JP3418137B2 - Work machine control device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to sensors for detecting control information, actuators for work, control means for executing control for work, and control information required for executing control manually. Information input means for inputting by operation is provided, the control means, as work control, based on the detection information of the sensors and the control information, determines the appropriate drive content for the actuators, The present invention relates to a control device for a work machine configured to control the operation of the actuators based on the appropriate drive content.

[0002]

2. Description of the Related Art In a control device for a work machine, for example, in a combine for cutting and harvesting, which is an example of the work machine,
Various controls such as cutting height control, handling depth control, and threshing control are executed as work controls in order to properly operate the machine parts such as the mowing unit and the threshing unit. Control information necessary for execution of control such as start-up information of whether to execute or adjustment information for each control is input to the control means by a manual switch or the like provided as information input means,
As the work control, the control means controls the actuators to operate properly according to the contents determined based on the detection information of the sensors and the control information. However, when the above control information is not normally input due to a failure of a manual switch or the like, if work control is executed based on the abnormal control information, work may not be performed properly. Therefore, the control means stops the execution of the work control and informs the operator that a failure has occurred by blinking a lamp or operating a buzzer.

[0003]

In the above-mentioned prior art, when the control information is not normally input due to a failure of a switch or the like provided in the information input means, the control information is transmitted to another switch or the like. Even in the case of normal input, all the work controls are stopped and the work is stopped, so that there is a problem that the work efficiency is likely to decrease. However, even if a part of the control information is not properly input, depending on the content of the control information, it is possible to continue the work without causing serious trouble even if the control is executed as it is. Yes, and it may be preferable to continue the work. In the case of the combine, for example, when the start switch for the depth control is operated to the control-ON state and the vehicle is running while mowing while executing the depth control, the start switch fails and normal control is entered. When the state information is no longer entered, when the depth of cut control is stopped, the automatic control was used until the proper depth of depth was reached. May change to an improper state, resulting in problems such as being left unhandled.

The present invention has been made in view of the above circumstances, and an object thereof is to solve the problems of the above-mentioned conventional technique in the case where the control information is not normally input by the information input means. However, there is a point to avoid a decrease in work efficiency by continuing the work as much as possible.

[0005]

According to claim 1, control is provided.
Information detection sensors, work actuators, products
Control means for executing control for business, and execution of control
Information input to manually input the control information required for
Means are provided, and the control means is a control for work.
Based on the detection information of the sensors and the control information.
The proper drive content for the actuators.
The actuator, based on the appropriate drive content.
Control of work machines configured to control the operation of
In the apparatus, the control means includes an information storage means for storing the control information, and when the control information input by the information input means is normal, the control information is stored as When the processing for updating and storing in the information storage means is repeatedly executed, the work control is executed based on the control information, and the control information input by the information input means is not normal. And is configured to execute the work control based on the control information stored in the information storage means,
Information input means is configured to input control start information
Has been done. That is, if the control information input by the information input means is normal, the control information is repeatedly updated and stored in the information storage means, and the work control is performed based on the input control information. On the other hand, if the control information input by the information input means is not normal, the work control is executed based on the control information updated and stored in the information storage means. Therefore, when the control information is not normally input, the work control is executed based on the latest control information that has been normally input until then. If work control is stopped immediately if the work information is not input normally, there is a problem that work efficiency tends to decrease, whereas work control is performed based on normal control information. It is possible to appropriately perform the work to continue the work as much as possible, and to avoid a decrease in work efficiency.

According to a second aspect, in the first aspect, the control means determines whether or not the work can be continued when the control information input by the information input means is not normal. Then, when it is determined that the work can be continued, the work control is executed based on the control information stored in the information storage means, and the work cannot be continued. If it is determined that the operation control is stopped, the execution of the work control is stopped. Therefore,
When the control information is no longer input normally, it is judged whether or not the work can be continued, and the control stored in the information storage means is limited only when the work can be continued. The control for the work is executed based on the work information, and when the work cannot be continued, the control for the work is stopped. If there is no risk of major trouble even if the control is performed by substituting the work information, it is judged that the work can be continued and the work is appropriately continued, while the stored control information is stored. If there is a possibility that a large amount of trouble will occur if you execute the control by substituting for, determine that it is impossible to continue the work and stop the work control to appropriately avoid the occurrence of the trouble. Can be done Suitable means of claim 1 is obtained.

According to claim 3, in claim 1 or 2, the control means informs that the control information is not normal when the control information input by the information input means is not normal. For this purpose, it is arranged to activate the alarm means. Therefore, since the operator is informed that the control information is not normally input by the operation of the alarm means, the work is appropriately executed by the control based on the stored control information while the work is continued, for example. Whether or not the switch provided in the information input means is properly inspected by reading the error information stored during the operation of the machine after the completion of the work. Two suitable measures are obtained.

According to a fourth aspect, in any one of the first to third aspects, the control means is configured to execute a plurality of controls as the work control, and the information input means includes: As control information for each of the plurality of controls, activation information for each control and adjustment information for each control are input. Therefore, of the start information of each of the plurality of controls executed as the control for work and the adjustment information for each control, for example, only the start information of one control is not normally input, and the start information of other controls and In the case where the adjustment information is normally input, the control based on the stored control information for only the one control is performed as compared with the case where the execution of all of the plurality of controls is stopped as in the conventional case. Done,
As for other controls, the control based on the input control information can be performed to appropriately execute the work control, and thus the suitable means according to any one of claims 1 to 3 can be obtained. .

According to a fifth aspect, in any one of the first to fourth aspects, the information input means is configured to transmit the control information to the control means via a communication line. An input processing unit to which the sensors are connected is configured to transmit detection information of the sensors to the control unit via the communication line, and an output processing unit to which the actuators are connected, The control means is configured to receive drive data for driving the actuators from the control means through the communication line and output a drive signal to the actuators based on the drive data. As the work control, based on each transmission data of the detection information of the sensors and the control information, determine the appropriate drive content for the actuators, The control is performed depending on whether or not the transmission data of the control information transmitted from the information input unit is normal data while performing the process of transmitting the appropriate drive content as the drive data to the output processing unit. It is configured to determine whether the usage information is normal.

Therefore, for example, the control means provided on the center side receives the control information of the information input means and the detection information of the sensors as the transmission data transmitted via the communication line, and based on those transmission data. The control information is transmitted as drive data for driving the actuators through the communication line so that the control means centrally and appropriately executes the control of the entire work vehicle and the control means on the central side. If an error occurs in the communication processing with the information input means and the transmission data of the control information becomes abnormal data, it is stored in the normal communication state before the communication abnormality. It is possible to perform the work control based on the transmitted transmission data of the control information, so that the preferable means according to any one of claims 1 to 4 can be obtained.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION A case in which an embodiment of the present invention is applied to a combine as a working machine will be described below with reference to the drawings. As shown in FIG. 1 to FIG. 3, the combine has a mowing unit at a front part of a machine body V including a pair of left and right crawler traveling devices 30 in a state of being vertically swingable around a horizontal axis X by a mowing lifting cylinder 5. 1 is attached to the rear of the mowing unit 1, a control unit 31, a threshing unit 2 for threshing and selecting a mowing culm, a tank 3 for storing grains supplied from the threshing unit 2, and a inside of the tank 3. The unloader 32 for discharging the grain for discharging the grain is mounted and configured.

