JPH0827739B2 - Checking device for control output of mobile work equipment - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a control output section checking device for checking a control output section of a mobile work machine such as a combine or a tractor.

(Problems to be Solved by Conventional Techniques and Inventions) Combines employ various automatic controls such as steering control, cutting height control, and depth control of grain culms to a threshing device. Whether or not these automatic controls are working correctly requires checking the operation of the sensor involved in each control and also checking the operation of the output section that is output by the input from the sensor.

It is often difficult to determine whether the output section is normal or abnormal, even if the operator manually operates the output section.
Since it is dangerous when the work part has an output part, it is necessary to check it safely.

Further, in a control device which performs a plurality of controls, as a check for abnormality of a working group of a sensor group and an actuator, JP-A-55-18641, JP-A-59-53954, and JP-A-52-53, There is a publication of -125440. These are efficient because they can be automatically checked, but insufficient attention is paid to simplification of the check operation device.

Therefore, the present invention intends to check the sensor group of the control device and the output section to the actuator using a safe and relatively small number of operation switch groups.

(Means for Solving Problems) The present invention relates to a sensor group A for detecting the operating states of a plurality of actuators, and a plurality of output units 5 for outputting control command signals from a control unit to the actuators. A check device for checking a plurality of the output parts 5 by the output to the output part 5 and the operation input from the sensor group A, and a selection display of the output parts 5 to be checked in the plurality of output parts 5. An instruction display of the check operation, a display unit 3 for displaying the check result, a plurality of selection switches S1, S2, S3, S4 for the check operation, and the plurality of selection switches S1, S2, S3, S4 are individually operated. First checking device actuating means for actuating the checking device by
A control output unit check device for a mobile work machine comprising: a second check device operating means for operating the check device by simultaneously turning on any two of the plurality of selection switches S1, S2, S3, S4. The configuration.

(Operation and effect of the invention) When the control unit (CPU) of the mobile work machine is in a operable state and the selection switch S1 is turned on, the display unit 3
An instruction display of an output check operation is displayed on the display, and the check is executed while operating the selection switches S1 to S4 independently or by operating the two selection switches at the same time.

Then, the specific items of the output unit 5 to be checked here are displayed on the display unit 3, and the check designation of the selected output unit 5 is performed, for example, by the selection switch in the separated position.
The output unit 5 selected by the output from the control unit (CPU) is operated by turning ON the S1 and S3 separately or simultaneously, and whether the operation of the output unit 5 is normal or abnormal. It is displayed on the display unit 3.

In this way, the check device uses the output harness from the control unit (CPU) to the output unit 5 to perform the check by the single operation of the plurality of selection switches S1 to S4 or the simultaneous operation of the plurality of selection switches, Moreover, since the operation output states of the plurality of output units 5 can be checked while displaying the procedure and result of the check operation on the display unit 3, it is possible to make an accurate check and compare a plurality of selection switches. It is possible to simplify the structure of the check device by reducing the number of checks, and the check operation can be performed at a position away from the actuator and the output unit 5, so that the safety can be improved.

(Embodiment) An embodiment of the present invention shown in the drawings will be described below.

The checker 2 has an operation panel 8, and an input switch 9 for inputting power to the checker 2 is provided above the operation panel 8.
And the checker 2 is connected to the control unit (CP
Provide a connector 1 that connects to U) with a harness, etc.
A liquid crystal display unit 3 is provided in the middle section of the operation panel 8, and a selection switch S operated by hand is provided in the lower section of the operation panel 8.
1, S2, S3, S4 are provided.

The combine 10 includes a vehicle body 12 having a pair of left and right traveling devices 11 that are transmission driven even if an engine is mounted.
Mowing device 13 provided at the front part of the machine and moved up and down through a hydraulic circuit by an elevating cylinder, while supplying the threshing device 15 while transferring the grain stalks to be mowed by the reaping device 13 and changing and adjusting the supply depth. A transfer device (14) capable of threshing, a threshing device (15) for threshing the grain culms transferred and supplied from this transfer device (14), a control device (16), etc.

