JP6253181B2 - Agricultural machinery control equipment - Google Patents

Description

  The present invention relates to an agricultural machine control device that is mounted on a work machine connected to a traveling vehicle and controls the operation of the work machine.

Conventionally, a work machine is connected or connected to a traveling vehicle, and the driving force of the axle of the traveling vehicle is transmitted to the working machine via a PTO (Power Take Off) shaft, and the transmitted driving force is used. In an agricultural machine that performs various operations such as fertilizer spraying and agricultural chemical spraying in the field with a work machine, various kinds of operations such as vehicle speed, forward / reverse, PTO rotation on / off, GPS coordinates, and engine status from the traveling vehicle to the work machine Sending data (travel related signals).
The work implement extracts only the data used by its own device (for example, only the vehicle speed data and forward / reverse data) from these various data received from the traveling vehicle, and uses the extracted data for the operation control of the own device. (See Patent Document 1).

  On the other hand, in vehicle machines such as traveling vehicles and passenger cars, communication systems using CAN (Controller Area Network) communication, which is a kind of serial communication interface (serial bus), are used for data exchange between main components inside the vehicle machine. Widely used. This CAN communication includes two communication standards, a low-speed CAN communication to which a communication speed of up to 125 Kbps is applied and a high-speed CAN communication to which a communication speed of up to 1 Mbps is applied, and data frames exchanged by CAN communication. There are two types of formats, a standard format and an extended format.

  In this CAN communication, main components of a data frame mainly carrying data are an ID (identifier) field for identifying each data frame, a control field indicating the number of bits of data carried by the data frame, and A data field (variable length) which is the content of data carried by the data frame (described later). Note that the number of bits in the ID field differs between the standard format and the extended format, and the contents of the control field and the data field are almost the same.

  In passenger cars, high-speed CAN communication is used for communication between powertrain components around the engine, and low-speed CAN communication is used for communication between body components such as doors and seats. . In fact, the choice of whether to use the standard format or the extended format as the data format is performed for each manufacturer.

  On the other hand, in an agricultural machine, as described above, data is sent from a traveling vehicle to work machines connected or connected, and the data sending means (communication system) is, for example, a resource sharing viewpoint. Therefore, CAN communication (usually, high-speed CAN communication) used for data communication between components in the traveling vehicle is often used.

  Here, what is defined in CAN communication is the so-called physical layer (electrical characteristics) and data link layer, and does not include the hardware configuration such as the connector shape that connects the signal lines. In many cases, a connector unique to the manufacturer is used as an external connection connector provided on the working machine. Therefore, on the working machine side connected to the traveling vehicle, a connector corresponding to each connector used on the traveling vehicle side. It is necessary to prepare a plurality of control boxes equipped with the above, and there are problems such as an increase in manufacturing cost of the working machine and cost of product management.

JP 2006-223105 A

  In order to eliminate such adverse effects, for example, create a conversion cable that converts the connector used on the traveling vehicle side to the connector used in the control box of the work machine, and use this conversion cable to drive By connecting the vehicle and the work implement, it is possible to make a single control box compatible with a plurality of traveling vehicles.

  However, the data transmitted from the traveling vehicle side has its own data transmission speed and data format in the data field. Therefore, the manufacturer on the work machine side uses the data transmission speed and data format for each. It is necessary to provide a plurality of corresponding control boxes for each manufacturer of the work machine, which causes a problem that it is impossible to change the situation in which the work machine manufacturing cost and product management cost increase.

  By the way, in order to eliminate the above-described adverse effects, there has recently been a movement to formulate a common communication system standard based on CAN communication as a communication system for connecting a traveling vehicle and a work machine. The shape of the connector, the data transmission speed, the ID (identifier) field value assignment rule, the contents of data included in the data field, the data position, etc. will be standardized. If such a common communication system is established, it is conceivable that the standardized common communication system will be used for connecting the traveling vehicle and the work implement in the future.

  However, even if such a standardized common communication system comes to be used, for example, depending on the work machine, data elements that are not used may be included in the data field. There is a possibility that the data length becomes uselessly long and the data transmission efficiency from the traveling vehicle to the work machine is deteriorated.

  Therefore, when a CAN communication-based common communication system is standardized and a connector of the standardized common communication system is used for connection between the traveling vehicle and the work machine, that is, a connector for connecting the traveling vehicle and the work machine is provided. In order to make effective use of the data field, even if it is common regardless of the manufacturer and model of the traveling vehicle, the manufacturer of the traveling vehicle uses the manufacturer's proprietary data field data format. It is conceivable that the situation will continue, and it is necessary for the manufacturer of the work machine to cope with such a situation.