As shown in FIG. 2, the mowing section 1 has a weeding tool 33 attached to the tip, a grain culm raising device 34, a mowing blade 35 for cutting the root of the culm, and a mowing unit. Auxiliary transport device 3 that collects and gathers grain culms and transports them backward
7. A vertical transport device 36 and the like for receiving the cut culm on the tip side and transferring it to the feed chain 52 of the threshing unit 2 are provided. Further, there are provided an ultrasonic sensor S6 for detecting the height of the mowing unit 1 with respect to the ground, and a stock source sensor S2 for detecting that the grain stem touches and is turned on to detect that the mowing operation is being performed. Then, based on the information from the ultrasonic sensor S6, the cutting height control for controlling the operation of the cutting lifting cylinder 5 is executed so that the ground height of the cutting unit 1 is maintained at the target set height.

The vertical transfer device 36 (in FIG. 2, there is a part that is partially different from FIG. 1 in order to explain the function of the vertical transfer device 36) is used for the grain culm side. It is composed of a stock-source transport device 36a for nipping and transporting, a spike-tip transport device 36b for locking and transporting the tip side of grain culms, and a tip guide plate 36c, and is swingable around the same axis as the swing axis X of the cutting unit 1. It is supported and is provided so as to be swingable and adjustable by the handling depth motor M1, whereby the pinching point of the grain culm received from the auxiliary transport device 37 is changed in the culm length direction, and the handling depth in the threshing unit 2 is adjusted. It is configured to be able to. Further, in the transfer route of the cut grain culms, they are juxtaposed at intervals in the culm length direction on the lower side in the transport direction than the position where the handling depth is adjusted by the handling depth motor M1, and swing when the grain culms come into contact. Switch type pair of tip sensors S8a, S8
b is provided. Then, the pair of tip sensors S
8a, S8b, the state in which the tip of the grain culm is located (the state where the plant-side sensor S8b is on and the tip-side sensor S8a is off) is set as the appropriate handling depth state and is maintained in that appropriate handling depth state. Thus, the handling depth control for controlling the operation of the handling depth motor M1 is executed.

As shown in FIG. 3, in the second weeding tool 33 from the left toward the front of the machine body, the lateral direction of the machine body V of the machine body V with respect to the grain culm row introduced between the plurality of weeding tools 33. A pair of left and right direction sensors S1 having a detection bar that abuts on the culm and swings toward the rear side of the machine body is provided to detect the position at. Then, based on the information from the pair of direction sensors S1, the left and right steering devices for turning the power transmission to and from the left and right crawler traveling devices 30 so that the traveling machine body V automatically travels along the planted culm. Directional control is executed to control the operation of the steering cylinders 9L and 9R (see FIG. 19) that operate the clutches 20L and 20R, respectively. That is,
Since the vehicle body V turns to the side of the left and right crawler traveling devices 30 where the power transmission is cut off, when the vehicle body V is displaced from the proper position, the power to the crawler traveling device 30 on the opposite side to the above displacement is generated. The steering cylinder 9 so as to cut off the transmission.
Operate L and 9R to correct the traveling direction.

Each of the left and right crawler traveling devices 30 has a left and right track frame 30d having a drive sprocket 30a, a tension roller 30b, and a plurality of driven wheels 30c.
And the left and right track frames 30d
A rolling cylinder 30e is provided for vertically moving the machine body V, and the machine body V is provided with a rolling sensor S4 for detecting the inclination of the machine body with respect to the horizontal plane. Then, based on the information of the rolling sensor S4, horizontal control for controlling the operation of the left and right rolling cylinders 30e is executed so as to maintain the body posture in a predetermined posture such as a horizontal posture regardless of the state of the ground. .

The unloader 32 is provided with a discharge port 32a in a downward posture at its tip end, is supported by a support part 32b in a state in which the base end side is vertically swingable around a horizontal axis Z, and
An unloader hydraulic cylinder 62 for swinging up and down is provided, and the support portion 32b is pivotally supported on the machine body V in a state in which the support portion 32b can be swiveled around the vertical axis Y, and swiveling for swiveling drive. A motor M3 for use is provided. or,
An unloader position sensor S3 including a potentiometer is provided to detect the turning position of the support portion 32b. It should be noted that FIG. 3 shows a state in which the unloader 32 is operated to the home position for storage during the mowing work or the like. Then, based on information such as the unloader position sensor S3 and a limit switch (not shown) for detecting the limit position of the raising operation and the turning operation in the left-right direction,
Unloader control for controlling the operation of the unloader 32 is executed.

As shown in FIG. 4, the threshing unit 2 includes a handling cylinder 51.
A handling room A for storing a feed chain, a feed chain 52 for conveying grain culms supplied from the reaping section 1, a toumi 53 and a swing selection plate 5
4 and the sorting device B, the first port 55 for collecting the grain, and the second port 56 for collecting the mixture of the grain and the straw waste.
And so on. Then, among the processed products threshed in the handling room A, the single-grained products leak to the sorting apparatus B from the receiving net 57 provided in the lower part of the handling room A, and the other processed products receive the receiving net 57. It falls on the sorting apparatus B from the rear end.

As shown in FIG. 2, a nipping rail 52a is arranged opposite to the feed chain 52 in a state of being pressed and urged toward the feed chain 52 side, and the feed chain 52 and the nipping rail 52a are rotatably driven. Is configured to hold and convey the root portion of the grain culm. However, the sandwiching rail portion located on the front side of the handling chamber A is configured to be movable to an upper position separated from the feed chain 52 by the rail lifting motor M2 and the like. As a result, in addition to the normal state in which threshing processing is performed while sandwiching and transporting the harvested grain culms laterally of the handling room A, when the culm length of the harvested grain culm is extremely short, all the culms of the grain culm are transferred to the handling room A. It is configured so that rail control for driving the rail raising motor M2 and the like to be turned on can be executed.

The swinging sorting plate 54 of the sorting apparatus B is used for the
3 includes a Glen pan 58 located above, a chaff sheave 59 located behind it, a Glen sheave 61 located below it, and the like. The chaff sheave 59 is composed of a plurality of strip plate members arranged side by side in the process product transfer direction, and the interval (chuff opening) between the adjacent strip plate members is changed by the chaff opening adjusting motor M4. Has been done. In addition, S10 is a sheave sensor that detects the layer thickness of the processed material on the swing selection plate 54. The toumi 53 is for blowing off the straw chips on the swing selection plate 54, and the fan case cover 53a on the rear side is attached to the toumi wind force adjusting motor M.
The wind force (Toumi wind force) exerted on the processed object on the swing selection plate 54 is changed by opening and closing at 5. That is, the larger the opening of the cover, the smaller the wind force toward the front side, and the smaller the Tumi wind force.

