JP4289533B2 - Farm machine control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a control device provided in an agricultural machine such as a combine or a tractor.
[0002]
[Prior art]
Conventionally, in agricultural machines such as combines and tractors, the power of engines such as diesel engines and gasoline engines mounted on the traveling machine is transmitted to a working part such as a threshing device and a traveling part such as a pair of left and right traveling crawlers. Thus, the predetermined work is performed in each part.
[0003]
Further, the working unit and the traveling unit include, for example, a rack position sensor that detects a rack position of a fuel injection pump as a fuel supply unit in the case of a diesel engine, and a rotation of a throttle valve in a carburetor in the case of a gasoline engine. Various sensors such as a moving position detecting means such as a rotation angle sensor for detecting an angle, and various actuators such as an electromagnetic solenoid for driving a fuel injection pump, for example, are provided. Various operating means such as an accelerator operating means such as an accelerator lever or an accelerator pedal for arbitrarily setting the rotational speed of the engine are provided.
[0004]
Furthermore, the conventional farm work machine is provided with a controller that controls the number of revolutions of the engine according to the operation position of the accelerator operation means, and when the operator operates the accelerator operation means, the controller Based on the control signal from the operation position detecting means such as an accelerator lever sensor for detecting the operation position of the accelerator operating means, the moving position of the fuel adjusting means such as the rack and the throttle valve is adjusted by the actuator, The rotational speed is controlled to be a predetermined rotational speed corresponding to the operating position of the accelerator operating means.
[0005]
[Problems to be solved by the invention]
By the way, in the conventional agricultural machine, when the control signal from the operation position detection means is not input to the controller due to disconnection or the like during the operation of the engine, the controller determines the movement position of the fuel adjustment means. By changing by the actuator, the engine speed is controlled to be reduced to an idling state.
[0006]
However, the conventional control has a problem that when the above-described situation occurs during farm work, the engine is idling, so that the output is insufficient and the farm work must be interrupted. Insufficient output of the engine also causes a problem that the farm work machine may not escape from the field.
[0007]
In addition, if the control signal is intermittently input to the controller due to, for example, the wiring being cut off, the traveling machine body hunts, and in this case, the farm work cannot be continued.
[0008]
On the other hand, the sensors, actuators, and operation means may be controlled by a plurality of controllers such as microcomputers. Recently, in order to share data among the controllers, communication using a LAN communication protocol is used. An environment is applied to each of the controllers.
[0009]
As a new development of the LAN communication environment, data communication using a CAN (controller area network) protocol has also been proposed. This is a serial communication protocol that realizes distributed real-time control and multiplexing using a differential two-wire CAN communication bus.
[0010]
In a recent agricultural machine that applies a LAN or CAN communication environment to a plurality of controllers, a control signal is transferred between the controllers via a LAN or CAN communication bus connecting the controllers, and various sensors, actuators, and Each control for the operation means is executed, and normally, the respective sensors, actuators, and harnesses connected to the operation means are combined so that the length of the harness is as short as possible, and each control unit is located at a predetermined location of the farm work machine. Each controller is configured to be connected.
[0011]
In this case, since the operation position detection means is provided in association with the accelerator operation means, a controller (for example, in a traveling machine body) different from the controller for controlling the rotational speed disposed in the vicinity of the engine. It is often connected to a controller or the like disposed in the side column of the driving unit.
[0012]
For this reason, when the control signal from the operation position detecting means is not input to the controller that controls the rotation speed via the communication bus during the operation of the engine (hereinafter, the communication bus communicates such a case). The controller that controls the engine speed is changed by the actuator to change the moving position of the fuel adjusting means so that the engine speed is lowered and the engine is in an idling state. I was in control.
[0013]
Therefore, even in the farm machine having such a configuration, when the communication bus becomes incapable of communication during farm work, the output of the engine is insufficient and the farm work has to be interrupted. In addition, there has been a problem that the agricultural machine cannot escape from the field.
[0014]
Then, this invention makes it a technical subject to provide the control apparatus of the agricultural working machine which eliminated the above problem.
[0015]
[Means for Solving the Problems]
In order to solve this technical problem, the agricultural machine control device according to claim 1 transmits the power of the engine mounted on the traveling machine body to the working unit such as the threshing device and the traveling unit, while operating the accelerator. In the agricultural machine comprising a controller for controlling the engine speed according to the operation position, the controller stores the engine speed detected during work by the engine speed detecting means. Storage means and second storage means for storing a predetermined engine speed in advance, and the controller does not receive a control signal for the operating position of the accelerator operating means during operation of the engine. The engine speed is the engine speed stored in the first storage means immediately before the control signal is not input. And when the control signal is not input since the power is turned on, the engine speed is controlled to be the engine speed stored in advance in the second storage means. .
[0016]
The control device for an agricultural working machine according to claim 2 transmits the power of the engine mounted on the traveling machine body to a working unit such as a threshing device and the traveling unit, while depending on the operation position of the accelerator operating means. A controller that controls the number of revolutions, and at least one controller that controls the operation of either one or both of the working unit and the traveling unit, via a communication bus that connects these controllers. In the agricultural machine that transfers the control signal between a plurality of controllers to execute each control, the agricultural machine includes a storage unit that stores in advance an appropriate engine speed corresponding to the type of work, The controller for controlling the rotational speed is configured to operate the engine when the communication bus becomes incapable of communication while the engine is operating or power is turned on. The number was configured to control so as to the engine speed selected according to the type of work just before the incommunicable from said storage means.
[0017]
Moreover, the control device for the agricultural working machine according to claim 3 transmits the power of the engine mounted on the traveling machine body to the working unit such as the threshing device and the traveling unit, while depending on the operation position of the accelerator operating means. A controller for controlling the number of revolutions of the engine, and at least one or more controllers for controlling the operation of one or both of the working unit and the traveling unit, and a communication bus connecting the controllers. Storage means for storing the engine speed detected during the operation by the engine speed detecting means in the agricultural machine that transfers the control signals between the plurality of controllers and executes the respective controls. And the controller for controlling the engine speed when the communication bus becomes unable to communicate during operation of the engine. The rotational speed of the engine, and configured to control so that the engine rotational speed stored in the storage means immediately before the communication failure.
