JP2000165965A - Controller for mobile vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To realize a high efficiency communication processing so as to avoid communication of undesired information to the utmost in the case that a control information input means JN is connected to terminal control sections LU and MU placed to each device body and a central control section CU executing centralized control of the entire mobile vehicle communicates with each terminal control section in a polling selecting mode and acquires information required for execution of control entered by the information input means JN. SOLUTION: A central control section CU is so configured that CU can be changed over freely between two transmission states, that is, a transmission state of a conventional input request signal where transmission of input data of an information input means JN to the central control section CU is requested to a terminal control section MU connected to the information input means JN regardless to whether or not the data are changed from preceding transmission data, and a transmission state of a changed data request signal where the transmission of the input data of the information input means JN to the central control section CU is requested only when the input data are changed from the preceding transmission data.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] 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 via a wired communication means. The central control unit transmits a request signal to each of the terminal control units in a polling selecting method to execute communication with each of the terminal control units. The present invention relates to a control device for a work vehicle.

[0002]

2. Description of the Related Art In a work vehicle control device, for example, in a combine which is an example of a work vehicle, information necessary for executing control is input to a plurality of terminal control units distributed in each part of the machine body. The input means (for example, sensors) and actuators are connected, and the central control unit transmits a request signal to each terminal control unit by a polling selecting method and receives the information input obtained through communication with each terminal control unit. The central control unit concentrates control of the entire work vehicle by determining the drive contents of the actuators based on the information of the means and transmitting a drive request signal to the terminal control unit connected to the actuators to perform drive control. (See, for example, Japanese Patent Application Laid-Open No. Hei 7-131860).
Conventionally, the central control unit requests each terminal control unit to transmit all the input data of the information input unit when obtaining the input data of the information input unit from each terminal control unit. I was

[0003]

However, according to the above-mentioned prior art, all the input data of the information input means connected to each terminal control unit can be changed regardless of whether or not it has changed from the previous transmission data. Each terminal control unit transmits data in response to a request signal from the central control unit, so that the input data is the same as the previous transmission data, and data that does not need to be transmitted to the central control unit is transmitted. There was a waste of doing it. In addition, manual operation such as a manual switch for manually inputting information necessary for executing the control, such as a control start command and a control target value of each control (threshing control, cutting height control, etc.) executed by the central control unit. It is conceivable that the means is connected to a terminal control unit in the same manner as the sensors, and the central control unit is configured to obtain input data of each manual operation means through communication with the terminal control unit. Even in this case, if the terminal control unit transmits all input data of a large number of switches and the like in response to a request signal from the central control unit, the same communication waste as above occurs.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and an object of the present invention is to connect control information input means to terminal control units distributed in various parts of an airframe to centralize control of the entire work vehicle. When the central control unit that executes the communication with each terminal control unit and obtains information necessary for executing the control input by the information input unit, the information amount of unnecessary communication is reduced as much as possible. The point is to realize efficient processing.

[0005]

According to the first aspect of the present invention, any one of a plurality of terminal control units distributed in each unit of the body and connected to the central control unit through a wired communication means so as to be capable of multiplex communication. An information input means for inputting information necessary for executing the control is connected to the central control unit, which centrally executes the control of the entire work vehicle, and transmits a request signal to each terminal control unit. In the communication of the polling selecting method, for the terminal control unit to which the information input unit is connected, whether the input data of the information input unit has changed from the previous transmission data to the central control unit as the request signal. Regardless of whether or not, a transmission state of a normal input request signal requesting transmission of the input data to the central control unit,
Only when the input data of the information input means has changed from the previous transmission data to the central control unit, it can be switched to the transmission state of the change data request signal requesting that the input data be transmitted to the central control unit. Is configured.

Therefore, when switching to the transmission state of the change data request signal, the transmission processing to the central control unit is not performed unless the input data of the information input means has changed from the previous transmission data. Regardless of whether or not the input data of the information input means has changed from the previous transmission data, the transmission state of the normal input request signal and the change data request signal By appropriately switching to the transmission state, when the central control unit communicates with each terminal control unit and obtains information necessary for control, it minimizes unnecessary information and reduces the amount of communication data, Processing efficiency can be improved. As an example of the switching of the request signal, for example, immediately after the start of the operation, the state is switched to the transmission state of the normal input request signal, all the input data of the information input means are obtained, and the entire control state is reliably grasped. When the time from the start to the time when each part of the body stabilizes elapses, the mode is switched to the transmission state of the change data request signal so as to minimize communication of unnecessary information.

