JP2866560B2 - Control device for work vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a central control unit and a plurality of terminal control units which are distributed and arranged in each unit of the body are communicably connected via wired communication means. , Input of a detection signal from sensors for control information detection and transmission of the input data to the central control unit, and
The control unit receives the control data from the central control unit and outputs a drive signal to actuators based on the received data, and the central control unit executes the control of each of the terminal control units based on transmission data from the terminal control unit. The present invention relates to a control device for a working vehicle configured to determine the proper drive contents for the actuators and transmit the proper drive contents as the control data.

[0002]

2. Description of the Related Art In a control device for a work vehicle, in controlling a work vehicle such as a combine or the like, a central control unit intensively controls the whole work vehicle while detecting detection data from sensors for detecting control information. Or a plurality of terminal control units that input and output various signals to sensors and actuators to output drive commands to actuators for operating each working unit provided on the aircraft. The terminal control units and the central control unit are connected to each other by a wired communication unit using a standard such as RS485, and various data are transmitted and received via the communication unit. This avoids complicated and large amounts of signal wiring when directly connecting the central control unit to the sensors and actuators (for example, Japanese Patent Laid-Open No. Hei 3-24080). No. see Japanese).

[0003]

However, in the above prior art, the communication control processing between the central control unit and each terminal control unit is software-processed by each CPU, that is, a microcomputer or the like. There is a problem that the communication speed between the terminal control units cannot be increased, and for example, there is a possibility that the quick operation of the actuators may be hindered. In order to increase the communication speed, the central control unit and each terminal control unit are configured by a hardware circuit for the communication control processing, respectively, and further, the hardware circuit is dedicated to reduce the size of the control device. Although it is conceivable to use ICs, the use of separate dedicated ICs for the central control unit and each terminal control unit has a disadvantage that the development and manufacturing costs of the ICs are excessively increased.

The present invention has been made in view of the above circumstances, and has as its object to provide sensors and the like in a centralized control mode by transmitting and receiving data between a central control unit and each terminal control unit via a wired communication means. In order to increase the communication speed while simplifying the signal wiring for the actuators and the like, the central control unit and each terminal control unit use a dedicated IC for the communication control processing part. An object of the present invention is to make it possible to share a dedicated IC with a control unit, suppress an increase in IC cost, and realize a higher communication speed at a lower device cost.

[0005]

According to a first characteristic configuration of the control device for a work vehicle according to the present invention, the central control unit includes a control processing unit, and the control processing unit and the communication unit. The terminal control unit is provided with a communication IC for relaying data transfer between the sensors and the actuators and the communication means. A state in which the communication IC on the center side and the communication IC on the terminal side have a central component for use as the central side and a terminal component for use as the terminal. When Ru is formed to
In both cases, which of the two components is used
A switching terminal for inputting switching information is provided.
The center-side component is used based on the input information of
Terminal using the central-side mode and the terminal-side components
The communication IC of the same specification, which is configured to be freely switchable to the side mode .

A second characteristic configuration is that, in addition to the first characteristic configuration, the central control unit and each of the terminal control units include:
It is configured to perform multiplex communication via the communication means.

In a third characteristic configuration, in addition to the second characteristic configuration, the communication IC includes an address setting unit as a terminal-side component, and the central control unit and each terminal A control unit is set in the address setting unit.
The configuration is such that communication is performed by designating an address that is in use.

In a fourth characteristic configuration, in addition to the first, second, or third characteristic configuration, the central control unit includes the control arithmetic processing unit and the central communication IC. And a communication arithmetic processing unit for executing data transmission and reception and communication control for each of the terminal control units.

A fifth characteristic configuration is the third or fourth aspect.
In addition to the characteristic configuration described above, the central control unit is configured to execute communication with the terminal control units using a polling selecting method.

