JP2000116223A - Control apparatus for working vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform a proper control while eliminating a useless cost, in the case of making a central control part obtain information of sensor, etc., necessary for control, driving the whole actuators of each part of a machine body based on the information and concentrically controlling the whole working vehicle, by making the central control part communicate with a signal requiring a high-speed communication treatment and a signal not requiring a high-speed communication treatment by communication lines suitable for each communication. SOLUTION: Actuators AK for operation, sensors SW for detecting control information and an information obtaining means JN of a manual operation type are connected to any of plural terminal control parts LU and MU distributed and arranged at each part of a machine body. A terminal control part LU into which a signal requiring a high-speed communication treatment for driving the actuators AK is inputted and outputted is made to communicate with a central control part CU by a high-speed communication line T1. On the other hand, a terminal control part MU into which a signal not requiring the high- speed communication treatment is inputted and outputted is made to communicate with the central control part CU by a low-speed communication line T2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a central control unit for centrally executing control of an entire work vehicle, and a plurality of terminal control units distributed to each unit of the body, which can communicate via a communication line. And a control device for a work vehicle connected to the control device.

[0002]

2. Description of the Related Art In a control device for a work vehicle, for example, in a combine which is an example of a work vehicle, a plurality of terminals in which a large number of sensors and actuators arranged in each part of the body are dispersedly arranged in each part of the body. Connected to the control unit to input and output signals, simplifying wiring, while the central control unit is based on sensor information and other control information obtained by communication with each terminal control unit via communication lines The central control unit determines the drive content of all the actuators of each part of the body, transmits drive data to a terminal control unit connected to the actuators based on the determined drive content, and controls the drive, so that the central control unit controls the entire work vehicle. Control was concentrated and performed appropriately. Since high-speed communication processing is required to drive the actuators, the central control unit and each terminal control unit are provided with a dedicated IC for high-speed communication processing (for example, see Japanese Unexamined Patent Application Publication No. 13186
No. 0). By the way, for example, in a combine, the central control unit is configured to perform various controls such as threshing control, cutting height control, vehicle speed control, etc., and control activation information as to whether or not to execute each control. And the information on the control target value are input by manually operated switches and volume control. Conventionally, such manually operated information input means is directly connected to, for example, a central control unit. I was

[0003]

However, in the above-mentioned prior art, if the number of manually operated information input means such as manual switches becomes large, wiring for connecting them to the central control unit becomes complicated. Therefore, in order to simplify the wiring, a signal from each of the information input means is input to a terminal control unit configured similarly to the terminal control unit to which the sensors and actuators are connected, and the central control unit By communication with the terminal control unit via the communication line, it is conceivable to obtain signal data from each information input unit, but in this case, in order to drive the actuators, it is not necessarily required. There is a disadvantage that an expensive terminal control unit including a dedicated IC for high-speed communication processing is required for signal input from each of the information input units that do not require high-speed communication processing, resulting in unnecessary costs. .

The present invention has been made in view of the above circumstances, and has as its object to communicate information such as sensors necessary for control by a central control unit communicating with each terminal control unit distributed in each unit of the body. When the control of the entire work vehicle is centralized by driving all the actuators of each part of the machine based on the information, the signals that require high-speed communication processing and the high-speed communication processing The central control unit is capable of appropriately controlling the entire work vehicle while preventing unnecessary costs from being generated by causing signals not required to be communicated with communication lines suitable for the respective communications.

[0005]

According to a first aspect of the present invention, a plurality of work actuators, control information detection sensors, and manually operated information input means are separately arranged in each part of the body. The terminal control unit connected to any one of the terminal control units, and the connected terminal control unit inputs the signals of the sensors and outputs signals to the actuators, among the plurality of terminal control units, A terminal control unit that inputs and outputs signals that require high-speed communication processing for driving the actuators is connected to the high-speed communication line for high-speed communication connected to the central control unit, and can communicate with the central control unit On the other hand, a terminal control unit that inputs and outputs signals that do not require high-speed communication processing is connected to a low-speed communication line for low-speed communication connected to the central control unit, and is communicably connected to the central control unit. You. The central control unit, which centrally executes control of the entire work vehicle, appropriately drives all of the actuators based on the input data of the sensors and the information input means transmitted from each terminal control unit. The content is determined, and the appropriate drive content is transmitted as control data to the terminal control unit to which the actuators are connected,
The terminal control unit to which the actuators are connected outputs a drive signal to the actuators based on the control data received from the central control unit.

Accordingly, the terminal control unit, which inputs and outputs signals requiring high-speed communication processing for driving the actuators, performs high-speed communication with the central control unit via the high-speed communication line, while performing high-speed communication. A terminal control unit that inputs and outputs signals for which processing is not required is communicated with a central control unit via a low-speed communication line via a low-speed communication line. If the terminal control unit that inputs and outputs signals for which high-speed communication processing is not required is also made to communicate via the high-speed communication line, a wasteful cost such as the necessity of a dedicated IC for high-speed communication processing occurs. The central control unit can centrally and appropriately execute control of the entire work vehicle while minimizing costs.

According to a second aspect, in the first aspect, the central control unit includes a communication IC provided in the central control unit for relaying data exchange with the high-speed communication line; Between the communication IC provided for relaying data transfer to and from the connected terminal control unit with the high-speed communication line, and the terminal control unit connected to the high-speed communication line via the high-speed communication line To execute a high-speed communication process and a low-speed communication process directly with a terminal control unit connected to the low-speed communication line via the low-speed communication line. Accordingly, the communication I / O provided in the central control unit and the terminal control unit connected to the high-speed communication line, respectively.
C realizes high-speed communication processing by transmitting and receiving data at high speed to and from a high-speed communication line. On the other hand, for example, a central control unit and a terminal control unit are each configured by a microcomputer, and a serial control unit is provided as a standard function. By utilizing the communication function, the central control unit and the terminal control units connected to the low-speed communication line communicate directly with each other via the low-speed communication line without using an expensive communication IC as described above. Therefore, the low-speed communication processing can be realized at the lowest possible cost, so that the preferable means of claim 1 can be obtained.

According to a third aspect, in the first or second aspect, the terminal control unit to which the actuators and the sensors are connected is connected to a high-speed communication line, and the terminal control unit to which the information input means is connected. Section is connected to the low-speed communication line. Therefore, a signal from a manually operated information input means such as a manual switch for setting control information or an adjustment volume is not required for high-speed communication processing for driving the actuators, while a signal for control information detection is used. The input information from the sensors requires high-speed communication processing for driving the actuators, and the output of the control data for driving the actuators determined based on the input data of the sensors and the information input means is: In response to a demand for high-speed communication processing, the drive control of the actuators can be appropriately executed with as little an operation delay as possible, whereby the preferred means of claim 1 or 2 is obtained.

