JPH0776719B2 - Abnormality diagnosis device for agricultural machines - Google Patents

Description

Description: [Industrial field of application] The present invention relates to an abnormality diagnosing device for agricultural work machines and the like.

[Conventional technology]

In an automatic control device such as an agricultural work machine, a detection signal from a sensor is required, and when detection cannot be performed due to an abnormality in the sensor, automatic control is disabled. Therefore, in order to prevent such a state, it has been attempted to perform abnormality diagnosis in some cases by a checker or the like having a sensor separately prepared.

However, in such a method, it is necessary to stop the operation of the agricultural work machine or the like and then perform the abnormality diagnosis. Therefore, there are problems such as inefficiency such that the operation is stopped each time the diagnosis is made, and a troublesome problem that a checker or the like is specially required for the diagnosis.

[Problems to be solved by the invention]

In view of the above, the present invention enables a plurality of sensors to be diagnosed during work without interrupting the operation when diagnosing a sensor abnormality of an automatic control device in such an agricultural work machine. It aims to eliminate the drawbacks of the device.

[Means for solving problems]

This invention, a plurality of sensors 1A, 1B for detecting the operating state of a work device such as an agricultural work machine by ON / OFF of an electric signal, and an ON delay or an OFF delay added to the plurality of sensors 1A, 1B, A work device in which the plurality of sensors 1A, 1B are arranged to detect a work state at predetermined time intervals, a control device 19 with a built-in CPU to which the plurality of sensors 1A, 1B are connected, When diagnosing an abnormality between the control operation unit that outputs a control command signal from the device 19 and a plurality of sensors 1A and 1B, the delay of one sensor 1A that outputs a detection signal that is a condition for abnormality diagnosis is left unchanged. Then, the delay canceling means for canceling the delay of the other sensor 1B which is diagnosed as to whether or not there is an abnormality, the detection signal which is a condition for the abnormality diagnosis of the one sensor 1A, and the other sensor 1B for a predetermined time. Detection signal to be detected later From the structure of the trouble diagnosis device for agricultural machines and the like comprising a diagnosis means for diagnosing the presence or absence of abnormality.

[Operation and effect of the invention]

Multiple sensors 1A, 1 at arbitrary positions on the machine such as farm work machine
B is provided, and these sensors 1A and 1B are provided with a so-called delay for delaying a detection signal for a fixed time or a fixed distance in order to compensate for a momentary detection interruption due to factors such as an object to be detected. , The signals detected by these sensors 1A, 1B are sent to a control device 19 that performs arithmetic processing by a CPU or the like,
The control device 19 automatically controls the operating portion of the machine body.

In such a control device, in order to diagnose the abnormality of these sensors 1A, 1B, the sensor 1B on the side to be diagnosed and the sensor 1A on the side which outputs a detection signal for this diagnosis are used for mutual diagnosis. It's something to do. For example, in the agricultural work machine, in the case where the sensors 1A, 1B for detecting the presence or absence of grain stalks are respectively provided on the transport start end side and the transport end side in the transfer device for transporting the harvested grain stalks to the threshing device, ,
One sensor 1A outputs a detection signal for diagnosing the other sensor 1B, and the other sensor 1B conveys a grain stalk that outputs a detection signal similar to this detection signal after a predetermined time, and is normal. For example, if a similar detection signal is detected, and if a detection signal different from the diagnosis detection signal is output, the abnormality diagnosis means of the control device 19 diagnoses an abnormality, The determination is made in the middle operating state and both sensors 1A and 1B diagnose each other.

Sensor 1A that outputs a detection signal for diagnosis during this diagnosis
Will operate with the delay added, but if the delay is added, detection of abnormalities will be delayed and normal diagnosis will be difficult, so the sensor 1B on the diagnosed side will release the delay. is there. Therefore, the abnormality diagnosis of the plurality of sensors 1A, 1B provided for automatically controlling the machine body can be quickly diagnosed between the sensors 1A, 1B without stopping the operation of the machine body.

Therefore, there is no problem of inefficiency such as stopping the operation every time of diagnosis, and no troublesome problem such as needing a special checker for diagnosis, accurate error diagnosis can be performed, and automatic control cannot be performed. Can be discovered early.

〔Example〕

 Embodiments shown in the drawings will be described below.

The combine is configured as follows. A traveling device 5 composed of a pair of left and right crawlers 3 that are located on the lower side of the machine body 2 and travel on the mowing soil surface, a traveling transmission device 4 that drives this traveling device 5, and a traveling device 5 above the traveling device 5. A threshing device 6 for threshing cut grain culms, an operating device 7 and an operating seat 8 on the front side of the threshing device 6 on the right side in plan view for controlling the operation of the machine body 2, and the threshing The combine is composed of a mowing device 9 which is located in front of the device 6 and mows the raised culm.

Further, the mowing device 9 raises a grass body 10 for weeding a napped culm from the front end side and a culm culled by the grass body 10, and from the rear part of the grass body 10 to the upper rear side. Facing device (11) extending in an inclined rearward direction, and a device (12) located behind the lower part of the raising device (11) for scraping the raised culm.
And a cutting blade device 13 below the scraping device 12 for cutting the napped culm, and an intermediate position between the scraping device 12 and the culm feeding device 14 of the threshing device 6, Transfer device that takes over the grain culm scraped by the device 12 and transfers it to the grain culm supply device 14
It consists of 15 and.