Then, in order that the sorting process in the sorting device B is properly performed, according to the amount of the leaked substance from the handling room A,
Chaf opening adjustment motor M4 and Toumi wind force adjustment motor M
Threshing control for controlling the operation of No. 5 is executed. Here, when the traveling speed is high, the amount of harvested culm culms supplied to the handling room A is large, and the amount of processed material leaked from the handling room A is large.
The larger the amount of grain culm supplied to the handling room A, which is determined based on the information of the vehicle speed sensor S7 described later, is, the larger the chaff opening and the toumi wind force are controlled.

Next, the power transmission system is shown in FIG. The output of the engine E mounted on the machine body V is transmitted to the threshing unit 2 via the threshing clutch 37 and the traveling clutch 38.
And transmitted to the mission unit 40 of the crawler traveling device 30 via the continuously variable transmission 39. The output transmitted to the mission unit 40 is transmitted to the crawler traveling device 30 via an auxiliary transmission device (not shown) provided in the mission unit 40, and is also transmitted to the mowing unit 1 via the mowing clutch 47. S9 is a threshing switch for detecting the on / off state of the threshing clutch 37, S7 is a vehicle speed sensor for detecting the traveling speed based on the input rotation speed to the mission unit 40, and S5 is an electromagnetic pickup engine. It is a rotation speed sensor. Further, a shift motor M6 for shifting the continuously variable transmission 39 and a hydraulic clutch (not shown) for shifting the auxiliary transmission are provided. Here, since the engine speed decreases as the load on the engine E increases, the load on the engine E is determined by the amount of decrease in the engine speed from the engine speed (reference speed) when there is no load. Then, in order to utilize the capacity of the engine E as effectively as possible, the vehicle speed sensor S7
In order that the engine load determined based on the information of the engine speed sensor S5 may be maintained in an appropriate range under the condition that the traveling speed detected by the above does not exceed the set upper limit speed,
Vehicle speed control for controlling the operation of the speed change motor M6 is executed.

Next, start-up commands for the above-mentioned various controls (cutting height control, handling depth control, direction control, horizontal control, unloader control, rail control, threshing control, etc.) and information such as control target values are input. The input means and the display means for displaying various information will be described. As shown in FIG. 6 and FIG. 7, a basic switch module MU1 equipped with a start switch for each of the above controls, an adjustment volume, etc. on the left side of the seat 31A of the control unit 31 in order from the side closer to the seat (see FIG. 8). ) And a horizontal control switch module MU3 (see FIG. 10) provided with a horizontal control start switch, a manual operation switch, and the like, and a manual speed change lever 7 for speed-changing the traveling speed.
However, it is provided in a state in which the grip portion 7A is located above the basic switch module MU1. The shift motor M6 is driven according to the operation of the manual shift lever 7. On the other hand, on the right front side of the seat 31A,
B is provided, and an unloader switch module MU2 (see FIG. 9) including a switch and the like for operating the unloader 32 is disposed at the right rear position of the seat.

On the right front side of the control section 31, a cross-operated mowing is provided, which serves both as a mowing lift lever for manually raising and lowering the mowing section 1 and a steering lever for manually turning the traveling body V right and left. A high steering lever 8 is provided.
In other words, when the cutting height steering lever 8 is swung rearward, the mowing section 1 is raised, while when it is swung forward, the cutting section 1 is lowered and the cutting height steering lever 8 is swung left. When operated, the aircraft turns left, while when swinging to the right, the aircraft turns right. In addition, in order to detect the swinging operation amount in each direction of the cutting height and the steering operation of the cutting height steering lever 8,
A mowing lift detection sensor S12 and a steering operation detection sensor S13, which are respectively configured by potentiometers, are provided. A display module MU4 (see FIG. 11) for displaying various information is provided on the panel on the left front side of the control unit 31.
Is provided.

The basic switch module MU1 includes
As shown in FIG. 8, an operation unit section 41 for threshing and depth control, a vehicle speed control operation unit section 42, a direction control operation unit section 43, a cutting height control operation unit section 44, a rail control operation unit section. 45 and a spare operation unit section 46 are provided. The spare operation unit section 46 is used as an operation unit section when a control other than the above is added.

The threshing and handling depth control operation unit section 41 has one crop condition selected from the handling depth control activation switch 41a constituted by an illuminated push button switch, wheat, rice and wetness. Crop switching volume 41 to select
b, a chaff volume 41 for adjusting the chaff opening
c and a toumi volume 41d for adjusting the toumi wind force are integrally formed. Here, in the above-mentioned one crop condition, as the chaff volume 41c is turned to the open side, the control state of the chaff opening with respect to the grain culm supply amount is changed and adjusted to the open side as a whole, and the toumi volume 4 is adjusted.
As 1d is turned to the strong side, the control state of the Tumi wind force for the grain culm supply amount is changed and adjusted to the strong side as a whole.
In addition, depending on the selection of crop conditions, the control state of the chaff opening is changed and adjusted to the open side as a whole, and the control state of the Tumi wind force is changed and adjusted to the strong side as a whole in the order of wheat, rice, and wetness.

The vehicle speed control operation unit 42 is integrally formed with a vehicle speed control start switch 42a formed of an illuminated push button switch and a vehicle speed limiting volume 42b for setting an upper limit vehicle speed. The direction control operation unit section 43 is integrally formed with a direction control start switch 43a formed of an illuminated push button switch and a turning force switching volume 43b for adjusting the turning force. Here, when the turning force switching volume 43b is turned to the large side, the duty-driving steering cylinder 9 is driven.
The ratio of the on time to the off time of L and 9R (the duty ratio) is changed to the large side to increase the turning force, and when turned to the small side, the duty ratio is changed to the small side and the turning force is decreased. The cutting height control operation unit 44 is integrally formed with a cutting height control start switch 44a configured as an illuminated push button switch and a cutting height adjustment volume 44b for setting a target cutting height. ing. The rail control operation unit portion 45 is integrally formed with a start switch 45a for turning on / off the rail control and a rail control lamp 45b for displaying the on / off state of the rail control. Note that FIG. 8 exemplifies the one (with click) capable of adjusting each switching by the chaff volume 41c, the toumi volume 41d, the vehicle speed limiting volume 42b, the turning force switching volume 43b, and the cutting height adjustment volume 44b in seven stages.

As shown in FIGS. 9 and 27, the unloader switch module MU2 includes an automatic / stop switch 50a for starting or stopping the automatic operation of the unloader 32, which is constituted by an illuminated push button switch, and an illuminated type. Tank overhang open switch 5 configured as a push button switch
0b, a tank overhanging close switch 50c, a manual operation switch 50d configured to be a cross operation key for manually raising / lowering / turning right / left turning the unloader 32, and a target stop position of the unloader 32 on the left side of the machine body. A stop position selection volume 50e that is selected from the rear side of the machine body and the right side of the machine body is integrally formed.