[0018]
Furthermore, the control device for the agricultural machine described in claim 4 transmits the power of the engine mounted on the traveling machine body to the working unit such as the threshing device and the traveling unit, while depending on the operation position of the accelerator operating means. A controller for controlling the number of revolutions of the engine, and at least one or more controllers for controlling the operation of one or both of the working unit and the traveling unit, and a communication bus connecting the controllers. Storage means for storing the engine speed detected during the operation by the engine speed detecting means in the agricultural machine that transfers the control signals between the plurality of controllers and executes the respective controls. The controller that controls the rotational speed of the engine, when the communication bus becomes incapable of communication since the power is turned on, The rotational speed of the emission, in which a configuration for controlling to an engine speed which is previously stored in the storage means.
[0019]
According to a fifth aspect of the present invention, the agricultural machine control device transmits the power of the engine mounted on the traveling machine body to a working unit such as a threshing device and the traveling unit. A controller that controls the number of revolutions, and at least one controller that controls the operation of either one or both of the working unit and the traveling unit, via a communication bus that connects these controllers. A farm machine that transfers control signals between a plurality of controllers to execute each control, and includes a storage means for storing the rated engine speed, and a controller that controls the engine speed When the communication bus becomes incapable of communication since the power is turned on, the target engine speed is stored in advance in the storage means. It is obtained by a configuration for controlling to the rated speed.
[0020]
【The invention's effect】
In the control device according to the first aspect, a control signal for the operation position of the accelerator operating means is directly input to the controller, and the engine rotation detected by the rotation speed detecting means during the operation is input to the controller. First storage means for storing the number and second storage means for storing a predetermined engine speed in advance are provided.
[0021]
When the control signal for the operation position of the accelerator operating means is not input during operation of the engine due to, for example, disconnection or the like, the engine speed is set immediately before the control signal is not input. The engine speed can be controlled to be stored in the first storage means, and when the control signal is not input since the power is turned on, the engine speed is stored in advance in the second storage means. The engine speed can be controlled.
[0022]
Therefore, even if a change in the vehicle speed or the like of the traveling machine body is not linked to the operation of the accelerator operation means by the operator during farm work, the engine speed is stored in the first memory immediately before the control signal is not input. Since the number of rotations stored in the means can be maintained, there is no sudden behavior change such as hunting in the traveling machine body, and the worker can continue to perform farm work.
[0023]
The first storage means is set to store the engine speed detected during operation by the speed detection means, and the engine speed before and after the control signal is not input is almost constant. Therefore, there is almost no change in the behavior of the traveling machine body due to no input of the control signal.
[0024]
Further, even when the change in the vehicle speed or the like of the traveling machine body is not linked to the operation of the accelerator operation means by the operator since the power is turned on, the engine speed is stored in advance in the second storage means. Since the engine speed can be maintained, the operator can run on the road of the traveling machine body and farm work without operating the accelerator operation means.
[0025]
In the control device according to any one of claims 2 to 4, a control signal for the operation position of the accelerator operation means is input to a controller that controls engine speed via a communication bus connecting the controllers. It is.
[0026]
According to the second aspect of the present invention, there is provided storage means for storing the appropriate engine speed according to the type of work in advance, and when the communication bus becomes unable to communicate during engine operation or power-on. Selects the data of the appropriate engine speed according to the type of work immediately before the communication is disabled from the data regarding the engine speed stored in advance in the storage means, and the engine speed is selected. The engine speed can be controlled.
[0027]
Therefore, even if the communication bus becomes incapable of communication during farm work and changes in the vehicle speed etc. of the traveling aircraft are no longer linked to the operation of the accelerator operation means by the operator, the engine speed is changed to the type of work at that time. Since it can hold | maintain according to the rotation speed according to Claim 1, a sudden behavior change, such as hunting in the said traveling body, is lose | eliminated, and an operator can continue farming work.
[0028]
Further, even when the change in the vehicle speed or the like of the traveling machine body is not linked to the operation of the accelerator operation means by the operator since the power is turned on, the operator can operate the accelerator operation as in the case of claim 1. It is possible to carry out running on the road or farming without operating the means.
[0029]
According to the third aspect of the present invention, there is provided storage means for storing the engine speed detected during the operation by the engine speed detection means, and when the communication bus becomes unable to communicate during operation of the engine. The engine speed can be controlled to be the engine speed stored in the storage means immediately before communication is disabled.
[0030]
Therefore, even when the communication bus becomes incommunicable during farm work and the change in the vehicle speed of the traveling machine is not linked to the operation of the accelerator operation means by the operator, the engine speed is set immediately before the communication is disabled. Since the rotation speed stored in the storage means can be maintained, as in the case of claims 1 and 2, there is no sudden behavior change such as hunting in the traveling machine body, and the worker can continue to perform farming work.
[0031]
In this case, the storage means is set so as to store the engine speed detected during the operation by the speed detection means, and the engine speed before and after communication is disabled can be held in a substantially constant state. Therefore, there is almost no change in the behavior of the traveling aircraft due to the communication bus becoming incapable of communication.
[0032]
According to the fourth aspect of the present invention, when the communication bus becomes unable to communicate since the power is turned on, the engine speed can be maintained at the engine speed last stored by the storage means in the previous operation. As in the case of the first and second aspects, the operator can execute the traveling on the road of the traveling machine body and the agricultural work without operating the accelerator operation means.
[0033]
Further, according to the fifth aspect of the present invention, when the communication bus becomes incapable of communication since the power is turned on, the rated engine speed is stored in advance in storage means such as a ROM (Read Only Memory). As a result of being able to hold the rotation speed, the operator can execute road traveling and agricultural work of the traveling machine body without operating the accelerator operating means, as in the case of claims 1 and 2.
[0034]
DETAILED DESCRIPTION OF THE INVENTION
DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment embodying the present invention will be described based on the drawings (FIGS. 1 to 16) when applied to a combine as an agricultural machine.
[0035]
1 to 14 show a first embodiment of the present invention. A traveling machine body 1 in a combine according to the first embodiment is moved up and down with respect to a pair of left and right traveling crawlers 2 and 2 through a lifting drive means described later. It is configured to be possible. As shown in FIG. 1, a threshing device 3 with a feed chain 3 a is mounted on the left side in the traveling direction of the traveling machine body 1, and the traveling machine body 1 is moved up and down by a hydraulic cylinder 5 for lifting and lowering as an actuator. An adjustable cutting pretreatment device 4 is provided. Here, the traveling crawlers 2 and 2 correspond to traveling portions, and the threshing device 3, the pre-cutting processing device 4 and the discharge auger 13 described later all correspond to working portions.