  Incidentally, a controller unit for controlling the operation of the work machine can be provided on the traveling vehicle side. In this case, a plurality of signal lines are connected between the controller unit and the work implement, and a control signal output from the controller unit is output to the controlled device of the work implement through the plurality of signal lines. Detection signals output from these sensors are input to the controller unit.

  In this case, the CAN communication is used as an interface means for exchanging data between an external signal output device such as a GPS guidance device and the controller unit. In this case, for example, a travel-related signal such as a vehicle speed signal is sent from the signal output device to the controller unit, and a signal (sensor detection signal) indicating the operating state of the work implement is output from the controller unit. Sent to the device.

  As described above, even when the controller unit is provided on the traveling vehicle side, when data is exchanged with an external device (in this case, a signal output device) using the CAN communication unit, the above-described problems occur. There is a probability that

  As described above, when signals are exchanged using CAN communication, whether the controller unit of the work implement is provided on the traveling vehicle side or the controller unit is provided on the work implement side. In either case, there is a probability that inconveniences arise in using CAN communication.

  The present invention has been made in view of such a situation, and an object thereof is to provide an agricultural machine control device that can eliminate problems caused when signal output devices of different manufacturers and models are used.

The present invention is an agricultural machine control device that controls the operation of a work machine connected to a traveling vehicle, wherein the connection unit is connected to any one of a plurality of signal output devices that output a traveling-related signal; The operation of receiving the data in the frame format sent from the signal output device that is input through the connection unit is performed while switching the data reception speed, and if the data in the frame format can be received, the received data Receiving means for extracting the contents of the ID field and data field from frame format data, at least the data reception speed when the receiving means can receive the frame format data, and the value of the ID field extracted by the receiving means And a discriminating means for discriminating the type of the communication system of the traveling vehicle from the combination with the communication system. Depending on the type, thereafter, an agricultural machine control unit and acquires the travel-related signal from the contents of the data field that the receiving unit is extracted.
Each of the plurality of signal output devices transmits data by CAN communication.
The signal output device controls the operation of the traveling vehicle, obtains a vehicle speed signal based on rotation of the axle of the traveling vehicle, and outputs a traveling-related signal including the vehicle speed signal; A travel-related signal including a vehicle speed signal is calculated based on the received GPS signal, a GPS signal output device that outputs the calculated travel-related signal, or a vehicle speed signal is obtained based on rotation of the axle of the working machine, It is one of the working machine vehicle speed output devices that outputs the vehicle speed signal as the travel-related signal.

  As described above, according to the present invention, the type of the communication system of the signal output device is determined according to the combination of the data reception speed and the value of the ID field. Accordingly, the data field can be appropriately processed. Details of the effect will be described later.

FIG. 1 is a block diagram showing an example of an agricultural machine system according to an embodiment of the present invention. FIG. 2 is a schematic configuration diagram illustrating a configuration example of a broadcaster as an example of the work machine 2. FIG. 3 is a block diagram showing an example of a schematic configuration of the hardware of the control system of the work machine 2. FIG. 4A is a schematic diagram showing an example of main components of a data frame used in CAN communication. FIG. 4B shows the data transmission rate (data reception rate), the ID field value, and the like. FIG. 4C is a schematic diagram showing an example of the main data type carried in the data frame. FIG. 5 is a flowchart showing an example of processing executed by the CPU 21a when selecting and setting post-processing corresponding to the manufacturer and model of the connected traveling vehicle 1. FIG. 6 is a block diagram showing an example of an agricultural machine system according to another embodiment of the present invention. FIG. 7 is a flowchart showing an example of processing executed by the CPU 21a when selecting and setting post-processing corresponding to the model of the connected signal output device.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
〔Example〕
FIG. 1 shows an example of an agricultural machine system according to an embodiment of the present invention. This agricultural machine system is formed by connecting a work machine 2 such as a broadcaster for spraying fertilizer to a farm field via a coupler 3 behind a traveling vehicle 1 such as a tractor. The coupler 3 includes a PTO shaft (not shown) for transmitting the driving force of the axle of the traveling vehicle 1 to the work implement 2, and a control box (described later) from the power supply system of the traveling vehicle 1. A harness (not shown) in which a power line (not shown) for supplying power and a transmission line for transmitting data sent from the traveling vehicle 1 to the work machine 2 are combined is passed.

  In the figure, the work implement 2 moves immediately after the travel route of the traveling vehicle 1 traveling on the farm field, and the work implement 2 spreads fertilizer on the farm field using the driving force transmitted by the PTO shaft. At that time, the work implement 2 adjusts the amount of fertilizer applied according to the vehicle speed of the traveling vehicle 1, so that the fertilizer is dispersed at an equal density along the traveling route of the traveling vehicle 1.

