JPH0686101U - Controller in agricultural machinery - Google Patents

Abstract

(57) [Summary] [Purpose] To reduce the total wiring length of signal lines connected to the controller in agricultural machinery in which controlled devices such as motors, various detection devices, or operating devices are arranged in various places. A main controller, a plurality of local controllers which are respectively disposed near positions where controlled devices, detection devices or operating devices are arranged and which are connected in parallel to the controlled devices and the like which are located in the vicinity by short wires. The controller is composed of a serial communication line connecting the main controller and each local controller.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 This invention is a controller for an agricultural machine in which a controlled device such as a motor, various detecting devices or operating devices are arranged in various places, and which controls the controlled device according to an output signal of the detecting device or operating device. It is about.

[0002]

[Prior art]

 FIG. 4 is a diagram showing a conventional controller in a rice harvester. In FIG. 4, 1 is a controller, 2, 2, ... Are a plurality of switches (detection devices, operation devices) connected to the input side of the controller 1. , 3) are a plurality of potentiometers (detection devices) that are also connected to the input side of the controller 1, and 4 are pulse generators (detection devices) that are also connected to the input side of the controller 1. , 5, ... are a plurality of motors (controlled devices) connected to the output side of the controller 1, 6, 6, ... are a plurality of lamps (controlled devices) also connected to the output side of the controller 1. is there.

Here, the switches 2, 2, ... Are specifically switches as a sensor for detecting the presence or absence of rice turnip, a switch as a sensor for detecting the length of rice turnip, an operation switch, or the like. The potentiometers 3, 3, ... Are angle detectors for detecting the positions of movable parts driven by the motors 5, 5 ,. The pulse generator 4 outputs a pulse signal to detect the vehicle speed, for example, according to the rotation of the wheels. The motors 5, 5, ... Are motors for driving a part for cutting the rice, or for driving a transfer section for transferring the cut rice. Further, the lamps 6, 6, ... Are various lamps for displaying the operating state. It should be noted that the detection device, operating device or controlled device listed here is an example showing a part of those normally provided in agricultural machinery. For example, in the case of controlled device, various relays, solenoids, buzzers, etc. There are also many.

Next, the operation will be described. The controller 1 receives output signals from the respective detection devices or operating devices 2, 2, ..., 3, 3, ..., 4 in parallel, and in response to these output signals, the motors 5, 5 ,. Control signals are sent in parallel to controlled devices such as, ..., to control the operation of the entire combine.

[0005]

[Problems to be solved by the device]

 Since the controller 1 in the conventional agricultural machine is configured as described above, the number of wires between the controller 1 and each detecting device, operating device or controlled device is 100 to 300, and the total wiring distance is It was 1 to 1.5 km. The reason is that 30 to 50 detecting devices such as the switch 2 and operating devices are usually provided at various places, and 10 to 20 motors 5 are usually attached to each part. This is because 1 to 3 signal lines are directly wired to the controller 1 in a length of 3 to 5 m in parallel. Therefore, the number of man-hours required for the wiring work was significantly hindered, and the productivity of the machine was significantly hindered, and the number of connection points such as couplers was increased. Was also a factor that made it difficult to improve the reliability of the.

The present invention has been made in order to solve the above problems, and an object thereof is to obtain a controller in an agricultural machine capable of significantly reducing the total wiring length of signal lines.

[0007]

[Means for Solving the Problems]

 The controller in the agricultural machine according to the present invention is arranged in the vicinity of the arrangement position of the above-mentioned controlled device, the detection device or the operating device, and is connected in parallel with the above-mentioned controlled device, etc. by a short electric wire. A plurality of local controllers, and a serial communication line connecting the main controller and each local controller. The main controller controls the control signal for controlling the controlled device according to the output signal. And a control command signal output by the main processing means for serial data transmission to the local controller through the serial communication line, and the output signal through the serial communication line. Main received from the local controller and input to the main processing means The local controller outputs a control signal corresponding to the control command signal to the controlled device arranged in the vicinity, and an output of the detection device or the operating device arranged in the vicinity. A local processing means for receiving a signal and outputting it appropriately, and serially transmitting the output signal output by the local processing means to the main controller via the serial communication line and transmitting the control command signal to the serial communication. A local input / output unit for receiving from the main controller via a line and inputting to the local processing means.