[0010]

According to the first characteristic configuration of the present invention, each terminal control section includes a central component and a terminal component.
The communication IC of the same specification formed in the
Use the terminal side component of the above two components for
Switch information is input to use the terminal side components.
Is switched to the terminal side mode for use, the control information detection data from the sensors for detection, wired communication means from the terminal side for component is relayed by the terminal side communication IC of which are in use To the central control unit via In the central control unit, the communication IC of the same specification
Use the center component of the above two components
Information for switching to the center side is used.
To the central-side mode for use, and the transmission data from each terminal control unit is relayed by the central-side communication IC in which the above-mentioned central-side components are used, and then passed to the control arithmetic processing unit. Then, the appropriate driving contents for the actuators determined by the control arithmetic processing unit based on the transmission data are relayed by the communication IC on the central side, and then wired.
The data is transmitted as control data to each terminal control unit via the communication means . In each terminal control unit, the control data transmitted from the central control unit is relayed by a communication IC on the terminal side, and a drive signal is output to actuators based on the control data.

According to the second characteristic configuration, the sensor detection data is transmitted from each terminal control unit to the central control unit, and the control data for driving the actuator is transmitted from the central control unit to each terminal control unit. The transmission is performed via a wired communication means by a multiplex communication method such as a time division multiplex method.

Further, according to the third characteristic configuration, an address designation signal is transmitted from the central control unit to each terminal control unit, and each terminal control unit transmits the transmitted address designation signal and the terminal side component. It is determined whether or not the address set in the address setting unit provided in the communication IC on the terminal side matches, and the terminal control unit in which both addresses match matches the detection data of the sensors to the central control unit. Is sent. Then, in the central control unit, the appropriate driving content determined for the actuators based on the transmission data is addressed to the central control unit as control data and transmitted to each terminal control unit, and in each terminal control unit, It is determined whether or not the transmitted address designating signal matches the address set in the address setting unit. If the addresses match, a drive signal is sent to actuators based on the transmitted control data. Output.

According to the fourth characteristic configuration, in the central control unit, the communication arithmetic processing unit executes communication control for each terminal control unit, while each terminal relayed by the central communication IC. It receives transmission data from the control unit, that is, detection data from sensors for detecting control information. The arithmetic processing unit for control receives the sensor data from the arithmetic processing unit for communication, determines proper driving contents for the actuators based on the data, and determines the proper driving contents for the control data for driving the actuators. To the communication processing unit. The communication arithmetic processing unit performs communication control for each terminal control unit, and relays the control data received from the control arithmetic processing unit by the communication IC on the central side and transmits the control data to each terminal control unit. I do.

According to the fifth characteristic configuration, for example, a request signal for detection data of sensors is specified by a so-called polling selecting method while designating an address to each terminal control unit from the central control unit in a predetermined order. Alternatively, a transmission signal such as control data for driving actuators is transmitted, and in each terminal control unit, when the transmitted address designation signal matches the address set in the address setting unit, the terminal control unit transmits the signal to the central control unit. In response, for example, a response signal indicating completion of reception of detection data of sensors or control data for driving actuators is returned.

[0015]

Therefore, according to the first characteristic configuration of the present invention, the communication control in each of the central control unit and each terminal control unit is processed by a dedicated communication IC, thereby avoiding an increase in the size of the control device. However, since the communication speed between the central control unit and each terminal control unit can be increased, for example, there is no risk that the rapid operation of the actuators is hindered, and the communication IC is connected to the central control unit and each terminal control unit. Can be shared by
In addition, the communication IC of the same specification is
And switch to terminal mode for terminal control unit
With this configuration, the IC cost (development and manufacturing costs) does not increase excessively, and the signal wiring with sensors and the like is simplified in a centralized control mode in which the central control unit controls the entire work vehicle. However, higher communication speeds can be realized at lower device costs.

According to the second characteristic configuration, data transmission and reception between the central control unit and each terminal control unit is performed by a multiplex communication system via a wired communication means. For example, a simple communication means can be configured by providing a single communication path, thereby obtaining a preferable means of the first characteristic configuration.

According to the third characteristic configuration, data transmission and reception between the central control unit and each terminal control unit is performed by designating an address set for each terminal control unit. In the communication method, for example, even when communication is performed via communication means having a single communication path, the central control unit and each terminal control unit can transmit and receive data relating to the intended terminal control unit without error. Suitable means of the above-mentioned configuration is obtained.

Further, according to the fourth characteristic configuration, the control arithmetic processing unit does not directly execute the communication control process, so that the control load is reduced and the control of the entire work vehicle can be performed more appropriately and quickly. Since the communication arithmetic processing unit also exclusively performs data transmission and reception between the control arithmetic processing unit and the central communication IC and communication control to each terminal control unit, the communication control processing is more appropriate and It can be executed quickly, and thus a suitable means of the first, second, and third features is obtained.