The horizontal control switch module MU3 includes
As shown in FIGS. 10 and 28, an automatic switch 6 for activation of horizontal control, which is configured as an illuminated push button switch.
0a, a horizontal mode changeover switch 60b configured as an illuminated push button switch for switching the horizontal control mode between an up reference and a down reference, a reverse vehicle body up switch 60c configured as an illuminated push button switch, and a cross key. A manual operation switch 60d configured to operate the aircraft posture to each state of right raising, left raising, raising, and lowering, and a horizontal adjusting volume for setting a target tilt state when the horizontal control is activated (automatic mode) 60e is integrally formed.

As described above, the information input for manually inputting the control information necessary for executing a plurality of controls (threshold control, handling depth control, vehicle speed control, direction control, cutting height control, rail control) The means JN is the switch module MU1.
~ It is constituted by using a manual switch or volume provided in the MU3, the information input means JN, as the control information of each of the plurality of controls, to input start information of each control and adjustment information for each control. Is configured. here,
The activation information for each control is input by each activation switch or automatic switch, and the adjustment information for each control is input by various volumes.

In the display module MU4, as shown in FIG. 11, an indicator needle type fuel meter 70a, an indicator needle type tachometer 70b, a water temperature meter 70c, a fir LCD 70d for displaying the amount of fir in the tank 3, Further, a main LCD 70e for displaying various messages and graphs is provided, and further, left and right turn signal lamps 70f, various warning lamps 70g for charging, charging, braking, oil, and checking, and the auxiliary transmission device. Switching state is high speed,
An auxiliary gear shift lamp 70h is provided to indicate which of the standard, fallen, and neutral states the vehicle is in. In the figure, on the main LCD 70e, a bar graph showing the load level of the engine is shown on the upper side, and a bar graph showing the amount of processed substances on the swing selection plate 54 of the threshing unit 2 detected by the sheave sensor S10 is shown. The displayed items are illustrated on the lower side.

Then, as shown in FIGS. 12 and 13,
Central control unit C for centrally executing control of the entire combine
U, and a plurality of terminal control units LU (LU1 to L) distributed and arranged in various parts of the machine body such as the mowing unit 1, the threshing unit 2, the tank unit (consisting of the tank 3 and the unloader 32), and the main unit unit 4
U5) and each module MU (MU1 to MU4) are communicably connected via communication lines T1 and T2. Here, using the central control unit CU, a control means for executing work control is configured, and as the work control, a plurality of controls (cutting height control, cutting depth control, direction control,
(Horizontal control, unloader control, rail control, threshing control, etc.)
Is configured to run.

Sensors SW for detecting control information and actuators AK for work are provided in the plurality of terminal control units L.
It is configured to be connected to any one of U and input / output a signal to / from the connected terminal control unit LU.
The actuators AK include the hydraulic cylinders, electric motors, etc. for operating the working devices provided in various parts of the machine body, and the sensors SW turn various control information ON / OFF.
It is composed of a switch and the like which is detected as binary information. Specifically, as illustrated in FIG. 12, a drive signal for the handling depth motor M1 is output from the terminal control unit LU3 arranged in the mowing unit 1, and the terminal control unit LU3
Detection signals from the direction sensor S1, the stock sensor S2, and the tip sensors S8a and S8b are input.
A drive signal is output from the terminal control unit LU4 arranged in the threshing unit 2 to the rail raising motor M2, the chaff opening adjustment motor M4, and the toumi wind force adjustment motor M5.

Two terminal control units L arranged in the main unit 4
One of U1 and U2 outputs a drive signal to the shift motor M6 from one terminal control unit LU2, and switches the shift state of the threshing switch S9 and the auxiliary transmission to the terminal control unit LU2. A signal from an auxiliary shift switch (not shown) is input, and the other terminal control unit LU1 is configured as a terminal control unit dedicated to hydraulic output. From this terminal control unit LU1, the reaper lifting cylinder 5 and the steering wheel are arranged. Drive signals are output to respective solenoids for driving the cylinders 9L and 9R, the rolling cylinder 30e, and the unloader hydraulic cylinder 62. A drive signal for the turning motor M3 is output from the terminal control unit LU5 arranged in the tank unit, and at the same time, a fir sensor S11 for detecting the amount of grains stored in the tank 3 is output to the terminal control unit LU5. The detection signal is input.

A high-speed communication line T1 for high-speed communication and a low-speed communication line T2 for low-speed communication are connected to the central control unit CU, and signals for which high-speed communication processing is required to drive the actuators AK are transmitted. Input / output terminal control units (hereinafter, referred to as high-speed terminal units) LU1 to LU5 are connected to the high-speed communication line T1, while the switch modules MU1 to MU3 and displays for inputting / outputting signals for which high-speed communication processing is not required. Module MU4 is connected to the low-speed communication line T2.

As shown in FIG. 13, the central control unit CU is provided with a microcomputer CPU for control processing, and the microcomputer CPU and the high-speed communication line T1.
A gate array GA1 that relays data exchange between the gate array GA1 and the data is provided. Here, the microcomputer C
Data exchange between the PU and the gate array GA1 is performed via an 8-bit bus line. On the other hand, each of the high-speed terminal units LU1 to LU5 connected to the high-speed communication line T1 includes a gate array GA2 that relays data exchange between the high-speed communication line T1 and the sensors SW and actuators AK.

Microcomputer CPU for controlling the above
The analog input signal from the analog type sensor that detects continuously changing information such as a potentiometer and the pulse input signal from the pulse type sensor that detects the number of revolutions are input via the signal processing circuit. Port Port
1 and 2, the drive signal for the engine stop solenoid SOLe for shutting off the fuel supply to the engine E and stopping the engine, and the drive signal for the alarm buzzer 48 and the alarm lamp 49 are output to the output port Port4. Is output from. As the analog input signal, the respective detection signals from the unloader position sensor S3, the rolling sensor S4, the ultrasonic sensor S6, the sheave sensor S10, the mowing lift detection sensor S12 and the steering operation detection sensor S13 are input, As the pulse input signal, the detection signal from the vehicle speed sensor S7 is input, and further, the signal of the main switch MW for turning on the power is input.

Further, the microcomputer C for controlling the above
The PU has a built-in memory RAM such as a RAM for storing control data, and is connected to a nonvolatile memory MEM such as an EEPROM. The memory RAM has detection data of the sensors and each switch module MU1.
Input data of switches of the MU3 to MU3, drive data for the actuators AK, etc. are stored, and various kinds of error information generated during machine operation are stored in the non-volatile memory MEM. In the figure, PS1 is a DC voltage source that supplies a power supply voltage and a reset signal when the power is turned on to the microcomputer CPU, the gate array GA1, and the like.

As shown in FIG. 13, each high-speed terminal unit LU1
4 harnesses A for generating address signals for ~ 5
D1 to D4 are provided by combining a harness of a LOW level voltage connected to the ground and a harness in a non-connection state, and the harness AD1 to 4 and the sensors SW and actuators AK are integrally formed into a connector CN. Is connected to each of the high-speed terminal units LU1 to LU5 via. The harnesses AD1 to AD4 are connected to the external terminals A0 to A3 for address setting of the gate array GA2, and LOW.
A LOW level voltage signal is supplied from the level voltage harness, and a HIGH level voltage signal pulled up to the power supply side inside the gate array GA2 is supplied to the unconnected harness. The address is set. In the example of FIG. 13, in the high-speed terminal unit LU3, all the external terminals A0 to A3 are LOW.
It is a level and is set as address 0. The sensors SW and the actuators AK are connected to the input / output port of the gate array GA2 via a signal processing circuit and a driving circuit, respectively. In the figure, PS2 is a gate array G
It is a DC voltage source that supplies a power supply voltage to A2 and the like.