FIG. 2 shows a configuration example of a broadcaster as an example of the work machine 2.
In the figure, a hopper 11 contains, for example, granular fertilizer and is gradually squeezed from the upper opening toward the bottom, and a shutter 12 that drops the fertilizer below the hopper 11 at the bottom of the hopper 11. The opening amount of the opening portion of the shutter 12 can be adjusted. A sub hopper 13 for receiving the fertilizer that has fallen through the shutter 12 is provided under the shutter 12.

  The spout 14 spreads the fertilizer staying in the sub hopper 13 from the opened tip. A driving force of the PTO shaft is transmitted to the spout 14 and is swung left and right. Thus, the tip of the spout 14 is swung left and right, so that the fertilizer is diffused and dispersed by the spout 14.

  The electric shutter 15 fluctuates the opening amount of the shutter 12 by lever motion, and the tip of the link 16 connected to the actuator (lever) 15a that is oscillated by the driving force of a motor (not shown) being transmitted. The shutter 12 is engaged. When the actuator 15a swings, the link 16 moves to the left and right, and the opening amount of the shutter 12 increases or decreases.

  Therefore, by changing the swing angle of the actuator 15a to change the opening amount of the shutter 12, the amount of fertilizer per unit time falling from the hopper 11 to the sub hopper 13 through the shutter 12 can be adjusted. Can change the amount of fertilizer to be applied.

  As described above, the amount of fertilizer sprayed by the spout 14 can be changed by changing the opening angle of the shutter 12 by changing the swing angle of the actuator 15a. An angle sensor (described later) for detecting the angle is provided. A signal line for transmitting the driving signal of the electric shutter 15 and the angle detection signal of the angle sensor is connected to a control box (described later) of the work machine 2 via the connector 17, thereby driving the driving signal and angle of the electric shutter 15. The sensor angle detection signal is exchanged between the control box and the electric shutter 15.

FIG. 3 shows an example of a schematic configuration of hardware of the control system of the work machine 2.
In the figure, a control box 20 that controls the operation of the work machine 2 includes a control module 21, a drive module 22, and an operation display unit 23. The control module 21 includes a CPU (central processing unit) 21a and a CAN communication unit 21b, and the drive module 22 includes a relay unit 22a.

  An external connection connector CA provided in the control box 20 is connected to an external connection connector (not shown) of the traveling vehicle 1 via a cable (harness) CB. As a result, data sent from the traveling vehicle 1 is received by the CAN communication unit 21 b of the control module 21.

  In the control module 21, the CAN communication unit 21 b is for receiving data sent from the traveling vehicle 1. Further, the CPU 21a controls the data reception condition (data transmission speed (data reception speed)) of the CAN communication unit 21b, and also controls the opening degree of the shutter 12 by the movement of the actuator 15a of the electric shutter 15, so that the work implement 2 Control the amount of fertilizer spread.

  Here, since the relationship between the swing angle of the actuator 15a of the electric shutter 15 and the opening degree of the shutter 12 is determined in advance, the opening degree of the shutter 12 is controlled by controlling the swing angle of the actuator 15a. Can do.

  Further, the CPU 21a inputs an operation signal of the operation display unit 23 to perform a corresponding operation process, and forms display contents to be displayed to the user and outputs the display contents to the operation display unit 23. In addition, about the content of control of the fertilizer application amount, since it is not directly related to this invention, description is abbreviate | omitted.

  The drive module 22 forms a motor drive signal for driving the motor 15b of the electric shutter 15 by the relay unit 22a driven by the relay drive signal output by the CPU 21a of the control module 21, and the motor drive signal is sent to the electric shutter 15 To the motor 15b.

  Here, as the motor 15b, the actuator 15a of the electric shutter 15 can be driven to rotate in both the forward and reverse directions, and the rotation angle of the actuator 15a can be fixed. A motor that can be fixed in position (for example, a stepping motor that can rotate in both directions) can be used.

  In addition, an angle detection signal of the angle sensor 15 c that detects the swing angle of the actuator 15 a provided in the electric shutter 15 is output to the CPU 21 a of the control module 21 via the drive module 22.

  Here, when the angle sensor 15c is a device that outputs an angle detection signal with a digital value, such as a rotary encoder, the angle detection signal is applied to the digital input port of the CPU 21a. When the angle sensor 15c is an apparatus that outputs an angle detection signal with an analog value such as a potentiometer, the angle detection signal is applied to the analog input port of the CPU 21a.

  The operation display unit 23 includes various operation keys used when the user operates the operation of the work machine 2, and a display for displaying an operation state of the work machine 2 and the like to the user.

  FIG. 4A shows an example of main components of a data frame used in CAN communication. FIG. 4B shows a data transmission rate (data reception rate) and an ID (identifier) field. An example of an ID list (to be described later) storing combinations with values is shown, and FIG. 10C shows an example of types of main data carried in a data frame.