According to the second aspect, in the first aspect, the central control unit, in the transmission state of the change data request signal, transmits the change data request signal to the terminal control unit that has received the input data of the information input means. Is higher than the frequency of transmission of the change data request signal to the terminal control unit that has not received the input data of the information input means. Therefore, since the input data of the information input means has changed from the previous transmission data, it is highly likely that the input data of the information input means to which the input data has been transmitted has changed in the next time. While increasing the transmission frequency of the change data request signal to the terminal control unit to which the information input means is connected to ensure that the changed input data can be obtained, while the input data has not changed, As for the information input means for which the input data has not been transmitted, there is a high possibility that the data of the input signal has not changed even in the next time, so that the change data request signal to the terminal control unit to which the information input means is connected is transmitted. It is possible to reduce the frequency of transmission so that unnecessary request signal communication is not performed, thereby obtaining the preferred means of claim 1.

According to a third aspect, in the first or second aspect, a manual operation means for setting and inputting information necessary for executing the control by a manual operation is provided as the information input means. Therefore, for example, manual operation means such as a manual switch for turning on and off the start of control and an adjustment volume for setting a control target value are once operated by a driver or the like at the start of operation, and thereafter,
Since the operation state is maintained and the input data does not change, with regard to the manual operation means, the effect of reducing the amount of communication data in the transmission state of the change data request signal is significantly increased. Means can be obtained.

According to a fourth aspect, in any one of the first to third aspects, a working actuator is connected to any of the plurality of terminal control units, and the central control unit includes a polling selector. In the communication with each terminal control unit by the pointing method, based on each input data of the information input means transmitted from each terminal control unit, the proper drive content for all of the actuators is determined, and the proper drive content is determined. To the terminal controller connected to the actuators as a drive request signal, and the terminal controller connected to the actuators drives the actuators based on the drive request signal received from the central controller. Output a signal. Therefore, in the transmission of the input data of the information input means, while appropriately switching to the transmission state of the change data request signal to minimize the communication data amount,
Based on the input data of the information input means, the central control unit can drive and control work actuators arranged in each part of the machine body so that the entire work vehicle can be appropriately operated. The preferred means of any one of Items 1 to 3 is obtained.

[0010]

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 root 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 part that is partially different from that in FIG. 1 in order to explain 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 a 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 so that the base end side can swing up and down around 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 disposed on the feed chain 52 so as to be 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 swinging 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, according to the amount of the material to be leaked from the handling room A, so that the sorting process in the sorting device B is properly performed,
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, FIG. 5 shows a power transmission system. 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, it is necessary to execute a start command for each of the above-described controls (cutting height control, handling depth control, direction control, horizontal control, unloader control, rail control, threshing control, etc.) and control such as a control target value. The information input means for inputting information and the information display unit will be described. As shown in FIGS. 6 and 7,
A basic switch module MU1 (see FIG. 8) provided with an activation switch for each of the above controls, an adjustment volume, and the like, in order from the side close to the seat, on the left side of the seat 31A of the control unit 31;
A horizontal control switch module MU3 (see FIG. 10) provided with a start switch for horizontal control, a manual operation switch, and the like is disposed. Further, a manual shift lever 7 for shifting the running speed is provided with the grip 7A. It is provided so as to be located above the switch module MU1.
The speed change motor M6 is driven in accordance with the operation of the manual speed change lever 7. On the other hand, a boarding / alighting section 31B is provided on the right front of the seat 31A, and at the right rear position of the seat,
An unloader switch module MU2 (see FIG. 9) including a switch and the like for operating the unloader 32 is arranged.

The reaper 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 by 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 activating the horizontal control configured as an illuminated push button switch, and a horizontal switch configured as an illuminated push button switch for switching the horizontal control mode between an up reference and a down reference. A mode changeover switch 60b, a reverse vehicle lift switch 60c configured as an illuminated push button switch, and a cross operation key configured to manually operate the vehicle posture in a right-up, right-down, left-up, or left-down state. A manual operation switch 60d, and
A horizontal adjustment volume 60e for setting a target tilt state during the operation of the horizontal control (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, 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 MUs (MU1 to MU4) are communicably connected via communication lines T1 and T2 as wired communication means.