The high-speed communication line T1 is, for example, RS485.
As shown in FIG. 13, each gate array GA1 is connected to the contact point between the two-wire communication line Ln and the communication line Ln in the central control unit CU and each high-speed terminal unit LU1 to LU5. , The transmission data received from
Communication line Ln converted to a signal conforming to the standard such as 485
While inputting the signal on the communication line Ln,
A communication driver DR that outputs the received data to each of the gate arrays GA1 and GA2 is provided.

The gate array GA1 on the center side and the gate array GA2 on the terminal side are configured to switch and use the modes of the gate array GA formed in the communication IC of the same specifications. Hereinafter, a specific description will be given with reference to FIG.

As shown in FIG. 14A, the gate array GA is switched to the master mode in which the internal circuit functions as the gate array GA1 on the center side when the MODE terminal is set to the LOW level. In this master mode,
The gate array GA includes an input / output buffer 11 for holding data input / output to / from the CPU via a bus line, a transmission buffer 13 for holding parallel data for transmission from the input / output buffer 11, and a transmission buffer 13 P / S to convert parallel data into serial data
The conversion unit 14, the communication control circuit 16 for transmitting the serial data from the P / S conversion unit 14 to which the CRC data for error detection from the CRC generation unit 15 is added as transmission data, and the received serial data S / P converter 18 for serial / parallel conversion, error detector 17 for checking the received serial data such as CRC to detect the presence / absence of communication error, and parallel data / error detector from S / P converter 18 The receiving buffer 19 which holds the error data from 17 and outputs it to the input / output buffer 11, and the CPU inputs the R / W (read / write) signal and STB (data strobe) signal which are control signals at the time of data input / output. Interrupt IN for CPU
The configuration includes a CPU I / F unit 12 that outputs a T signal.

The gate array GA is shown in FIG.
As shown in (b), when the MODE terminal is set to the HIGH level, the internal circuit is switched to the slave mode in which it functions as the gate array GA2 on the terminal side. In this slave mode, the gate array GA detects the sensors SW and the actuators AK. An input / output port 21 for inputting / outputting data to / from, a transmission buffer 13 for holding detection signals from the respective sensors SW inputted via the input / output port 21 as parallel data, and parallel data of the transmission buffer 13. To convert serial to parallel data
The S conversion unit 14, a communication control circuit 16 for transmitting the serial data from the P / S conversion unit 14 to which CRC data for error detection from the CRC generation unit 15 is added as transmission data, and the received serial data S / P conversion unit 18 for converting the serial data into parallel data, an error detection unit 17 for checking the CRC and address of the received serial data and detecting the presence / absence of a communication error, and an S / P
Parallel data from converter 18 and error detector 17
The reception buffer 19 holds error data from the I / O port 21 and outputs the error data to the input / output port 21, and the address setting unit 22 for setting an address for each of the high-speed terminal units LU1 to LU5. Each of the input / output ports 21 has eight
The I / O buffer 11 in the master mode is shared with the port PB of the I / O port 21 in the slave mode.

The central control unit CU performs high-speed communication processing with the high-speed terminal units LU1 to 5 connected to the high-speed communication line T1 via the gate arrays GA1 and GA2 and the high-speed communication line T1. Is configured to run. Specifically, as shown in FIG. 15, the central control unit CU designates the address set for each of the high speed terminal units LU1 to 5, and uses the polling selecting method to set each of the high speed terminal units LU1 to LU5. Configured to multiplex with. In other words, the microcomputer CPU of the central control unit CU
By a transmission interrupt process at a set time interval, a request signal (data input of each sensor SW or output request to each actuator AK) for each high-speed terminal unit LU1-5 is output to the gate array GA1 and each high-speed terminal unit is output. Gate array GA that receives reply signals (input data or ACK data of each sensor SW) from LU1-5
By the reception interrupt processing activated by the interrupt signal from 1, the reply signal from each of the high speed terminal units LU1 to 5 is received. Then, the set time interval is set so that communication with all the high-speed terminal units LU1 to 5 can be executed at the set polling cycle Tp (for example, 5 ms).

Further, the microcomputer CPU of the central control unit CU has a serial communication interface function as a standard function, while each switch and display module MU1 to MU4 as shown in FIGS.
The input / output signal processing controller 29 provided in
Similarly, it is configured by a one-chip microcomputer having a serial communication interface function as a standard function.
The low-speed communication line T2, like the high-speed communication line T1,
For example, it is configured by using the standard of RS485, and FIG.
2, a two-wire communication line Ln ′ is provided, and the CPU of the central control unit CU and each module M are
Controller 29 and communication line Ln ′ in U1 to U4
To the communication line Ln ′ while converting the transmission data received from the CPU of the central control unit CU and each controller 29 into a signal conforming to the standard such as RS485 and outputting the signal to the communication line Ln ′. To input the received data to the CPU of the central control unit CU and each controller 2
A communication driver DR ′ for outputting to 9 is provided.

The microcomputer C on the center side
By using both serial communication interface functions provided in the PU and the controller 29 on each module side, the central control unit CU directly performs low-speed communication processing with each module MU1 to 4 via the low-speed communication line T2. Is configured to run. Specifically, as shown in FIG. 16, the central control unit CU uses the polling selecting method to sequentially specify the addresses set for the modules MU1 to MU4. Data (data of each manual switch and adjustment volume) is input and data is output to each module MU1 to MU4 (display data of each lamp or display unit).
That is, the microcomputer CPU of the central control unit CU
However, the request interrupt signal is transmitted to the modules MU1 to MU4 by the transmission interrupt process at the set time interval, and the reception interrupt is activated in response to the return signals from the terminal control units LU1 to LU5. In the reception interrupt processing, the return signals from the modules MU1 to 4 are received. When the communication processing by the low speed communication line T2 and the communication processing by the high speed communication line T2 are performed at the same time, the communication processing by the high speed communication line T2 is preferentially executed. Here, it takes about 15 ms for the process of transmitting the request signal to one module MU1 to 4 and the process of receiving the response signal from the module MU1 to 4, and it takes about 4 ms.
The set time interval is set so that communication with all of the one module MU1 to 4 is executed within a predetermined time (60 ms at maximum).

The manual switch provided in each of the switch modules MU1 to MU3 is connected to the ground when the switch is pressed to input a LOW level signal (0 volt), and when not pressed, a HIGH level signal (for example, 5 volt). ) Is entered. When each adjustment volume is operated from the lower limit side position to the upper limit side position of the adjustment range, an analog signal that changes in the range of 0 to 5 volts, for example, is input. Then, as shown in FIG. 17, each switch module MU1
The controllers 29 to 3 process the input signal from each manual switch as a binary (ON / OFF) digital signal, and AD-convert the analog signal from each adjustment volume into 8-bit digital data. On the other hand, the controller 29 outputs a drive signal to each lamp based on the display data transmitted from the central control unit CU to operate the display.