According to a fourth aspect, in any one of the first to third aspects, the display means for displaying information is connected to any of the terminal control units, and the display means is connected. A terminal control unit connected to the low-speed communication line,
The central control unit determines an appropriate display content to be displayed on the display unit based on the input data of the sensors and the information input unit transmitted from the terminal control units,
The proper display contents are transmitted as display data to a terminal control unit to which the display unit is connected, and the terminal control unit to which the display unit is connected is based on the display data received from the central control unit. And outputting a drive signal to the display means. Therefore, while achieving a reduction in the communication cost by the low-speed communication processing via the low-speed communication line, the central control is performed between the terminal control unit to which the display means that does not require the high-speed communication processing for driving the actuators is connected. The unit can determine appropriate display information based on the state of the entire work vehicle and cause the display unit to display the information, whereby the suitable means according to any one of claims 1 to 3 is obtained.

According to a fifth aspect of the present invention, in any one of the first to fourth aspects, the terminal control unit connected to the information input means processes input data from the information input means, and The data after the processing is transmitted to the central control unit. Therefore, for example, a signal containing noise at the time of operation, such as a switch, is subjected to noise removal processing and transmitted, so as to reduce the load of data processing in the central control unit, or to control the volume or the like. Such a signal having a large amount of information is compressed and transmitted to reduce the communication time. A communication process can be performed, whereby the preferable means according to any one of claims 1 to 4 can be obtained.

[0011]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a working vehicle according to an embodiment of the present invention; As shown in FIGS. 1 to 3, the combine is an airframe V including a pair of right and left crawler traveling devices 30.
A cutting unit 1 is attached to a front part of the cutting unit 1 so that the cutting unit 1 can freely swing up and down around a horizontal axis X by a cutting elevating cylinder 5, and a control unit 31 and a cutting grain culm are threshed and sorted behind the cutting unit 1. And a tank 3 for storing the grains supplied from the threshing section 2 and an unloader 32 for discharging the grains in the tank 3.

As shown in FIG. 2, the reaper 1 has a weeding tool 33 attached to the tip, a grain stalk raising device 34, a cutting blade 35 for cutting the stem of the raised grain stalk, and a reaper. Auxiliary transport device 3 that collects and transports culms to the rear
7, a vertical transport device 36 for receiving the harvested culm on the tip side and transferring it to the feed chain 52 of the threshing unit 2. Also provided are an ultrasonic sensor S6 for detecting the height of the cutting unit 1 with respect to the ground, and a stock sensor S2 for turning on when the grain stem touches to detect that the cutting operation is being performed. Then, based on the information of the ultrasonic sensor S6, the cutting height control for controlling the operation of the cutting and lifting cylinder 5 is executed so that the ground height of the cutting unit 1 is maintained at the target set height.

The vertical transport device 36 (in FIG. 2, there is a portion that is partially different from FIG. 1 for explaining the function of the vertical transport device 36) It is composed of a stock feeder 36a for nipping and conveying, a head conveying device 36b for locking and conveying the front side of the grain culm, and a head guide plate 36c, and is swingable about the same axis as the swing axis X of the cutting unit 1. It is supported and is provided so as to be swingably adjustable by a handling depth motor M1, whereby the pinching point of the grain culm received from the auxiliary transport device 37 is changed in the culm length direction, and the handling depth in the threshing unit 2 is adjusted. It is configured to be able to. Also, in the transporting path of the harvested grain culm, it is juxtaposed at intervals in the culm length direction on the lower side in the conveying direction from the handling depth adjustment point by the handling depth motor M1 and swings when the grain culm contacts. Switch-type pair of tip sensors S8a, S8
b is provided. Then, the pair of head sensors S
The state in which the tip of the grain stem is located between 8a and S8b (the state in which the stock sensor S8b is on and the tip sensor S8a is off) is set as an appropriate handling depth state, and is maintained in the appropriate handling depth state. As described above, the depth control for controlling the operation of the depth motor M1 is executed.

As shown in FIG. 3, the second weeding tool 33 from the left as viewed from the front of the fuselage has a body lateral direction of the machine V with respect to the grain stalk row introduced between the plurality of weeding tools 33. A pair of left and right direction sensors S1 provided with a detection bar that abuts on the grain stalk and swings rearward of the machine body in order to detect the position at the position. Then, based on the information from the pair of direction sensors S1, the left and right steering for turning on / off the power transmission to the left and right crawler traveling devices 30 so that the traveling machine V automatically travels along the planted grain culm. Direction control for controlling the operation of the steering cylinders 9L, 9R (see FIG. 19) for operating the clutches 20L, 20R, respectively, is executed. That is,
Of the left and right crawler traveling devices 30, the machine body V turns to the side where the power transmission is cut off. Therefore, when the machine body V is displaced from the proper position, the machine body V moves to the crawler traveling device 30 on the opposite side to the displacement. The traveling direction is corrected by operating the steering cylinders 9L and 9R so as to cut off the power transmission.

Each of the left and right crawler traveling devices 30 has a left and right track frame 30d having a driving sprocket 30a, a tension wheel 30b, and a plurality of driven wheels 30c.
And the left and right track frames 30d
Is provided with a rolling cylinder 30e for individually driving the body V up and down, and the body V is provided with a rolling sensor S4 for detecting the inclination of the body with respect to the horizontal plane. Then, horizontal control for controlling the operation of the left and right rolling cylinders 30e is performed based on the information of the rolling sensor S4 so as to maintain the body attitude in a predetermined attitude such as a horizontal attitude regardless of the state of the ground. .

The unloader 32 has a discharge port 32a with a downward attitude at the distal end, and is supported by a support portion 32b in a state where the base end side is vertically swingable about a horizontal axis Z.
An unloader hydraulic cylinder 62 is provided for the vertical swing drive, and the support portion 32b is pivotally supported by the body V in a state where the support portion 32b can be turned around the vertical axis Y. Motor M3 is provided. or,
In order to detect the turning position of the support portion 32b, an unloader position sensor S3 including a potentiometer is provided. FIG. 3 shows a state in which the unloader 32 has been moved to the storage home position during a mowing operation or the like. Then, based on information such as the unloader position sensor S3 and a limit switch (not shown) for detecting a limit position of the ascending operation and the turning operation in the left-right direction, etc.
Unloader control for controlling the operation of the unloader 32 is executed.

As shown in FIG. 4, the threshing unit 2 includes
A, a feed chain 52 that transports the stalks supplied from the reaper 1, a turtle 53 and a rocking sorter 5
4, a first port 55 for collecting kernels, and a second port 56 for recovering a mixture of kernels and straw waste.
Etc. are provided. Then, of the processed products threshed in the handling room A, the single-grained products are leaked to the sorting device B from the receiving net 57 provided at the lower part of the handling room A, and the other processed products are received by the receiving net 57. From the rear end to the sorting device B.