[0008]

[Action]

 In the controller of the agricultural machine of the present invention, the portion to be wired in parallel is only a short distance between each device and the local controller, and the main controller and the local controller are usually configured by 2-wire type or 4-wire type. Since they are connected by possible serial communication lines, the total wiring length is greatly reduced as a whole.

Moreover, with this controller, the control operation similar to the conventional one is possible as follows. That is, the output signal of each detection device or operation device is first input to the local processing means of the local controller arranged in the vicinity by the short parallel wiring, and is appropriately output at the judgment of this local processing means. The output signal output by the local processing means is serially transmitted to the main controller via the serial communication line by the local input / output section, received by the main input / output section of the main controller, and input to the main processing means. .

Then, the main processing means outputs a control command signal for controlling the controlled device according to the output signal thus input, and the control command signal output by the main processing means is input to the main input means. The output unit transmits serial data to the local controller via the serial communication line. Then, this control command signal is input to the local processing means by the local input / output unit, and the local processing means outputs a control signal corresponding to the control command signal to the controlled device arranged in the vicinity. Therefore, each controlled device is centrally controlled by the judgment of the main processing means of the main controller according to the output signal.

[0011]

【Example】

 Example 1. An embodiment of the present invention will be described below with reference to the drawings. The controller of this embodiment is a controller for a rice harvester (so-called combine). In FIG. 1, reference numeral 21 is a main controller, and 22 is a plurality of local devices which are arranged near the positions where the devices 2, 3, 4, 5, 6 are arranged and which are connected in parallel to each other by short electric wires 23. The controller 24 is a serial communication line 24 that connects the main controller 21 and each local controller 22.

The main controller 21 is configured as shown in FIG. 2, 210 is a main CPU, 211 to 214 are sub CPUs that assist the main CPU, 215 is a main input / output unit for transmitting and receiving signals through the serial communication line 24, and 216 is each CPU 210 to 214 or main input. A switching circuit 217, 218 for switching the connection between the output sections 215 is a RAM or ROM connected to the main CPU 212, and a 219 supplies power or a reset signal (a signal for resetting at the same time) to each CPU 210-214. It is a power circuit. Each element is composed of, for example, an IC, and is mounted on a substrate on which a conductor pattern for connecting these ICs as shown in FIG. 2 is mounted to form a main controller 21.

Here, each of the CPUs 210 to 214 constitutes the main processing means of the present invention, and controls the controlled devices 5 and 6 according to the output signals of the detection devices (or operation devices) 2, 3 and 4. In this case, the sub CPUs 211 to 214 are each in charge of this processing for each function of the reaper, and the main CPU 210 is in charge of these operations. It is configured to control.

That is, the main CPU 210 operates according to a program registered in the RAM 217 or the ROM 218, identifies the output signal input via the main input / output unit 215 and the switching circuit 216, and in accordance with this, the sub CPUs 211 to 211. In addition to performing processing such as transmitting the data of the output signal to a predetermined sub CPU of 214, the switching circuit 216 is controlled to connect the predetermined sub CPU to the main input / output unit 215. Then, the predetermined sub CPU outputs a corresponding control command signal to the main input / output unit 215.

The main input / output unit 215, which is controlled by the main CPU 210, converts a parallel signal input via the switching circuit 216 into a serial signal and outputs the serial signal to the serial communication line 24, and an input from the serial communication line 24. The operation of converting a serial signal to a parallel signal and outputting the parallel signal to the main CPU 210 or the like via the switching circuit 216 is switched appropriately at a predetermined timing.

