003-104210 A

  By the way, conventionally, when performing initial setting for performing various settings such as the cutting height position when various sensors and control means are replaced, when executing the initial setting mode, the screen of a display device such as a liquid crystal display is displayed. Character information indicating initial setting items corresponding to various sensors is displayed, and by selecting any one of these initial setting items, the sensor limit is stored in a storage unit including a nonvolatile memory such as an EEPROM provided in the control unit. Adjustment information such as position and correction value is stored and initial setting is performed.

  However, in the conventional configuration, since the operation for performing the initial setting is a complicated operation, the burden on the operator is increased when it is necessary to perform the initial setting by selecting a plurality of initial setting items. It was.

  Furthermore, the operator may forget to perform the initial setting at the time of shipment or maintenance. In this case, problems such as start-up failure and operation failure due to unimplemented initial settings have occurred during farm work.

  Also, in the prior art, when a plurality of control means are connected by a communication line, they are stored in the storage means of a specific control means in the storage means of another control means in preparation for replacing the control means. All the information including the adjustment information of the sensor is stored. When a certain control means is exchanged, the original information is transmitted from another specific control means and stored in the storage means of the exchanged new control means, thereby restoring the information. . However, when a specific control means is exchanged, information cannot be restored, and there is a problem that the initial setting must be performed again.

  Therefore, in view of the above problems, the present invention has a technical problem to provide a control device that can be easily implemented without forgetting that the operator performs the initial setting.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

In other words, in claim 1, input system devices such as sensors and setting devices provided in each part of the work vehicle, output system devices such as actuators, and a plurality of controls for executing control of the input / output system devices. And a communication line for connecting the control means, the control means is connected to the display means and the operation means, and is stored in a nonvolatile memory of each control means. It is determined whether or not the initial setting in the information is performed. When the initial setting is not performed, it is determined whether or not the detection value input from the input system device is within the setting range. If it is within, information for prompting the initial setting of the output system device for operating each part of the work vehicle is displayed on the display means.

  In claim 2, input system equipment such as sensors and setting devices provided in each part of the work vehicle, output system equipment such as an actuator, and a plurality of control means for executing control of each input / output system equipment In the control device for a work vehicle provided with a communication line for connecting the control means, the control means determines that the input value from the input system device is abnormal and replaces the input system device. In this case, when it is determined that the detection value from the input device has returned to the normal range after replacement, information for prompting the initial setting of the input device is displayed on the display means.

According to a third aspect of the present invention, when the control means selects the execution of the initial setting, the control means displays a display for prompting a manual operation that satisfies a certain condition including a password input as a specific operation that is not normally operated on the display means. It is.

According to a fourth aspect of the present invention, when the initial setting operation is started, the control unit automatically executes the initial setting operation of the input / output devices sequentially according to the start operation, and notifies an alarm at the time of execution. It is a thing.

  As effects of the present invention, the following effects can be obtained.

  According to the first aspect, since it is possible to identify whether or not the initial setting is performed by the control means, it is possible to prevent the operator from forgetting to perform the initial setting by urging the initial setting as necessary. As a result, it is possible to prevent problems such as start-up failure and operation failure due to the initial setting not being performed during farm work.

  According to the second aspect of the present invention, it is possible to prevent forgetting to perform the initial setting when performing maintenance such as exchanging the control means after the initial setting.

  According to the third aspect, it is possible to prevent the operator from performing the initial setting carelessly. In addition, by using a password, it can be prevented from being rewritten by anyone other than those involved.

  According to the fourth aspect of the present invention, it is possible to automatically perform initial setting, which is a complicated operation by manual operation, and therefore, the burden on the operator can be reduced. Furthermore, even an operator who is not very familiar with the structure of the work machine can easily perform the initial setting. Further, by notifying the alarm by the notifying means, it is possible to alert the operator and the surrounding area and ensure safety.

  Next, a case where the embodiment of the invention is applied to a combine as a work machine will be described.

  1 is a left side view of a combine according to an embodiment of the present invention, FIG. 2 is a right side view, FIG. 3 is a front view, FIG. 4 is a skeleton diagram of a power transmission system, FIG. 5 is a hydraulic circuit diagram, FIG. 6 is a schematic perspective view of the cab, FIG. 7 is an enlarged plan view showing the steering wheel handle and the liquid crystal display device, FIG. 8 is a functional block diagram of the entire control device, and FIG. 9 is a functional block diagram of the CAN controller C1.

  10 is a functional block diagram of the CAN controller C2, FIG. 11 is a functional block diagram of the CAN controller C3, FIG. 12 is a functional block diagram of the CAN controller C4, FIG. 13 is a functional block diagram of the CAN controller C5, and FIG. FIG. 15 is a transition diagram in normal mode, FIG. 16 is a screen diagram showing image information in the initial mode, FIG. 17 is a screen diagram showing image information in the non-work mode, and FIG. 18 is image information in the work mode. FIG. 19 is a diagram of a screen showing handling cylinder clogging information among work system abnormality information.

  FIG. 20 is a diagram of a screen showing engine hydraulic pressure abnormality information among engine system abnormality information, FIG. 21 is a diagram of a screen in normal mode on which an error indicator is displayed, and FIG. 22 is a diagram of a screen showing image information in error display mode. FIG. 23 is a screen view showing image information in the environment setting mode, and FIG. 24 is an enlarged plan view of the liquid crystal display device in a state where selection menu information in the maintenance mode is shown on the screen.

  25 (a) and (b) are screen views showing initial setting menu information, FIG. 26 is a first screen view showing image information when initial setting of an auger storage position is performed, and FIG. 27 is an auger storage position. Fig. 28 is a second screen showing image information when initial setting is performed, Fig. 28 is a third screen showing image information when initial setting of the auger storage position is performed, and Fig. 29 is initial setting of the auger storage position. It is a figure of the 4th screen which shows the image information of time.

  30 is a fifth screen showing image information when the auger storage position is initially set, FIG. 31 is a sixth screen showing image information when the auger storage position is initially set, and FIG. 32 is a car. FIG. 33 is a diagram of a first screen showing image information when the initial setting of the lowest height position is performed, and FIG. 33 is a diagram of a second screen showing image information when the initial setting of the lowest position of the vehicle is performed.

  FIG. 34 is a screen image showing image information when (a) to (c) initial setting of the vehicle bottom position is not satisfied, and FIG. 35 is an auger storage position in another embodiment. FIG. 36 is a diagram of a first screen showing image information when initial setting is performed, FIG. 36 is a diagram of a screen showing image information displayed when initial setting is not performed, and FIG. 37 is a diagram showing image information when a password is entered. FIG. 38 is a screen diagram showing image information displayed when a device related to the implementation of the initial setting is replaced.

  A combine will be described as an example of a work vehicle. The combined traveling machine body 1 is configured to be movable up and down via a traveling unit lifting and lowering driving means described later with respect to a pair of left and right traveling crawlers 2 and 2. As shown in FIG. 1, a threshing device 3 is mounted on the left side in the traveling direction of the traveling machine body 1. The pre-cutting processing device 4 disposed at the front portion of the traveling machine body 1 is supported by the traveling machine body 1 so as to be capable of moving up and down via a lifting frame 14, and between the lifting frame 14 and the traveling machine body 1. The hydraulic cylinder 9 for the cutting part as an actuator mounted on the actuator can be adjusted up and down.

  A clipper-type cutting blade device 5 is arranged at the lower part of the pre-cutting processing device 4, and a culm pulling device 6 for six strips is arranged at the front (see FIG. 3). Between the grain raising apparatus 6 and the front end of the feed chain 7 in the threshing apparatus 3, a grain conveying apparatus 8 is arranged, and the front part of the lower part of the grain raising apparatus 6 is directed in the traveling direction of the traveling machine body. The weeding body 10 which protrudes is attached. A driver's cab 11 is disposed at the front right side of the traveling machine body 1, and a grain tank 12 is disposed behind the driver's cab 11.