According to the fifth characteristic configuration, data transmission / reception between the central control unit and each terminal control unit is reliably performed within a predetermined time by a so-called polling selecting system in a multiplex communication system. Therefore, an error due to a time delay of the detection data from each sensor can be suppressed within a predetermined limit, and a drive signal can be output to the actuators within a predetermined time delay. Suitable means of the third and fourth characteristic configurations can be obtained.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings when applied to a combine as a working vehicle.

In the combine, for example, the steering control for steering the aircraft so as to automatically travel along the planted grain culm, or the handling depth of the harvested grain culm in the compartment is within an appropriate range. Handling depth control that automatically adjusts to be maintained, sorting control that sorts and collects kernels from treated products mixed with straw waste,
Various controls, such as the operation control of the auger that discharges the sorted and collected grains to the outside from the tank that temporarily stores the collected grains, and the attitude control that maintains the attitude of the aircraft at a predetermined attitude such as a horizontal attitude regardless of the state of the running ground, etc. Done.

For this purpose, as shown in FIG. 1, a central control unit CU for centrally executing the control of the whole combine.
And a plurality of terminal control units LU1 to LU5 distributed in each part of the machine including the cutting block 1, the threshing block 2, the tank block 3 and the main unit block 4 are multiplexed via a wired communication means T. Connected for communication. Each of the terminal control units LU1 to LU5 receives a detection signal from a control information detection sensor SW and a central control unit C of the input data.
It is configured to execute transmission to the U, reception of control data from the central control unit CU, and output of drive signals to the actuators M, L, B based on the received data. In addition, the central control unit CU controls each terminal control unit L
Based on the transmission data from U1 to U5, each terminal control unit L
The configuration is such that the proper drive contents for the actuators M, L, B of U1 to U5 are determined, and the proper drive contents are transmitted as control data. The sensors S
W includes a plurality of switches SW for detecting various control information as ON / OFF binary information, and the actuators M, L, and B include an electric motor M, a solenoid L, an alarm buzzer B, and the like. .

As shown in FIG. 2, the central control unit CU
A microcomputer CPU1 as an arithmetic processing unit for control, a gate array GA1 as a central communication IC for relaying data exchange between the microcomputer CPU1 and the communication means T, and the microcomputer It is provided with a microcomputer CPU2 as a communication arithmetic processing unit for performing data transmission and reception between the CPU1 and the gate array GA1 and communication control for each of the terminal control units LU1 to LU5. Data transfer between the two microcomputers CPU1 and CPU2 and between the microcomputer CPU2 and the gate array GA1 are performed via 8-bit bus lines.

A microcomputer CPU for the above control
1 inputs an analog signal from an analog sensor for detecting continuously changing information such as a potentiometer, and a pulse signal from a pulse sensor for detecting a rotation speed and the like via input ports Port1 and Port2. The control microcomputer CPU1 has an E ² ROM
And a non-volatile memory MEM such as
Various error information and the like are stored in the EM. In the figure, PS1 is the microcomputer CPU
1, a DC voltage source that supplies a power supply voltage and a reset signal when the power is turned on to the CPU 2, the gate array GA1, and the like.

On the other hand, as shown in FIG.
U1 to 5 are sensors SW and actuators M,
A gate array GA2 is provided as a terminal-side communication IC for relaying data exchange between L and B and the communication means T. Further, four harnesses AD1 to AD4 for generating an address signal for each of the terminal control units LU1 to LU5 are provided in combination with a low-level voltage harness connected to the ground and a non-connected harness. The harnesses AD1 to AD4, the sensors SW, and the actuators M, L, B are connected to the terminal control units LU1 to LU5 via an integrally formed connector CN. In particular,
The harnesses AD1 to AD4 are connected to address setting external terminals A0 to A3 of the gate array GA2, and the sensors SW
The actuators M, L, and B are connected to an input / output port of the gate array GA2 via a signal processing circuit and a driving circuit, respectively. In the drawing, PS2 is a DC voltage source that supplies a power supply voltage to the gate array GA2 and the like.