The local controller 22 divides the controlled device, the detection device, or the operating device, which are arranged at various places in the reaper, into groups according to the arrangement locations, and is provided near the arrangement locations of these groups one by one and belongs to each group. It is connected to the controlled device or the like with the short electric wire 23 as described above, and is configured as shown in FIG.

In FIG. 3, reference numeral 220 is a local CPU constituting the local processing means of the present invention, and 221 is any one of the detection equipment or the operation equipments 2 to 4 connected to the local controller 22. The parallel signal input unit 223 for selectively connecting to the local CPU 220 via the buffer 222 selectively selects one of the controlled devices 5 to 6 connected to the local controller 22. A parallel signal output unit 225 for connecting to the local CPU 220 via the buffer 224, a local input / output unit 225 for transmitting / receiving a signal via the serial communication line 24, and a power supply 226 for supplying a power supply or a reset signal to the local CPU 220. The source circuit. Each element is composed of, for example, an IC, and is mounted on a substrate on which a conductor pattern connecting these ICs is formed as shown in FIG. 3 to form a local controller 22.

Here, the local CPU 220 outputs a control signal according to the control command signal to each controlled device connected via the buffer 224 and the parallel signal output unit 223, and also inputs a buffer 222 and a parallel signal. It receives the output signal of each detection device or operation device connected via the unit 221 and outputs it appropriately.

The local input / output unit 225 is controlled by the local CPU 220, converts a parallel signal output from the local CPU 220 into a serial signal and outputs the serial signal to the serial communication line 24, and an input from the serial communication line 24. The operation of converting a serial signal into a parallel signal and outputting it to the local CPU 220 is appropriately switched by a predetermined timing.

In this case, the serial communication line 24 has a two-line configuration, and as shown in FIG. 1, common lines 241 and 242 connected to the same input / output terminal of the main input / output unit 215 and extending in a loop shape. And branch lines 243 and 244 connecting the common lines 241 and 242 and the local input / output unit 225 of each local controller 22. The input / output units 215 and 225 for serial communication in the main controller 21 and the local controller 22 described above perform, for example, two-wire so-called half-duplex communication, corresponding to the configuration of the serial communication line 24. It is said that.

Next, the operation will be described. In the above controller, the portion wired in parallel is only a short distance between each of the devices 2 to 5 and each of the local controllers 22, and between the main controller 21 and the local controller 22, a two-wire serial line is used in this case. Since they are connected by the communication line 24, the total wiring length and the number of connection points associated with the increase in the wiring length are significantly reduced as a whole. For this reason, the productivity and reliability of the reaper are remarkably improved, and the material cost can be reduced and the cost can be reduced.

Moreover, with this controller, the control operation similar to the conventional one is possible as follows. That is, the output signals of the detection devices or the operation devices 2 to 4 are first input to the local CPU 220 of the local controller 22 arranged in the vicinity by the short parallel wiring 23 and appropriately output by the judgment of the local CPU. It The output signal output by the local CPU is serially transmitted by the local input / output unit 225 to the main controller 21 via the serial communication line 24, received by the main input / output unit 215 of the main controller 21, and sent to the main CPU 210. Is entered.

The main CPU 210 causes any of the sub CPUs 211 to 214 to function as described above according to the output signal thus input, and outputs a control command signal for controlling the controlled devices 5 and 6. . The control command signal output in this manner is serially transmitted by the main input / output unit 215 to each local controller 22 via the serial communication line 24. Then, this control command signal is input to the local CPU 220 of the local controller 22 by the local input / output unit 225 of the corresponding local controller 22, and the local CPU 220 outputs this control command to the corresponding controlled device arranged in the vicinity. The control signal corresponding to the signal is output. Therefore, each controlled device is centrally controlled by the judgment of the corresponding CPU of the main controller 21 according to the output signal.