  As shown in FIG. 4, a part of the power from the engine 15 provided in the lower rear part of the cab 11 is transmitted through the auger clutch 16 to the bottom screw conveyor 17 in the grain tank 12 and the vertical and horizontal screws in the discharge auger 28. While being transmitted to the conveyors 18a and 18b, the remaining power from the engine 15 is transmitted through a power branching mission 19 to a hydraulic pump hydraulic motor type travel drive unit 24, a handling cylinder 13 and a processing cylinder 20 of the threshing device 3, 21. Rotating and driving the first receiving screw conveyor 22a, the second receiving screw conveyor 22b, the feed chain 7, the whipping screw conveyor 23 to the grain tank 12, the peristaltic sorting mechanism 40, the waste cutter 27, etc. It is like that.

  The power to the pre-cutting processing device 4 is transmitted via the output shaft 26 from the travel drive unit 24 when synchronized with the traveling speed, and the branching power from the power branching mission 19 is transmitted via the one-way clutch 25 when not synchronized. Is transmitted.

  As shown in FIG.1 and FIG.2, the discharge | emission auger 28 for discharging | emitting the grain in the grain tank 12 outside the machine is the vertical cylinder 28a arrange | positioned in the rear end of the traveling body 1, and this vertical cylinder 28a. It consists of a horizontal cylinder 28b that is connected to the upper end so as to be vertically rotatable. A vertical screw conveyor 18a is housed in the vertical cylinder 28a, and a horizontal screw conveyor 18b is housed in the horizontal cylinder 28b.

  The vertical cylinder 28a is configured to be pivotable about the vertical axis by an auger motor 29 and a gear mechanism 30, and the horizontal cylinder 28b is an auger hydraulic cylinder 31 and a link mechanism 32 mounted between the vertical cylinder 28a. It can be configured to change the vertical tilt angle.

  Then, the turning angle sensor 81 such as a rotary encoder provided in the auger motor 29 can detect the horizontal turning angle of the vertical cylinder 28a and consequently the horizontal turning position of the horizontal cylinder 28b, and is provided at the location of the auger hydraulic cylinder 31 or the link mechanism 32. A vertical rotation angle sensor 82 such as a potentiometer can detect the vertical inclination angle of the horizontal cylinder 28b, and thus the height position of the discharge portion at the tip of the horizontal cylinder 28b.

  When the discharge auger 28 is not used, the middle part of the horizontal cylinder 28b is placed on a rest base 33 provided on the upper surface of the grain tank 12. A rest detector such as a contact sensor for detecting whether or not the horizontal cylinder 28b is placed is attached to the rest base 33.

  Each of the left and right traveling crawlers 2 is wound around the outer periphery of a drive wheel 36 and a driven wheel 37 respectively disposed at the front and rear ends of the track frame 35 and a plurality of rolling wheels 38 disposed in the middle of the lower surface of the track frame 35. Each of the left and right track frames 35 and the traveling machine body 1 are connected to each other so that the traveling portion hydraulic cylinder 39a (39b) and the L-shaped front and rear levers provided at the front and rear positions of the track frame 35 are operated simultaneously. (Not shown) etc. are connected via a traveling part raising / lowering drive means.

  The left and right traveling unit hydraulic cylinders 39 a and 39 b are operated independently of each other, so that the left and right traveling crawlers 2 can be raised and lowered independently with respect to the left and right of the traveling machine body 1.

  Therefore, when the piston rods of the hydraulic cylinders 39a and 39b for the left and right traveling parts are projected at the same time, the traveling machine body 1 moves upward (rises) from both the left and right traveling crawlers 2 and 2, and the traveling crawler 2 of the traveling machine body 1・ Relative height (vehicle height) with respect to 2 is higher. Conversely, when the piston rods are simultaneously retracted, the traveling machine body 1 approaches (lowers) the left and right traveling crawlers 2 and 2, and the relative height (vehicle height) of the traveling machine body 1 with respect to the traveling crawlers 2 and 2 is Lower.

  When the piston rod in the left traveling unit hydraulic cylinder 39a is protruded or the piston rod in the right traveling unit hydraulic cylinder 39b is retracted (or both operations are performed simultaneously), the right side The vehicle height of the traveling machine body 1 with respect to the traveling crawler 2 is lowered (the vehicle height of the traveling machine body 1 with respect to the left traveling crawler 2 is increased), and the traveling machine body 1 is inclined downwardly to the right.

  Conversely, when the piston rod in the right traveling unit hydraulic cylinder 39b is protruded, or when the piston rod in the left traveling unit hydraulic cylinder 39a is retracted (or both operations are performed simultaneously), The vehicle height of the traveling machine body 1 with respect to the left traveling crawler 2 is lowered (the vehicle height of the traveling machine body 1 with respect to the right traveling crawler 2 is increased), and the traveling machine body 1 is inclined downwardly to the left.

  A rotary encoder for detecting the relative height (vehicle height) of the traveling machine body 1 with respect to the left and right traveling crawlers 2 and 2 by detecting the protrusion amount of the piston rod of the hydraulic cylinders 39a and 39b for the left and right traveling units The vehicle height sensors 41a and 41b are configured to interlock with each other via a connecting rod or a link mechanism (not shown) connected to the connecting rod. A tilt sensor 43 such as a pendulum type (gravity type) for detecting the left and right tilt angles of the traveling machine body 1 is disposed at an arbitrary position of the traveling machine body 1, for example, in the cab 11.

  In addition, as shown in FIG. 3, the ultrasonic sensors 44a and 44b for detecting the ground height between the pre-cutting processing device 4 and the field scene include a transmitter unit (horn unit) and a receiver unit of the receiver. Are arranged on brackets (not shown) provided on the back side of the grain raising device 6 on the left and right sides of the pre-cutting processing device 4.

  When the installation height of the ultrasonic sensors 44a and 44b and the installation height of the cutting blade device 5 are different, the ground height between the pre-cutting device 4 and the field scene is determined by a predetermined conversion from the detection values of the ultrasonic sensors 44a and 44b. You can ask for it. However, the means for detecting the ground height may be configured to project the detection arm and detect the angle of the detection arm, and is not limited thereto.

  Further, the lifting position sensor 45 attached to the base end of the lifting frame 14 can determine the relative height between the traveling machine body 1 and the pre-cutting processing device 4 by detecting the rotation angle of the lifting frame 14. It is like that.

  As shown in FIG. 5, the hydraulic circuit for the hydraulic cylinders 9, 31, 39 a, and 39 b as actuators is branched through a branch valve 47 that divides the pressure oil from the hydraulic pump 46. From one discharge path 47, pressure oil is fed to the first hydraulic circuit 48 to the auger hydraulic cylinder 31 and the left traveling section hydraulic cylinder 39a, and from the other discharge path, the cutting section hydraulic cylinder 9 and the second hydraulic circuit 49 for the right traveling unit hydraulic cylinder 39b are configured to supply pressure oil.

  Electromagnetic control valves 50, 51, 52, 53, check valves, relief valves, etc. for the respective hydraulic cylinders 9, 31, 39a, 39b are connected to both hydraulic circuits 48, 49. The electromagnetic control valve is connected to a controller serving as control means.

  Next, regarding the operation unit arranged in the cab 11, the configuration of various operation levers and switches will be described with reference to FIGS. A steering round handle 58 for steering the traveling machine body 1 is attached to a handle shaft (not shown) protruding upward from the front column cover body 57 in front of the driver seat 56.

  A liquid crystal display device 60 as a display means is attached to the upper end portion of the front column cover body 57 so as to be positioned on the inner diameter side of a substantially semicircular handle wheel 58a in the steering round handle 58 in plan view. .