As shown in FIG. 2, a pinch rail 52a is opposed to the feed chain 52 in a state where the pinch rail 52a is pressed and urged toward the feed chain 52, and the feed chain 52 and the pinch rail 52a are driven to rotate. Thus, the base of the culm is held and transported. However, the holding rail portion located on the front side of the handling room A is configured to be movable to an upper position separated from the feed chain 52 by the rail lifting motor M2 or the like. Thereby, together with the normal state of threshing while nipping and transporting the cut culm on the lateral side of the handling room A, and when the culm length of the cut grain culm is extremely short, the entire culm of the grain culm is transferred to the handling room A. It is configured such that rail control for driving the rail raising motor M2 and the like can be executed so as to be turned on.

The swing sorting plate 54 of the sorting device B is
3 is provided with a Glen pan 58 located above, a chaff sheave 59 located behind, and a Glen sheave 61 located below. The chaff sheave 59 is composed of a plurality of band-shaped members arranged side by side in the processing object transfer direction, and the interval (chaff opening) between the adjacent band-shaped members is changed by the chaff opening adjustment motor M4. Have been. S10 is a sheave sensor that detects the thickness of the processed material on the swing sorting plate 54. The toumi 53 is for blowing off the straw debris on the swing sorting plate 54, and the rear fan case cover 53a is attached to the toumi wind power adjusting motor M.
By performing the opening / closing operation at 5, the wind force (Tomi wind force) applied to the processed material on the swing sorting plate 54 is changed. In other words, the larger the degree of opening of the cover, the smaller the wind force on the front side, and accordingly, the smaller the wind power of the toumi.

Then, in order that the sorting process in the sorting device B is performed properly, the sorting process is performed in accordance with the amount of the material to be leaked from the handling room A.
Chaff opening degree adjusting motor M4 and Toumi wind force adjusting motor M
The threshing control for controlling the operation of No. 5 is executed. Here, when the traveling speed increases, the amount of cut cereal culm supplied to the handling room A increases, and the amount of treated material leaking from the handling room A increases.
The control is performed such that the greater the amount of grain culm supplied to the handling room A, which is determined based on the information from the vehicle speed sensor S7 described later, the greater the chaff opening and the turtle wind force.

Next, a power transmission system is shown in FIG. The output of the engine E mounted on the body V is transmitted to the threshing unit 2 via the threshing clutch 37 and the traveling clutch 38
The transmission is transmitted to the transmission section 40 of the crawler traveling device 30 via the continuously variable transmission 39. The output transmitted to the transmission unit 40 is transmitted to the crawler traveling device 30 via an auxiliary transmission (not shown) provided in the transmission unit 40, and is transmitted to the reaping unit 1 via the reaping clutch 47. S9 is a threshing switch for detecting the on / off state of the threshing clutch 37, S7 is a vehicle speed sensor for detecting the running speed based on the number of revolutions input to the transmission unit 40, and S5 is an electromagnetic pickup type engine. It is a rotation speed sensor. Further, a shift motor M6 for shifting the continuously variable transmission 39 and a hydraulic clutch (not shown) for shifting the auxiliary transmission are provided. Here, since the engine speed decreases as the load on the engine E increases, the load on the engine E is determined based on the amount of decrease in the engine speed from the engine speed under no load (reference speed). Then, in order to make the most of the capacity of the engine E, the vehicle speed sensor S7 is used.
Under the condition that the traveling speed detected at does not exceed the set upper limit speed, the engine load determined based on the information of the engine speed sensor S5 is maintained in an appropriate range.
Vehicle speed control for controlling the operation of the speed change motor M6 is executed.

Next, start commands for the various controls described above (cutting height control, depth control, direction control, horizontal control, unloader control, rail control, threshing control, etc.) and control of control target values and the like are executed. Information input means for manually inputting necessary information and a display section for various information will be described. 6 and 7
As shown in the figure, on the left side of the seat 31A of the control unit 31, in order from the side close to the seat, a basic switch module MU1 provided with an activation switch for each of the above controls, an adjustment volume, and the like.
(See FIG. 8) and a horizontal control switch module MU3 having a start switch for horizontal control, a manual operation switch, and the like.
(See FIG. 10), and a manual shift lever 7 for shifting the running speed is provided in a state where the grip portion 7A is positioned above the basic switch module MU1. The speed change motor M6 is driven in accordance with the operation of the manual speed change lever 7. Meanwhile, seat 3
An unloader switch module MU provided with a switch and the like for operating the unloader 32 is provided on the right front of the seat 1A at the right front of the seat 1A.
2 (see FIG. 9).

The reaping unit 1 is located on the right front side of the control unit 31.
A cross-cutting height steering lever 8 is provided, which is also used as a mowing elevating lever for manually raising and lowering the vehicle and a steering lever for manually turning the traveling machine V left and right. That is, when the cutting height steering lever 8 is pivoted rearward, the cutting unit 1 is raised, and when the cutting height steering lever 8 is pivoted forward, the cutting unit 1 is lowered, and the cutting height steering lever 8 is pivoted leftward. When operated, the aircraft turns left, while when swinging to the right, the aircraft turns right. In order to detect the amount of swing operation of the cutting height steering lever 8 in each direction of the cutting elevation and the steering operation, a cutting elevation detection sensor S12 and a steering operation detection sensor S13 each constituted by a potentiometer. Is provided. A display module MU4 (see FIG. 11) for displaying various information is provided on the left front panel of the control unit 31.

The basic switch module MU1 includes:
As shown in FIG. 8, an operation unit 41 for threshing and handling depth control, an operation unit for vehicle speed control 42, an operation unit for direction control 43, an operation unit for cutting height control 44, an operation unit for rail control 45 and a spare operation unit 46 are provided. The spare operation unit 46 is used as an operation unit when control other than the above is added.

In the operation unit 41 for threshing and handling depth control, one crop condition is selected from a starting switch 41a for handling depth control constituted of an illuminated push button switch, wheat, rice and wet. Crop switching volume 41b,
A chaff volume 41c for adjusting the chaff opening,
And toumi volume 4 for adjusting toumi wind
1d is integrally formed. Here, in the one crop condition, as the chuff volume 41c is turned to the open side, the control state of the chaff opening degree with respect to the cereal culm supply amount is changed and adjusted as a whole to the open side, and the tomato volume 41c is adjusted.
As d is turned to the higher side, the control state of the wind power of the turtle with respect to the grain culm supply amount is changed and adjusted as a whole to the higher side. or,
By the selection of crop conditions, the control state of the chaff opening degree is changed and adjusted to the open side as a whole in the order of wheat, rice, wetness,
The control state of the wind power is changed and adjusted as a whole to the strong side.