As shown in FIG. 4A, main components of a data frame used in CAN communication represent an ID (identifier) field for identifying each data frame, and the number of bits of data carried by the data frame. A control field and a data field (variable length) which is the content of data carried by the data frame.
In this case, the data length of the data field is a variable length of a maximum of 64 bits (8 bytes).

  By the way, as described above, in CAN communication, two formats, a standard format and an extended format, are defined as data frame formats. In the standard format and the extended format, the number of bits of the ID field is different from 11 bits and 29 bits, respectively, but the contents of the control field and the data field are almost the same. Therefore, in this embodiment, it is assumed that the same data field contents are used for the standard format and the extended format.

  As shown in FIG. 4 (b), the ID list is a combination of data transmission rate (data reception rate) value (rate) and ID field value for one type of data frame, that is, communication. A plurality of data representing system types are stored. In this case, the value of the ID field is a value set in the data frame that can be used in the control box 20 of the work machine 2, and the value of the pair speed (data reception speed) is the value of the ID field. The value of the data transmission speed when the traveling vehicle 1 sending out the data frame sends out the data frame.

  Here, the range of the ID field value is often determined by the manufacturer or model of the traveling vehicle 1. Therefore, in this embodiment, the value of the ID field used by the manufacturer and model of the traveling vehicle 1 that can be supported by the control box 20 is stored in each element of the ID list, and the manufacturer corresponding to the value of the ID field. Alternatively, the data transmission speed (data reception speed) used by the model is stored as the speed value of the element.

  As shown in FIG. 4C, data elements carried in the data field include vehicle speed data representing the vehicle speed of the traveling vehicle 1, forward / reverse data indicating whether the traveling vehicle 1 is moving forward or backward, and a PTO axis. PTO state data indicating whether or not the vehicle is rotating, GPS coordinate data representing GPS coordinates received by a GPS receiver (not shown) mounted on the traveling vehicle 1, and various states of the engine of the traveling vehicle 1 It is each present value data (real-time data) of the engine state data to represent.

  Depending on the manufacturer or model of the traveling vehicle 1, the data element carried in the data field includes only a part of the current value data shown in FIG. 4C, and includes other data elements. There is.

  Here, regarding the communication system in which the traveling vehicle 1 transmits data to the work machine 2, an outline of the current situation will be described. However, in any case described below, data communication from the traveling vehicle 1 to the work implement 2 is performed by CAN communication.

  First, European manufacturers use a standard so-called ISO standard as an interface (internal bus) for exchanging control signals inside the traveling vehicle 1, and a signal line for exchanging signals with the work implement 2. Communication systems such as the shape of connectors for connecting data, data transmission speed, ID field value assignment rules, and types of data elements carried in the data field are also common.

  In addition, each domestic manufacturer uses a proprietary bus as an internal bus inside the traveling vehicle 1, and uses a unique communication system.

  Further, some traveling vehicles 1 use a retrofitted (external) GPS guidance system as a guidance system for obtaining vehicle speed, forward / reverse data, and GPS coordinate data. In this case, CAN communication is performed by the GPS guidance system, and a communication system corresponding to the GPS guidance system is used.

  As described above, communication systems for CAN communication in which the traveling vehicle 1 sends data to the work machine 2 include those for European manufacturer specifications (ISO standards) and those for a plurality of types of GPS guidance systems. ing. In these communication systems, the connector shapes are not compatible and the data transmission speeds are different, but it is common to use CAN communication, and the format of the data frame that carries the necessary data in the work machine 2 is the same. It is. However, since the arrangement of data elements in the data field of the data frame and the number of bits of each data element are not compatible, it is necessary to perform data element extraction processing corresponding to each.

  Because of such circumstances, in this embodiment, first, regarding the difference in connector shape, the connector CC connected to the opposite end of the harness CB connected to the connector CA of the control box 20 (see FIG. 3). ) As a harness corresponding to the connector of the traveling vehicle 1 and so-called conversion in which the signal lines are rearranged so that the signal applied to each pin of the connector CC is applied to the corresponding pin of the connector CA as the harness CB. This can be done by using a harness.

  Next, regarding the data transmission speed and the ID field, the range of values that the data transmission speed and the ID field can take are determined by the manufacturer and model of the traveling vehicle 1. Therefore, first, after setting the data transmission speed of the data received by the control box 20, the data of the data frame is read, the value of the ID field is recognized, and the communication determined by the manufacturer and model of the connected traveling vehicle 1 Determine the type of system.