  Since the liquid crystal display device 60 is fixed only to the front column cover body 57 and is not connected to the steering round handle 58, the liquid crystal display device can be operated even if the steering round handle 58 is rotated. 60 does not move. Further, since the upper surface (screen) of the liquid crystal display device 60 is positioned below the handle wheel 58a of the steering round handle 58, the liquid crystal display device 60 is not touched even if the steering round handle 58 is rotated. It is supposed not to.

  In addition, operation panels 69 and 69 are disposed on both the left and right sides in the vicinity of the steering wheel handle 58. The operation panels 69 and 69 are connected to input devices such as a sorting adjustment dial 136 and a reaping automatic lifting switch 131. Various switches are arranged.

  A long side column 61 is disposed on the left side of the driver seat 56 in the front and rear. The side column 61 includes a main transmission lever 65 for steplessly changing the vehicle speed, and a traveling drive unit 24 according to a working state. A sub-transmission lever 66 that sets and holds the output and the rotational speed within a predetermined range is arranged in parallel to the left and right, and these levers 65 and 66 are configured to be able to rotate back and forth.

  Further, a work clutch lever 68 is disposed at the rear portion of the main transmission lever 65 so as to be able to rotate back and forth. The work clutch lever 68 is configured to be movable along a guide groove having an inverted L shape in plan view. When the work clutch lever 68 is located at a position to the left of the rear end of the guide groove, the cutting switch 134 and the threshing switch 135 are When the cutting operation is performed, the reaping clutch is turned off and the threshing clutch is turned off, and only the threshing switch 135 is turned on and operated at the rear right end position on the opposite side of the left and right sides. At the position that is the front end of the guide groove, the cutting switch 134 is turned on together with the threshing switch 135, and the cutting clutch is “on” and the threshing clutch is “on”.

  In the grip portion 65a of the main transmission lever 65, the auto lift switch 137 for forcibly raising the pre-cutting processing device 4 and the pre-cutting processing device 4 are forcibly lowered to a predetermined cutting height on the same plane. A plurality of various switches such as an auto set switch 138 and a cutting / lifting switch 139 for manually operating the lifting / lowering movement of the pre-cutting processing device 4 are arranged.

  As shown in FIGS. 6 and 7, the liquid crystal display device 60 includes a liquid crystal panel 60b as a monochrome dot matrix type display means capable of displaying information such as characters, symbols and images, and a case 60a for housing the liquid crystal panel 60b. It is configured. The liquid crystal panel 60b may be a color type.

  A liquid crystal panel 60b is arranged at substantially the center of the front, rear, left, and right of the surface of the case 60a, and a work lamp that is turned on when the power switch 142 is turned on or off on the outer periphery in the vicinity of the liquid crystal panel 60b. 70 and two switches 71, 72, 73, and 74 as operating means for switching the screen display. Each of these switches 71 to 74 is a so-called push switch that generates one ON pulse signal when the switch is pressed once, and is of a non-locking type. These switches 71 to 74 correspond to input means in the present invention.

  In the case 60a, on the back side of the liquid crystal panel 60b, a CAN controller C5 that controls to display on the screen of the liquid crystal panel 60b image information corresponding to the mode being executed among the various combine modes. To be decorated.

  Next, the overall operation of the combine such as the vehicle speed, posture and height of the traveling machine 1, the discharge position of the discharge auger 28, and the like are controlled, and image information corresponding to the mode being executed (the state of the combine operation) is displayed on the liquid crystal panel 60b. The structure of the control means for controlling to display on the screen will be described.

  As shown in FIG. 8, an electronic control device 75 such as a microcomputer as a control means includes a plurality (5 in this embodiment) of CAN (Controller Area Network) controllers C1, C2, C3, C4, and C5. A CAN communication bus 76 interconnects these components. Each of the CAN controllers C1 and C5 includes a resistor (not shown) as a termination resistor that suppresses reflection of control data.

  Each of the CAN controllers C1 to C5 includes a CPU 77 for executing various arithmetic processes and controls, an EEPROM 78 as a nonvolatile memory for storing each control program to be described later, a RAM 79 for temporarily storing various data, a clock as a timer function, An input / output interface (not shown) that transmits data by connecting to various input and output devices is provided.

  In each of the EEPROMs 78 of the CAN controllers C1 to C5, corresponding application control programs (software) S1, S2, S3, S4, and S5 are stored (stored) in advance (see FIG. 8).

  Each application control program S1, S2, S3, S4, and S5 is, for example, an application control program S1 that includes various actuators of the threshing device 3 and the pre-cutting processing device 4 (for example, a hydraulic cylinder 9 for cutting portion for adjusting the cutting height). And a control program for operating a vertical conveying device for adjusting the handling depth by detecting the position of the tip and the tip), and the application control program S2 is a hydraulic cylinder 39a for the left and right traveling units of the traveling machine body 1. -It is set as the control program for operating 39b and performing the attitude | position of the traveling body 1 and vehicle height control.

  The application control program S3 is a control program for controlling the output of the engine 15, and the application control program S4 is a control program for controlling the operation of the auger motor 29 and the auger hydraulic cylinder 31 in the discharge auger 28.

  The application control program S5 manages and controls input / output of all input / output devices connected to the controllers C1 to C5, and displays image information corresponding to the mode being executed on the screen of the liquid crystal panel 60b. It is assumed that the control program controls the control.

  Each EEPROM 78 also stores in advance a communication control program necessary for CAN communication and an input / output control program for transmitting control data (information) between input / output devices. In contrast, the input / output control program is layered.

  As a guide, each CAN controller C1 to C5 is configured so that the harness length of the input / output system equipment is combined as short as possible to control them, and in each controller location (not shown) Stored in

  For example, the CAN controller C1 is installed on the lower surface side of the floor board in the cab 11 (see FIGS. 1 to 3). The input interface of the CAN controller C1 includes, as input system devices, a lift position sensor 45, a culm transport sensor 96 that detects whether or not the pre-harvest processing device 4 is transporting the chopped cereal, and the chopped cereal being transported Cedar length sensor 97, handling depth sensor 98, auger clutch motor switch 99, ultrasonic sensors 44a and 44b, vehicle speed sensor 100, second receiving screw conveyor rotation sensor 101, steering round handle limit The switches 102 and the like are connected to each other (see FIG. 9).

  The output interface of the CAN controller C1 includes, as output system devices, a control circuit unit 103 such as a relay unit in a handling depth control motor, a control circuit unit 104 such as a relay unit in an auger clutch motor, and an electromagnetic for driving a threshing clutch. Solenoids 105 and the like are connected to each other (see FIG. 9).

  The CAN controller C2 is installed at a location near the operator's cab 11 above the cutting pretreatment device 4 (see FIGS. 1 to 3). The input interface of the CAN controller C2 includes, as input system devices, a fuel sensor 106, an inclination sensor 43, vehicle height sensors 41a and 41b, a soot flow rate sensor 107 in the flown plate of the sorting device, and presence or absence of soot in each part of the sorting device籾 sensor 108 for detecting spillage, squeezing cutter clogging sensor 109, turning angle sensor 81, discharge auger tip operating unit 110 provided at the tip of the horizontal tube 28b for operating the horizontal turning of the discharge auger 28, and the vertical rotation angle sensor 82, an auger clutch sensor 111, a discharge auger overload sensor 112, a peristaltic sorting overload sensor 113, a handling cylinder rotation sensor 114, a processing cylinder rotation sensor 115, and the like are connected (see FIG. 10).