The communication means T is constructed using, for example, the RS485 standard. As shown in FIG. 2, a two-wire communication line L, a central control unit CU and each terminal control unit LU1
, And a communication driver DR provided at a contact point with the communication line L in each of the gate arrays GA1 and GA2.
The signal is converted into a signal conforming to the standard such as S485 and the communication line L
, And operates to input a signal on the communication line L and output the received data to each of the gate arrays GA1 and GA2.

The gate array GA1 on the center side and the gate array GA2 on the terminal side are formed so as to have a central component for use as a central side and a terminal component for use as a terminal. is Rutotomoni, before
Switching information on which of the two components to use
A switching terminal (MODE terminal to be described later) for input is provided.
Based on the input information from the switching terminal, the configuration for the center side
Central mode using a part (master mode described later)
And a terminal-side mode using the terminal-side components (described later).
And a gate array GA, which is a communication IC of the same specification, which is configured to be switchable between the first and second modes (slave mode) . Hereinafter, a specific description will be given based on FIG.

As shown in FIG. 3A, when the MODE terminal is set to the LOW level, the internal circuit is switched to the master mode in which the internal circuit functions as the gate array GA1 on the center side. The array GA includes an input / output buffer 11 for holding data input / output to / from the CPU 2 via a bus line, a transmission buffer 13 for holding parallel data for transmission from the input / output buffer 11, and a parallel connection of the transmission buffer 13. P / S that converts data into serial data from parallel to serial
A communication control circuit 16 for transmitting the serial data from the P / S converter 14 with CRC data for error detection from a CRC generator 15 as transmission data; S / P converter 18 for serial-to-parallel conversion, error detector 17 for checking the received serial data for CRC and the like to detect the presence or absence of a communication error, and parallel data and error detector from S / P converter 18 A reception buffer 19 for holding the error data from 17 and outputting it to the input / output buffer 11 and an R / W (read / write) signal and an STB (data strobe) signal which are control signals for data input / output from the CPU 2 are input. In addition, a CPU I / F section 12 for outputting an interrupt INT signal to the CPU 2 is provided.

The gate array GA is shown in FIG.
As shown in (2), when the MODE terminal is set to the HIGH level, the internal circuit is switched to the slave mode in which the terminal functions as the gate array GA2 on the terminal side. In this slave mode, the gate array GA includes the switch SW and the actuators M, L, B, an input / output port 21 for inputting / outputting data to / from B, a transmission buffer 13 for holding the detection signal from each switch SW input through the input / output port 21 as parallel data, and a transmission buffer 13
A P / S conversion unit 14 for converting the parallel data of the P / S into serial data into a serial data, and a serial data from the P / S conversion unit 14
A communication control circuit 16 for transmitting the data with the C data added thereto as transmission data; an S / P converter 18 for serially / parallel-converting the received serial data; An error detection unit 17 for detecting the presence or absence of
A reception buffer 19 for holding the parallel data from the / P conversion unit 18 and the error data from the error detection unit 17 and outputting the data to the input / output port 21, and the terminal control units LU1 to LU5
Address setting unit 22 for setting an address for
It becomes the composition provided with.

As described above, the CPU I / F unit 12 corresponds to the center side component, the address setting unit 22 corresponds to the terminal side component, and gates other than the CPU I / F unit 12 and the address setting unit 22. The main part of the array GA is
As shown by the same part number, it is shared by the center side and the terminal side. The input / output port 21 is composed of three ports A, B, and C each having 8 bits. Ports A and B of the terminal control unit LU3 at address 0 are input ports, and port C is an output port. The port A of the terminal control unit LU4 at address 1 is set as an input port, and the ports B and C are set as output ports. The input / output buffer 11 in the master mode is shared with the port B of the input / output ports 21 in the slave mode.

Each of the terminal control units LU1 to LU5 inputs the address signals from the harnesses AD1 to AD4 connected to the external terminals A0 to A3 to the address setting unit 22 as its own address data only when the power is turned on. It is configured. That is, a LOW level voltage signal is supplied from the LOW level voltage harness, and a HIGH level voltage signal is supplied to the unconnected harness because the harness is pulled up to the power supply side inside the gate array GA2,
Each of the terminal control units LU1 to LU5 sets its own address according to the combination of the voltage signals. In FIG. 2, the terminal control unit LU3 sets the external terminals A0 to A3 at the LOW level and sets the address as 0, and sets the terminal control unit LU3.
U4 is high only in A0 of the external terminals A0 to A3.
At the level, the other terminals A1 to A3 are at the LOW level and set as address 1.