As shown in FIG. 18, the display module M
In U4, the controller 29 is provided with a fuel (fuel) sensor, a water temperature sensor, and the engine speed sensor S.
5, the detection signals from the oil switch and the output voltage of the alternator are input, and the controller 29 determines the fuel meter 70a and the tachometer based on the input signals and the display data transmitted from the central control unit CU. 7
0b, water temperature meter 70c, fir LCD 70d, main LCD
70e, auxiliary shift lamp 70h, and alarm lamp 70g
Display the check lamp of the display. The controller 29 transmits the detection information of the engine speed sensor S5, the fuel sensor, the water temperature sensor, etc. in response to a transmission request from the central control unit CU. On the other hand, the left and right turn signal lamps 70f are turned on by turning on and off the respective turn signal switches, and the charge lamp of the alarm lamp 70g is
It is turned off by the output voltage from the alternator, the brake lamp is turned on by turning on the brake switch, and the oil lamp is turned on by turning on the oil switch.

As the work control, the central control unit CU determines the proper drive content for the actuators AK based on the detection information of the sensors SW and the control information from the information input means JN. Then, the operation of the actuators AK is controlled based on the content of the appropriate driving. That is, the information input means JN is configured to transmit the control information to the central control unit CU via the communication line T2, and the high-speed terminal unit LU as an input processing unit to which the sensors SW are connected.
Is configured to transmit the detection information of the sensors SW to the central control unit CU via the communication line T1, and the high-speed terminal unit LU as an output processing unit to which the actuators AK are connected is The drive data for driving the actuators is received from the central control unit CU via T1, and the actuators A based on the drive data.
It is configured to output a drive signal to K.
On the other hand, the central control unit CU determines the appropriate drive content for the actuators AK based on each transmission data of the detection information of the sensors AK and the control information as the control for the work, and the appropriate drive content. Is transmitted to the output processing unit LU as the drive data. Here, the central control unit CU includes the memory RAM as an information storage unit for storing the control information.

Next, as a specific example of drive control of the actuators AK, the high-speed terminal unit LU1 arranged in the main unit unit 4
The drive configuration for the reaping lifting cylinder 5 driven by the above and the pair of left and right steering cylinders 9L and 9R will be described. As shown in FIG. 20, the mowing lifting cylinder 5
Is supplied with pressure oil from a three-position switching hydraulic control valve 6 operated by a pair of solenoids L1 and L2. The drive terminals (one end) of the solenoids L1 and L2 are connected to the collector terminals of the drive transistors Tr1 and Tr2, respectively. The outputs of the two AND circuits 25 and 26 are connected to the respective bases of the transistors Tr1 and Tr2, and one input side of each of the AND circuits 25 and 26 is connected to the port output terminals a and b of the gate array GA2. The other input side is connected to the collector terminals of the transistors Tr2 and Tr1 on the side opposite to the transistors Tr1 and Tr2 to which the outputs of the AND circuits 25 and 26 are connected. Thereby, the transistors Tr1 and Tr
Make sure that solenoids L1 and L
Either one of the two is driven so as to correspond to the output of the port output terminals a and b. However, the hydraulic control valve 6
Is urged to return to the center position when neither of the solenoids L1 and L2 is driven.

On the other hand, as shown in FIG. 20, each of the left and right steering cylinders 9L and 9R includes a pair of solenoids L3 and L4.
Pressure oil is supplied from a three-position switching type hydraulic control valve 10 which is operated by, and the drive terminals (one end) of the solenoids L3 and L4 are connected to the collector terminals of the drive transistors Tr3 and Tr4, respectively. There is. Two AND circuits 27 and 2 are provided on the bases of the transistors Tr3 and Tr4, respectively.
8 are connected to each other, one input side of each AND circuit 27, 28 is connected to the port output terminals c, d of the gate array GA2, and the other input side is each AND circuit 2
Transistor Tr to which the outputs of 7, 28 are connected
Transistors Tr4 and Tr3 on the side opposite to Tr3 and Tr4
It is connected to the collector terminal of. As a result, the transistors Tr3 and Tr4 are prevented from being turned on at the same time, and either one of the solenoids L3 and L4 is driven corresponding to the output of the port output terminals c and d. However, the hydraulic control valve 10 is biased to return to the central position when neither of the solenoids L3 and L4 is driven.

In the above configuration, the central control unit CU is
By communication with the basic switch module MU1,
When it is determined that the cutting height control activation switch 44a provided in the cutting height control operation unit section 44 is turned on, the target height information input by the cutting height adjustment volume 44b and the ultrasonic sensor S6. Based on the height-to-ground information, the proper drive content for the reaper lift cylinder 5 for maintaining the reaper height at the target height is determined, and the reaper lift cylinder 5 is connected using the appropriate drive content as control data. It is transmitted to the high-speed terminal unit LU1. The high speed terminal unit LU1 receives HI from one of the port output terminals a and b of the gate array GA2 according to the received control data.
A GH signal and a LOW signal are output from the other to drive one of the solenoids L1 and L2 to move the reaping / lowering cylinder 5 up and down.

Similarly to the above, when the central control unit CU determines through communication with the basic switch module MU1 that the direction control activation switch 43a provided in the direction control operation unit 43 is turned on. , While adjusting the turning force set by the turning force switching volume 43b based on the ON / OFF information of the direction sensors S1, S2 received from the high-speed terminal unit LU3 arranged in the mowing unit 1, The proper driving contents for the pair of left and right steering cylinders 9L and 9R for traveling along the planted culm row are determined, and the proper driving contents are used as control data for high speed operation of the steering cylinders 9L and 9R. It is transmitted to the terminal unit LU1. Then, the high-speed terminal unit LU1
Is the gate array GA according to the received control data.
HIGH signal from one of the two port output terminals c and d,
The LOW signal is output from the other to output the solenoids L3, L
One of the steering cylinders 9L and 9R is operated by driving one of the four. As a result, the machine body is steered to the operating steering cylinders 9L and 9R side (for example, the left side when the left steering cylinder 9L operates).

In the above control, the central control unit CU
However, when the control information input by the information input means JN is normal, the control information is stored in the memory R.
The process for updating and storing in the AM is repeatedly executed, the work control is executed based on the control information, and when the control information input by the information input means JN is not normal, the work is performed. If it is determined that the work can be continued, the work control is executed based on the control information stored in the memory RAM. In addition, when it is determined that the work cannot be continued, the execution of the work control is stopped. Specifically, the central control unit CU determines whether or not the control information is normal depending on whether or not the transmission data of the control information transmitted from the information input unit JN is normal data. It is configured to determine. At the same time, when the control information input by the information input means JN is not normal, the central control unit CU notifies the buzzer 48 as the alarm means KH to notify that the control information is not normal. The alarm lamp 49 is activated.