  The output interface of the CAN controller C2 includes, as output system equipment, a peristaltic sorting drive motor 116, an FC clutch drive circuit unit 117, an auger motor 29 for horizontally turning a vertical cylinder 28a of the discharge auger 28, a discharge auger brake 118, and an auger The electromagnetic solenoid 51a of the electromagnetic control valve 51 for the hydraulic cylinder 31, the electromagnetic solenoid 52a of the electromagnetic control valve 52 for the hydraulic cylinder 39a on the left side of the traveling machine body 1, and the electromagnetic control of the hydraulic cylinder 39b on the right side of the traveling machine body 1 An electromagnetic solenoid 53a of the valve 53, an electromagnetic solenoid 50a of the electromagnetic control valve 50 to the cutting portion hydraulic cylinder 9, and the like are respectively connected (see FIG. 10).

  As shown in FIGS. 1 to 3, the CAN controller C <b> 3 is installed in the rear part of the driver seat 56 in the cab 11. An input interface of the CAN controller C3 includes, as input system equipment, an engine speed sensor 119, an engine oil amount sensor 120, an engine water temperature sensor 121, and a fuel injection pump rack with an electronic governor that controls the output (load) of the engine 15. A fuel injection pump rack position sensor 122 for detecting the position, an engine starter switch 123, an auger set position dial 124 for storing the horizontal turning position of the discharge auger 28 in advance, and a horizontal turning of the discharge auger 28 provided in the cab 11 Are connected to a discharge auger operation section 125, a cutting clutch motor limit switch 126, and the like (see FIG. 11).

  The output interface of the CAN controller C3 includes, as output system equipment, a fuel injection pump rack actuator 127 for adjusting the rack position of the fuel injection pump so that the rotational speed of the engine 15 becomes a predetermined rotational speed, and an engine starter relay 128. The alarm buzzer 129 and the like are connected to each other (see FIG. 11).

  The CAN controller C4 is installed in the side column 61 of the cab 11 (see FIGS. 1 to 3). The input interface of the CAN controller C4 includes, as input devices, an accelerator lever sensor 59a for detecting the operation position of the accelerator lever 59, a vehicle height adjustment lever 62, a vehicle height control changeover switch 63, a tilt setting device 64, a depth of handling. Automatic control switch 130, automatic harvesting lifting / lowering switch 131, automatic harvesting clutch switch 132 for automatically transmitting power to the pre-harvest processing device 4 when the pre-harvest processing device 4 is lowered to a predetermined cutting height, harvesting switch 134, threshing Switch 135, sorting adjustment dial 136 for adjusting the grain sorting state in the sorting device, auto lift switch 137, auto set switch 138, cutting lift lever 139, handling depth adjusting lever 140, auxiliary transmission lever 66, traveling machine body Reverse switch 141 for moving 1 backward, Switch 142 and the like are connected (see FIG. 12).

  The output interface of the CAN controller C4 includes, as an output system device, a vehicle height control changeover switch lamp 143 that is turned on when the vehicle height control is switched to automatic operation, and a handle that is turned on when the depth control is switched to automatic operation. An automatic depth control switch lamp 144 or the like is connected (see FIG. 12).

  The input interface of the CAN controller C5 built in the case 60a has a first setting switch 71 used for moving the cursor on the screen of the liquid crystal panel 60b upward, and a display used for moving the screen downward. A changeover switch 72, a buzzer stop switch 73, a second setting switch 74, and the like used for switching the screen display of the liquid crystal panel 60b are connected (see FIG. 13).

  The output interface of the CAN controller C5 is connected with a liquid crystal panel 60b as display means, a work lamp 70 that is turned on when the power switch 142 is turned on and off for the entire combiner, and the like (FIG. 13).

  Next, the mode switching control by the CAN controller C5 will be described. As shown in FIG. 14, the combine mode (operation state) includes an initial mode M1, a normal mode M2 for running on the road and various operations, an alarm display mode M3 for notifying an abnormal state of each part of the combine, a detection error, and the like. An error display mode M5 for notifying the content of the error and an environment setting mode M4 for performing settings such as automatic travel control are roughly divided into five modes, and each mode is processed by the control means.

  The normal mode M2 includes a non-work mode M2a for running on the road and a work mode M2b for cutting and threshing, and a maintenance mode M6 that can be shifted only from the non-work mode M2a is also set (FIG. 15). reference).

  First, when the power switch 142 is turned on and operated, the initial mode M1 is activated and the initial image information shown in FIG. 16 is displayed on the screen of the liquid crystal panel 60b.

  Next, when a preset time (10 seconds in this embodiment) elapses in the EEPROM 78 of the CAN controller C5, or when the rotation speed of the engine 15 exceeds a preset rotation speed (240 rpm in this embodiment). Then, the mode automatically shifts to the non-working mode M2a in the normal mode M2 (see FIG. 15), and the screen display of the liquid crystal panel 60b changes from the initial image information to image information such as the engine speed and the remaining amount of fuel ( Transition to image data corresponding to the non-working mode M2a (see FIG. 17).

  In this case, on the screen of the liquid crystal panel 60b, as image information of the non-working mode M2a, a speedometer 85 indicating the traveling speed (vehicle speed) of the traveling machine body 1, a substantially L-shaped rotational speed graph 86 indicating the engine rotational speed, A tank monitor 87 that informs the amount of fir in the grain tank 12, a fuel meter 88 that informs the remaining amount of fuel, a sub-transmission monitor 89 that informs the setting state of the sub-transmission lever 66, and the speed setting state of the pre-cutting processing device 4 A cutting speed change monitor 90 for notifying and an integrated value monitor 91 for indicating a value obtained by integrating the operating time of the engine 15 and the like are displayed.

  During execution of the initial mode M1, when the threshing clutch for power transmission to the threshing device 3 is in the engaged state, that is, when the threshing switch 135 is in the on state, the operation proceeds to the alarm display mode M3 and the alarm buzzer 129 And the image information on the clogged cylinder is switched and displayed on the screen of the liquid crystal panel 60b (see FIG. 19A). This is to prevent the threshing switch 135 from being started while being in the on state.

  Both pieces of image information shown in FIGS. 19A and 19B are automatically scrolled and displayed in the vertical direction of the screen of the liquid crystal panel 60b. In this case, when the threshing switch 135 is turned off, the alarm buzzer 129 stops operating and shifts to the non-work mode M2a, and the screen of the liquid crystal panel 60b transitions to the screen shown in FIG.

  As shown in FIG. 15, when the threshing switch 135 is turned on and operated during the execution of the non-work mode M2a in the normal mode M2, the operation mode M2b is entered, and the display of the screen showing the image information in FIG. And image information such as the remaining amount of fuel (image data corresponding to the work mode M2b) (see FIG. 18). On the other hand, when the threshing switch 135 is turned off and operated, the mode shifts to the non-work mode M2a, and the image information of the non-work mode M2a is switched and displayed on the screen of the liquid crystal panel 60b.

  As shown in FIG. 14, during the execution of the normal mode M2 (non-work mode M2a or work mode M2b), for example, abnormal control data out of the control range allowed in each output system external device is transferred to the CAN controller unit C5. Or when the buzzer stop switch 73 is pressed while the CAN controller unit C5 is receiving the abnormality control data, the screen shifts to the alarm display mode M3 and the screen shown in FIG. 17 or FIG. Are screens (FIGS. 19A, 19B, 20A, and 20A) showing image information for notifying the abnormal state of each output system external device that is the source of the abnormal control data, for example, clogging of the handling cylinder, abnormal hydraulic pressure, and the like. ) (See (b)). When various types of abnormal data occur, the work lamp 70 (see FIG. 7) provided in the case 60a of the liquid crystal display device 60 is turned on.

  When a plurality of abnormality control data are generated, image information about the abnormal state of the output external device corresponding to each abnormality control data is displayed on the screen of the liquid crystal panel 60b in order by predetermined time.