The vehicle speed control operation unit 42 is integrally formed with a vehicle speed control start switch 42a constituted by an illuminated push button switch and a vehicle speed limit volume 42b for setting an upper limit vehicle speed. The direction control operation unit 43 is integrally formed with a direction control start switch 43a configured as an illuminated push button switch and a turning force switching volume 43b for adjusting the turning force. Here, when the turning force switching volume 43b is turned to the large side, the steering cylinder 9 driven by the duty is driven.
The ratio of the ON time to the OFF time of L and 9R (the duty ratio) is changed to a large side to increase the turning force, and when the L and 9R are turned to a small side, the duty ratio is changed to a small side and the turning force is reduced. The cutting height control operating unit 44 is integrally formed with a cutting height control start switch 44a configured as an illuminated push button switch and a cutting height adjustment volume 44b for setting a target cutting height. ing. The rail control operation unit 45 is integrally formed with a rail control start switch 45a and a rail control lamp 45b for displaying an on / off state of the rail control. FIG.
(A) The switching adjustment by the chaff volume 41c, the toumi volume 41d, the vehicle speed limiting volume 42b, the turning force switching volume 43b, and the cutting height adjustment volume 44b can be set in seven stages (with a click).
(B) illustrates an example in which the switching adjustment can be set in a stepless manner.

As shown in FIG. 9, the unloader switch module MU2 includes an automatic switch 50a for automatically operating the unloader 32, a stop switch 50b for stopping the unloader 32, and a cross operation key. A manual operation switch 50c for manually ascending, descending, turning right and turning left, and a fir discharge switch 50 configured as an illuminated push button switch.
d, tank open switch 50e, tank close switch 50
f, and the target stop position of the unloader 32 is
A stop position selection volume 50g, which is selected from the rear side of the body and the right side of the body, is integrally formed.

The horizontal control switch module MU3 includes:
As shown in FIG. 10, an automatic switch 60a for starting horizontal control, which is configured as an illuminated push button switch, and an up reference mode switch 60b, which is configured as an illuminated push button switch, switches the horizontal control mode to an up reference. ,
A reverse operation aircraft lift switch 60c configured as an illuminated push button switch; a manual operation switch 60d configured as a cross control key for manually operating the aircraft attitude in a right-up, right-down, left-up, or left-down state; Further, a horizontal adjustment volume 60e for setting a target tilt state when the horizontal control is activated (automatic mode) is integrally formed.

As shown in FIG. 11, the display module MU4 includes a pointer-type fuel meter 70a, a pointer-type tachometer 70b, a water temperature meter 70c, and a fir LCD 70d for displaying the amount of fir in the tank 3. A main LCD 70e for displaying various messages, graphs, and the like is provided. Further, left and right turn signal lamps 70f, various alarm lamps 70g for charge (charge), brake, oil, and check, and the above-described auxiliary transmission device are provided. The switching state is fast,
An auxiliary speed change lamp 70h is provided to indicate whether the vehicle is in the normal, lodging, or neutral state. In the figure, a bar graph showing the load level of the engine is shown on the upper side of the main LCD 70e, and a bar graph showing the amount of the processed material on the swing sorting plate 54 of the threshing unit 2 detected by the sheave sensor S10. What is displayed is illustrated on the lower side.

Then, as shown in FIGS. 12 and 13,
Central control unit C for centrally executing control of the entire combine
U and a plurality of terminal control units LU (LU1) that are distributed and arranged in each section of the machine such as the reaping section 1, the threshing section 2, the tank section (including the tank 3 and the unloader 32), and the main body section 4.
To LU5) and MU (MU1 to MU4) are connected to the communication line T.
1 and T2 so as to be communicable with each other. Further, the actuators AK for work, the sensors SW for detecting control information, the manually operated information input means JN, and the display means HS for displaying information are provided with the terminal control units LU, M.
U, and is configured to input and output signals to and from the connected terminal control units LU and MU.

Here, the actuators AK include the hydraulic cylinders, electric motors, and the like for operating a working device provided in each part of the body, and the sensors SW include:
It is composed of a switch for detecting various control information as ON / OFF binary information. Specifically, as illustrated in FIG. 12, from the terminal control unit LU3 arranged in the reaper 1,
A drive signal for the handling depth motor M1 is output, and the direction sensor S1, the stock sensor S2, and the tip sensors S8a, S8b are sent to the terminal control unit LU3.
Is input. Further, from the terminal control unit LU4 arranged in the threshing unit 2, the rail raising motor M2,
A drive signal is output to the chaff opening degree adjustment motor M4 and the turtle wind adjustment motor M5.

Further, of the two terminal control units LU1 and LU2 arranged in the main unit 4, one terminal control unit LU2 receives
A drive signal for the speed change motor M6 is output, and a signal of the threshing switch S9 and a sub speed change switch (not shown) for switching a speed change state of the sub speed change device are input to the terminal control unit LU2. The terminal control unit LU1 is configured as a terminal control unit dedicated to hydraulic pressure output. From the terminal control unit LU1, the cutting and lifting cylinder 5, the steering cylinders 9L and 9R, the rolling cylinder 30e, Each drive signal for each solenoid for driving the unloader hydraulic cylinder 62 is output. A drive signal for the turning motor M3 is output from the terminal control unit LU5 disposed in the tank unit, and the terminal control unit LU5 detects the amount of grains stored in the tank 3. The detection signal of the fir sensor S11 is input.

Each of the switch modules MU1 to MU3
A manual switch, an adjustment volume, and the like provided in the switch module MU1 correspond to the information input means JN.
Display lamps and display module M provided in the first to third embodiments.
The meter, LCD display, and lamps provided in U4 correspond to the display means HS.

The central control unit CU has the communication lines T1,
As T2, a high-speed communication line T1 for high-speed communication and a low-speed communication line T2 for low-speed communication are connected, and among a plurality of terminal control units LU and MU, high-speed communication processing for driving actuators AK. Terminal control units (hereinafter referred to as high-speed terminal units) LU1 to LU5 for inputting / outputting a signal for which a high-speed communication process is not required. MU1 to MU4 (that is, each of the switch modules MU1 to 3 and the display module MU4) are connected to the low-speed communication line T2.
In other words, the output of the drive signal to the actuators AK and the input of the detection information from the sensors SW require high-speed processing in executing the control of each part of the body.
The high-speed terminals LU1 to LU5 to which the actuators AK and the sensors SW are connected are connected to a high-speed communication line T1. On the other hand, signal input from a manual switch or an adjustment volume provided in the information input means JN and output of a drive signal for display to the display means HS require high-speed processing in order to execute control of each unit of the machine. The information input means JN and the display means H
Each of the switch modules MU1 to 3 and the display module MU4 to which S is connected are connected to the low-speed communication line T2.