[0036]
A clipper-type cutting blade device 6 is provided below the lower frame in the pre-cutting processing device 4, and six grains of grain raising devices 7 are arranged in front of the lower frame. A corn straw transporting device 8 is arranged between the corn straw pulling device 7 and the front end of the feed chain 3a. (See FIGS. 1 and 2). The root part of the corn straw conveyed from the pre-harvest processing device 4 is inherited and conveyed by the feed chain 3a, and the tip part of the corn straw is threshed by the handling cylinder 3b (see FIG. 3) of the threshing device 3. The
[0037]
A cockpit 10 as a driving unit is arranged at the front right side of the traveling machine body 1, and a Glen tank 11 is arranged behind the cockpit 10. A diesel engine 12 is disposed at the lower rear of the cockpit 10, and below the threshing device 3, a sorting device that performs peristaltic sorting using a catching net and chaff sheave and wind sorting using the wind of the Chinese fan 20 ( (Not shown).
[0038]
Grains that have been sorted by the sorting device and accumulated in a No. 1 receptacle (not shown) with a screw conveyor 21 (see FIG. 3) are once collected in the Glen tank 11 and then discharged later. 13 is discharged to a loading platform or the like of a truck for transferring grains (not shown). The waste is passed to the waste chain 24 (see FIG. 3) at the rear end of the feed chain 3a and discharged from the rear end of the traveling machine body 1 to the field.
[0039]
Next, the combine power transmission system will be described with reference to FIG. One of the outputs from the engine 12 is transmitted to the bottom conveyor 15 in the Glen tank 11, the vertical conveyor 16 and the horizontal conveyor 17 in the discharge auger 13 via the auger clutch 14, while the other output from the engine 12 is transmitted. Is a traveling hydraulic motor hydraulic pump type (HST type) traveling drive unit 19, a threshing device 3 feed chain 3 a and a barrel 3 b, a tang fan 20, a first receiving screw through a power branching mission 18. Power is transmitted to the conveyor 21 and the screw conveyor 22 of the No. 1 receiving bowl, the cereal conveyor 23 to the Glen tank 11, the waste chain 24, etc., respectively.
[0040]
The transmission of power to the pre-cutting processing device 4 is executed via a cutting-tuned shaft 25 that is output from the HST traveling drive unit 19 when synchronized with the vehicle speed. When not synchronized, the branching power from the power branching mission 18 is transmitted to the pre-cutting processing device 4 via the one-way clutch 26 provided on the cutting tuning shaft 25.
[0041]
Next, the structure of the discharge auger 13 for discharging the grains in the Glen tank 11 to the outside of the machine will be described with reference to FIGS. 4 and 5. The discharge auger 13 has a vertical auger cylinder 16 built in a vertical conveyor 16a that is vertically and longitudinally rotatable about a vertical axis, and a horizontal conveyor 17a that is connected to the upper end of the vertical auger cylinder 16 so as to be vertically rotatable. The auger cylinder 17 is used. The vertical auger cylinder 16 is configured to be rotatable about a vertical axis by a drive motor 27 and a gear mechanism 28 that can rotate in the forward and reverse directions shown in FIG. 5, and the horizontal auger cylinder 17 is mounted between the vertical auger cylinder 16 and the vertical auger cylinder 16. It is configured such that it can be turned up and down by a mounted hydraulic cylinder 29 for turning up and down.
[0042]
A turning angle sensor 30 such as a rotary encoder or a rotary potentiometer is attached to the drive motor 27, and the horizontal turning angle of the vertical auger cylinder 16 and the horizontal turning position of the horizontal auger cylinder 17 can be detected. A vertical rotation angle sensor 31 such as a rotary potentiometer is attached to the position of the hydraulic cylinder 29 for vertical rotation, and the vertical rotation angle of the horizontal auger cylinder 17 and thus the height position of the discharge portion at the tip of the horizontal auger cylinder 17. Can be detected.
[0043]
In the state where the discharge auger 13 is not used, as shown in FIG. 4, the middle part of the horizontal auger cylinder 17 is placed (stored) on an upwardly open auger rest 32 provided on the upper surface of the traveling machine body 1. I am doing so.
[0044]
Next, the structure of the raising / lowering drive means which raises / lowers the traveling body 1 with respect to the traveling crawlers 2 and 2 will be described with reference to FIG. The traveling crawlers 2, 2 include driving wheels 34, 34 and driven wheels 35, 35 respectively disposed at the front and rear ends of a pair of left and right track frames 33, 33 projecting downward on the lower surface of the traveling body 1, and track frames 33, 33. Are formed of a plurality of rolling wheels 36 provided in the middle of the lower surface of the rim and crawler belts 37, 37 wound around the outer periphery of each of the rotating wheels 34, 35, 36.
[0045]
The left and right track frames 33 and 33 and the traveling machine body 1 include left and right lifting hydraulic cylinders 38a and 38b, L-shaped levers 39a and 39b provided on the front and rear portions of the track frames 33 and 33, and the levers 39a. , 39b are connected via lifting drive means comprising connecting rods 40, 40 for operating them simultaneously.
[0046]
The left and right lifting hydraulic cylinders 38 a and 38 b can operate independently of each other, whereby the left and right traveling crawlers 2 and 2 can be lifted and lowered independently with respect to the left and right of the traveling machine body 1.
[0047]
That is, when the piston rods of the lifting hydraulic cylinders 38a and 38b on both the left and right sides are simultaneously projected, the traveling machine body 1 is separated (raised) upward from the traveling crawlers 2 and 2 on both the left and right sides. The relative height (vehicle height) of the traveling machine body 1 with respect to is increased. Conversely, when the piston rods are simultaneously retracted, the traveling machine body 1 approaches (lowers) the traveling crawlers 2 and 2 on both the left and right sides, and the relative height (vehicle height) of the traveling machine body 1 with respect to the traveling crawlers 2 and 2 is increased. Lower.
[0048]
When the piston rod of the left lifting hydraulic cylinder 38a is protruded, the piston rod of the right lifting hydraulic cylinder 38b is retracted, or both operations are performed simultaneously, the traveling machine body for the right traveling crawler 2 1 The vehicle height on the right side becomes lower (the vehicle height on the left side of the traveling machine body 1 with respect to the left traveling crawler 2 becomes higher), and the traveling machine body 1 tilts downward to the right.