  Note that not only both image information shown in FIGS. 19A and 19B but also both image information shown in FIGS. 20A and 20B are automatically scrolled and displayed in the vertical direction of the screen of the liquid crystal panel 60b. Is done.

  Then, when the abnormal state of each output system external device is canceled, or when the abnormality related to the engine such as an abnormality in hydraulic pressure has occurred, the buzzer stop switch 73 is pressed once to change from the alarm display mode M3 to the normal mode M2. The screen shown in FIG. 19 (a) (b) or FIG. 20 (a) (b) transitions to the screen shown in FIG. 17 or FIG.

  As shown in FIG. 14, when various errors such as detection errors of sensors and setting devices and operation errors of various actuators occur during execution of the normal mode M2 (non-work mode M2a or work mode M2b). Then, a character indicator 92 of “error” blinks on the right side portion of the auxiliary transmission monitor 89 on the screen of the liquid crystal panel 60b (see FIG. 21). By blinking the error indicator 92, the operator can quickly recognize that an error has occurred on the screen showing the image information of the normal mode M2.

  In this state, when the buzzer stop switch 73 is pressed down for an appropriate time (in this embodiment, 5 seconds) or longer, the display shifts to the error display mode M5, and the screen display of the liquid crystal panel 60b shows the content of the error that has occurred at this time. Transition to information (see FIGS. 22A to 22D).

  Then, when the buzzer stop switch 73 is pressed once again or the error is resolved, the error display mode M5 returns to the normal mode M2, and the image information of the normal mode M2 is displayed on the screen of the liquid crystal panel 60b. The display is switched.

  When the second setting switch 74 is pressed once during the execution of the normal mode M2, the screen shifts to the environment setting mode M4, and the display on the liquid crystal panel 60b changes from the image information of the normal mode M2 to the environment setting mode M4. Transition to image information (see FIG. 23). When the second setting switch 74 is pressed again, the mode is changed to the normal mode M2, and the display on the liquid crystal panel 60b returns from the image information of the environment setting mode M4 to the image information of the normal mode M2. In this embodiment, since the frequency of executing the environment setting mode M4 is low, the second setting switch 74 is provided separately from the buzzer stop switch 73 so that the environment setting mode M4 is not inadvertently operated. Yes.

  As shown in FIG. 15, the controller performs processing to shift to the maintenance mode M6 by performing a specific operation that is not normally performed during the execution of the non-work mode M2a. For example, when the display changeover switch 72 and the buzzer stop switch 73 provided on the case 60a are simultaneously operated for an appropriate time (in this embodiment, 5 seconds) or more, the operation shifts to the maintenance mode M6 as the alarm buzzer 129 sounds. The image information of the selection menu in the maintenance mode M6 (hereinafter referred to as selection menu information) is switched and displayed on the screen of the liquid crystal panel 60b (see FIG. 24). The alarm buzzer 129 stops ringing when the screen is switched. However, the operation to enter the maintenance mode is not limited, and may be an operation that is not normally performed such as pressing any two or three switches simultaneously for a predetermined time or more.

  In this maintenance mode M6, failure diagnosis of each input / output system device and setting of the control range of each device can be changed. Therefore, the maintenance mode M6 is not shifted to the maintenance mode M6 unless the above-described complicated procedure is performed. Prevents setting changes due to incorrect operation.

  When the maintenance mode M6 is entered, a selection screen (selection menu) for a plurality of setting items is further displayed. In this embodiment, the following three modes are displayed on the selection screen. Initial setting mode for performing various settings such as cutting height position when various sensors and CAN controllers C1 to C5 are replaced, a checker mode as a failure diagnosis mode for diagnosing the presence / absence of failures in input / output devices, and past maintenance information There are three modes of the serviceman mode in which the stored contents of the EEPROM 78 of each of the CAN controllers C1 to C5 are rewritten.

  The screen of FIG. 24 showing the selection menu information displays character information 161 to 163 of “initial setting mode”, “checker mode”, and “serviceman mode”, and a cursor 160 indicating the character information to be selected. Yes.

  In addition, operation instruction indicators 165, 166, 167, and 168 indicating the functions of the switches 71, 72, 73, and 74 as input means are displayed at the four corners of the screen.

  Each of these operation instruction indicators 165 to 168 is a simplified representation of the operation content when the switches 71 to 74 corresponding to the display positions are pressed, with characters, figures, and the like. For example, referring to the screen of FIG. 24, when the first setting switch 71 corresponding to the operation instruction mark 165 (upward arrow) in the upper left corner of the screen is pressed, the cursor 160 moves upward in the screen, and the lower left corner is displayed. When the display changeover switch 72 corresponding to the operation instruction mark 166 (downward arrow) is pressed, the cursor 160 moves downward in the screen. Further, when the second setting switch 74 corresponding to the operation instruction indicator 168 (the character “RETURN”) in the upper right corner of the screen is pressed, the display on the screen of the liquid crystal panel 60b returns to the selection menu information.

  The character information 161 to 163 are displayed in reverse in a state indicated by the cursor 160. Then, for example, as shown in FIG. 24, the buzzer stop switch 73 corresponding to the operation instruction indicator 167 (character “decision”) at the lower right corner of the screen in the state where the character information 162 of “initial setting mode” is highlighted. When is pressed, the initial setting mode is selected (determined), and the display of the screen showing the selected menu information transitions to image information of the initial setting menu (hereinafter referred to as initial setting menu information) (FIG. 25A ) (B)).

  The initial setting menu information includes character information 171 to 178, that is, “cutting top position” (171), “cutting bottom position” (172), “handling depth shallow handling position” (173), “handling” “Deep shallow handling position” (174), “Auger storage position” (175), “Vehicle height uppermost position” (176), “Vehicle height lowermost position” (177), and “History deletion” (178) The list of character information groups 171 to 182 is displayed on one screen or divided into two or more according to the number of pixels that can be displayed on the screen of the liquid crystal panel 60b (this book). In the embodiment, it is divided into two (see FIG. 25).

  In addition, the switching display of a plurality of menu information on the screen (see FIG. 25) is performed by pressing the first setting switch 71 and moving the cursor 160 upward on the screen in the same manner as the switch operation in the selection menu information described above. This is executed by depressing the buzzer stop switch 73 in a state where the character information 169 of “to next (1/2) screen” indicated by the cursor 160 is highlighted.

  Each initial setting after selection is displayed as an interactive form between the operator, the operation means, and the display means, for example, when the initial setting method is displayed and the confirmation operation is performed, the next operation method is displayed. The initial settings can be made by operating. Furthermore, necessary conditions are checked at each stage of the initial setting operation. When the controller (control means) determines that the conditions are not satisfied, an operation for satisfying the conditions is displayed on the display screen. A process of displaying an instruction screen for an operation procedure that prompts the user to satisfy is performed. In addition, a description of the displayed operation can be displayed by operating a specific switch (a switch other than the switch to be operated). This description may be a character or a graphic.

  For example, in the case of the initial setting of the auger storage position, as shown in FIG. 25A, when the switch 74 is pressed with the character information of “auger storage position” highlighted, the auger storage position is displayed on the screen of the liquid crystal panel 60b. The storage position initial setting image information is switched and displayed (see FIG. 26).

  In this case, character information 180 of “Store the auger in the rest position and remove the auger motor from the bracket so that the motor can be rotated” is displayed on the screen of the liquid crystal panel 60b, and the initial setting of the auger storage position is performed. An operator is shown an operation procedure to do this.

  On the screen, only the operation instruction indicator 167 (characters of “next”) for the switch 74 among the operation instruction indicators 165 to 168 is displayed, and after performing the operation according to the operation procedure displayed on the screen, When the buzzer stop switch 73 is pressed, the screen display of the liquid crystal panel 60b is switched (see FIG. 27).