The central control unit CU and each terminal control unit L
U1 to U5 are configured to perform multiplex communication by designating addresses set for the terminal control units LU1 to LU5. Specifically, the central control unit CU uses a polling selecting method. It is configured to communicate with each of the terminal control units LU1 to LU5 (see FIG. 11).

Next, a control operation in the central control unit CU will be described with reference to flowcharts shown in FIGS. 4 to 6 and FIGS.

As shown in FIG. 4, when the main switch is turned on and the power is turned on, first, the reset state of the CPU 1 is released and the control is started. Then, after performing the initialization processing, the input processing of the analog signal from the analog sensor and the pulse signal from the pulse sensor is performed, and the operation of all the terminal control units LU1 to LU5 is stabilized after the main switch is turned on. The CPU 2 is kept in the reset state (the output Port3 of the CPU 1 shown in FIG. 2 = HIGH) until the time required for the communication (e.g., 250 ms) elapses, and the communication with each of the terminal control units LU1 to 5 is stopped.
During this time, lamp check processing of a meter panel (not shown) is performed (# 1 to # 5 and # 12).

When the time for stabilizing the operation of all the terminal control units LU1 to LU5 elapses, the CPU 1 sets the output port
Set t3 to LOW to release the reset state of CPU2,
The communication between the CPU 2 and each of the terminal control units LU1 to LU5 is started (# 6). That is, the CPU 2 controls the terminal control units LU1 to LU5.
Are sequentially called, and the operation of receiving the data of each switch SW is repeatedly performed at a predetermined cycle (for example, 5 ms) (see FIG. 8). By repeating the communication in this predetermined cycle,
A time period (for example, 900 ms after the main switch is turned on) in which the CPU 2 determines that the communication error information for each of the terminal control units LU1 to 5 such that the data of each switch SW and the normal reply data cannot be received is sufficiently accumulated. Then, the CPU 1 starts a process of transmitting and receiving control data to and from the CPU 2 via an 8-bit bus line (# 7).
# 8, see FIGS. 9 and 10). After that, the CPU 1
After a lapse of time (for example, 1.5 seconds after the main switch is turned on) required for grasping the state of the entire system by exchanging data with the PU2, the CPU 1 sets the display on the meter panel to a normal state and starts the entire control processing. (# 9 to # 11). Note that the CPU 1 operates the watchdog timer routine at regular intervals, and when the control goes out of control, the power supply PS1 is output from the output port Port4.
To output a reset signal (see FIG. 2).

In the bus communication performed by the CPU 1 with the CPU 2, as shown in FIG. 5, first, in order to eliminate the influence of the chattering of the switch operation, the data is received from the CPU 2 by a plurality of (for example, four) bus communication. Each switch SW
Is filtered only when the data is the same, and then the data is stored (# 2).
1). Next, communication error information is input to each of the terminal control units LU1 to LU5, and if there is any terminal control unit LU1 to LU5 in an error state, an abnormal output process for displaying an alarm on a meter panel or the like is performed and the terminal in the error state Control units LU1-5
Error processing such as stopping the communication of the drive command to the actuators M, L, and B for a predetermined period (# 22 to # 2)
3). Next, it is determined whether or not the previous communication with the CPU 2 was OK (if the value of the SBUSend flag is 0, it is determined that
K), and determines whether or not the CPU 2 is in a command waiting state of waiting for a command from the CPU 1 (# 24 to # 25). When the previous communication with the CPU 2 is OK and the CPU 2 is in the command waiting state, the external interrupt from the CPU 2 is permitted, the SBUSend flag is set (the value is set to 1), and the TA used in the interrupt processing from the CPU 2 is set.
The SKno is reset (to a value of 0), and a process for outputting a command for executing a process for the terminal control unit LU3 at the address 0 to the CPU 2 in the first part of the interrupt process is performed. On the other hand, if the previous communication with the CPU 2 is not OK, or if the previous communication with the CPU 2 is OK but the CPU 2 is not in the command waiting state, the CPU 2 is reset to the abnormal state for a predetermined time, and the alarm display output is performed. (# 30 to # 31).