  In the determination, the above-described ID list is used. For each element of the ID list, as described above, the value of the ID field used by the manufacturer and model of the traveling vehicle 1 that can be supported by the control box 20 is stored in each element of the ID list. Since the data transmission rate used by the manufacturer or model corresponding to the value is stored as the value of the element speed (data reception speed), for example, FIG. By executing the processing shown in Fig. 5, post-processing (for example, shutter opening degree control according to vehicle speed data) for appropriately processing the data field of the data frame corresponding to the determined type of the communication system can be set. it can.

FIG. 5 shows an example of processing executed by the CPU 21 a when selecting and setting post-processing corresponding to the manufacturer and model of the connected traveling vehicle 1.
The CPU 21a first selects one element from the ID list (step S1), and sets the value of the speed (data reception speed) included in the selected element in the CAN communication unit 21b (step S2). Thereby, the CAN communication part 21b performs the operation | movement which receives the data sent out from the traveling vehicle 1 with the data transmission speed (data reception speed) set by CPU21a. When the CAN communication unit 21b can properly receive the data sent from the traveling vehicle 1, the CAN communication unit 21b responds to the CPU 21a. It should be noted that it takes a certain amount of time to determine that this data has been properly received.

  Therefore, after step S2, the CPU 21a performs a process of waiting for the predetermined time (step S3), and after this step S3, appropriately transmits the data sent from the traveling vehicle 1 from the CAN communication unit 21b. It is checked whether or not notification of reception has been received (step S4).

  When it is notified from the CAN communication unit 21b that the data sent from the traveling vehicle 1 has been properly received, and the result of step S4 is YES, the CPU 21a includes the ID included in the element selected in step S1. The field value is set in the CAN communication unit 21b (step S5).

  Thereby, the CAN communication unit 21b compares the value of the ID field of the currently received data frame with the value of the ID field set from the CPU 21a, and if they match, the reception OK is sent to the CPU 21a. In response, if they do not match, the reception NG is returned to the CPU 21a.

  Therefore, after step S5, the CPU 21a checks whether or not a reception OK is replied from the CAN communication unit 21b (step S6). If the reception OK is replied from the CAN communication unit 21b, the result of step S6 is YES. Is set to process the value of the data field received later in the subsequent processing by internally selecting the post-processing corresponding to the communication system corresponding to the value of the ID field set at that time. Step S7).

  Here, in this post-processing, specifically, a desired data element (for example, vehicle speed data, forward / reverse data, etc.) is extracted from the data field corresponding to the manufacturer and model corresponding to the value of the ID field, The contents of the extracted data elements are used to control the work machine 2 (for example, control of the opening degree of the shutter 12 according to the vehicle speed of the traveling vehicle 1).

  On the other hand, when it is not notified from the CAN communication unit 21b that the data sent from the traveling vehicle 1 has been properly received, the result of step S4 is NO, and the reception NG from the CAN communication unit 21b is When the response is made and the result of step S6 is NO, the process returns to step S1, selects another element from the ID list, and repeats the subsequent processing. At this time, if the result of steps S4 and S6 is still NO even if the last element of the ID list is inspected due to, for example, a delay in the power-on timing on the communication system side of the traveling vehicle 1, the ID list Steps S1 to S7 are performed again.

By performing such processing, the CPU 21a thereafter performs a desired data element (for example, vehicle speed data, forward / reverse data) from the data field corresponding to the manufacturer and model corresponding to the value of the ID field, as described above. And the like, and the contents of the extracted data elements are used to control the work machine 2 (for example, control of the opening degree of the shutter 12 according to the vehicle speed of the traveling vehicle 1).
In the process of FIG. 5, the processes in steps S1 to S6 correspond to a receiving unit, and the process in step S7 corresponds to a determining unit.

  Incidentally, software for realizing the processing shown in FIG. 5 and the post-processing described above is stored in a program ROM area (not shown) built in the CPU 21a or a memory device (not shown) provided in the control module 21. It is read and executed as appropriate.

FIG. 6 is a block diagram showing an example of an agricultural machine control device according to another embodiment of the present invention. In FIG. 6, the same parts as those in FIG. 3 and the corresponding parts are denoted by the same reference numerals, and the description thereof is omitted.
In this embodiment, as shown in FIG. 1, the work machine 2 is connected to the traveling vehicle 1 via the coupler 3, and the control box 20 is mounted on the traveling vehicle 1. A signal harness HH composed of a plurality of signal lines is connected between the motor drive signal output from the control box 20 to the motor 15b and the angle detection signal output from the angle sensor 15c through the signal line of the signal harness HH. Exchanges are made between the traveling vehicle 1 and the work machine 2. The connector CD is for connecting one end of the signal harness HH to the control box 20.