[0049]
On the contrary, if the piston rod of the right lifting hydraulic cylinder 38b is protruded, the piston rod of the left lifting hydraulic cylinder 38a is retracted, or both operations are performed simultaneously, the traveling with respect to the left traveling crawler 2 is performed. The vehicle height on the left side of the vehicle body 1 is reduced (the vehicle height on the right side of the vehicle body 1 with respect to the right traveling crawler 2 is increased), and the vehicle body 1 is inclined downwardly to the left.
[0050]
As shown in FIG. 6, the relative height (vehicle height) of the traveling machine body 1 with respect to the left and right traveling crawlers 2 and 2 is detected by detecting the protruding amount of the piston rod of the left and right hydraulic cylinders 38a and 38b. Vehicle height sensors 41a and 41b such as a rotary encoder are configured to be linked via link mechanisms 42 and 42 that are connected to the connecting rods 40 and 40, respectively.
[0051]
In addition, the tilt sensor 43 (see FIG. 12) that detects the degree of left and right tilt of the traveling machine body 1 is configured by a pendulum type (gravity type) or the like, and an arbitrary portion of the traveling machine body 1 (for example, in the cockpit 10). ).
[0052]
In addition, the ultrasonic sensors 44a and 44b which detect the ground height of the pre-cutting processing device 4 with respect to the field scene are brackets (not shown) provided on the back side of the grain raising device 7 on both the left and right sides of the pre-cutting processing device 4. ) Is installed. The transmitter of the transmitter and the receiver of the receiver in both ultrasonic sensors 44a and 44b are directed to the farm scene (see FIGS. 1, 2 and 4). When the installation height of the ultrasonic sensors 44a and 44b and the installation height of the cutting blade device 6 are different, the ground height of the pre-cutting device 4 is determined from the detection values of the ultrasonic sensors 44a and 44b by a predetermined conversion. I have to.
[0053]
Moreover, the raising / lowering position sensor 45 which detects the relative height of the cutting pretreatment apparatus 4 with respect to the traveling machine body 1 is attached to the base end of the raising / lowering frame 4a attached to the cutting pretreatment apparatus 4 (see FIG. 1). The relative height of the pre-cutting processing device 4 with respect to the traveling machine body 1 is determined by detecting the rotation angle of the elevating frame 4a.
[0054]
Next, the configuration of various operation means provided in the cockpit 10 will be described with reference to FIG. In front of the control seat 46 of the cockpit 10, a steering round handle 47 that steers the traveling machine body 1, and a constant rotation control mode that keeps the rotation speed constant regardless of a load variation on the engine 12. A constant rotation control changeover switch 81 for changing over the manual mode, and an accelerator operation means for arbitrarily setting the rotation speed of the engine 12 when the constant rotation control changeover switch 81 is OFF (manual mode). An accelerator lever 95 is provided, and on the left side of the control seat 46, a long side column 48 is disposed in the front and rear direction.
[0055]
On the side column 48, a liquid crystal panel 80 that displays the execution status of various controls of the combine, a main transmission lever 49 that continuously changes the vehicle speed, and the output and rotation of the HST traveling drive unit 19 depending on the working state An auxiliary transmission lever 50 for setting the number within a predetermined range, a vehicle height adjustment lever 51 for manually changing and adjusting the vehicle height of the traveling machine body 1, and a vehicle height control changeover switch for switching between an automatic mode and a manual mode in vehicle height control. 52, various operation means such as an inclination setting unit 53 including a variable resistor for setting the right and left inclination angle of the traveling machine body 1 are arranged.
[0056]
Next, a hydraulic circuit for each hydraulic cylinder 5, 29, 38a, 38b as an actuator will be described. The hydraulic circuit shown in FIG. 8 is branched through a diversion valve 55 for diverting the pressure oil discharged from the hydraulic pump 54, and one discharge path 56 is used for the lifting and lowering hydraulic cylinder 5 and the right raising and lowering cylinder. The first hydraulic circuit 57 is connected to the hydraulic cylinder 38b. The other discharge passage 58 of the diversion valve 55 is configured to communicate with a second hydraulic circuit 59 for the up-and-down rotation hydraulic cylinder 29 and the left-side lifting hydraulic cylinder 38a. The hydraulic circuits 57, 59 are connected to electromagnetic control valves 60, 61, 62, 63 for the respective hydraulic cylinders 5, 29, 38a, 38b, check valves, relief valves, and the like.
[0057]
Next, a configuration for executing control such as the vehicle speed, the posture and the vehicle height of the traveling machine body 1 and the grain discharging operation of the discharge auger 13 will be described. The electronic control device 64 such as a microcomputer shown in FIG. 9 includes a plurality (four in the embodiment) of CAN controllers C1, C2, C3, and C4, and a CAN communication bus 65 that connects them to each other. Has been.
[0058]
The CAN communication bus 65 has two lines, one of which is called CAN-H and the other is called CAN-L. In the CAN rules, the level of CAN-H is represented as logical 0, and the level of CAN-L is represented as logical 1.
[0059]
In CAN communication, the CAN communication is in a normal state (error active state), in a state where CAN communication is difficult (error passive state), or in a communication disabled state (by the count of the number of transmission errors or reception errors) (Bus off state) is determined, and an error active state and an error passive state can be shifted to each other in accordance with up and down fluctuations in the number of errors. In the bus off state, the CAN communication is not recovered unless some recovery process such as reset is executed.
[0060]
Each of the CAN controllers C1 to C4 includes a CPU 66 that executes various arithmetic processes and controls, a ROM 67 that stores various control programs described later, a RAM 68 that temporarily stores various data, a system clock generator 69, and a clock synchronous serial interface 70. , A timer 71 used for a time stamp function, a monitoring timer 72 for measuring transmission / reception timing, a UART (general purpose asynchronous transmission / reception circuit) 73, a DMAC (direct memory access controller) 74, an A / D (analog / digital) converter 75, D / A (digital / analog) converter 76, CRC (cyclic code redundancy check) calculator 77, CAN controller 78, CAN driver 79, various sensors, operation means, and an input / output for transmitting a control signal by connecting to an actuator Interface ( It has a Shimese not), and the like. Since each of the CAN controllers C1 to C4 has basically the same configuration, the CAN controller C3 corresponding to the controller that controls the rotation speed of the engine 12 in the first embodiment is representatively shown in FIG. Show.