In the processing routine for the interruption from the CPU 2, as shown in FIG. 6, after the re-interruption is prohibited, the processing according to the value of each TASKno is performed sequentially from TASKno = 0, and the value of TASKno is increased by one. The next interrupt is enabled, and the process ends. As shown in FIGS. 9 and 10, the processing in each TASKno is performed in the first TASKno.
When SKno = 0, data is taken in from the input port A of the terminal control unit LU3 at address 0, and TASKno is read.
= 1, input port B of terminal control unit LU3 at address 0
And the process of transferring the output data to the output port C. When TASKno = 2, a process for outputting a command for executing a process for the terminal control unit LU4 at address 1 is performed, and when TASKno = 3, data is taken in from the input port A of the terminal control unit LU4 at address 1 and output. The output data is transferred to the port B. When TASKno = 4, the address 1
Transfer processing of output data to the output port C of the terminal control unit LU4. Hereinafter, similarly, the terminal control units LU1 to LU5 of the remaining addresses sequentially execute command transfer and data input / output processing. In the above flow, the transfer of the output data to the output port is performed by the CPU.
1 is not performed until 1.5 starts the entire control process (1.5 seconds after the main switch is turned on).

According to the above flow (FIG. 9), address 0
When the request command is transferred to the terminal control unit LU3 of the above, the CPU 2 is receiving the detection data of the sensors SW from the terminal control unit LU4 of the address 1, and after the reception of the detection data of the sensors SW is completed, The input port A and the input port B of the terminal control unit LU3 at the address 0 take in data and transfer the output data to the output port C. That is, the terminal control units LU1 to LU5
While receiving the detection data of the sensors SW from
Actuators M for the terminal control units LU1 to LU5,
When a request for transmission of control data for L and B driving is generated, transmission of the control data for driving the actuators M, L and B is performed after the reception of the detection data of the sensors SW being received is completed. Be executed. In the above flow, the transfer processing of the output data to the output port C may be performed before the data is taken in from the input port A and the input port B of the terminal control unit LU3 at the address 0.

Then, TASKno which is one before the last =
n, a command requesting communication error information for each of the terminal control units LU1 to LU5 is transferred, and the last TASKno
When = n + 1, the communication error information is read, and then the SBUSend flag is reset (value is set to 0) to indicate that the communication with the CPU 2 is OK. In the last TASKno = n + 1,
Since the processing is ended in a state where the next interrupt is prohibited, the processing for the interrupt from the CPU 2 is not executed thereafter until the interrupt is permitted in the bus processing shown in FIG.

When the main switch is turned off to stop the operation of the combine, as shown in FIG. 4, first, the CPU 2 is reset to stop the communication with the terminal control units LU1 to LU5 (# 13). Then, for 5 seconds after the main switch is turned off, the solenoid for stopping the engine is driven to cut off the fuel supply to the engine, and error information is written to the memory MEM.
After the elapse of 5 seconds, the driving of the solenoid is stopped (# 14 to # 17).

The writing of the error information to the memory MEM may be performed at predetermined time intervals other than when the engine is stopped. However, when the power supply voltage is lowered such as when the engine starter is started, erroneous data may be written. Therefore, the power supply voltage (for example, 12 V) is monitored, and the processing is not performed when the voltage is reduced. Note that the memory M
The error information written in the EM is read by a checker or the like, and failure analysis is performed based on the error information.
Since the error history is recorded, there is an advantage that it is possible to analyze an error in which it is difficult to reproduce, for example, an instantaneous disconnection.

Next, a control operation in each of the terminal control units LU1 to LU5 will be described based on flowcharts shown in FIG. 7 and FIGS. First, it is determined whether or not a polling signal for itself is received based on an address in the received data. If the polling signal is for itself, it is determined whether the request is an input request from the switch SW or an output request for the actuators M, L, and B. I do. In the case of an input request from the switch SW, a detection signal from the switch SW is input via an input port, and sensor data for reply is created based on the input signal. On the other hand, in the case of an output request to the actuators M, L, B, the received data is output via the output port, and ACK data for reply is created. Next, as shown in FIG. 11, the centralized control unit CU
The transmission time t until the transmission start point with respect to the end time point of the polling signal from is changed at random.

