JP2001084001A - Controller for farmwork machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent the use of error control data at the time of receiving control data by a CAN controller unit system. SOLUTION: At the time of executing control by mutually transferring control data through a CAN communication bus for connecting three or more CAN controller units in this controller, each CAN controller unit is provided with a transmitting slot 102b having the ID code of data to be written by itself and a receiving slot 102a for storing received data. When data including the ID code of a certain CAN controller unit are transmitted from the unit concerned through a CAN communication bus 82, the unit having transmitted the data receives the data transmitted from the unit itself by its own receiving slot 102a, collates the transmitted data with the received data, and when both the data are different from each other, the unit judges the existence of a communication error and transmits status information to other CAN controller units so as to inhibit control based on the data including its own ID code.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for an agricultural work machine such as a combine, and more particularly to a control device for transferring control data between a plurality of (three or more) CAN controller units. The present invention relates to a configuration for controlling an output system external device so as not to run away when an abnormality such as data communication occurs.

[0002]

2. Description of the Related Art A recent agricultural work machine such as a combine machine controls a sensor or a setting device for transmitting a signal of a control amount to a control means as a control target, for example, an output (load) of an engine of a traveling machine body. A fuel injection amount detection sensor (a rack position detection sensor for adjusting the position of a fuel injection plunger) of an electronic governor serving as an actuator, and a traveling unit that detects the relative height of the traveling crawlers on the left and right of the traveling unit with respect to the traveling aircraft. A height sensor (vehicle height sensor), an auger clutch operating position detection sensor for disconnecting power to a conveyor of a discharge auger for discharging grains in a grain tank to the outside, and a horizontal cylinder of the discharge auger An auger position setting device that instructs (sets) the horizontal orientation of the cylinder and the height of the grain discharge portion at the tip of the horizontal cylinder, and a sensor for detecting the operation amount of the controlled object according to the control signal. Sa, for example, a speed sensor for detecting the traveling speed of the agricultural machine and the rotational speed of the working unit of the threshing unit,
Input system external devices such as a horizontal direction sensor and a height sensor of the horizontal tube of the discharge auger, an electromagnetic solenoid for driving a fuel injection plunger in the electronic governor, and adjusting the height of the left and right traveling crawlers. Actuators such as a hydraulic cylinder for operating the auger clutch, a clutch motor for driving the auger clutch, a drive motor for turning the discharge auger left and right, and a hydraulic cylinder for raising and lowering the horizontal cylinder of the discharge auger for adjusting the horizontal angle. It is common practice to provide an output system external device consisting of a microcomputer and control the operation of the output system external device by a control means such as a microcomputer.

When the types and the number of the input external devices and the output external devices are large and controlled by a single electronic controller such as a microcomputer, there is a limit to the processing capability at one time. If priority is given to control processing, it becomes difficult to perform processing in parallel. To prevent this, control is performed independently and in parallel by a plurality of microcomputers. There is a disadvantage that it cannot be taken.

[0004] To solve these inconveniences, Japanese Unexamined Patent Publication No.
Japanese Patent Application Laid-Open No. 219506 discloses a plurality of sub microcomputers (slave controllers) for controlling a plurality of input system external devices and output system external devices, and one main microcomputer (master controller) for controlling each slave controller. ), And the master controller and slave controller are connected by a serial communication line so that the master controller can grasp and monitor the control status of the multiple slave controllers and the sensors connected to them. In addition, it has been proposed that a signal of each sensor be directly input to a master controller.

However, even in this method, a communication circuit for transferring (transmitting) control data from one controller to the other controller often uses a serial interface, so that the data transfer speed is low. When the number of slave controllers increases, the processing load on the master controller increases, and there has been a problem that rapid cooperative control cannot be performed.

In addition, even in a recent LAN environment, there is a problem that one controller cannot control the other controller when a communication line failure or another controller failure occurs.