[0061]
Here, the CAN controller unit 78 is a part that performs communication control based on the CAN communication protocol, and a transmission completion flag, a reception completion flag, a transmission flag, and a reception flag are provided in a status register in the CAN controller unit 78. The CAN driver 79 transmits / receives control data 82 with an ID code, which will be described later, to / from another CAN controller via the CAN communication bus 65, and may be externally attached to the CAN controller. The RAM 68 includes a reception slot 68a and a transmission slot 68b.
[0062]
The transmission slot 68b has an ID code (also referred to as an identifier number or identifier code) of its own CAN controller, and is transmitted in advance as a control signal (control signals for various sensors or control means for executing combine control). Alternatively, an ID code is written in the control signals of various actuators) and stored as control data 82 with an ID code. On the other hand, the reception slot 68a stores control data 82 with ID code returned via the CAN communication bus 65.
[0063]
Therefore, when the control data 82 with ID code is transmitted from one CAN controller via the CAN communication bus 65, the control data 82 with ID code is stored in the reception slot 68a of another CAN controller. The transmitted CAN controller itself receives the ID code-added control data 82 transmitted by itself and stores it in the reception slot 68a.
[0064]
FIG. 10 shows the structure of a data frame in the control data 82 with ID code. A portion 83 (SOF) of the first 1-bit data frame is a portion for synchronization.
[0065]
The subsequent 11-bit portion is an ID code portion 84, which is predetermined for each CAN controller. Next, the 1-bit length part is an RTR (remote transmission request) part 85, which is the part indicating the end of the ID code part 84. The next 6-bit portion is a control unit 86.
[0066]
Following this, the 0 to 64 bit length part is a control data part 87 of 0 to 8 bytes, which is a part for storing the control signal of the input device or the control signal of the output device for executing the control of the combine. .
[0067]
The next 15-bit portion is a CRC (Cyclic Code Redundancy Check) unit 88, which is used for error checking of transmission data. The subsequent 1-bit portion is a CRC (Cyclic Code Redundancy Check) transfer unit 89, which is a portion indicating the end of the CRC unit 88. The next ACK (response signal) unit 90 and the subsequent ACK transfer unit 91 are both 1 bit. The end is an EOF 92 indicating the end of the data frame. A space between the EOF 92 and the next data frame of the control data 82 with ID code is an interframe space composed of an ITM 93 and a bus idle 94.
[0068]
By the way, in each of the ROMs 67 of the CAN controllers C1 to C4 of the first embodiment, application control programs (software) S1, S2, S3, and S4 corresponding to the respective ROMs are stored (stored) in advance (see FIG. 10). . Here, the application control program refers to a control program for operating various actuators based on control signals from various sensors, operation means, and the like.
[0069]
In the first embodiment, the application control program S1 is a control program for controlling the operation of various actuators (for example, the hydraulic cylinder 5 for cutting lifting / lowering) for the threshing device 3 and the pre-cutting processing device 4, and the application control program S2 is In order to perform the cutting height control of the cutting pretreatment device 4 and the posture and vehicle height control of the cutting pretreatment device 4 by operating the cutting lifting hydraulic cylinder 5 and the right and left lifting hydraulic cylinders 38a, 38b of the traveling machine body 1. Control program. The application control program S3 is a control program for controlling the output (load) of the engine 12, and the application control program S4 is a control for controlling the operation of the drive motor 27 and the vertically rotating hydraulic cylinder 31 in the discharge auger 13. It is assumed that the control program controls the program and the display of the liquid crystal panel 80.
[0070]
The ROM 67 also stores in advance a communication control program necessary for CAN communication and an input / output control program for transmitting control signals between various sensors and various operation means and various actuators. The input / output control program is hierarchized with respect to the application control program described above.
[0071]
Further, the ROM 67 of the CAN controller C3 stores in advance each data related to the appropriate engine speed according to the type of work in the combine (for example, road running, mowing and threshing work). Therefore, in the first embodiment, the ROM 67 of the CAN controller C3 corresponds to the storage unit according to the present invention.
[0072]
In the first embodiment, each of the CAN controllers C1 to C4 controls, as a guide, a combination of various sensors, operation means, and a harness connected to the actuator so that the length of the harness is as short as possible. It is stored in a controller box (not shown) at the arrangement location.
[0073]
For example, the CAN controller C1 is installed on the lower surface side of the floor board in the cockpit 10 (see FIGS. 1, 2 and 4). The input interface of the CAN controller C1 includes a lift position sensor 45, a culm transport sensor 96 for detecting whether or not the pre-harvest processing device 4 is transporting the harvested culm, and the length of the harvested culm being transported. Detecting grain length sensor 97, handling depth sensor 98, auger clutch motor switch 99, ultrasonic sensors 44a and 44b, vehicle speed sensor 100, No. 2 receiving screw conveyor rotation sensor 101, steering round handle limit switch 102, etc. Each is connected (see FIG. 11).
[0074]
The output interface of the CAN controller C1 includes a control circuit unit 103 such as a relay unit in the handling depth control motor, a control circuit unit 104 such as a relay unit in the auger clutch motor, and an electromagnetic solenoid 105 for driving the threshing clutch. They are connected (see FIG. 11).
[0075]
As shown in FIGS. 1, 2, and 4, the CAN controller C <b> 2 is installed at an upper portion of the pre-cutting processing device 4 and close to the cockpit 10. The input interface of the CAN controller C2 includes 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 a soot sensor that detects the presence or absence of soot in each part of the sorting device. 108, a waste cutter clogging sensor 109, a turning angle sensor 30, a discharge auger tip operating unit 110 that is provided at the tip of the horizontal auger cylinder 17 to operate the horizontal turning of the discharge auger 13, a vertical turning angle sensor 31, an auger clutch A 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. 12).
[0076]
The output interface of the CAN controller C2 includes a peristaltic selection drive motor 116, an FC clutch drive circuit unit 117, a drive motor 27 for horizontally turning the vertical auger cylinder 16 of the discharge auger 13, a discharge auger brake 118, and a hydraulic cylinder for vertical rotation. 29, the electromagnetic solenoid 61a of the electromagnetic control valve 61 for the lifting / lowering hydraulic cylinder 38a on the left side of the traveling machine body 1, the electromagnetic solenoid 62a of the electromagnetic control valve 62 for the lifting hydraulic cylinder 38b on the right side of the traveling machine body 1 The solenoid 63a, the electromagnetic solenoid 60a of the electromagnetic control valve 60, etc. are connected to the cutting lift hydraulic cylinder 5 (see FIG. 12).