As shown in FIG. 13, the central control unit CU is provided with a microcomputer CPU for control processing.
A gate array GA1 is provided as a communication IC on the central side for relaying data transfer between the two. here,
The microcomputer CPU and the gate array GA1
Is transmitted and received via an 8-bit bus line. On the other hand, each high-speed terminal unit LU1-5 connected to the high-speed communication line T1 has a gate as a terminal-side communication IC that relays data exchange between the sensors SW and actuators AK and the high-speed communication line T1. An array GA2 is provided.

The control microcomputer C
The PU receives an analog input signal from an analog sensor that detects continuously changing information, such as a potentiometer, and a pulse input signal from a pulse sensor that detects the number of revolutions and the like via a signal processing circuit. Input port Po
A drive signal to the engine stop solenoid SOLe for inputting to rt1 and rt2 and for stopping the engine by shutting off the fuel supply to the engine E is output from the output port Port4. Here, as the analog input signal, the unloader position sensor S
3, the rolling sensor S4, the ultrasonic sensor S
6. Each detection signal from the sheave sensor S10, the cutting and lifting detection sensor S12, and the steering operation detection sensor S13 is input, and a detection signal from the vehicle speed sensor S7 is input as the pulse input signal. Signal of the main switch MW is input.

The control microcomputer C
A non-volatile memory MEM such as an E2 ROM is connected to the PU, and various error information and the like are stored in the memory MEM. In the drawing, PS1 is a DC voltage source that supplies a power supply voltage and a reset signal when the power is turned on to the microcomputer CPU, the gate array GA1, and the like.

As shown in FIG. 13, each high-speed terminal unit L
Four harnesses AD1 to AD4 for generating an address signal for U1 to U5 are provided by combining a low-level voltage harness connected to the ground and a non-connected harness, and the harnesses AD1 to 4 and the sensors SW And a connector CN integrally formed with the actuators AK
Is connected to each of the high-speed terminal units LU1 to LU5. The harnesses AD1 to AD4 are connected to address setting external terminals A0 to A3 of the gate array GA2, and
A low-level voltage signal is supplied from the W-level voltage harness, and a high-level voltage signal that is pulled up to the power supply side inside the gate array GA2 is supplied to the unconnected harness. Each address is set. In the example of FIG. 13, the high-speed terminal unit LU3 is configured such that all of the external terminals A0 to A3 are LO
It is at the W level and set as address 0. The sensors SW and the actuators AK are connected to an input / output port of the gate array GA2 via a signal processing circuit and a drive 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 high-speed communication line T1 is, for example, RS485
As shown in FIG. 13, each gate array GA1 is connected to a contact between the two-wire communication line Ln and the communication line Ln in the central control unit CU and each of the high-speed terminals LU1 to LU5. And the transmission data received from RS
485, etc., and converts the signal into a signal conforming to the communication line Ln.
While the signal on the communication line Ln is input,
A communication driver DR for outputting the received data to each of the gate arrays GA1 and GA2 is provided.

The gate array GA1 on the center side and the gate array GA2 on the terminal side are formed in a state having a central side component for use as a center side and a terminal side component for use as a terminal side. The gate array GA is a communication IC of the same specification. Hereinafter, a specific description will be given based on FIG.

As shown in FIG. 14A, when the MODE terminal is set to 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 gate array GA includes an input / output buffer 11 for holding data input / output via the CPU and the bus line, a transmission buffer 13 for holding parallel data for transmission from the input / output buffer 11, and a transmission buffer 13 for the transmission buffer 13. P / S for converting parallel data into serial data
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, are input from the CPU. Interrupt to CPU
The configuration includes a CPU I / F unit 12 that outputs a T signal.

The gate array GA is shown in FIG.
As shown in (b), when the MODE terminal is set to the HIGH level, the internal circuit is switched to the slave mode functioning as the gate array GA2 on the terminal side. In this slave mode, the gate array GA includes the sensors SW and the actuators AK. An input / output port 21 for inputting / outputting data to / from the input / output port; a transmission buffer 13 for holding detection signals from the sensors SW input via the input / output port 21 as parallel data; To convert serial data into serial data
An S conversion unit 14, a communication control circuit 16 for transmitting the serial data from the P / S conversion unit 14 plus CRC data for error detection from a CRC generation unit 15 as transmission data, An S / P converter 18 for converting the received serial data into a CRC and an address and detecting the presence or absence of a communication error;
The parallel data and error detector 17 from the converter 18
And a reception buffer 19 for holding the error data from the I / O port 21 and outputting it to the input / output port 21, and an address setting unit 22 for setting an address for each of the high-speed terminal units LU1 to LU5.

As described above, the CPU I / F unit 12 corresponds to the central component, the address setting unit 22 corresponds to the terminal component, and gates other than the CPU I / F 12 and the address setting unit 22 are provided. 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 PA, PB, and PC each having 8 bits. For example, the ports PA and P of the high-speed terminal LU3 at address 0 are provided.
B is set as an input port, and port PC is set as an output port. The input / output buffer 1 in the master mode
1 is the port PB of the input / output port 21 in the slave mode
It is shared with.

Then, the central control unit CU communicates with each of the high-speed terminal units LU connected to the high-speed communication line T1 via the communication ICs (gate arrays GA1, 2) and the high-speed communication line T1.
It is configured to execute high-speed communication processing with the communication devices 1 to 5. More specifically, as shown in FIG. 15, the central control unit CU specifies an address set for each of the high-speed terminal units LU1 to LU5, and uses the polling selecting method to specify each of the high-speed terminal units LU1 to LU5. And multiplex communication. That is, the microcomputer CPU of the central control unit CU sends a request signal to each of the high-speed terminal units LU1 to LU5 (data input to each sensor SW or input to each actuator AK) to the gate array GA1 by transmission interrupt processing at set time intervals. Output request), and a reception interrupt process activated by an interrupt signal from the gate array GA1 that receives a return signal (input data or ACK data of each sensor SW) from each of the high-speed terminal units LU1 to LU5. A reply signal is received from each of the high-speed terminal units LU1 to LU5. Then, at the set polling period Tp (for example, 5 ms), all the high-speed terminal units LU1
The set time interval is set so that the communication with .about.5 can be executed.