An information input means JN for inputting information necessary for execution of control by the central control unit CU is connected to one of the terminal control units LU and MU. Specifically, the information input means JN is connected to each of the switch modules MU1 to MU3, and is manually operated as the information input means JN by manually inputting information necessary for execution of control by the central control unit CU. The means JN is provided by being constituted by the manual switches, adjustment volumes and the like provided in the switch modules MU1 to MU3.

Further, the working actuators AK, the sensors SW for detecting control information, and the display means HS for displaying information are connected to one of the terminal control units LU, MU. Here, the actuators AK
Is composed of the hydraulic cylinder, electric motor, and the like for operating a working device provided in each part of the body, and the sensors S
W includes a switch for detecting various control information as ON / OFF binary information.

Specifically, as illustrated in FIG. 12, a drive signal for the handling depth motor M1 is output from a terminal control unit LU3 arranged in the mowing unit 1, and the terminal control unit LU3 is Detection signals from the direction sensor S1, the stock sensor S2, and the tip sensors S8a and S8b are input. Further, from the terminal control unit LU4 arranged in the threshing unit 2, the rail raising motor M2, the chaff opening degree adjusting motor M4, and the turtle wind adjusting motor M5.
, A drive signal is output.

Further, of the two terminal control units LU1 and LU2 arranged in the main unit 4, one terminal control unit LU2
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.

The display means HS includes display lamps provided in each of the switch modules MU1 to MU3, a meter and an LCD display provided in the display module MU4.

The central control unit CU has the communication lines T1,
As T2, the high-speed communication line T1 and the low-speed communication line T2 are connected, and a signal requiring high-speed communication processing for driving the actuators AK among the plurality of terminal control units LU and MU is input / output. Terminal control units (hereinafter, referred to as high-speed terminal units) LU1 to LU5 are connected to the high-speed communication line T1, while the terminal control units MU1 to MU4 (that is, each switch) input and output signals that do not require high-speed communication processing. The modules MU1 to MU3 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 to execute the control of each part of the body, so that the actuators AK and the sensors SW are connected. High-speed terminal units LU1 to LU5 are connected to the high-speed communication line T1. On the other hand, signal input from a manual switch, an adjustment volume, or the like provided in each of the switch modules MU1 to MU3, 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 body. Therefore, the switch modules MU1 to 3 and the display module MU4 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, and the microcomputer CPU is connected to the high-speed communication line T1.
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.

Also, the control microcomputer C
A non-volatile memory MEM such as an E2 ROM is connected to the PU, and various data such as error information is 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 LU1
4 harnesses A that generate address signals for
D1 to D4 are provided by combining a low-level voltage harness connected to the ground and a non-connected harness, and the harness AD1 to 4, the sensors SW and the actuators AK are integrally formed in a connector CN. 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 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. 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 LOW.
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 figure, PS2 is a gate array G
A DC voltage source that supplies a power supply voltage to A2 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 to have a central component for use as the central side and a terminal component for use as the terminal. 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, the internal circuit of the gate array GA is switched to the master mode in which the internal circuit functions as the gate array GA1 on the center side when the MODE terminal is set to the LOW level.
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 corresponds to 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 center-side component, the address setting unit 22 corresponds to the terminal-side component, and gates other than the CPU I / F unit 12 and the address setting unit 22. The main part of the array GA is
As shown by the same part number, it is shared by the center side and the terminal side. The input / output port 21 is composed of three ports 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 sends a request signal to each of the high-speed terminal units LU1 to LU5 by the polling selecting method via each of the communication ICs (gate arrays GA1 and GA2) and the high-speed communication line T1. To perform high-speed communication processing with each of the high-speed terminal units LU1 to LU5. Specifically, as shown in FIG. 15, the microcomputer CPU of the central control unit CU specifies an address set for each of the high-speed terminal units LU1 to LU5, and executes transmission interrupt processing at set time intervals. , Output a request signal (data input of each sensor SW or output request to each actuator AK) to each of the high-speed terminal units LU1 to 5 to the gate array GA1, and return signals (each of Reply signals from the high-speed terminals LU1 to LU5 are received by a reception interrupt process started by an interrupt signal from the gate array GA1 that has received the input data of the sensors SW or the ACK data). The set time interval is set so that communication with all the high-speed terminal units LU1 to LU5 can be performed at the set polling cycle Tp (for example, 5 ms).