[0077]
The CAN controller C3 is installed in the rear part of the cockpit seat 46 in the cockpit 10, as shown in FIGS. In the input interface of the CAN controller C3, an engine speed sensor 119 as an engine speed detection means, an engine oil amount sensor 120, an engine water temperature sensor 121, and a rack position as a fuel adjustment means provided in the fuel injection pump are provided. A rack position sensor 122 such as a linear differential transformer type displacement sensor as a moving position detection means to detect, an engine starter switch 123, an auger set position dial 124 for storing in advance the horizontal turning position of the discharge auger 13, and the cockpit 10 A discharge auger operation section 125 that is provided to operate the turning of the discharge auger 13 and the like, a cutting clutch motor limit switch 126, and the like are connected to each other (see FIG. 13).
[0078]
The output interface of the CAN controller C3 includes a rack actuator 127 such as a step motor for adjusting the rack position of the fuel injection pump to set the rotation speed of the engine 12 to a predetermined rotation speed, an engine starter relay 128, an alarm buzzer 129, etc. Are connected to each other (see FIG. 13).
[0079]
The CAN controller C4 is installed in the side column 48 of the cockpit 10 (see FIGS. 1, 2 and 4). The input interface of the CAN controller C4 includes a constant rotation control changeover switch 81 for switching between a constant rotation control mode and a manual mode, and an operation position detection means for detecting an operation position of an accelerator lever 95 as an accelerator operation means. Accelerator lever sensor 145, vehicle height adjusting lever 51, vehicle height control changeover switch 52, inclination setting device 53, automatic treatment depth control switch 130, automatic cutting / lifting switch 131, and pre-cutting processing device 4 are lowered to a predetermined cutting height. Then, a cutting auto clutch switch 132 for automatically transmitting power to the pre-cutting processing device 4, a warning buzzer stop switch 133, a cutting switch 134 for executing a cutting operation, a threshing switch 135 for executing a threshing operation, Sorting adjustment to adjust the grain sorting state in the sorting device Ear 136, auto lift switch 137 for forcibly raising the pre-cutting processing device 4, auto set switch 138 for forcibly lowering the pre-cutting processing device to a predetermined cutting height, raising / lowering of the pre-cutting processing device 4 A cutting lift lever 139 for manually operating the movement, a handle depth adjusting lever 140, an auxiliary transmission lever 50, a reverse switch 141 for moving the traveling machine body 1 backward, a power switch 142, and the like are connected (FIG. 14). reference).
[0080]
A vehicle height control changeover switch lamp 143, a handle depth automatic control switch lamp 144, a liquid crystal panel 80, and the like are connected to the output interface of the CAN controller C4 (see FIG. 15).
[0081]
In the above configuration, the rotational speed control of the engine 12 by the CAN controller C3 is executed as follows. Here, it is assumed that the constant rotation control changeover switch 81 is OFF (manual mode).
[0082]
That is, when the change of the vehicle speed or the like of the traveling machine body 1 is not synchronized with the operation of the accelerator lever 95 by the operator during the operation of the engine 12, in other words, the control signal from the accelerator lever sensor 145 is transmitted from the CAN controller C4 to CAN. When the input to the CAN controller C3 via the communication bus 65 stops (when the CAN communication bus 65 becomes unable to communicate), the engine stored in advance in the ROM 67 of the CAN controller C3 in the subroutine of the application control program S3. From the data related to the rotational speed, data on the appropriate engine rotational speed is selected according to the type of work immediately before the communication is disabled.
[0083]
Then, by controlling the rack as the fuel adjusting means in the fuel injection pump so as to be moved by the rack actuator 127 to a position corresponding to the data of the selected engine speed, the speed of the engine 12 is selected. Is set to the engine speed.
[0084]
If the CAN communication bus 65 cannot communicate after the power is turned on, the predetermined engine speed is selected from the engine speed data stored in the ROM 67 of the CAN controller C3 in the subroutine of the application control program S3. Number data is selected.
[0085]
Then, by controlling the rack as the fuel adjusting means in the fuel injection pump so as to be moved by the rack actuator 127 to a position corresponding to the data of the selected engine speed, the speed of the engine 12 is selected. The set engine speed is set.
[0086]
When controlled in this manner, in the combine of the first embodiment, when the CAN communication bus 65 becomes incapable of communication during farm work, and the change in the vehicle speed or the like of the traveling machine body 1 is not linked to the operation of the accelerator lever 95 by the operator. Since the rotation speed of the engine 12 can be maintained at a rotation speed corresponding to the type of work at that time, there is no sudden behavior change such as hunting in the traveling machine body 1, and the worker can continue to perform farming work. In addition, this makes it possible to easily escape from the field by allowing the combine to self-run after the farm work is completed.
[0087]
As an example of the above modification, when the CAN communication bus 65 becomes unable to communicate after the power is turned on, the rotational speed of the engine 12 is set to a predetermined rotational speed (rated rotational speed) stored in advance in the ROM 67 of the CAN controller C3. If comprised so that it may hold | maintain, the operator can run the said combine on the road or farming, without operating the accelerator lever 95.
[0088]
FIG. 15 shows a second embodiment which is another example of the storage means of the present invention. In this embodiment, the ROM of the CAN controller C3 is an EPPROM 146 whose contents can be rewritten, and the EEPROM 146 is an engine speed as a rotation speed detecting means at an appropriate time during the work in the combine of the second embodiment. It is set to store the data (control signal) of the rotational speed of the engine 12 detected by the sensor 119 (see FIG. 13). Therefore, in this case, the EPPROM 146 corresponds to the storage unit according to the present invention.
[0089]
In this configuration, the rotational speed control of the engine 12 by the CAN controller C3 is executed as follows. Also in this case, the constant rotation control changeover switch 81 (see FIG. 14) connected to the input interface of the CAN controller C4 is assumed to be OFF (manual mode).
[0090]
That is, when the control signal from the accelerator lever sensor 145 is not input from the CAN controller C4 to the CAN controller C3 via the CAN communication bus 65 during the operation of the engine 12 (when the CAN communication bus 65 becomes unable to communicate). In the subroutine of the application control program S3, the rack as the fuel adjusting means in the fuel injection pump is moved by the rack actuator 127 to a position corresponding to the engine speed data stored in the EEPROM 146 at that time. By controlling in this way, the engine speed of the engine 12 is set to the engine speed stored in the EEPROM 146.