The microcomputer CPU of the central control unit CU has a serial communication interface function as a standard function. On the other hand, as shown in FIG. 17 and FIG.
The controller 29 for input / output signal processing provided in
Similarly, it is composed of a one-chip microcomputer having a serial communication interface function as a standard function.
Similarly to the high-speed communication line T1, the low-speed communication line T2 is configured using, for example, the RS485 standard, and as shown in FIG. CPU of control unit CU and controller 29 in each of modules MU1 to MU4 and communication line L
The transmission data received from the CPU of the central control unit CU and each controller 29 is converted into a signal conforming to a standard such as RS485 and output to the communication line Ln 'at each contact with the communication line Ln'. , And a communication driver DR 'for outputting the received data to the CPU of the central control unit CU and each controller 29.

The microcomputer C on the center side
Using both the serial communication interface functions provided in the PU and the controller 29 on each module side, the central control unit CU directly performs low-speed communication processing with each of the modules MU1 to MU4 via the low-speed communication line T2. Is configured to execute. Specifically, as shown in FIG. 16, the central control unit CU
The data from each module MU1 to MU4 (data of each manual switch and adjustment volume) are sequentially specified by the addresses of U1 to U4 by the polling selecting method.
And outputs data (display data of each lamp and display unit) to each of the modules MU1 to MU4. That is, the microcomputer CPU of the central control unit CU
A request signal is transmitted to each of the modules MU1 to MU4 by a transmission interrupt process at a set time interval.
Upon receiving a reply signal from each of the terminal control units LU1 to LU5, a reception interrupt is activated, and a reply signal from each of the modules MU1 to MU4 is received in the reception interrupt processing.
If the timing of the communication process on the low-speed communication line T2 and the timing of the communication process on the high-speed communication line T2 are simultaneous, the communication process on the high-speed communication line T2 is executed with priority. Here, it takes about 15 ms to transmit a request signal to one of the modules MU1 to MU4 and to receive a response signal from the module MU1 to MU4, and perform communication to all of the four modules MU1 to MU4. The set time interval is set so as to be executed within a predetermined time (maximum 60 ms).

As shown in FIG. 17, in each of the switch modules MU1 to MU3, the controller 2 of each module
Numeral 9 inputs the state of each manual switch as a binary (ON / OFF) digital signal, inputs the operation state of each adjustment volume as an analog signal, and performs AD conversion processing to 8-bit digital data. On the other hand, the controller 29 outputs a drive signal to each lamp based on the display data transmitted from the central control unit CU to perform a display operation.

As shown in FIG. 18, in the display module MU4, the controller 29 is provided with a detection signal from a fuel (fuel) sensor, a water temperature sensor, the engine speed sensor S5, an oil switch, and an alternator. And the output voltage is input, and the controller 29
Based on these input signals and display data transmitted from the central control unit CU, a fuel meter 70a, a tachometer 70b, a water temperature meter 70c, a fir LCD 70d, a main LC
D70e, sub transmission lamp 70h, and alarm lamp 70
The check lamp of g is operated for display. The controller 29 transmits detection information from the engine speed sensor S5, the fuel sensor, the water temperature sensor, and the like in response to a transmission request from the central control unit CU. On the other hand, the left and right turn signal lamps 70f are turned on by turning on the respective turn signal switches, the charge lamps of the alarm lamps 70g are turned off by the output voltage from the alternator, and the brake lights are turned on by the turn on operation of the brake switch. The oil lamp is turned on by turning on the oil switch.

The central control unit CU is provided with the sensors SW and the information input means JN transmitted from the terminal control units LU and MU (each high-speed terminal unit LU1-5 and each module MU1-4). Based on the input data, the appropriate drive content for all of the actuators AK is determined, and the appropriate drive content is used as control data as a control data for the high-speed terminal LU to which the actuator AK is connected.
The high-speed terminals LU1 to LU5 connected to the actuators AK are connected to the actuators AK based on the control data received from the central control unit CU. Is configured to be output.

Next, as a specific example of the drive control of the actuators AK, a high-speed terminal LU1 provided in the main unit 4 will be described.
A description will be given of a drive configuration for the cutting and raising / lowering cylinder 5 and a pair of left and right steering cylinders 9L and 9R. As shown in FIG.
Is supplied with hydraulic oil from a three-position switching hydraulic control valve 6 operated by a pair of solenoids L1 and L2. The drive terminals (one end) of the solenoids L1 and L2 are connected to the collector terminals of the drive transistors Tr1 and Tr2, respectively. The outputs of the two AND circuits 25 and 26 are connected to the respective bases of the transistors Tr1 and Tr2, and one input side of each of the AND circuits 25 and 26 is connected to the port output terminals a and b of the gate array GA2. The other input side is connected to the collector terminals of the transistors Tr2 and Tr1 opposite to the transistors Tr1 and Tr2 to which the outputs of the AND circuits 25 and 26 are connected. Thereby, the transistors Tr1 and Tr
2 are not turned on at the same time, and solenoids L1 and L
2 is driven in accordance with the output of the port output terminals a and b. However, the hydraulic control valve 6
Is biased to return to the center position when neither of the solenoids L1 and L2 is driven.

On the other hand, as shown in FIG. 20, each of the left and right steering cylinders 9L, 9R is provided with a pair of solenoids L3, L4.
Pressure oil is supplied from a three-position switching type hydraulic control valve 10 that is operated by the controller, and the drive terminals (one end) of the solenoids L3 and L4 are connected to the collector terminals of the drive transistors Tr3 and Tr4, respectively. I have. Two AND circuits 27 and 2 are provided at each base of the transistors Tr3 and Tr4.
8 are connected, one input side of each AND circuit 27, 28 is connected to the port output terminal c, d of the gate array GA2, and the other input side is each AND circuit 2
Transistor Tr to which outputs of 7, 28 are connected
Transistors Tr4 and Tr3 opposite to Tr3 and Tr4
Connected to the collector terminal. Thus, the transistors Tr3 and Tr4 are not turned on at the same time, and one of the solenoids L3 and L4 is driven according to the output of the port output terminals c and d. However, when none of the solenoids L3 and L4 is driven, the hydraulic control valve 10 is biased to return to the center position.

In the above configuration, the central control unit CU
By communication with the basic switch module MU1,
When it is determined that the start switch 44a of the cutting height control provided in the cutting height control operation unit 44 is on, the target height information input by the cutting height adjustment volume 44b and the ultrasonic sensor S6. The proper driving content for the cutting elevating cylinder 5 for maintaining the mowing height at the target height is determined based on the ground height information, and the mowing elevating cylinder 5 is connected with the proper driving content as control data. It is transmitted to the high-speed terminal unit LU1. Then, the high-speed terminal unit LU1 outputs the HI signal from one of the port output terminals a and b of the gate array GA2 according to the received control data.
A GH signal is output from the other, and a LOW signal is output from the other to drive one of the solenoids L1 and L2, thereby causing the mowing cylinder 5 to move up and down.