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. As shown in FIG. 13, a two-wire communication line Ln 'is provided, and a central control unit is provided. CU CPU and each module MU1
4, the transmission data received from the CPU of the central control unit CU and each controller 29 is converted to a signal conforming to the standard such as RS485 and output to the communication line Ln 'at each contact point between the controller 29 and the communication line Ln'. On the other hand, a signal on the communication line Ln 'is input and the received data is transmitted to the CPU of the central control unit CU and each controller 29.
Is provided.

The microcomputer C on the center side
By using both the PU and the serial communication interface function provided in the controller 29 of each module, the central control unit CU directly transmits the polling selecting method to each of the modules MU1 to MU4 via the low-speed communication line T2. And transmits a request signal to execute low-speed communication processing with each of the modules MU1 to MU4. Specifically, as shown in FIG.
Is input of data (data of each manual switch and adjustment volume) from each of the modules MU1 to 4 while sequentially specifying preset addresses of the modules MU1 to 4, and data for each of the modules MU1 to 4 (Display data of each lamp and display unit). 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).

In the low-speed communication processing, the central control unit CU sends the request to each of the switch modules MU1 to MU3 to which the information input means JN (manual switches for control and adjustment volumes) are connected. As a signal,
The input data of the information input means JN is the same as the previous central control unit CU.
Regardless of whether it has changed from the data sent to
A state of transmitting a normal input request signal requesting that the input data be transmitted to the central control unit CU, and a state where the input signal of the information input means JN changes from the previous transmission data to the central control unit CU as the request signal Only when the change is made, the state can be switched to a state of transmitting a change data request signal requesting transmission of the input data to the central control unit CU. Here, the transmission state of the request signal is switched to a transmission state of a normal input request signal immediately after the start of operation, and to a transmission state of a change data request signal after a lapse of a set time after the start of operation, as described later. .

FIG. 26 shows an example of return data from the basic switch module MU1 for each of the above request signals. In the transmission state of the change data request signal, (a) of the figure shows a case where the input data of each switch and volume has not changed since the previous transmission data, and thus the input data is not transmitted. , The input data of the cutting height adjustment volume 44b and the chuff volume 41c change, and at least one data of the start switch of each control (depth control, vehicle speed control, direction control, cutting height control, rail control) Because of the change, the input data of the cutting height adjustment and the chaff opening and the switch data (each bit of the 8-bit data is assigned to each control. Indicates a control off state). or,
(C) shows a case where data of all volumes and switches is transmitted in the transmission state of the normal input request signal.

As shown in FIG. 17, in each of the switch modules MU1 to MU3, the controller 2 of each module
Reference numeral 9 denotes a state in which the state of each manual switch is input as a binary (ON / OFF) digital signal, an operation state of each adjustment volume is input as an analog signal, and 8-bit digital data (256-stage data) is input. AD conversion processing is performed. Then, when the binary signal of each of the manual switches is different from the value of the previous transmission data (the logic is inverted), the controller 29 of each of the switch modules MU1 to MU3 changes the input data of the switch. It is determined that the input data has changed when the AD conversion value of the input signal of each adjustment volume has changed by ± 5 steps or more from the value of the previous transmission data. Judgment is made and a reply process is performed according to the change data request signal from the central control unit CU. On the other hand, the controller 29 outputs a drive signal to each lamp based on display data (ON / OFF data of lighting or non-lighting) 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 sends to the controller 29 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 transmits the information input means J transmitted from the terminal control units LU and MU (each high-speed terminal unit LU1-5 and each module MU1-4).
A high-speed terminal unit to which the actuators AK are connected is determined based on the input data of the actuators AK based on the input data of the actuators AK based on the N and the input data of the sensors SW. L
U1 to U5, while the high-speed terminals LU1 to LU5 to which the actuators AK are connected drive the actuators AK based on the drive request signal received from the central control unit CU. It is configured to output a signal.