The connector CA of the control box 20 is connected to any one of a plurality of signal output devices that output a travel-related signal such as a vehicle speed signal. These signal output devices include CAN communication interface means, and output (transmit) traveling-related signals in accordance with CAN communication.
Here, the content of the travel-related signal is, for example, as described in FIG. 4C and includes a vehicle speed signal (vehicle speed data). Further, as will be described later, a unique signal is included in the travel-related signal due to the characteristics of each signal output device. In these driving-related signals and other signals, the bit position (bit assignment) and byte position (byte assignment) included in the data field are determined by the model of the signal output device. The CPU 21a extracts the data of each element in accordance with the setting contents of the bit assignment and byte assignment.

  As the plurality of signal output devices, as shown in FIG. 6, the company-made GPS guidance unit 100A that obtains a vehicle speed signal or the like based on the GPS signal received by the antenna AN1, and the vehicle speed signal based on the GPS signal received by the antenna AN2 A GPS guidance unit 100B manufactured by A company, a vehicle vehicle control unit 100C having at least a function of obtaining a vehicle speed signal based on the rotation of the axle of the vehicle 1 and a function of controlling the operation of the vehicle 1 received by the antenna AN3. A vehicle speed signal obtained from a B vehicle GPS vehicle speed sensor 100D that obtains a vehicle speed signal based on the GPS signal, and a sensor 2b that outputs a pulse signal synchronized with the rotation of the axle of the wheel 2a of the work vehicle 2 There is a pulse data converter 100E.

In the in-house GPS guidance unit 100A, one end of the CAN communication cable CB1 is connected to the connector CC1 of the in-house GPS guidance unit 100A, and the other end of the cable CB1 is connected to the connector CA of the control box 20. Thus, CAN communication (transmission / reception) is performed between the in-house GPS guidance unit 100A and the control box 20. Then, from the in-house GPS guidance unit 100A, a data frame transmitted by CAN communication includes a vehicle speed signal, a turning signal representing the turning state of the traveling vehicle 1, and a forward / reverse signal representing forward / backward travel as signals related to traveling. Are included according to specific bit assignments and byte assignments.
Here, when the turning signal has a value indicating that the traveling vehicle 1 is turning, and when the forward / backward traveling signal has a value indicating reverse, the control module 21 of the control box 20 is used as a fertilizer. Stop spraying. Further, the control module 21 of the control box 20 performs control to increase or decrease the fertilizer application amount of the work machine 2 in conjunction with the vehicle speed signal.

In the GPS guidance unit 100B manufactured by company A, one end of the cable CB2 for CAN communication is connected to the connector CC2 of the GPS guidance unit 100B manufactured by company A, and the other end of the cable CB2 is connected to the connector CA of the control box 20. Thus, the CAN communication (transmission / reception) is performed between the GPS guidance unit 100B manufactured by the company A and the control box 20. From the GPS guidance unit 100B manufactured by company A, a vehicle speed signal is included as a travel-related signal in a data frame transmitted by CAN communication according to a specific bit assignment and byte assignment.
Here, when the GPS guidance unit 100B manufactured by Company A is equipped with a high-definition color display device, a high-performance GPU (graphic arithmetic unit) and a lot of memory, for example, from the control module 21 of the control box 20, By notifying the GPS guidance unit 100B made by A company of the start and stop of fertilizer application of the work machine 2 respectively, the GPS guidance unit 100B made by A company displays fertilizer on the display of the route traveled by the traveling vehicle 1 The display of the spray area can be overlapped and displayed on the color display device. In this case, the state of work can be presented more clearly to the driver, which is convenient.
Further, the control module 21 of the control box 20 performs control to increase or decrease the fertilizer application amount of the work machine 2 in conjunction with the vehicle speed signal.

In traveling vehicle control unit 100C, one end of cable CB3 for CAN communication is connected to connector CC3 of traveling vehicle control unit 100C, and the other end of cable CB3 is connected to connector CA of control box 20, Thereby, CAN communication (transmission / reception) is performed between the traveling vehicle control unit 100 </ b> C and the control box 20. From the traveling vehicle control unit 100C, as a traveling-related signal, a vehicle speed signal, a PTO on / off signal indicating a state in which the driving force of the PTO shaft of the traveling vehicle 1 is transmitted to the work implement 2, and front / rear indicating forward / backward traveling A binary signal is included in a data frame transmitted by CAN communication according to a specific bit assignment and byte assignment. Here, the PTO on / off signal and the forward / reverse signal are obtained by the operation control process of the traveling vehicle 1 executed by the traveling vehicle control unit 100C.
Therefore, in this case, based on the PTO on / off signal received from the traveling vehicle control unit 100C, the control module 21 of the control box 20 controls whether or not to apply fertilizer. In addition, when the forward / reverse signal is a value indicating reverse, the control module 21 of the control box 20 stops fertilizer application. Further, the control module 21 of the control box 20 performs control to increase or decrease the fertilizer application amount of the work machine 2 in conjunction with the vehicle speed signal.