Similarly to the above, when the central control unit CU determines that the start switch 43a of the direction control provided in the direction control operation unit 43 is on by communication with the basic switch module MU1. Based on the ON / OFF information of each of the direction sensors S1 and S2 received from the high-speed terminal unit LU3 arranged in the mowing unit 1, the combiner adjusts the turning force set by the turning force switching volume 43b while combining. Is determined for the pair of left and right steering cylinders 9L and 9R for causing the vehicle to travel along the planted grain culm row, and the appropriate drive content is used as control data to control the speed of the steering cylinders 9L and 9R. It is transmitted to the terminal unit LU1. Then, the high-speed terminal unit LU1
Is the gate array GA according to the received control data.
A HIGH signal from one of the port output terminals c and d of
The other side outputs a LOW signal to output the solenoids L3 and L
4 to drive one of the pair of steering cylinders 9L and 9R. As a result, the aircraft is steered to the operated steering cylinder 9L, 9R side (for example, to the left if the left steering cylinder 9L is operated).

Further, the central control unit CU includes the sensors SW and the information input means JN transmitted from the terminal control units LU and MU (high-speed terminal units LU1 to LU5 and modules MU1 to MU4). Based on the input data, a proper display content to be displayed on the display means HS is determined, and the proper display content is transmitted as display data to the terminal control units MU1 to MU4 connected to the display means HS. Terminal control units MU1 to MU4 to which the display means HS is connected
Is configured to output a drive signal to the display means HS based on the display data received from the central control unit CU.

More specifically, the case of the cutting height control will be described. The central control unit CU checks the on-state of the starting switch 44a for the cutting height control based on the data received from the basic switch module MU1. Command data for turning on the start switch 44a configured as an illuminated switch is transmitted to the MU1, and the main L is transmitted to the display module MU4.
A display command for displaying a cutting height control activation message is transmitted to the CD 70e. And the basic switch module MU
1 turns on the cutting height control start switch 44a in accordance with the lighting command data received from the central control unit CU, and the display module MU4 controls the main LCD 70e according to the display command received from the central control unit CU. The message "Cut height automatic [on]" is sent for a predetermined time (for example, 5
Display for seconds). When the start switch 44a for cutting height control is turned off, a message of "cutting height automatic [off]" is displayed on the main LCD 70e for a predetermined time (for example, 5 seconds).
When the target height information is changed by operating the cutting height adjustment volume 44b, the central control unit C is displayed.
Based on the communication between U and the display module MU4, the value of the target cutting height changed by the cutting height adjustment volume 44b is displayed as a bar graph on the main LCD 70e.

As described above, in the case of directional control,
The central control unit CU includes the basic switch module MU1.
Start switch 4 for direction control according to the received data from
When the ON state of the switch 3a is confirmed, command data for turning on the start switch 43a configured as an illuminated switch is transmitted to the basic switch module MU1, and the main LCD 70 is transmitted to the display module MU4.
A display command for displaying a direction control activation message is transmitted to e. Then, the basic switch module MU1 turns on the start switch 43a of the direction control according to the lighting command data received from the central control unit CU, and the display module MU4 operates according to the display command data received from the central control unit CU. On the main LCD 70e, a message of "direction automatic [on]" is displayed for a predetermined time (for example, 5 seconds). When the direction control start switch 43a is turned off, a message of "direction automatic [off]" is displayed on the main LCD 70e for a predetermined time (for example, 5 seconds).
When the information of the turning force is changed by operating the turning force switching volume 43b, the central control unit C is displayed.
Based on the communication between U and the display module MU4, the value of the turning force changed by the turning force switching volume 43b is displayed on the main LCD 70e as numerical information.

Next, a control operation in the central control unit CU will be described with reference to flowcharts shown in FIGS. When the main switch MW is turned on and the power is turned on to supply power to the central control unit CU (at this time, power is also supplied to each of the high-speed terminal units LU1 to LU5 and each of the modules MU1 to MU4). ) First, CP
The reset state of U is released and the control starts. Then, after performing the initialization processing, a set time interval (5
ms), 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 high-speed terminal units LU1 to LU5 and the modules MU1 to MU4 are stabilized after the main switch is turned on. The low-speed communication processing between the modules MU1 to MU4 is stopped until the time required for the operation (e.g., 250 ms) elapses, and the gate array GA1 is held in the reset state to communicate with the high-speed terminal units LU1 to LU5. The high-speed communication process is stopped (# 1 to # 6).

When the time necessary for stabilizing the operation of all the high-speed terminal units LU1 to LU5 and the modules MU1 to MU4 elapses, the CPU starts low-speed communication processing with each of the modules MU1 to MU4. Together with the gate array GA
1 is released, and high-speed communication processing with each of the high-speed terminal units LU1 to LU5 is started (# 7 to # 8). Here, the low-speed communication process and the high-speed communication process are performed by the interrupt process as described above. In the transmission interrupt process, as shown in FIG. 22, a request signal for input or output to each high-speed terminal LU and module MU is provided. In the reception interruption process, as shown in FIG. 23, a reception process for receiving a reply signal from each high-speed terminal LU and module MU is performed.

By the low-speed communication processing and the high-speed communication processing, the CPU sufficiently accumulates input data from the sensors SW, the manual switch, the adjustment volume, and the like, and confirms the start-up of the system. Of the actuators AK and display means H based on the
An arithmetic process for determining the display content of S is performed (# 5,
# 9). The drive data and display data obtained by this calculation are transmitted to each high-speed terminal unit LU and module MU in low-speed communication processing and high-speed communication processing.

When the main switch MW is turned off in order to stop the operation of the combine, the CPU stops the low-speed communication processing and resets the gate array GA1 to stop the high-speed communication processing (# 4). # 10 ~ #
11). Then, for 5 seconds after the main switch is turned off,
A solenoid for stopping the engine is driven to shut off fuel supply to the engine, and detection data, manual switches, and adjustments of the sensors in the terminal control units LU and MU stored in a memory such as a RAM in the CPU. A process of writing data such as volume (information of a control target and a control state) in the memory MEM is collectively performed, and after 5 seconds, the driving of the solenoid is stopped (# 12 to # 1).
5). The information on the control target and the control state written in the memory MEM is used as reference data at the start of the next control.

Next, a control operation in each of the high-speed terminal units LU1 to LU5 will be described based on a flowchart shown in FIG. First, it is determined whether or not it is a polling signal for itself based on an address in received data. If it is determined that the signal is a polling signal for itself, it is determined whether it is a request for input data from the sensors SW or an output request for the actuators AK. , In the case of an input request, the sensors S
While the detection signal from W is input and response sensor data is created based on the detection signal, in the case of an output request, the received data is output as a drive signal to the actuators AK and response ACK data is created. I do. Then, it transmits the created sensor data or ACK data to the central control unit CU.