Then, a grain culm sensor 1A and a grain culm sensor 1B for detecting the presence or absence of grain culm are provided on the transport start end side portion and the transport end side portion of the transfer device 15 in association with the grain culm transfer passage. Further, the threshing device 6 is provided on the upper panel 16 of the operating device 7.
A threshing switch 17 that is turned on when the vehicle is in an operating state and a speed change lever 18 that controls the forward and backward traveling speed change of the machine body 17 are provided, and the output of the speed change transmission 4 is provided in the vicinity of the speed change transmission 4. A speed sensor 1C is provided to detect the traveling speed of the machine body 2 based on the rotation speed.

Further, the control device 19 is built in the operation device 7,
The control device 19 includes a sensor group such as each of the sensors 1A, 1B, 1C and the threshing switch 17, an electromagnetic valve 20 for performing forward / backward traveling control and a lateral turning control of the airframe 2, and an electromagnetic valve 2.
1 is electrically connected.

Further, when the detection signals from these sensors 1A, 1B, 1C, etc. are input to the control device 19, the built-in CPU or the like performs arithmetic processing based on these detection signals, and At the cutting end of the napped culm row, automatic steering control for automatically turning is performed by a turning pattern built in to move to the next grain culm row.

Next, the operation will be described.

By operating the speed change lever 18, the traveling device 5 is driven,
Run the aircraft 2. Then, the grass bodies 10 of the mowing device 9 move forward while sliding on the mowing soil surface to weed the napped culms,
The cultivated grain culm is raised by the raising device 11, and then the raised grain culm is scraped by the scraping device 12 and simultaneously cut by the cutting blade device 13. The cut grain culm is taken over from the scraping device 12 to the transfer device 15, transferred from the transfer device 15 to the grain culm supply device 14 of the threshing device 6, and threshed by the threshing device 6.

During these series of harvesting operations, traveling, mowing, and threshing operations are performed while automatically rotating the machine body 2 at the mowing terminal end of the row of raised culm. At that time, the grain culm cut during mowing is transferred by the transfer device 15, the flow of the grain culm is first detected by the sensor 1A on the transfer start side of the transfer device 15, and after a predetermined time on the transfer end side. It is detected by the sensor 1B.

At that time, when the grain culm is started to be transported to the transfer device 15 at the start of cutting the grain culm, the arithmetic processing of the control device 19 causes the sensor 1B on the transport end side of the transport device 15 to be in the ON delay condition, From the sensor 1A at the beginning of conveyance to the sensor 1A
If the OFF signal is detected from the sensor 1B under the condition of ON delay after a certain time, the sensors 1A and 1B
Is diagnosed as abnormal. At the time of this diagnosis, with respect to the sensor 1A, 1B on the side that outputs the detection signal for diagnosis,
Even if there is a momentary break in the transportation of grain culm,
A delay is added to the sensor that outputs the detection signal for diagnosis, and since the ON state is continued, erroneous diagnosis can be reduced.

In contrast to the above, at the end of mowing, the transfer device
If the ON signal is detected from the sensor 1A when the sensor 1B on the transportation end side is in the OFF delay condition at the end of the transportation of the grain culm on the transportation end side of 15, the abnormality is diagnosed.

Further, as described above, the setting time of the abnormality diagnosis in the sensors 1A, 1B is not limited to the time when the transport state of the grain culvert transferred by the transfer device 15 is changed, and may be diagnosed by necessary setting means at any time. Good.

In addition, when an abnormality occurs due to a diagnosis, the control device 19 may notify by lighting a lamp, a buzzer alarm, or the like.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention. FIG. 1 is a side view,
FIG. 2 is a partial plan view, and FIG. 3 is a block diagram of an electric circuit. [Description of symbols] 1 ... Sensor 1A ... Grain culvert sensor (inlet side) 1B ... Grain culvert sensor (outlet side) 1C ... Speed sensor 2 ... Aircraft 3 ... Crawler 4 ... Travel transmission 5 ... … Traveling device 6 …… Threshing device 7 …… Operating device 8 …… Operator's seat 9 …… Mowing device 10 …… Weeding body 11 …… Raising device 12 …… Rapping device 13 …… Cutting blade device 14 …… Grain stalk Supply device 15 …… Transfer device 16 …… Top panel 17 …… Thrush switch 18 …… Shift lever 19 …… Control device 20 …… Electromagnetic valve 21 …… Electromagnetic valve

Claims (1)

[Claims] 1. A plurality of sensors 1A, 1B for detecting an operating state of a working device such as an agricultural work machine by turning ON / OFF an electric signal, and an ON delay or an OFF delay added to the plurality of sensors 1A, 1B. A work device in which the plurality of sensors 1A and 1B are arranged to detect a work state at a predetermined time interval, and a control device 19 with a built-in CPU to which the plurality of sensors 1A and 1B are connected, When diagnosing an abnormality between the control operation unit that outputs a control command signal from the control device 19 and a plurality of sensors 1A and 1B, the delay of one sensor 1A that outputs a detection signal that is a condition for abnormality diagnosis is set. Leave as it is, the delay canceling means for canceling the delay of the other sensor 1B which is diagnosed as to whether or not there is an abnormality, the detection signal which is a condition for the abnormality diagnosis of the one sensor 1A, and the other sensor 1B is predetermined. Detection signal detected after time Abnormality diagnosis apparatus for agricultural machines and the like comprising a diagnosis means for diagnosing the presence or absence of abnormality from.