Recently, as a new development of the LAN environment, C
2. Description of the Related Art Data communication using an AN (Controller Area Network) protocol has been proposed. This CAN-based network uses a distributed two-wire bus line with a common return (instruction to return a program that has moved to a subroutine or interrupt handling routine to the main routine), distributed real-time control and multiplexing (distribute).
d Real time control and multi-plexing.

[0008] The CAN communication includes, for example, communication between various control controllers of a vehicle body system, robot control, and the like.
It is applied to control systems in factories.

Each of the CAN controller units has a CPU and a ROM (read only memory) for normal control,
In addition to the RAM (which is a readable and writable memory at any time, including a receiving slot), a CAN controller (a controller for performing communication control according to the CAN protocol), and control data (sensors and the like) from the CAN controller to the CAN communication bus. And a CAN driver for transmitting and receiving the signals of the input external device and the signals for the operation to be transmitted to the output external device such as the actuator.

In CAN communication, control data to be transmitted is attached with an ID code (also referred to as an identifier number or an identifier code) of the CAN controller unit to be transmitted and stored in a reception slot of each CAN controller unit. I was trying.

That is, when control data with an ID code is sent from one CAN controller unit to a CAN communication bus, the control data with an ID code is also stored in a reception slot of another CAN controller unit. The CAN controller unit that has transmitted the control data with the ID code transmitted from the CAN communication bus at a predetermined timing,
The data is stored in the reception slot.

[0012]

However, the above C
Due to noise on the AN communication bus, the ID code in the transmitted control data with an ID code may be converted to an ID code of another CAN controller unit.

When two or more CAN controller units of the same type (having the same ID code) are erroneously connected at the time of factory shipment or repair, etc.
The ID code in the control data with the ID code output (transmitted) from the N controller unit is the same as the ID code in the control data with the ID code output from the other CAN controller unit of the same type. However, it is assumed that these control data portions are different. When data transmission is simultaneously performed from a plurality of CAN controller units, a collision detection process (CSMA / CA) is performed so that a collision of the transmission does not occur.
And a plurality of transmission timings are controlled so as to be shifted from each other.

In these cases, even if the ID code is different but the data part for control is the same, even if it is stored in the reception slot of the transmitted CAN controller unit, it cannot be checked conventionally.

When three or more CAN controller units are connected, and some of them are abnormal due to a failure or the like, the conventional CAN controller system can detect the abnormality with the CAN controller on the receiving side. In addition, the signal from the abnormal CAN controller unit cannot be used for control.

As a result, there is a risk that an error may occur in the control data of each CAN controller unit and that the actuator, which is a connected external device of the output system, may run out of control and may not be controlled accurately.

The present invention has been made in order to solve such problems in the conventional CAN communication, and is intended to be used when an error occurs in the CAN communication or when an abnormality occurs in the CAN controller unit. A control in a farm work machine, in which the use of erroneous control data can be prohibited, and the result of communication of control data between a plurality of controller units during farm work can be reliably used for control. It is intended to provide a device.

[0018]

According to a first aspect of the present invention, there is provided a control device for an agricultural work machine, comprising: a sensor, a setting device provided in a traveling unit, a work unit, an operation unit, and the like in the agricultural work machine. And three or more CAN controllers that transmit and receive control signals to and from one or both of an input system external device such as an actuator, an output system external device such as an actuator, and each of the input system external device and the output system external device. That connects between the CAN unit and each CAN controller unit
In a control device for an agricultural work machine having an AN communication bus and performing control by mutually transferring control data between CAN controller units, each CAN controller unit has an ID code of data to be written by itself. And a receiving slot for storing received data. When the one CAN controller unit transmits data including its own ID code via a CAN communication bus, the transmitted CAN controller unit transmits its own transmission data. When the received data is received in the reception slot, the transmission data is compared with the reception data. If the comparison result shows that the two data are different, it is determined that a communication error has occurred and the control using the data including the own ID code is prohibited. Status information to other CAN controller units And controls so that signal.