As an example of the case where it is judged that the above work can be continued, the cutting depth control start switch 41a is operated in the control-entered state and the cutting depth control is executed while the cutting operation is performed. Start switch 41a
If normal transmission data with control is no longer input due to a fault in the communication or abnormal communication data, for example, if the transmission data changes to control-off, it is particularly inconvenient to continue the depth control. However, if the control is suddenly stopped, it may be judged that there is a risk that the depth will be changed to an improper depth and the unprocessed portion may be left untouched. become. On the other hand, as an example of the case where it is determined that the work cannot be continued, the unloader switch module MU2 is described.
When the transmission data of normal automatic operation or stop is not input due to a failure of the automatic / stop switch 50a provided for the vehicle, an abnormality in communication data, or the like, for example, when the stop data is input during mowing traveling, it is transmitted suddenly. If the operation of the unloader 32 cannot be performed in the case where the data has changed to the operation data, the grain collected in the tank 3 cannot be discharged. Therefore, the execution of the control is stopped and the work is stopped. Become.

Further, the central control unit CU displays on the display means such as the lamp based on the input data such as the sensors SW and the switches transmitted from the high speed terminal units LU1 to 5 and the modules MU1 to 4. The appropriate display content to be displayed is determined and the appropriate display content is transmitted to each module MU1 to 4 as display data, while each module MU
1 to 4 are configured to output a drive signal to display means such as the lamp based on the display data received from the central control unit CU.

The case of the cutting height control will be described in detail. When the central control unit CU confirms the ON state of the cutting height control start switch 44a based on the received data from the basic switch module MU1, the basic switch module Command data for turning on the activation switch 44a, which is an illuminated switch, is transmitted to the MU1, and the main L is supplied to the display module MU4.
A display command for displaying a start message for cutting height control is transmitted to the CD 70e. And the basic switch module MU
1 turns on the start switch 44a for the cutting height control according to the lighting command data received from the central control unit CU, and the display module MU4 causes the main LCD 70e to display the main LCD 70e according to the display command received from the central control unit CU. A message of "Automatic cutting height [ON]" is displayed for a predetermined time (for example, 5
Display for 2 seconds. When the cutting height control start switch 44a is turned off, a message "cutting height automatic [OFF]" is displayed on the main LCD 70e for a predetermined time (for example, 5 seconds).
Also, when the cutting height adjustment volume 44b is operated to change the target height information, the central controller C
Based on the communication between U and the display module MU4, the target cutting height value changed by the cutting height adjustment volume 44b is displayed in a bar graph on the main LCD 70e.

Similarly to the above, in the case of direction control,
The central control unit CU includes the basic switch module MU1.
Direction control start switch 4 depending on the received data from
When the ON state of 3a is confirmed, command data for turning on the activation switch 43a configured as an illuminated switch is transmitted to the basic switch module MU1, and the main LCD 70 is transmitted to the display module MU4.
A display command for displaying a direction control start message is transmitted to e. Then, the basic switch module MU1 turns on the activation switch 43a for the direction control according to the lighting command data received from the central control unit CU, and the display module MU4 follows the display command data received from the central control unit CU. On the main LCD 70e, a message "direction automatic [ON]" is displayed for a predetermined time (for example, 5 seconds). Incidentally, when the direction control start switch 43a is turned off, a message "direction automatic [OFF]" is displayed on the main LCD 70e for a predetermined time (for example, 5 seconds).
The central control unit C is also displayed when the turning force switching volume 43b is operated to change the turning force information.
Based on the communication between U and the display module MU4, the value of the turning force changed by the turning force switching volume 43b is displayed on the main LCD 70e as numerical information.

Next, the control operation in the central control unit CU will be described with reference to the flow charts shown in FIGS. When the main switch MW is turned on, the power is turned on, and power is supplied to the central control unit CU (at this time, power is also supplied to the high-speed terminal units LU1-5 and modules MU1-4). ), First, CP
The reset state of U is released and control is started. After performing the initialization process, the set time interval (5
(ms), the analog signal from the analog type sensor and the pulse signal from the pulse type sensor are input, and after the main switch is turned on, the operation of all the high-speed terminal units LU1 to 5 and modules MU1 to 4 is stabilized. Until a time (for example, 250 ms) necessary for the lapse of time elapses, the low-speed communication process with each module MU1 to 4 is stopped, and the gate array GA1 is held in the reset state to communicate with each high-speed terminal unit LU1 to LU5. The high-speed communication process between them is stopped (# 1 to # 6).

When the time required to stabilize the operations of all the high-speed terminal units LU1-5 and modules MU1-4 has elapsed, the CPU starts low-speed communication processing with each module MU1-4. Together with the gate array GA
1 is released and high-speed communication processing with each high-speed terminal unit LU1-5 is started (# 7- # 8), and each module MU is started.
The input data of the sensors SW, the manual switches, the adjustment volume and the like transmitted from the first to fourth and the high speed terminal units LU1 to 5 are stored in the RAM or the like. From means JN. Here, the low-speed communication processing and the high-speed communication processing are performed by the interrupt processing as described above, and in the transmission interrupt processing, as shown in FIG. 22, an input or output request signal to each high-speed terminal unit LU and module MU. 23 is performed, and in the reception interrupt process, as shown in FIG. 23, a reception process of receiving a reply signal from each high-speed terminal unit LU and module MU is performed.

By the low-speed communication process and the high-speed communication process, the CPU sufficiently accumulates the input data from the sensors SW and the information input means JN such as the manual switch and the adjusting volume, and confirms the start-up of the system. C
The PU obtains drive data for the actuators AK and display data for the display means HS based on the above-mentioned data, and performs work control processing for executing the work control based on the results (# 5, #). 9). The drive data and display data are transmitted to each high-speed terminal unit LU and module MU in the low-speed communication process and the high-speed communication process. In the control process for work, as shown in FIG. 26, first, the transmission data from each of the switch modules MU1 to MU3,
That is, it is determined whether or not the input data of the control information input by each manual switch or the adjusting volume is normal, and if the input data of these control information is normal, the input data Is updated and stored in the memory RAM, and arithmetic processing for obtaining drive data of the actuators AK and display data of the display means HS is executed based on the input data. On the other hand, if the input data of the control information is not normal, it is further judged whether or not the work can be continued, and if the work can be continued, it is stored in the memory RAM. The data of the respective manual switches and the adjusting volume are read out, and the arithmetic processing for obtaining the drive data of the actuators A and the display data of the display means HS is executed based on the read data, and the alarm lamp 49 is operated to blink. ,
When the work cannot be continued, the input data of all the manual switches are turned off to stop the automatic control, and the alarm lamp 49 blinks and the alarm buzzer 48 sounds.

When the main switch MW is turned off to stop the operation of the combine, the CPU stops the low speed communication process and resets the gate array GA1 to stop the high speed communication process (# 4, # 10- #
11). And for 5 seconds after turning off the main switch,
The solenoid for stopping the engine is driven to cut off the fuel supply to the engine, and the data of each sensor SW accumulated in the memory RAM and the like in the CPU and the data such as the manual switch and the adjustment volume (control information) And various kinds of error information are collectively written in the memory MEM, and the drive of the solenoid is stopped after 5 seconds have passed (# 12 to # 15).