Thus, when a plurality of terminal control units LU1-5 respond to the same polling signal due to an error in the address setting for each terminal control unit LU1-5, the timing of each return signal is shifted. The overlapped waveforms are received by the central control unit CU, are determined to be abnormal data different from normal data, and can be detected as a communication error. Note that the communication control circuit 16 performs the random processing of the return timing based on a signal from the random signal generation circuit 23 (see FIG. 3) in the gate array GA2.

Next, another embodiment will be described.
In the above embodiment, the central control unit CU and each terminal control unit LU1
To LU5 perform multiplex communication via the wired communication means T, but this is not a multiplex communication. For example, the central control unit CU is provided with individual terminals provided between the terminal control units LU1 to LU5. May be communicated via the communication means T.

In the above embodiment, when the central control unit CU and each of the terminal control units LU1 to LU5 perform multiplex communication, the address of each of the terminal control units LU1 to LU5 is specified and any one of the terminal control units LU1 to LU5 is designated. Although the communication using the time division multiplexing method is shown while discriminating between the communication with the LU5, the communication is performed not with the time division multiplexing method but with the terminal control units LU1 to LU5 using the transmission signals of different frequencies with the frequency multiplexing method. You may make it do. Note that, in the case of performing multiplex communication by designating an address, communication using the polling selecting method is described, but the present invention is not limited to the polling selecting method.

In the above-described embodiment, the central control unit CU includes the microcomputer CPU 1 as a control arithmetic processing unit.
And a microcomputer C as a communication arithmetic processing unit
Although the case where two CPUs including the PU2 are provided is shown, when the required communication processing speed is not so fast, the overall control and the communication control are performed by one microcomputer CPU1 to simplify the configuration. It is also possible to achieve the conversion.

In the above embodiment, the wired communication means T is
Although the one constructed using the RS485 standard is shown,
Wired communication means of various other standards can be used.

In the above embodiment, the switch SW for detecting the sensors as ON / OFF binary data of the control information is used.
However, it is also possible to include a sensor for detecting an analog signal or a pulse signal other than binary signals. Further, the actuators may include those other than the electric motor M, the solenoid L, and the alarm buzzer B.

In the above embodiment, the communication IC uses the CPU-side I / F section 12 for the center-side component for use as the center side and the address setting section 22 for the terminal-side component for use as the terminal side. However, the specific configuration of the center-side component and the terminal-side component can be changed as appropriate. In the above embodiment, the input / output buffer 11 of the communication IC on the center side is shared with the port B of the three input / output ports of the communication IC on the terminal side. The input / output buffer 11 may be provided independently without being shared. Further, the main circuit portion for data exchange shared by the communication IC on the center side and the communication IC on the terminal side is not limited to the circuit configuration of the transmission buffers 13 to 19 as shown in the embodiment.

In the above embodiment, in order to eliminate the influence of the chattering operation of each switch SW as sensors, the detection signal from each switch SW is used as it is by the central control unit CU.
And the final control microcomputer CP
At the time of processing by U1, filtering processing for making normal data is performed only when received data of a plurality of times (for example, four times) is the same. Although the configuration that can realize the simplification and generalization of the configuration has been described, the configuration of the filtering process performed by the CPU 1 is not limited to this. Note that, of course, the filtering process can be performed not by the CPU 1 but by the gate arrays GA1 and GA2 and the CPU 2 on the way.

In the above-described embodiment, an example in which the present invention is applied to a combine is illustrated. However, the present invention can be applied to various other automatic or manual traveling type working vehicles.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an overall control configuration of a combine;

FIG. 2 is a circuit diagram showing a control configuration of a combine;

FIG. 3 is a circuit configuration diagram of a communication IC.

FIG. 4 is a flowchart showing a control operation in a central control unit.

FIG. 5 is a flowchart showing a control operation in a central control unit.

FIG. 6 is a flowchart showing a control operation in a central control unit.

FIG. 7 is a flowchart showing a control operation in a terminal control unit.