[0091]
If the CAN communication bus 65 cannot communicate after the power is turned on, the rack as the fuel adjustment means in the fuel injection pump is stored in the rack actuator 127 in the subroutine of the application control program S3. The engine speed is stored in the EEPROM 146 by controlling to move to a position corresponding to the engine speed data (the engine speed data stored last in the EEPROM 146 in the previous work). The engine speed is set.
[0092]
When controlled in this way, in the combine of the second embodiment, when the CAN communication bus 65 becomes unable to communicate during farm work, and the change in the vehicle speed or the like of the traveling machine body 1 is not linked to the operation of the accelerator lever 95 by the operator. Can maintain the rotational speed of the engine 12 at the rotational speed stored in the EEPROM 146 at that time, and therefore, as in the case of the first embodiment, there is no sudden behavior change such as hunting in the traveling machine body 1, and the operator Can continue to perform farming work.
[0093]
Here, the engine speed data stored in the EEPROM 146 is detected by the engine speed sensor 119 at an appropriate time during the work in the combine, and the engine speed before and after the communication is disabled is Since the state is maintained in a substantially constant state, there is almost no change in the behavior of the traveling machine 1 due to the CAN communication bus 65 being unable to communicate.
[0094]
Further, as described above, the rotation speed of the engine 12 can be maintained at a predetermined rotation speed, so that after the farm work is finished, the combine can be caused to self-run and easily escape from the field.
[0095]
If the CAN communication bus 65 becomes incapable of communication since the power is turned on, the engine speed stored in the EEPROM 146 at that time (the engine speed stored last in the EEPROM 146 in the previous work). Therefore, the operator can run the combine on the road or perform farm work without operating the accelerator lever 95 as in the case of the first embodiment.
[0096]
The storage means of the second embodiment is not limited to the EEPROM 146 of the CAN controller C3 described above, but may be a RAM 68 that temporarily stores various data. In this case, the engine speed data stored in the RAM 68 is erased by turning off the power of the combine.
[0097]
It goes without saying that the configurations of the first and second embodiments can be applied not only to the above-described CAN communication environment but also to a control device to which a LAN communication environment is applied. The exchange of control signals between the controllers becomes smooth, and the detection of the communication error state and the error processing between them can be performed smoothly.
[0098]
FIG. 16 shows a third embodiment of the present invention. Here, in this embodiment, the same configuration and operation as those of the first embodiment are denoted by the same reference numerals as those of the first embodiment, and detailed description thereof is omitted.
[0099]
The combine of the third embodiment has a configuration in which various sensors, operation means, and actuators to be related are collectively connected to each controller, and the controllers are controlled independently and in parallel. That is, a control signal from an accelerator lever sensor 155, which will be described later, is directly input to a controller C0, which will be described later, without going through a communication bus.
[0100]
FIG. 16 is a functional block diagram of a controller C0 such as a microcomputer that executes the rotational speed control of the engine 12. The controller C0 includes a CPU 151 that executes various arithmetic processes and controls, and a ROM 152 that stores a control program. A RAM 153 for storing various data, an input / output interface (not shown) for transmitting a control signal connected to various sensors, operation means, and actuators, which will be described later, are provided.
[0101]
The RAM 153 is set to store engine speed data (control signal) detected by an engine speed sensor 156, which will be described later, at appropriate times during work in the combine according to the third embodiment. The ROM 152 stores data of a predetermined engine speed in advance. Therefore, in the third embodiment, the RAM 153 corresponds to the first storage unit according to the present invention, and the ROM 152 corresponds to the second storage unit according to the present invention.
[0102]
An input interface (not shown) of the controller C0 includes a constant rotation control changeover switch 154 for switching between a constant rotation control mode and a manual mode, and an operation position for detecting an operation position of an accelerator lever 95 as an accelerator operation means. Accelerator lever sensor 155 as detection means, engine speed sensor 156 as engine speed detection means, engine oil amount sensor 157, engine water temperature sensor 158, and rack position as fuel adjustment means provided in the fuel injection pump are detected. A rack position sensor 159, an engine starter switch 160, and the like as moving position detecting means are connected (see FIG. 16).
[0103]
The output interface of the controller C0 includes a rack actuator 161, an engine starter relay 162, an alarm buzzer 163, a liquid crystal panel 164, and the like for adjusting the rack position of the fuel injection pump so that the rotational speed of the engine 12 becomes a predetermined rotational speed. Each is connected (see FIG. 16).
[0104]
In the above configuration, the rotational speed control of the engine 12 by the controller C0 is executed as follows. Here, it is assumed that the constant rotation control changeover switch 154 is OFF (manual mode).
[0105]
That is, when the control signal from the accelerator lever sensor 155 is not input to the controller C0 due to disconnection of the harness connecting the accelerator lever sensor 155 and the controller C0 during the operation of the engine 12, the fuel injection pump By controlling the rack as the fuel adjusting means to move to the position corresponding to the engine speed data stored in the RAM 153 by the rack actuator 161, the speed of the engine 12 is stored in the RAM 153. The engine speed is set.
[0106]
Further, when the control signal from the accelerator lever sensor 155 is not input to the controller C0 since the power is turned on, the engine rotation stored in the ROM 152 in advance by the rack actuator 161 is used as the fuel adjustment means in the fuel injection pump. By controlling to move to a position corresponding to the data of the number, the rotational speed of the engine 12 is set to the engine rotational speed stored in advance in the ROM 152.
[0107]
If controlled in this way, in the combine of the third embodiment, when the change in the vehicle speed or the like of the traveling machine body 1 is not linked to the operation of the accelerator lever 155 by the operator during the farm work, the rotational speed of the engine 12 is At that time, since the engine speed stored in the RAM 153 can be maintained, the same effects as those in the first and second embodiments can be obtained.
[0108]
Here, the engine speed data stored in the RAM 153 is detected by the engine speed sensor 156 at appropriate times during the operation of the combine, and the control signal from the accelerator lever sensor 155 is not input. Since the rotational speeds of the front and rear engines 12 are kept almost constant, there is almost no change in the behavior of the traveling machine body 1 due to no input of the control signal from the accelerator lever sensor 155.