Next, as a specific example of the drive control of the actuators AK, the high-speed terminal LU1 arranged 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. Based on the ground height information of the above, the proper drive content for the reaping lift cylinder 5 for maintaining the reaping height at the target height is determined, and the reaper lift cylinder 5 is connected with the proper drive content as a drive request signal. Transmitted to the high-speed terminal unit LU1. The high-speed terminal unit LU1 outputs a HIGH signal from one of the port output terminals a and b of the gate array GA2 and a LOW signal from the other according to the received drive request signal, and outputs one of the solenoids L1 and L2. To drive the mowing elevating cylinder 5 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 traveling along the row of planted grain culms, and the appropriate drive content is used as a drive request signal for the steering cylinders 9L and 9R. It is transmitted to the high-speed terminal unit LU1. Then, the high-speed terminal unit LU1
Is the gate array G according to the received drive request signal.
A1 outputs a HIGH signal from one of the port output terminals c and d, and outputs a LOW signal from the other to output the solenoid L.
One of the pair of steering cylinders 9L and 9R is actuated by driving one of the steering cylinders 3 and L4. This allows
The aircraft is steered to the operated steering cylinder 9L, 9R side (for example, to the left if the left steering cylinder 9L is activated).

Further, the central control unit CU includes the information input means JN and the sensors SW 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, a proper display content to be displayed on the display means HS is determined, and the proper display content is transmitted as a display request signal 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 request signal 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 cutting height control start switch 44a 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 the direction 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 initialization processing such as resetting various control variables, input processing of an analog signal from the analog sensor and a pulse signal from the pulse sensor is performed at set time intervals (5 ms), and the main switch is turned on. And then all high-speed terminal units LU1-5 and module MU1
To time required to stabilize the operations (e.g., 250
ms), the low-speed communication processing with each of the modules MU1 to MU4 is stopped and the gate array GA
1 is kept in the reset state to stop the high-speed communication processing with each of the high-speed terminal units LU1 to LU5 (# 1 to # 6).

When the time required for stabilizing the operation of all the high-speed terminal units LU1 to LU5 and the modules MU1 to MU4 elapses, the CPU switches to the above-described normal input request signal transmission state and The low-speed communication processing with the MUs 1 to 4 is started, and the reset of the gate array GA1 is released to start the high-speed communication processing with each of the high-speed terminal units LU1 to LU5 (# 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.

When the CPU sufficiently accumulates input data from the sensors SW, the manual switch, the adjustment volume and the like by the low-speed communication processing and the high-speed communication processing, and confirms the start-up of the system, the CPU checks each module M
In the low-speed communication processing between U1 to U4, the state is switched to the transmission state of the change data request signal described above, and the driving contents of the actuators AK and the display means HS are controlled based on the input data from each high-speed terminal LU and module MU. Perform arithmetic processing for determining display contents (# 5, # 9
~ # 10). 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 to stop the operation of the combine, the CPU stops the low-speed communication process and resets the gate array GA1 to stop the high-speed communication process (# 4). # 11- #
12). Then, for 5 seconds after the main switch is turned off,
The engine stop solenoid is driven to shut off fuel supply to the engine, and error information stored in a memory such as a RAM in the CPU and operation data of a manual switch or the like in each module MU (control start state). Information) is collectively written into the memory MEM, and when 5 seconds have elapsed, the driving of the solenoid is stopped (# 13 to # 16). Note that the information on the control activation state written in the memory MEM is used as reference data at the next control start.

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 is made. Determine whether the request is for output to the display. Then, in the case of an input request, while inputting detection signals from all the manual switches and the adjustment volume, etc., it is further determined whether the input signal is a normal input request signal or a change data input request signal. On the other hand, while the detection signals from all the manual switches and the adjustment volume are generated as reply data, in the case of a change data input request, the previous transmission data among the detection signals from the manual switch and the adjustment volume are generated. Only signals that have changed from are created as reply data. The data for reply to the input request is stored in a built-in memory, and is used next time to determine the presence or absence of the change. In the case of an output request, an indicator lamp, meter, LC
A drive signal is output to the D display 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, as shown in FIG. 16, the central control unit CU determines the transmission frequency of the request signal to the terminal control unit MU that has received the input data of the information input unit JN, and receives the input data of the information input unit JN. Although the transmission frequency of the request signal to the terminal control unit MU which is not performed is the same as the transmission frequency of the request signal, a difference may be added to the transmission frequency of the request signal. For example, as shown in FIG. 27A, the central control unit CU receives the input data of the information input means JN in the state of transmitting the change data request signal (the basic switch module MU1 in the figure). Is transmitted every time within each polling cycle (60 ms), while the terminal control unit (in the figure, the unloader and the horizontal module MU which does not receive the input data of the information input means JN)
The request signal for (2, 3) is not transmitted only several times (for example, three times), and the basic switch module MU is not transmitted.
The transmission frequency of the request signal for the other module MU
The transmission frequency of the request signal for the second and third requests is set to be higher than the frequency of transmission. It should be noted that the request signal is also transmitted once to the terminal control unit (unloader and horizontal module MU2, 3) that did not transmit the request signal several times (for example, three times) after the non-transmission of the request signal. The input data of the information input means JN is transmitted to the central control unit CU in accordance with the presence or absence of a change in the input data, while the terminal control section (basic switch module M) which receives the input data of the information input means JN
If U1) does not change the input data of the information input means JN, the request signal is not transmitted only a few times, and the request signal is not transmitted. In the above embodiment, the communication period corresponding to the modules MU2 and MU3 not transmitting the request signal is opened. However, as shown in FIG. 27 (b), the communication period corresponds to the modules MU2 and MU3 not transmitting the request signal. The communication with the next module (display module MU4) may be performed without opening the communication period.