FIG. 8 is an explanatory diagram of a control procedure in a central control unit and a terminal control unit.

FIG. 9 is an explanatory diagram of a control procedure in a central control unit and a terminal control unit.

FIG. 10 is an explanatory diagram of a control procedure in a central control unit and a terminal control unit.

FIG. 11 is an explanatory diagram of a signal waveform in the polling selecting method.

[Explanation of symbols]

 CU Central control unit LU1 to LU5 Terminal control unit T Communication means SW Sensors M, L, B Actuators CPU1 Operation processing unit GA1 Communication IC GA2 Communication IC GA Communication IC 22 Address setting unit CPU2 Communication operation processing unit

────────────────────────────────────────────────── ─── Continued on the front page (51) Int.Cl. ⁶ Identification symbol FI // A01D 41/12 G05D 1/02 R G05D 1/02 H04L 11/00 321 (72) Inventor Yasunori Sueyoshi Ishizu, Sakai-shi, Osaka 64 Kitamachi Inside Kubota Sakai Works, Ltd. (72) Inventor Masahiko Shimano 64 64 Ishizukitamachi, Sakai City, Osaka Prefecture Inside Kubota Sakai Works, Ltd. (72) Hiromichi Ando 64 Ishizukitamachi, Sakai City, Osaka Co., Ltd. Kubota Sakai Works (72) Inventor Hideaki Tanaka 64 Ishizu-Kitamachi, Sakai City, Osaka Prefecture Kubota Sakai Works Co., Ltd. (56) References JP-A-4-219099 (JP, A) JP-A-4-326897 ( JP, A) JP-A-4-354499 (JP, A) JP-A-4-345545 (JP, A) JP-A-6-153270 (JP, A) JP-A-6-276570 (JP, A) 62-214746 JP, A) JP flat 3-240802 (JP, A)

Claims (5)

(57) [Claims] 1. A central control unit (CU) and a plurality of terminal control units (LU1 to LU5) distributed in each part of the body are communicably connected via a wired communication means (T). The terminal control units (LU1 to LU5) input detection signals from sensors (SW) for detecting control information and transmit the input data to the central control unit (CU), and the central control unit (LU). CU), and outputs drive signals to the actuators (M, L, B) based on the received data.
U), based on the transmission data from the terminal control units (LU1 to LU5), each of the terminal control units (LU1 to LU5).
5) A control device for a work vehicle configured to determine proper drive contents for actuators (M, L, B) and transmit the proper drive contents as the control data. Unit (CU) is a control arithmetic processing unit (CP
U1) and a communication IC for relaying data transfer between the arithmetic processing unit (CPU1) and the communication means (T).
(GA1), and the terminal control units (LU1 to LU5) are configured to transmit data between the sensors (SW) and the actuators (M, L, B) and the communication means (T). A communication IC (GA2) for relaying transmission / reception, wherein the communication IC (GA1) on the center side and the communication IC (GA2) on the terminal side are connected to the center side for use as the center side. components and Rutotomoni are formed is provided with a terminal for components for use as a terminal side, said both
Enter switching information on which component to use
Switching terminal, and based on input information from the switching terminal.
A central mode using the central component.
And the terminal mode using the terminal component.
A control device for a work vehicle, which is configured in a communication IC (GA) of the same specification that is configured to be interchangeable . 2. The work according to claim 1, wherein the central control unit (CU) and each of the terminal control units (LU1 to LU5) are configured to perform multiplex communication via the communication means (T). Control device for cars. 3. The communication IC (GA) includes an address setting section (22) as a terminal-side component, wherein the central control section (CU) and each of the terminal control sections (LU) are provided.
1 to LU5) are set in the address setting unit (22).
3. The control device for a work vehicle according to claim 2, wherein the control device is configured to perform communication by designating an address. 4. The central control unit (CU) includes an arithmetic processing unit (CPU1) for control and a communication IC (G) for the central side.
A1) to exchange data with the terminal control units (LU)
And a communication arithmetic processing unit (CPU2) for executing communication control for the first to LU5).
Or the control device for a work vehicle according to 3. 5. The terminal control units (LU1 to LU2) in a polling selecting system.
The control device for a work vehicle according to claim 3 or 4, wherein the control device is configured to perform communication with (5).