  In the GPS vehicle speed sensor 100D manufactured by B company, one end of the cable CB4 for CAN communication is connected to the connector CC4 of the GPS vehicle speed sensor 100D manufactured by B company, and the other end of the cable CB4 is connected to the connector CA of the control box 20. Accordingly, CAN communication (transmission / reception) is performed between the GPS vehicle speed sensor 100D manufactured by B company and the control box 20. From the GPS vehicle speed sensor 100D manufactured by B company, a vehicle speed signal is included as a travel-related signal in a data frame transmitted by CAN communication according to a specific bit assignment and byte assignment. The control module 21 of the control box 20 performs control to increase or decrease the fertilizer application amount of the work machine 2 in conjunction with the vehicle speed signal.

  In vehicle speed pulse data converter 100E, one end of cable CB5 for CAN communication is connected to connector CC5 of vehicle speed pulse data converter 100E, and the other end of cable CB5 is connected to connector CA of control box 20. Thus, CAN communication (transmission / reception) is performed between the vehicle speed pulse data converter 100E and the control box 20. From the vehicle speed pulse data converter 100E, a vehicle speed signal is included as a travel-related signal in a data frame transmitted by CAN communication according to a specific bit assignment and byte assignment. The control module 21 of the control box 20 performs control to increase or decrease the fertilizer application amount of the work machine 2 in conjunction with the vehicle speed signal. Further, the signal harness HH may include a signal line for transmitting the pulse signal output from the sensor 2b to the vehicle speed pulse data converter 100E in synchronization with the rotation of the axle of the wheel 2a of the work machine 2.

  The in-house GPS guidance unit 100A, the A company GPS guidance unit 100B, the B company GPS vehicle speed sensor 100D, and the vehicle speed pulse data converter 100E can be provided in the traveling vehicle 1, but are provided in the work machine 2. May be.

In this way, in this embodiment, the control module 21 of the control box 20 is connected to any one of the signal output devices connected to the connector CA (the company-made GPS guidance unit 100A or the company A GPS guidance unit 100B, or Control for increasing / decreasing the fertilizer application amount of the work implement 2 in conjunction with the vehicle speed signal received from the traveling vehicle control unit 100C, the GPS vehicle speed sensor 100D manufactured by B company, or the vehicle speed pulse data converter 100E). I do.
Further, the control module 21 of the control box 20 operates the work implement 2 using a travel-related signal other than the vehicle speed signal obtained from each signal output device according to the type of the signal output device connected to the connector CA. Also controls.

FIG. 7 shows an example of processing executed by the CPU 21a when selecting and setting post-processing corresponding to the connected signal output device model. In this embodiment, the ID list shown in FIG. 4B is also used.
Here, the value of the ID field and the contents of the data field will be described.
Since the ID field value is arbitrarily determined by the signal output device manufacturer, the ID field value may be the same for different models. Therefore, a plurality of elements having the same ID value as the data transmission rate (data reception rate) may be registered in the ID list described above.
On the other hand, a manufacturer of a signal output device unifies and uses unique contents as a sequence of data elements (bit assignment and byte assignment) arranged in a data field.
Therefore, when a plurality of elements having the same data transmission rate (data reception rate) and ID value are registered, the arrangement of the data elements arranged in the data field is examined to manufacture the signal output device. The company and model can be identified.
The processing of FIG. 7 is used for discriminating the manufacturer and model of the signal output device by such a discriminating method and selecting the subsequent processing.

  The CPU 21a first selects one data reception rate that can be set in the CAN communication unit 21b (step S11), and sets the selected data reception rate in the CAN communication unit 21b (step S12). Thereby, the CAN communication part 21b performs the operation | movement which receives the data sent from the traveling vehicle 1 with the data reception speed set by CPU21a. When the CAN communication unit 21b can properly receive the data sent from the traveling vehicle 1, the CAN communication unit 21b responds to the CPU 21a. It should be noted that it takes a certain amount of time to determine that this data has been properly received.

  Therefore, after step S12, the CPU 21a performs a time waiting process for waiting for the predetermined time (step S13), and after this step S13, the data transmitted from the traveling vehicle 1 is appropriately transmitted from the CAN communication unit 21b. It is checked whether or not notification of reception has been received (step S14). If the CAN communication unit 21b does not notify that the data sent from the traveling vehicle 1 has been properly received and the result of step S14 is NO, the process returns to step S11 and is set in the CAN communication unit 21b. Change the data reception speed and perform the subsequent processing.