Based on the flowchart shown in FIG.
The control operation in each of the high speed terminal units LU1 to LU5 will be described. First, it is determined by the address in the received data whether or not it is a polling signal for itself, and if it is found that it is a polling signal for itself, it is determined whether it is a request for input data from the sensors SW or an output request for actuators AK. In the case of an input request, the detection signal from the sensor SW is input, and the sensor data for reply is created based on it, while in the case of an output request, the received data is used as a drive signal for the actuators AK. Output and create ACK data for reply. Then, the sensor data or the ACK data created above is sent to the central control unit C.
Send to U.

Based on the flowchart shown in FIG. 25,
The control operation in each module MU1 to 4 will be described. First, it is determined whether the polling signal is for itself by the address in the received data, and if it is found that it is the polling signal for itself, it is a request for input data from a manual switch, adjusting volume, etc., or a display lamp, meter or LCD. If it is an output request to the display unit, if it is an input request, input a detection signal from a manual switch, an adjustment volume, etc. and create reply data based on it, while in the case of an output request, A drive signal is output to a display lamp, a meter, or an LCD display based on the received data, and ACK data for reply is created. Then, the created reply data is transmitted to the central control unit CU.

Another Embodiment Next, another embodiment will be described. In the above-described embodiment, the control unit CU determines whether or not the work can be continued when the control information input by the information input unit JN is not normal, and the work can be continued. Only when it is determined that the work control is executed based on the control information updated and stored in the information storage means RAM, it is determined whether the work can be continued. This is not always necessary. For example, under work conditions in which a serious failure does not occur in the machine even if the work is continued, as shown in FIG. 27, when the control unit CU does not have normal control information, ,
The work control may be executed based on the control information stored in the information storage means RAM.

In the above-described embodiment, the control means for executing the work control is the central portion for exchanging data with the information input means JN, the sensors SW, the actuators AK via the communication lines T1, T2 to execute the control. Although the control unit CU has been shown, the control unit CU is directly connected to the information input unit JN or the like and performs control based on data input, without using a communication line. It may be configured to. Further, the information input means JN is configured to input the starting information of each control and the adjustment information for each control as the control information of each of the plurality of controls, but other information may be input. Good.

In the above embodiment, the present invention is applied to the combine for harvesting and harvesting as the working machine, and the control for working such as threshing control and handling depth control is executed. The present invention may be applied to a work machine other than the combine machine and configured to execute control for other work.

[Brief description of drawings]

1] Overall side view of combine

FIG. 2 is a front side view of the combine.

FIG. 3 is a schematic plan view of the combine.

FIG. 4 is a vertical side view of the threshing section.

FIG. 5 is a power transmission diagram of the combine.

FIG. 6 is a plan view of the control unit.

[Fig. 7] Rear view of the control unit

FIG. 8 is a front view of a basic switch module.

FIG. 9 is a front view of the unloader switch module.

FIG. 10 is a front view of a horizontal control switch module.

FIG. 11 is a front view of a display module.

FIG. 12 is a block diagram showing an overall control configuration of a combine.

FIG. 13 is a circuit block diagram showing a main part of a combine control configuration.

FIG. 14 is a circuit configuration diagram of a communication IC.

FIG. 15 is a waveform diagram of a polling selecting signal in high-speed communication processing.

FIG. 16 is a waveform diagram of a polling selecting signal in low-speed communication processing.

FIG. 17 is a block diagram showing a control configuration of a switch module.

FIG. 18 is a block diagram showing a control configuration of a display module.

FIG. 19 is a schematic plan view of the front side of the combine.

FIG. 20 is a circuit diagram showing a drive configuration for raising and lowering a mowing and steering operation.

FIG. 21 is a flowchart showing the control operation in the central control unit.

FIG. 22 is a flowchart showing control operation in the central control unit.

FIG. 23 is a flowchart showing the control operation in the central control unit.

FIG. 24 is a flowchart showing a control operation in the terminal control unit.

FIG. 25 is a flowchart showing a control operation in the terminal control unit.

FIG. 26 is a flowchart showing a control operation in the central control unit.

FIG. 27 is a flowchart showing a control operation in a central control unit of another embodiment.

[Explanation of symbols]

AK actuators CU control means JN information input means LU input processing unit LU output processing unit RAM information storage means KH alarm means SW sensors T1 communication line T2 communication line

─────────────────────────────────────────────────── ─── Continuation of the front page (56) Reference JP-A-7-131863 (JP, A) JP-A-9-23733 (JP, A) JP-A-4-47402 (JP, A) JP-A-7- 67466 (JP, A) JP 10-146123 (JP, A) JP 8-228566 (JP, A) JP 10-42647 (JP, A) JP 60-129805 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) A01D 41/02-69/00 G05B 9/02 G05B 23/00

Claims (5)

(57) [Claims] 1. A sensor for detecting control information, an actuator for work, a control means for executing control for work, and information for manually inputting control information necessary for execution of control. Input means is provided, the control means, as work control, based on the detection information of the sensors and the control information, to determine the appropriate drive content for the actuators, based on the appropriate drive content Is a control device for a working machine configured to control the operation of the actuators, the control means including an information storage means for storing the control information, and the information input means When the input control information is normal, a process of updating and storing the control information in the information storage means is repeatedly executed, and based on the control information. When the work control is executed and the control information input by the information input means is not normal, the work information is stored based on the control information stored in the information storage means. Configured to perform control, the information input means inputting control activation information.
The control device of the work machine that is configured . 2. The control means can continue the work by judging whether or not the work can be continued when the control information inputted by the information input means is not normal. If it is determined that the work control is executed based on the control information stored in the information storage means, and if it is determined that the work cannot be continued, the work The control device for a work machine according to claim 1, wherein the control device is configured to stop the execution of the control. 3. The control means is configured to operate an alarm means to notify that the control information is not normal when the control information input by the information input means is not normal. The work machine control device according to claim 1 or 2. 4. The control means is configured to execute a plurality of controls as the work control, and the information input means serves as control information for each of the plurality of controls, and activation information for each control. And the adjustment information for each control are input.
The control device for the working machine according to the item. 5. The information input unit is configured to transmit the control information to the control unit via a communication line, and the input processing unit to which the sensors are connected connects the communication line to the control unit. It is configured to transmit the detection information of the sensors to the control means via the output processing unit to which the actuators are connected, for driving the actuators from the control means via the communication line. It is configured to receive drive data and output a drive signal to the actuators based on the drive data, wherein the control means performs the work control by using the detection information of the sensors and the control. The appropriate drive content for the actuators based on each transmission data of the usage information, and the output processing unit sets the appropriate drive content as the drive data. To determine whether or not the control information is normal depending on whether or not the transmission data of the control information transmitted from the information input unit is normal data. The work machine control device according to any one of claims 1 to 4, wherein the control device is a work machine control device.