The control device for an agricultural working machine according to the second aspect of the present invention comprises a traveling unit, a working unit,
Control signals are sent and received between input system external devices such as sensors and setting devices provided in the operation unit, etc., output system external devices such as actuators, and one or both of the input system external devices and output system external devices. 3 or more CAN controlled by
A control device for an agricultural work machine, comprising a controller unit and a CAN communication bus for connecting the CAN controller units to each other, for executing control by transferring control data between the CAN controller units. Has a transmission slot having an ID code of data to be written by itself, and a reception slot to store received data. Each CAN controller unit monitors its own reception flag, and the other CAN controllers can monitor other CAN controllers even after a specified time has elapsed. When data reception from the unit is not completed, control is performed so as to determine that an abnormality has occurred in the other CAN controller unit.

According to a third aspect of the present invention, in the control device for an agricultural work machine according to the second aspect, when it is determined that the abnormality has occurred, the control unit uses the data received from the CAN controller unit in which the abnormality has occurred. The control by another CAN controller unit is prohibited, and the output of an external device connected to the CAN controller unit in which the abnormality has occurred is controlled to be stopped.

[0021]

FIG. 1 is a left side view of the combine, FIG. 2 is a plan view of the combine, FIG. 3 is a right side view of the combine, and FIG. Front view, FIG. 5 is a skeleton diagram of the power transmission system,
FIG. 9 is an overall functional block diagram of the control device, and FIG.
It is a functional block diagram inside a controller unit.

The traveling body 1 in the combine according to the present invention.
Is configured to be able to move up and down with respect to a pair of left and right traveling crawlers 2a of the traveling unit 2 via a traveling unit elevating drive unit described later. A threshing device 3 as a working unit is mounted on the left side in the traveling direction of the traveling machine 1, and a pre-cutting device 4 as a working unit disposed in front of the traveling machine 1 is connected via a lifting frame 14. It is supported so as to be able to move up and down and up and down with respect to the traveling machine 1 and can be moved up and down by a single-acting mowing unit elevating hydraulic cylinder 9 serving as a mowing unit elevating actuator mounted between the elevating frame 14 and the traveling machine 1. Is configured.

At the lower side of the lower frame of the pre-cutting device 4, a clipper-type cutting blade device 5 and a grain stem raising device 6 for six rows are arranged in front, and the grain stem raising device 6 and the threshing device are arranged. A grain culm conveying device 8 is arranged between the front end of the feed chain 7 and a weed body 10 protruding from the lower front of the grain culm raising device 6. A driver's cab 11 is arranged at the front right side of the traveling machine body 1, and a grain tank 12 is arranged at the rear side.

As shown in FIG. 5, a part of the power from the engine 15 provided at the lower rear portion of the cab 11 is supplied to the bottom screw conveyor 17 in the grain tank 12 and the discharge auger 20 through the auger clutch 16 as shown in FIG. The hydraulic pump / hydraulic motor type (H) of the traveling unit 2 is transmitted to the vertical screw conveyors 18a and 18b in the
TS type) Handling cylinder 3a of threshing unit 3 of traveling drive unit 24
1. The screw conveyor 22a of the first gutter, the screw conveyor 22b of the second gutter, the feed chain 7, the screw conveyor 23 for raising the grain tank 12, and the like are rotationally driven. The power transmission to the pre-cutting device 4 is performed by the output shaft 26 from the traveling drive unit 24 when the traveling speed is synchronized.
, And is driven by the clutch 25 and the branch power from the power branch transmission 19 when not synchronized.

As shown in FIGS. 3 and 8, the grain tank 1
2 comprises a vertical pipe 28b disposed at the rear end of the traveling body 1 from a screw conveyor provided at the lower part of the traveling body 1, and a horizontal pipe 28a connected to the upper end thereof so as to be vertically rotatable. Through the discharged auger 28, the grains accumulated in the grain tank 12 can be discharged to a part such as a truck bed. The vertical pipe 28b can be turned around the vertical axis by a drive motor 64b and a gear mechanism 57, and the horizontal pipe 28a is connected to the discharge auger hydraulic cylinder 6 mounted between the vertical pipe 28b and the vertical pipe 28b.
The angle of inclination can be changed by the link mechanism 4a and the link mechanism 58.