  Subsequently, the screen displays the character information 181 of “When the buzzer stop switch is pressed, the auger motor rotates and stops at the stowed position. Install the motor when it stops”, and the next operation procedure is the operator. Shown in

  When the buzzer stop switch 73 corresponding to the operation instruction indicator 167 (character “next”) is pressed according to the operation procedure displayed on the screen, the screen display of the liquid crystal panel 60 b is switched and the characters “motor rotating” are displayed. Information 182 is displayed (see FIG. 28).

  That is, when the buzzer stop switch 73 is pressed, the CAN controller C5 transmits control data via the CAN communication bus 76. When this control data is received by the CAN controller C2 to which the turning angle sensor 81 is connected, the CAN controller C2 rotates the auger motor 29 to the storage position in order to start the initial setting operation.

  When the CAN controller C5 receives the control data transmitted by the CAN controller C2 based on the initial setting operation via the CAN communication bus 76, the CAN controller C5 recognizes that the auger motor 29 has started driving. The character information 182 of “motor rotating” is displayed on the screen of the liquid crystal panel 60b to indicate that the auger motor 29 is being driven.

  When the auger motor 29 reaches the storage position, the CAN controller C2 stops driving the auger motor 29 and sounds the alarm buzzer 129. At the same time, when the CAN controller C5 receives control data from the CAN controller C2 via the CAN communication bus 76, the CAN controller C5 recognizes that the driving of the auger motor 29 is stopped, and displays on the screen of the liquid crystal panel 60b “ Character information 183 of “Motor storage position stop” is displayed to indicate that the auger motor 29 has stopped at the storage position (see FIG. 29).

  On the screen, only the operation instruction indicator 167 (the character “next”) for the buzzer stop switch 73 among the operation instruction indicators 165 to 168 is displayed. When the buzzer stop switch 73 is pressed, the screen of the liquid crystal panel 60b is displayed. The display is switched and the next operation procedure is displayed. This operation procedure is displayed on the screen of the liquid crystal panel 60b as character information 184 of "Please push the auger operation switch downward when the auger motor is installed. The alarm buzzer stops." (See Figure 30)

  When the auger operation switch is operated downward according to the operation procedure displayed on the screen, the CAN controller C2 stops the alarm buzzer 129 and the value of the turning angle sensor 81 corresponding to the position of the auger motor 29 at this time. Is stored in the EEPROM 78 as sensor adjustment information, and the result is transmitted as control data to the CAN controller C5 via the CAN communication bus 76. When the CAN controller C5 receives this control data, the screen is switched and the initial setting result information is displayed. That is, the character information 185 of “normal end” is displayed when the initial setting is normally performed, and the character information 186 of “abnormal end” is displayed when the initial setting is not normally performed. (See FIGS. 31 (a) and 31 (b)). Thus, the initial setting is completed. In this way, the initial setting result is displayed on the display means so that the operator can recognize it.

  At this time, only the operation instruction indicator 167 (the character “next”) for the buzzer stop switch 73 is displayed on the screen, and when the buzzer stop switch 73 is pressed, the screen display of the liquid crystal panel 60b is initially displayed. Return to the setting menu information (see FIG. 25).

  Next, a specific example in the case where initial setting of the vehicle height lowermost position is performed will be described. When the buzzer stop switch 73 corresponding to the operation instruction indicator 167 (character “decision”) is pressed in a state where the character information 177 “bottom height position” of the initial setting menu information is highlighted, This means that the initial setting of the lower position has been selected (determined), and the image information of the initial setting for the lowest vehicle height is switched and displayed on the screen of the liquid crystal panel 60b (see FIG. 32).

  On the above screen, the text information 188 is displayed, “Please rate the engine and keep pressing the vehicle height adjustment switch downward. When setting is complete, the buzzer will sound.” An operation procedure for performing the setting is shown.

  In addition, only the operation instruction indicator 167 for the buzzer stop switch 73 among the operation instruction indicators 165 to 168 is displayed on the screen, and when the buzzer stop switch 73 is pressed, the screen display of the liquid crystal panel 60b is initialized menu information. Return to (see FIG. 25).

  Then, operating according to the operation procedure displayed on the screen, and satisfying the conditions necessary for carrying out the initial setting, when the vehicle height adjustment switch 62 is continuously pushed down, the vehicle height starts to decrease, Initial setting operation is started. When the vehicle height is at the predetermined position and reaches the lowest position, the descent of the vehicle height stops, and the value of the vehicle height sensor 41 at this time is stored in the EEPROM 78 as sensor adjustment information. When the initial setting operation is thus completed, the alarm buzzer 129 sounds and the screen is switched to display character information 185 and 186 indicating the result of the initial setting. That is, when the initial setting is normally performed, the character information 185 of “normal end” is displayed on the screen of the liquid crystal panel 60b. When the initial setting is not normally performed, the character information 186 of “abnormal end” is displayed on the screen of the liquid crystal panel 60b. (See FIG. 33). Thus, the initial setting result is displayed on the display means.

  On the other hand, when the vehicle height adjustment switch 62 is pressed according to the character information 188 displayed on the screen (see FIG. 32), if the conditions necessary for performing the initial setting are not satisfied, the screen is displayed. The operation procedure for switching and satisfying the condition is shown. For example, the character information 191 of “Please rate the engine”, the character information 192 of “Move the tilt adjustment dial horizontally”, “Move the machine to a horizontal position. Is displayed on the screen as the character information 193 (see FIGS. 34A to 34B). At the same time, when it is necessary to satisfy a plurality of conditions, character information indicating each operation procedure is sequentially switched and displayed on the screen. Then, the operation is performed according to the operation procedure displayed on the screen, and the initial setting is started by satisfying the conditions necessary for performing the initial setting.

  It is also possible to perform control so that the initial setting is automatically performed sequentially. When this initial setting is executed, a visual alarm such as a buzzer sound or a lamp or display is notified to the operator or the surrounding people. I am doing so. In this case, when the desired initial setting is selected from the initial setting menu information, for example, the character information 177 of “the lowest position of the vehicle height” is selected, the character information 194 for prompting a safety confirmation of the surroundings and warning is displayed on the screen (FIG. 35). Then, when the display changeover switch 72 corresponding to the operation instruction mark 166 (character of “confirmation”) is pressed, the surrounding safety is confirmed, the alarm buzzer 129 sounds and the initial setting operation is automatically started. The This alarm buzzer 129 continues to sound during the initial setting operation. When the initial setting operation is completed, the alarm buzzer 129 is stopped and the screen is switched, and character information 185 and 186 indicating the result of the initial setting is displayed, as in the case of manual execution (see FIG. 33). ).

  In other words, the initial setting, which is a complicated operation by manual operation, can be automatically performed, so that the burden on the operator can be reduced. Furthermore, even an operator who is not very familiar with the structure of the work machine can easily perform the initial setting. Further, by continuously sounding the alarm buzzer 129 during the initial setting operation, it is possible to alert the operator and the surrounding area to ensure safety.

  If the control is performed as described above, the initial setting can be performed if the operations of the switches 71 to 74 are executed in accordance with the display on the screen of the liquid crystal panel 60b. Therefore, the initial setting of each device is surely performed with a simple operation. be able to. Therefore, there is no problem that the initial setting cannot be performed without the instruction manual describing the operation procedure of the initial setting.

  Even if the conditions necessary for the initial settings are not met, it is possible to satisfy the conditions by executing the operation according to the display on the screen of the liquid crystal panel. The problem that the setting cannot be made does not occur, and the initial setting can be surely performed.

  Furthermore, since the character information indicating the result can be switched and displayed after completion of the initial setting, the operator can easily grasp from the contents of the result information whether or not the selected initial setting has been normally performed.