In the above embodiment, the state in which the normal input request signal is transmitted and the state in which the change data request signal is transmitted are switched according to the lapse of time from the start of operation. Switching may be performed.

In the above embodiment, the information input means JN is constituted by manual operation means such as each manual switch and an adjustment volume. In addition, sensors SW for detecting control information are constituted as the information input means JN. You may make it.

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.

FIG. 26 is a data configuration diagram of a reply signal from the terminal control unit in the low-speed communication processing.

FIG. 27 is a waveform diagram of a polling selecting signal in low-speed communication processing according to another embodiment.

[Explanation of symbols]

 AK Actuators CU Central control unit JN Information input means JN Manual operation means LU, MU Terminal control unit T1, T2 Communication means

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) H04L 11/00 310Z F-term (Reference) 2B074 AA02 AB01 AC02 AD05 AD06 AF02 AG04 BA13 CB03 CC01 CC02 CD08 DB01 DB02 DB04 DE03 DE05 EA01 EA02 EA03 EA06 EA07 EA08 EA09 EA11 EA12 EA14 EA15 EB01 EB02 EB03 EB05 EB06 EB07 EB08 EB10 EB11 EB15 EB18 EC01 EC02 EC03 ED03 ED05 FA01 FA02 FA04 FB01 2DB02 BA03 DB03 BA03 AA10 CC03 CC10 CX01 EE09 EE10 HH08 JJ02 JJ03 JJ15 JJ17 JJ19 JJ26 JJ29 JJ38 JJ53 5K033 AA01 BA03 CA01 DB14 5K048 AA08 BA42 CA03 CB03 DA02 DB01 DC04 EA18 EB01 EB02 EB03 EB12 EB12 EB12 EB12 EB06

Claims (4)

[Claims] 1. A central control unit that centrally executes control of the entire work vehicle and a plurality of terminal control units distributed to each unit of the machine so as to be capable of multiplex communication via a wired communication unit. The central control unit transmits a request signal to each of the terminal control units in a polling selecting method, and for a work vehicle configured to execute communication with each of the terminal control units. An information input means for inputting information necessary for executing the control is connected to any of the plurality of terminal control units, and the central control unit is connected to the information input means. Regarding the terminal control unit that has been set, as the request signal, regardless of whether the input data of the information input means has changed from the previous transmission data to the central control unit, the input data is controlled by the central control unit. To send to the department Requesting a normal input request signal, and as the request signal, only when the input data of the information input means has changed from the previous transmission data to the central control unit, the input data is transmitted to the central control unit. A control device for a work vehicle configured to be switchable between a state in which a change data request signal for requesting transmission is transmitted to the control vehicle. 2. The information processing apparatus according to claim 1, wherein the central control unit, in a state in which the change data request signal is transmitted, determines a frequency of transmission of the request signal to a terminal control unit that has received input data of the information input unit. The control device for a work vehicle according to claim 1, wherein the control signal is configured to be higher than a transmission frequency of the request signal to a terminal control unit that has not received data. 3. The control device for a work vehicle according to claim 1, wherein said information input means includes manual operation means for manually setting and inputting information necessary for executing said control. . 4. A work actuator is connected to any one of the plurality of terminal control units, and the central control unit transmits the input data of the information input unit transmitted from each of the terminal control units. On the basis of, to determine the proper drive content for all of the actuators,
The appropriate drive content is transmitted as a drive request signal to a terminal control unit to which the actuators are connected, and the terminal control unit to which the actuators are connected,
The control for a work vehicle according to any one of claims 1 to 3, wherein a drive signal is output to the actuators based on the drive request signal received from the central control unit. apparatus.