Next, a control operation in each of the modules MU1 to MU4 will be described based on a flowchart shown in FIG. First, it is determined whether or not the polling signal is for itself based on the address in the received data. If it is determined that the polling signal is for itself, a request for input data from a manual switch, an adjustment volume, or the like, a display lamp, a meter, or an LCD Judge whether it is an output request to the display, and in the case of an input request, input a detection signal from a manual switch or an adjustment volume, etc., and create reply data based on it, while in the case of an output request, A drive signal is output to a display lamp, a meter, or an LCD display based on the received data, and ACK data for reply is created. Then, the created reply data is transmitted to the central control unit CU.

[Another Embodiment] Next, another embodiment will be described. In the above embodiment, the terminal control units (each of the switch modules MU1 to MU3) are configured to input data (binary data) from each manual switch which is the information input means JN and input data (8-bit data) from an adjustment volume. To
Although it was configured to transmit to the central control unit CU as it is,
The input data may be processed and the processed data may be transmitted to the central control unit CU.
For example, the central control unit CU compresses 8-bit data from the adjustment volume into 4-bit data.
And the central control unit CU decompresses and transmits the received data to the original 8-bit data.

In the above-described embodiment, the communication lines T1 and T2 and the communication drivers DR and DR 'are configured using the RS485 standard. However, other communication standards can be used.

In the above embodiment, the sensors SW are constituted by switches for detecting control information as ON / OFF binary data, but may be constituted by sensors for detecting analog signals and pulse signals other than binary signals. You can also. Also, the actuators AK may include other than the electric motor and the solenoid.

In the above-described embodiment, an example in which the present invention is applied to a combine as a working vehicle has been described. However, the present invention can be applied to various other working vehicles.

[Brief description of the drawings]

FIG. 1 is an overall side view of a combine.

FIG. 2 is a front side view of the combine.

FIG. 3 is a schematic plan view of the combine.

FIG. 4 is a longitudinal side view of the threshing unit.

FIG. 5 is a power transmission diagram of the combine.

FIG. 6 is a plan view of a control unit.

FIG. 7 is a rear view of the control unit.

FIG. 8 is a front view of a basic switch module.

FIG. 9 is a front view of the unloader switch module.

FIG. 10 is a front view of the horizontal control switch module.

FIG. 11 is a front view of a display module.

FIG. 12 is a block diagram showing the entire control configuration of the combine;

FIG. 13 is a circuit block diagram showing a main part of a combine control configuration.

FIG. 14 is a circuit diagram of a communication IC.

FIG. 15 is a waveform diagram of a polling selecting signal in high-speed communication processing.

FIG. 16 is a waveform diagram of a polling selecting signal in low-speed communication processing.

FIG. 17 is a block diagram showing a control configuration of a switch module.

FIG. 18 is a block diagram showing a control configuration of a display module.

FIG. 19 is a schematic plan view of the front side of the combine.

FIG. 20 is a circuit diagram showing a drive configuration for mowing up / down and steering operations.

FIG. 21 is a flowchart showing a control operation in a central control unit.

FIG. 22 is a flowchart showing a control operation in a central control unit.

FIG. 23 is a flowchart showing a control operation in a central control unit.

FIG. 24 is a flowchart showing a control operation in a terminal control unit.

FIG. 25 is a flowchart showing a control operation in a terminal control unit.

[Explanation of symbols]

 AK Actuators CU Central control unit GA1 Communication IC GA2 Communication IC HS Display means JN Information input means LU, MU Terminal control unit SW Sensors T1 High speed communication line T2 Low speed communication line

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2B074 AA01 AB01 AC02 BA13 BA15 CE01 DA01 DA02 DB04 DC01 DE05 EA01 EA04 EA08 EA11 EA13 EA17 EB01 EB03 EB05 EB06 EB13 EC01 EC02 EC03 FA02 FA04 FB01 FC02 2B076 AA03 EA04 EC04 EC23 ED01 ED11 ED21 ED30 5H004 GA34 GB20 HA07 HA08 HB07 HB08 JB05 JB07 KA80 LA15 MA22 MA26 MA33 MA34 MA38 MA41 MA42 MA49 MA51 MA52 MA53 5K033 AA04 BA06 CB03 CB17 DA01 DB12 DB14 DB16 EA04

Claims (5)

[Claims] 1. A work vehicle in which a central control unit that centrally executes control of the whole work vehicle and a plurality of terminal control units distributed to each unit of the body are communicably connected via a communication line. A control device, comprising: a working actuator, a sensor for detecting control information, and a manually operated information input means connected to any one of the plurality of terminal control units, and The central control unit is connected to a high-speed communication line for high-speed communication and a low-speed communication line for low-speed communication, Among the plurality of terminal control units, a terminal control unit for inputting and outputting a signal for which high-speed communication processing is required for driving the actuators is connected to the high-speed communication line,
A terminal control unit for inputting and outputting a signal for which high-speed communication processing is not required is connected to the low-speed communication line, and the central control unit is configured to input the sensors and the information of the information input unit transmitted from the terminal control units. Based on the data, determine proper drive contents for all of the actuators, transmit the proper drive contents as control data to a terminal control unit to which the actuators are connected, and the actuators are connected. The terminal control unit
A control device for a work vehicle configured to output a drive signal to the actuators based on the control data received from the central control unit. 2. The central control unit includes a communication IC for relaying data exchange with the high-speed communication line, and
A terminal control unit connected to the high-speed communication line includes a communication IC for relaying data exchange with the high-speed communication line, and the central control unit includes the communication ICs and the high-speed communication line. A high-speed communication process with a terminal control unit connected to the high-speed communication line, and the central control unit is directly connected to the low-speed communication line via the low-speed communication line. The control device for a work vehicle according to claim 1, wherein the control device is configured to execute a low-speed communication process with the terminal control unit. 3. A terminal control unit to which the actuators and the sensors are connected is connected to the high-speed communication line, and a terminal control unit to which the information input unit is connected is connected to the low-speed communication line. The control device for a working vehicle according to claim 1. 4. A display device for displaying information is connected to one of the terminal control units, and a terminal control unit to which the display unit is connected is connected to the low-speed communication line. Determines proper display contents to be displayed on the display means based on the sensors and the input data of the information input means transmitted from the terminal control units, and uses the proper display contents as display data. The terminal control unit connected to the display unit is connected to the display control unit, and the terminal control unit connected to the display unit is driven relative to the display unit based on the display data received from the central control unit. The control device for a work vehicle according to any one of claims 1 to 3, wherein the control device is configured to output a signal. 5. A terminal control unit to which the information input means is connected, processes the input data from the information input means, and transmits the processed data to the central control unit. The control device for a working vehicle according to any one of claims 1 to 4, wherein