  In addition, at the time of shipment, maintenance, etc., the CAN controllers C1 to C4 identify whether or not the initial setting has been performed based on the sensor adjustment information that has been initially set and stored in the EEPROM 78 as described above. It is configured to be able to.

  When the controller serving as each control means is replaced or shipped, the EEPROM 78 serving as a nonvolatile memory stores a predetermined value that is not used after maintenance or shipment. For example, FFFF in hexadecimal is stored in an 8-byte memory. Therefore, the controller can determine that the initial setting has not been performed when this value is read.

  Specifically, in this embodiment, when the mode is shifted from the initial mode to the normal mode, the sensor adjustment information is not stored in the EEPROM 78, and when it is identified that the initial setting is not performed, it is input from the sensor or the like. The controller determines whether the detected value is within the set range. If the detected value is within the normal range, character information 195 and 196 for prompting the initial setting is displayed on the screen of the liquid crystal panel 60b (FIG. 36A). (See (b)). If the detected value is out of range, the input device is specified and the alarm display mode is set. If it is within the range, the character information 195 that only prompts the initial setting is displayed on the screen (see FIG. 36A). Alternatively, the character information 196 for allowing the initial setting to be continuously executed is displayed on the screen (see FIG. 36B).

  In the former case, the initial setting setting mode is entered from the maintenance mode. When the character information 196 that allows the latter initial setting to be continuously executed is displayed on the screen, the character information 196 includes “Yes / No” as an option for determining whether or not to perform the initial setting. When the initial setting is performed, the character “Yes / No” is displayed by pressing the display changeover switch 72 corresponding to the operation instruction indicator 166 (character “left”). When “Yes” is highlighted in the information and the buzzer stop switch 73 corresponding to the operation instruction indicator 167 (the character “decision”) is pressed in this state, it is determined that the initial setting is to be performed. Transition from mode to initial setting mode. Similarly, when “No” is selected, the normal mode is set and the image information of the non-work mode M2a is switched and displayed on the screen of the liquid crystal panel 60b.

  Here, when shifting from the normal mode to the initial setting mode, a display prompting a specific operation that is not normally operated is displayed on the screen (display means). That is, in order to display the initial setting menu information (see FIG. 25 (a)) on the screen, a manual operation that satisfies a certain condition is required, so that the transition to the initial setting mode is complicated, and the operator Prevents inadvertent initial setting. As a manual operation that satisfies a certain condition, for example, a password is input. In this case, when “Yes” is selected in the screen of FIG. 36B, the screen display changes to image information for inputting the password. (See FIG. 37).

  That is, the screen displays character information 197 including selectable characters of “Return to 12345”, which are constituent elements of the password, together with operation instruction indicators 165 to 168. Here, by pressing the first setting switch 71 and the display changeover switch 72 corresponding to the operation instruction signs 165 and 166 (characters “right” and “left”), any number is selected from the character information 197. When the buzzer stop switch 73 corresponding to the operation instruction mark 167 (character “decision”) is pressed in this state, this number is determined and entered in the password field 198.

  If an incorrect number is entered, “Return” is highlighted in the character information 197 and the buzzer stop switch 73 is pressed, so that the numbers entered in the password field 198 are canceled in order from the right side. .

  Similarly, any number of character information 197 is selected and sequentially entered in the password field 198, and the password is determined by pressing the buzzer stop switch 73 in a state where the password has been entered. If this password has been entered correctly, the initial setting menu information (see FIG. 25A) is displayed on the screen. In this way, it is possible to shift to the initial setting mode and perform the initial setting.

  On the other hand, if the password has not been entered correctly, the password field 198 returns to the unentered state as shown in the screen of FIG. 37, and the password must be entered again.

  Note that manual operation that satisfies a certain condition required when shifting to the initial setting mode is not limited to inputting a password, but after pressing the buzzer stop switch 73 and selecting to perform initial setting. Such operations as pressing the display changeover switch 72 and the buzzer stop switch 73 at the same time for an appropriate time, or pressing the display changeover switch 72 for an appropriate time from the time when the power switch 142 is turned on, etc. Any operation is acceptable.

  Also, if a detection error occurs when the detection value input from the sensor or the like is not in the normal range, it is a failure and needs to be replaced (even if the CAN controllers C1 to C4 are replaced after maintenance). The same). After the replacement, when the detection value input from the sensor or the like returns to the normal range, the controller determines that the replacement has been performed, and performs initial setting for the sensor on the screen of the liquid crystal panel 60b. The prompting character information 199 is displayed (see FIG. 38).

  The character information 199 displayed on the screen includes character information “execute / not execute” as an option for determining whether or not to perform the initial setting. Then, by depressing the display changeover switch 72 corresponding to the operation instruction mark 166 (character “left”), “Execute” is highlighted, and in this state, the operation instruction mark 167 (character “decision”) is displayed. By pressing the corresponding buzzer stop switch 73, it is determined that the initial setting is to be performed, and the mode is shifted to the initial setting mode. At this time, in order to display the initial setting menu information on the screen, a manual operation that satisfies a certain condition as described above is required. In the same way, when “not implemented” is selected, the normal mode is set and the image information of the non-work mode M2a is switched and displayed on the screen of the liquid crystal panel 60b.

  In this way, when initial settings are not performed at the time of shipment or maintenance, information that prompts implementation of the initial settings can be displayed on the screen and alerted as necessary. It is possible to prevent the operator from forgetting to perform the initial setting. As a result, it is possible to prevent problems such as start-up failure and operation failure due to the initial setting not being performed during farm work.

  Further, when shifting to the initial setting mode in order to perform the initial setting as described above, conventionally, all the CAN controllers are in a state in which each input / output device is not controlled. Therefore, for example, when the threshing clutch is engaged and the initial setting is performed by shifting to the initial setting mode, the emergency stop control of the engine or the like does not work even if the cutter cover covering the waste cutter is opened. There was a thing.

  Therefore, when the initial setting mode is executed, the CAN controllers C1 to C5 other than the CAN controllers C1 to C5 related to the initial setting control the input / output devices. Therefore, even when the initial setting mode is executed, control such as manual operation and emergency stop can be executed in the same manner as when executing the other modes, so that necessary operations can be performed and safety is improved.

Also, input system devices such as sensors and setting devices provided in each part of the work vehicle, output system devices such as actuators, a plurality of control means for executing control of each input / output system device, and each control means In a control device for a work vehicle having a communication line for connecting between them, each control means is provided with a non-volatile memory, and the information read and used by each control means from the non-volatile memory is non-volatile of other control means. Since it is also stored in the memory and one of the control means is replaced, the control means is configured to read from the nonvolatile memory of the other control means and store in the replaced nonvolatile memory. Even if a certain control means is replaced, the information stored in the storage means of the other control means is transmitted and stored via the communication line to the storage means of the newly replaced control means. Without degrees embodiment, it restores the information stored in the storage means. Therefore, maintainability is improved.
Further, since the control means is configured to store only information related to the setting in the nonvolatile memory, the memory capacity is wasted by excluding special information such as an hour meter that is not related to the setting. And practicality can be improved.
Further, the control means is configured to repair based on the information stored in the non-volatile memory of another control means when an abnormality occurs in the information stored in the non-volatile memory of a certain control means. Therefore, it is possible to repair the information of the storage means in which an abnormality has occurred using the information stored in the storage means of another control means, so it is necessary to re-set and store the memory in which the abnormality has occurred. This eliminates the operation of the repair itself, simplifies maintenance, and improves reliability.
Each of the CAN controllers C1 to C5 has an EEPROM 78 serving as a nonvolatile memory, and each EEPROM 78 is connected to other CAN controllers C1 to C5 in addition to information on devices connected to the controller. Device information is also stored. In other words, the EEPROM 78 of each of the CAN controllers C1 to C5 has information for storing information such as an initial setting value to be saved even when the power is turned off, a time of an hour meter, and a history when an abnormality occurs. Although it is stored, all the information of other controllers is stored as important information at the time of rewriting by that controller.