  When it is notified from the CAN communication unit 21b that the data sent from the traveling vehicle 1 has been properly received and the result of step S14 is YES, the CPU 21a determines the ID from the data received by the CAN communication unit 21b. The field value is extracted (step S15), and it is checked whether the ID field value extracted in step S15 is registered in the ID list (steps S16 and S17).

  If the value of the ID field extracted in step S15 is not registered in the ID list, and the result of step S17 is NO, the connected signal output device notifies that it is not supported by its own terminal. (Error notification; step S22), this process is terminated.

  If the value of the ID field extracted in step S15 is registered in the ID list and the result of step S17 is YES, a plurality of ID field values are registered in the ID list and the ID is duplicated. It is checked whether or not it is (step S18).

  When the result of step S18 is NO, post-processing corresponding to the communication system corresponding to the ID field value extracted in step S15 is internally selected, and the data field value received thereafter is processed in the post-processing. (Step S19).

  If the ID is registered in duplicate and the result of step S18 is YES, the bit type or byte assignment of the data element in the data field is examined to determine the model or manufacturer of the connected signal output device. (Step S20), based on the result determined in step S20, the post-processing corresponding to the communication system is internally selected, and the value of the data field received thereafter is processed in the post-processing. (Step S21).

  By performing such processing, the CPU 21a thereafter performs a desired data element (for example, vehicle speed data, forward / reverse data) from the data field corresponding to the manufacturer and model corresponding to the value of the ID field, as described above. And the like, and the contents of the extracted data elements are used to control the work machine 2 (for example, control of the opening degree of the shutter 12 according to the vehicle speed of the traveling vehicle 1).

In the above-described embodiment, the CPU 21a and the CAN communication unit 21b are described as separate elements in the control module 21, but the present invention is similarly applied when the CPU 21a has the function of the CAN communication unit 21b. Can be applied.
In the above-described embodiment, the CAN communication unit 21b inspects the value of the ID field, but the processing of this part may be performed by the CPU 21a.
The control program data executed by the CPU 21a can be, for example, data stored in a storage device built in the CPU 21a. In addition, for example, the control box 20 includes another communication means, Control program data obtained by downloading from a server on the network using a communication means and saving in a storage device built in the CPU 21a or an external storage device using a storage medium in the control box 20 You may make it use the data of the control program acquired by reading from the storage medium of a memory | storage device, and preserve | saving in the memory | storage device built in CPU21a.

  The present invention can be applied even if the working machine connected to the traveling vehicle is other than the broadcaster. In addition, the present invention can be similarly applied regardless of the maker / model of the signal output device as long as the signal output device that outputs the traveling-related signal uses CAN communication.

DESCRIPTION OF SYMBOLS 1 Traveling vehicle 2 Working machine 3 Connector 12 Shutter 15 Electric shutter 15a Actuator 15b Motor 15c Angle sensor 20 Control box 21 Control module 21a CPU (Central processing unit)
21b CAN communication unit 22 drive module 22a relay unit 100A in-house GPS guidance unit 100B in-house GPS guidance unit 100C traveling vehicle control unit 100DB in-house GPS vehicle speed sensor 100E vehicle speed pulse data converter CA, CC, CC1, CC2, CC3 , CC4, CC5, CD connector CB, CB1, CB2, CB3, CB4, CB5 Cable (harness)

Claims (3)

A control device for agricultural machinery that controls the operation of a work machine connected to a traveling vehicle,
A connecting portion to which any one of a plurality of signal output devices for outputting a traveling-related signal is connected;
The operation of receiving the frame format data sent from the signal output device, which is input via the connection unit, is performed while switching the data reception speed, and when the frame format data is received, the reception is performed. Receiving means for extracting the contents of the ID field and data field from the frame format data;
Discriminating means for discriminating the type of the communication system of the traveling vehicle from a combination of at least the data receiving speed when the receiving means can receive the data in the frame format and the value of the ID field extracted by the receiving means. Prepared,
Agricultural machine control device, wherein the travel-related signal is acquired from the contents of the data field extracted by the receiving means thereafter in accordance with the type of communication system determined by the determining means.   The agricultural machine control device according to claim 1, wherein each of the plurality of signal output devices transmits data by CAN communication. The signal output device is
A traveling vehicle control device that controls the operation of the traveling vehicle, obtains a vehicle speed signal based on rotation of an axle of the traveling vehicle, and outputs a traveling-related signal including the vehicle speed signal;
A GPS signal output device that calculates a travel-related signal including a vehicle speed signal based on the received GPS signal and outputs the calculated travel-related signal, or
3. The working machine vehicle speed output device according to claim 1, wherein a vehicle speed signal is obtained based on rotation of an axle of the work machine, and the vehicle speed signal is output as the travel-related signal. The control apparatus for agricultural machines described in 1.

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