The sensor group A is configured as follows. Reaper 13
In the weeding section, a steering sensor A1 is provided, a cutting height sensor A2 is provided at the rear of the mowing device of the mowing device 13, and a handling depth sensor is provided in front of the feed opening of the threshing device 15 to detect the handling depth. A3 is provided.

The steering sensor A1 detects the traveling direction with respect to the grain arranging direction of the combine 10 by slidingly contacting the stock base of the cut grain culm,
A solenoid valve 17 which is the output unit 5 of the hydraulic operation circuit is operated so that the steering clutch transmitting the traveling device 11 can be operated by inputting it to a control unit (CPU) including a microcomputer.
A control command signal is output to the steering control so that the machine body travels along the grain culm.

Further, the cutting height sensor A2 transmits an ultrasonic wave to the traveling ground to detect the height between the cutting blade unit and the ground, and inputs it to the control unit (CPU) to expand and contract the lifting cylinder. Solenoid valve 18 for lifting, which is the output unit 5 of the hydraulic circuit
A control command signal is output to control the cutting height to be constant.

Further, the handling depth sensor A3 detects the position of the tip portion of the grain culvert transferred and supplied by the transfer device 14, and outputs the output portion 5 of the control motor.
The ON / OFF of the motor switch 19 is changed to adjust and adjust the holding position of the harvested culm by the transfer device 14, and control is performed so that the supply depth of the tip portion to the threshing device 15 is maintained constant.

Further, in addition to A1, A2, A3 of each of the above sensors, a vehicle speed sensor A4 for detecting the vehicle speed of the traveling device 11, a position sensor A5 for detecting the raised position of the reaping device 13 with respect to the vehicle body 12, and a threshing switch A6 and the like are provided. .

Regarding the control operation by the selection switches S1, S2, S3, S4, as shown in the flowchart (FIGS. 4 to 9), the selection switches S1, S2, S3, S are displayed according to the display on the display unit 3.
Press 4 to turn it on.

First, the flowcharts of FIGS. 4 and 5 will be described.

The input of each of the sensor groups A1 to A6 is checked, and the input check mode is designated in steps 20 to 22. Then, these execution procedures are displayed on the display unit 3, and the selection switch S1 or S4 is operated according to this display.
Turn on.

In steps 23 to 25, the sensor to be checked is specifically specified from the input sensor group A. The cutting height sensor A2
Is specified. By this designation operation, the cutting height sensor A2 is manually turned ON / OFF (step 26), and the display result of the display unit 3 is viewed. It is normal when the ON / OFF display of the cutting height sensor A2 is accurately displayed in response to the operation on the display unit 3, and abnormal when the display does not correspond to the operation. In the event of such an abnormality, a buzzer, a lamp, or the like may be configured to additionally display an abnormality.

To move to the next item, when the selection switch S2 is turned on (step 27), next, for example, the process moves to the check of the vehicle speed sensor A4, and the check is performed similarly to the steps 23 to 27. However, at this time, the vehicle speed is displayed in step 26, and this vehicle speed is not displayed in the check while the vehicle is stopped.

Also, do not check during this step,
When the input line of the other sensor A is to be checked, the selection switch S2 is turned on (step 28), the process returns to the original step 20, and the same operation as above is performed again.

 Next, FIGS. 6 and 7 will be described.

When automatically checking whether or not each sensor group A is in the normal state during the combine operation, see FIG.
As shown in the figure, the display unit 3 is displayed in the self-check mode (step 30), and when the check is performed, the selection switch S1 is turned on (step 31), the automatic check is started, and the cutting height sensor A2 is checked (step 33). , Check the vehicle speed sensor A4 (step 34), Check the position sensor (step 35), Check the threshing switch A6 (step 36), Check the depth sensor A3 (37), Check the direction sensor A1 (step 38) It is automatically checked sequentially. Then, whether the check result is normal or abnormal is displayed in the lower part of the display unit 3, as shown in FIG. The check of each sensor group A in such a self-check mode can be performed and checked when any of the sensor groups A operates.