  As a result, even if any of the CAN controllers C1 to C5 is replaced, the necessary information from the CAN 78 of the other CAN controllers C1 to C5 is stored in the EEPROM 78 of the newly replaced CAN controllers C1 to C5. The data is transmitted via the communication bus 76, stored, and the information can be restored. Therefore, since the adjustment information of the sensor can be easily restored, it is not necessary to perform initial setting again and the maintainability is improved. When all the CAN controllers C1 to C5 are replaced, the character information that prompts the initial setting is displayed on the screen of the liquid crystal panel 60b.

  Further, even when an abnormality occurs in any of the EEPROMs 78 of the CAN controllers C1 to C5, the information stored in the EEPROM 78 can be restored using normal information stored in the EEPROM of another CAN controller. Therefore, the reliability can be improved.

  Further, by limiting the information stored in the EEPROM 78 of all the CAN controllers C1 to C5 to only information related to setting of sensor adjustment information excluding information such as hour meters, the utility is improved. Can do.

  The present invention is not limited to the above-described embodiment, and can be widely applied to agricultural work vehicles such as tractors and other work vehicles.

  The communication bus (line) in the present invention may use not only a CAN (Controller Area Network) protocol but also a LAN (Local Area Network) protocol. The present invention can be applied not only to the above-mentioned CAN communication environment but also to a control system in a LAN communication environment. However, data communication using the CAN communication protocol facilitates exchange of control data between the controllers. In addition, it is possible to smoothly detect a communication error state and perform error processing during that time. Note that there may be a plurality of controllers as control means, or a single controller.

  The input means in the present invention is not limited to the four switches 71 to 74 described above, but may be a touch panel provided on the screen of the liquid crystal panel 60b. In this case, the touch panel is connected to the input interface of the CAN controller C5 via the flexible wiring board, and when the operator presses a portion corresponding to the operation instruction signs 165 to 168 on the surface of the touch panel with a finger, a pen, The touch panel detects this position, transmits this pressed position information to the CAN controller C5 via the flexible wiring board, and the contents of the operation instruction signs 165 to 168 corresponding to the pressed position (for example, move the cursor upward on the screen). Etc.) may be executed.

  Furthermore, the display device of the present invention is not limited to the liquid crystal display device 60 using the liquid crystal panel 60b, and may be a CRT display, an EL display, or the like.

The left view of the combine which concerns on one Example of this invention. Similarly right side view. Similarly front view. Skeleton diagram of power transmission system. Hydraulic circuit diagram. The schematic perspective view of a driver's cab. The enlarged plan view which shows a steering round handle and a liquid crystal display device. The functional block diagram of the whole control apparatus. The functional block diagram of CAN controller C1. The functional block diagram of CAN controller C2. The functional block diagram of CAN controller C3. The functional block diagram of CAN controller C4. The functional block diagram of CAN controller C5. Transition diagram of each mode. Transition diagram of normal mode. The figure of the screen which shows the image information of initial mode. The figure of the screen which shows the image information of non-working mode. The figure of the screen which shows the image information of work mode. The figure of the screen which shows handling cylinder clogging information among work type | system | group abnormality information. (A) The figure of the screen which shows detailed information. (B) The figure of the screen which shows treatment information. The figure of the screen which shows engine oil pressure abnormality information among engine system abnormality information. (A) The figure of the screen which shows detailed information. (B) The figure of the screen which shows treatment information. Illustration of a screen in normal mode with an error indicator. The figure of the screen which shows the image information of error display mode. (A) The figure which shows the information of a handling depth sensor. (B) The figure which shows the information of a fuel sensor. (C) The figure which shows the information of a fuel-injection pump rack actuator. (D) The figure which shows the information of a cutting switch sensor. The figure of the screen which shows the image information of environmental setting mode. The enlarged plan view of the liquid crystal display device of the state which showed the selection menu information in a maintenance mode on a screen. (A) (b) The figure of the screen which shows both initial setting menu information. The figure of the 1st screen which shows the image information at the time of initial setting implementation of an auger storage position. The figure of the 2nd screen which shows the image information at the time of initial setting implementation of an auger storage position. The figure of the 3rd screen which shows the image information at the time of initial setting implementation of an auger storage position. The figure of the 4th screen which shows the image information at the time of initial setting implementation of an auger storage position. The figure of the 5th screen which shows the image information at the time of initial setting implementation of an auger storage position. The figure of the 6th screen which shows the image information at the time of initial setting implementation of an auger storage position. (A) The figure which shows the information when initialization is completed normally. (B) The figure which shows the information when initialization is not complete | finished normally. The figure of the 1st screen which shows the image information at the time of initial setting implementation of a vehicle height lowest position. The figure of the 2nd screen which shows the image information at the time of initial setting implementation of a vehicle height lowest position. (A) The figure which shows the information when initialization is completed normally. (B) The figure which shows the information when initialization is not complete | finished normally. (A)-(c) The figure of the screen which shows the image information when not satisfy | filling the implementation conditions of initial setting at the time of initial setting implementation of a vehicle height lowest position. The figure of the 1st screen which shows the image information at the time of initial setting implementation of the auger storage position in another Example. The figure of the screen which shows the image information displayed when initial setting is not implemented. (A) The figure which shows the information in the case of only encouraging implementation of initial setting. (B) The figure which shows the information in the case of encouraging implementation of initial setting and enabling. The figure of the screen which shows the image information at the time of password input. The figure of the screen which shows the image information displayed when the apparatus which concerns on implementation of initial setting is replaced | exchanged.

C1 to C5 CAN controller S1 to S5 Application control program M1 Initial mode M2 Normal mode M3 Alarm display mode M4 Environment setting mode M5 Error display mode M6 Maintenance mode 1 Traveling machine body 2 Traveling crawler 3 Threshing device 4 Cutting pretreatment device 15 Engine 28 Discharge Auger 56 Driver's seat 57 Front column cover body 58 Steering round handle 60 Liquid crystal display device 60a Case 60b Liquid crystal panel as display means 70 Work lamp 71 First setting switch 72 Display changeover switch 73 Buzzer stop switch 74 Second changeover switch 75 Control Device 77 CPU
78 EEPROM

Claims (4)

An input system device such as a sensor or a setter provided in each part of the work vehicle, an output system device such as an actuator, a plurality of control means for executing control of each input / output system device, and between each control means In the work vehicle control device including the communication line to be connected, the control means is connected to the display means and the operation means, and initial setting is performed on information stored in the nonvolatile memory of each control means. If the initial setting has not been performed, it is determined whether or not the detection value input from the input system device is within a setting range. A control device for a work vehicle, characterized in that information for prompting the initial setting of the output system device for operating each part of the work vehicle is displayed on the means.   An input system device such as a sensor or a setter provided in each part of the work vehicle, an output system device such as an actuator, a plurality of control means for executing control of each input / output system device, and between each control means In a work vehicle control device including a communication line to be connected, the control means determines that an input value from the input system device is abnormal and replaces the input system device. A control apparatus for a work vehicle, characterized in that, when it is determined that a detection value from a system device has returned to a normal range, information prompting the initial setting of the input device to be displayed is displayed on the display means. The control means, when selecting the implementation of the initial setting, displays a display for prompting a manual operation that satisfies a certain condition including input of a password as a specific operation that is not normally operated on the display means. The work vehicle control device according to claim 1 or 2. When the initial setting operation is started, the control means automatically executes the initial setting operation of the input / output devices sequentially according to the start operation, and notifies an alarm at the time of execution. The work vehicle control device according to claim 1 or 2.

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