The above control operation will be described below with reference to a specific example. For example, the reaper has a function of automatically adjusting the traveling direction of the vehicle body to a certain direction of rice while detecting the position of rice, and for example, the sub CPU 214 is in charge of this control. That is, the local CPU 220 receives the output signal of the switch 2 for detecting the presence of rice through the electric wire 23 or the like and appropriately outputs it, and the local input / output unit 225, the serial communication line 24, the main input / output unit 215 and the switching circuit This signal is input to the main CPU 210 via 216.

Then, the main CPU 210 identifies that the output signal thus input is a detection signal for the presence or absence of rice, transfers the output signal to the sub CPU 214, and controls the switching circuit 216. The sub CPU 214 is connected to the main input / output unit 215. Then, the sub CPU 214 calculates the optimum traveling direction of the reaper from the input rice detection signal, and a control command signal for operating the motor 6 that drives the steering mechanism so as to orient the reaper in this traveling direction. Is output. Then, the control command signal thus output is input to the local CPU 220 of the local controller 22 to which the motor 6 for driving the steering mechanism is connected via the serial communication line 24 and the like, and the local CPU 220 is connected to the electric wire 23. A control signal corresponding to the control command signal is output to the motor 6 that drives the steering mechanism via the above. Therefore, the motor 6 for driving the steering mechanism is actuated by the sub CPU 214 of the main controller 21 in response to the rice detection signal, and the traveling direction of the reaper is controlled so as to face the rice. Will be.

Further, in the above controller, both ends of the common lines 241 and 242 forming the serial communication line 24 are connected to the same input / output terminal of the main input / output unit 21 and extend in a loop. Even if a disconnection occurs on one side of the lines 241, 242, the continuity is secured. Therefore, disconnection of serial communication due to disconnection is unlikely to occur, and the reliability of the control operation is ensured to be high.

It should be noted that this invention is not limited to the mode of the above-described embodiment, and various modifications and the like are possible. For example, the serial communication system between the main controller and the local controller may be a 4-wire system, which is so-called full-duplex communication. Needless to say, the present invention can be applied to various agricultural machines such as tractors, rice transplanters, etc., without being limited to reapers, and can achieve similar effects.

[0028]

[Effect of device]

 As described above, according to the present invention, while maintaining the function as the controller of the agricultural machine, the number of connection points due to the increase of the total wiring length and the wiring length is significantly reduced, and the productivity of the reaper is improved. The reliability can be significantly improved, and the cost can be reduced by reducing the material cost.

[Brief description of drawings]

FIG. 1 is a diagram showing an overall configuration of a controller in an agricultural machine according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of a main controller according to an embodiment of the present invention.

FIG. 3 is a block diagram showing a configuration of a local controller according to an embodiment of the present invention.

FIG. 4 is a diagram showing a controller in a conventional agricultural machine.

[Explanation of symbols]

 2, 3, 4 Detection device, operation device 5, 6 Controlled device 21 Main controller 22 Local controller 23 Short wire 24 Serial communication line 210-214 Main processing means 215 Main input / output section 220 Local processing means 225 Local input / output section

Claims (1)

[Scope of utility model registration request] 1. A controller in an agricultural machine for controlling a controlled device according to an output signal of a detection device or an operation device arranged at various places, and a main controller and a position where the controlled device, the detection device or the operation device are arranged. A plurality of local controllers respectively arranged in the vicinity and connected in parallel with a short electric wire, and a serial communication line connecting the main controller and each local controller are provided, and the main controller is responsive to the output signal. Main processing means for outputting a control command signal for controlling the controlled device, serial control data transmission of the control command signal output by the main processing means to the local controller via the serial communication line, and the output signal Via the serial communication line to the local controller A main input / output unit for receiving from a controller and inputting to the main processing unit, the local controller outputs a control signal according to the control command signal to the controlled device arranged in the vicinity, Local processing means for receiving the output signal of the detection equipment or operating equipment arranged in the vicinity and outputting it appropriately, and the output signal output by the local processing means is serialized to the main controller via the serial communication line. A controller in an agricultural machine, comprising: a local input / output unit for transmitting data and receiving the control command signal from the main controller via the serial communication line to input the local processing means.