[0109]
Further, when the change in the vehicle speed or the like of the traveling machine body 1 from the time of turning on the power is not linked to the operation of the accelerator lever 155 by the operator, the rotation speed of the engine 12 can be maintained at a predetermined rotation speed stored in the ROM 152 in advance. In this case as well, the same effects as those in the first and second embodiments can be obtained.
[0110]
The present invention is not limited to the above-described embodiment, and can be widely applied to control devices provided in various agricultural machines such as tractors, and can be embodied in various aspects. For example, the storage unit according to the present invention may be configured to be externally attached to a controller that controls the rotational speed of the engine 12.
[0111]
The engine 12 of the above-described embodiment is a diesel engine, but it goes without saying that it may be a gasoline engine. In this case, the fuel injection pump is disposed at a throttle valve as fuel adjusting means in the carburetor. The means for adjusting the movement position of the throttle valve is an actuator such as an electromagnetic solenoid that rotates the valve operating shaft attached to the valve, and the movement position detecting means for the throttle valve detects the rotation angle of the valve. It is a rotation angle sensor such as a potentiometer.
[Brief description of the drawings]
FIG. 1 is a left side view of a combine in a first embodiment.
FIG. 2 is a front view of the combine.
FIG. 3 is a skeleton diagram showing a power transmission system of a combine.
FIG. 4 is a right side view of the combine.
FIG. 5 is a side view showing an operating state of the discharge auger.
FIG. 6 is a left side view showing an elevating drive unit of a traveling crawler.
FIG. 7 is a schematic plan view of the cockpit.
FIG. 8 is a hydraulic circuit diagram for each hydraulic cylinder.
FIG. 9 is a functional block diagram of the entire control device.
FIG. 10 is a diagram illustrating a structure of a data frame in control data with an ID code.
FIG. 11 is a functional block diagram showing a connection relationship between the CAN controller unit C1 and each input / output system external device.
FIG. 12 is a functional block diagram showing a connection relationship between the CAN controller unit C2 and each input / output system external device.
FIG. 13 is a functional block diagram showing a connection relationship between the CAN controller unit C3 and each input / output system external device.
FIG. 14 is a functional block diagram showing a connection relationship between a CAN controller unit C4 and each input / output system external device.
FIG. 15 is a functional block diagram of the entire control device according to the second embodiment.
FIG. 16 is a functional block diagram of a controller in the third embodiment.
[Explanation of symbols]
C0 controller
C1-C4 CAN controller unit
1 Traveling aircraft
2,2 Traveling crawler
3 Threshing device
4 Cutting pre-treatment device
10 cockpit
12 engine
13 Discharge auger
64 Controller
65 CAN communication bus
67,152 ROM
68,153 RAM
80,164 LCD panel
81,154 Constant rotation control switch
95 Accelerator lever as accelerator operating means
119,156 Engine speed sensor
122,159 Rack position sensor as moving position detecting means
127,161 Rack actuator
145,155 Accelerator lever sensor as operation position detecting means
146 EEPROM

Claims (5)

In an agricultural machine having a controller for transmitting the power of an engine mounted on a traveling machine body to a working unit such as a threshing device and a traveling unit, and controlling a rotational speed of the engine according to an operation position of an accelerator operating unit. ,
The controller includes first storage means for storing the engine speed detected during the operation by the engine speed detection means, and second storage means for storing a predetermined engine speed in advance. And
When the control signal for the operation position of the accelerator operating means is not input during operation of the engine, the controller sets the engine speed immediately before the control signal is not input. Control the engine speed to be stored in the storage means,
Agricultural work machine control, wherein when the control signal is not input since power-on, the engine speed is controlled to be the engine speed stored in advance in the second storage means apparatus. While transmitting the power of the engine mounted on the traveling machine body to a working unit such as a threshing device and the traveling unit, a controller that controls the rotational speed of the engine according to the operation position of the accelerator operating means, the working unit, and the And at least one controller that controls the operation of either one or both of the traveling units, and a control signal is transferred between a plurality of controllers via a communication bus that connects the controllers. In the agricultural machine that executes each control,
A storage means for storing in advance an appropriate engine speed according to the type of work;
The controller for controlling the rotational speed of the engine, when the communication bus becomes incapable of communication while the engine is operating or when power is turned on, immediately before the communication of the rotational speed of the engine from the storage means becomes impossible. A control device for a farm work machine, wherein control is performed so that the engine speed is selected according to the type of work. While transmitting the power of the engine mounted on the traveling machine body to a working unit such as a threshing device and the traveling unit, a controller that controls the rotational speed of the engine according to the operation position of the accelerator operating means, the working unit, and the And at least one controller that controls the operation of either one or both of the traveling units, and a control signal is transferred between a plurality of controllers via a communication bus that connects the controllers. In the agricultural machine that executes each control,
A storage means for storing the engine speed detected during operation by the engine speed detection means;
The controller for controlling the rotational speed of the engine stores the rotational speed of the engine in the storage means immediately before the communication is disabled when the communication bus is disabled during operation of the engine. A control device for an agricultural machine characterized by controlling the engine speed. While transmitting the power of the engine mounted on the traveling machine body to a working unit such as a threshing device and the traveling unit, a controller that controls the rotational speed of the engine according to the operation position of the accelerator operating means, the working unit, and the And at least one controller that controls the operation of either one or both of the traveling units, and a control signal is transferred between a plurality of controllers via a communication bus that connects the controllers. In the agricultural machine that executes each control,
A storage means for storing the engine speed detected during operation by the engine speed detection means;
The controller for controlling the rotational speed of the engine is configured so that the rotational speed of the engine is set to the engine rotational speed stored in advance in the storage means when the communication bus becomes incapable of communication since the power is turned on. A control device for an agricultural machine characterized by controlling. While transmitting the power of the engine mounted on the traveling machine body to a working unit such as a threshing device and the traveling unit, a controller that controls the rotational speed of the engine according to the operation position of the accelerator operating means, the working unit, and the And at least one controller that controls the operation of either one or both of the traveling units, and a control signal is transferred between a plurality of controllers via a communication bus that connects the controllers. In the agricultural machine that executes each control,
Storage means for storing the rated speed of the engine;
The controller for controlling the rotational speed of the engine is configured so that the target rotational speed of the engine is set to a rated rotational speed stored in advance in the storage means when the communication bus is not communicable since the power is turned on. A control device for an agricultural machine characterized in that

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