Next, the check mode of the output unit 5 will be described with reference to FIGS. 8 and 9.

When the output section 5 is switched to the check mode (step 40), the display section 3 is similarly switched (step 40 in FIG. 9), and when the selection switch S1 is turned on (steps 41 to 42), this output check is performed. The operation of the mode is started, and each output unit 5 is checked.

The output to be checked by this is to check the output operation of the solenoid valve 17 for turning the traveling direction left and right by operating the steering clutch and the steering brake, and for raising and lowering the mowing device 13. Lift check to check the output operation of solenoid valve 18 of
A motor check to check the output operation of the motor switch 19 of the control motor that moves the transfer device 14 to control the handling depth, and as another check, a horn check to check the horn and a monitor lamp to check the monitor lamp. There are checks etc.

Each of these check circuits uses the output circuit for each output unit 5 to operate the selection switches S1 to S4 by ON / OFF operation to determine whether or not a normal output operation is performed. is there.

The output check mode is selected (step 40), whether or not to check is displayed (step 41), and this mode is activated when the selection switch S1 is turned on (step 4).
2) The check of each output section 5 is started.

Next, the traveling device shifts to the left / right turning check, and the display section 3 displays "Do you want to turn right?" (Step 43), and then the presence / absence of the check (step 44). Next, when the selection switch S1 is turned on, the right turn check is started (step 45). Then, a message "Please press the right turn switch" is displayed (switch 46), and when the selection switches S1 and S3 are turned on at the same time, the machine turns right while it is turned on (step 47). Next, when the selection switch S1 and the selection switch S3 are turned on (steps 48 and 49), a right turn output is output while the selection switch S1 and the selection switch S3 are turned on, and the aircraft turns right (step 50).

Further, the transition of the other output section 5 to the check is performed by turning on the selection step S2, and then when the selection switch S1 is turned on, it is checked while sequentially designating the check points (steps 52 to 60). The output to be checked is a left turning check (step 54) for checking the output operation of the solenoid valve 17 for turning the traveling direction to the left by operating the steering clutch, the steering brake, etc. Lift check to check the output operation of the solenoid valve 18 (steps 55, 56),
Motor check to check the output operation of the motor switch 19 of the control motor that moves the transfer device 14 to control the handling depth (steps 57 and 58), and the horn check to check the horn as the other output section 5 checks. (Step 59) and monitor lamp check for checking the monitor lamp (Step 60).

[Brief description of drawings]

1 is a plan view of a checker, FIG. 2 is a block diagram, FIG. 3 is a side view of a combine, FIG. 4 is a flowchart, and FIG. 5 is a part. 6 is a flow chart of the display section showing the operation display state of FIG. 6, FIG. 7 is a flow chart of the display section showing the operation state of a part thereof, FIG. 8 is a flow chart, and FIG. It is an action diagram of a display section showing an operating state. In the figure, reference numeral 1 is a connector, 2 is a checker, 3 is a display unit, 5 is an output unit, 17 and 18 are solenoid valves, 19 is a motor switch, A is a sensor group, (CPU) is a control unit, and S1 to S4.
Indicates a selection switch.

Claims (1)

[Claims] 1. A sensor group A for detecting the operating states of a plurality of actuators, a plurality of output units 5 for outputting control command signals from a control unit to the actuators, and outputs to the output unit 5. And a check device for checking a plurality of the output parts 5 by an operation input from the sensor group A,
A selection display of the output unit 5 to be checked in the plurality of output units 5, an instruction display of the check operation, a display unit 3 displaying the check result, and a plurality of selection switches S1, S2, S3 for performing a check operation. S4 and any one of the plurality of selection switches S1, S2, S3, S4 and the first check device operating means for operating the check device by independently operating the plurality of selection switches S1, S2, S3, S4 A control output section checking device for a mobile work machine, comprising: a second check device operating means for operating the check device by turning on two of them at the same time.