The horizontal turning angle of the vertical pipe 28b and thus the turning position of the horizontal pipe 28a can be detected by an angle sensor 85 such as a rotary encoder provided on the drive motor 64b, and the link mechanism 58 or the hydraulic cylinder 64a can be detected. An angle sensor 86 such as a potentiometer provided at a location can detect the elevation angle of the horizontal pipe 28a and, consequently, the height position of the discharge portion at the tip of the horizontal pipe 28a. When the discharge auger 28 is not used, an intermediate portion of the horizontal pipe 28a is placed on a rest table 87 provided on the upper surface of the grain tank 12 or the like. This rest table 8
7 is provided with a rest detector 88 such as a contact sensor for detecting whether or not the horizontal pipe 28a is mounted.

As shown in FIG. 6 (running portion as viewed from the left side), the running portion 2 includes a pair of right and left track frames 50 and 5.
0 and a traveling crawler 2a wound around the outer periphery of a driving wheel 51, a driven wheel 52, and a plurality of rolling wheels 53 arranged in the middle of the lower surface of the track frame 50, respectively. , 50 and the traveling body 1 are connected to the right and left elevation control hydraulic cylinders 54a, 54b, the L-shaped levers 55a, 55b in the front-rear position, and the front-rear levers 55a, 55b so as to simultaneously operate the front-rear levers 55a, 55b. The right and left lifting control hydraulic cylinders 54 are connected via a traveling unit lifting / lowering driving means composed of
The a and b operate independently of each other to independently raise and lower the left and right traveling units 2 and 2 with respect to the left and right of the traveling body 1.

Accordingly, when the piston rods of the hydraulic cylinders 54a, 54b for raising and lowering the left and right sides are simultaneously protruded, the traveling body 1 moves upward (moves up) away from the traveling parts 2, 2 on the left and right sides. The relative height (vehicle height) of the body 1 with respect to the traveling portions 2 and 2 increases. Conversely, when the piston rod is simultaneously retracted, the traveling body 1 moves downward (down) with respect to the traveling sections 2 and 2 on the left and right sides, and the relative height (vehicle height) of the traveling body 1 with respect to the traveling section. Will be lower.

Then, the piston rod of the left hydraulic cylinder 54a is projected, or the right hydraulic cylinder 5a is
When the piston rod 4b is retracted (or both operations are performed simultaneously), the vehicle height of the traveling body 1 with respect to the right traveling section 2 decreases (the vehicle height of the traveling body 1 with respect to the left traveling section 2). Becomes higher), and the traveling body 1 tilts downward and to the right. Conversely, the piston rod of the right hydraulic cylinder 54b is projected, or the left hydraulic cylinder 5
When the piston rod 4a is retracted (or both operations are performed at the same time), the vehicle height of the traveling body 1 with respect to the left traveling section 2 decreases (the vehicle height of the traveling body 1 with respect to the right traveling section 2). Becomes higher), and the traveling body 1 inclines to the lower left.

As shown in FIG. 6, by detecting the amount of protrusion of the piston rods of the left and right hydraulic cylinders 54a and 54b for raising and lowering control, the relative height (vehicle height) of the traveling body 1 with respect to the left and right traveling parts 2 and 2 is detected. ) Are configured to be interlocked with each other via a connecting rod 72 and a link mechanism 73 connected to the connecting rod 56, such as a rotary encoder type for detecting vehicle height.

The inclination detecting sensor 74 for detecting the degree of left and right inclination of the traveling body 1 is a pendulum type (gravity type).
And the like, and is disposed at an arbitrary position of the traveling body 1, for example, in the cab 11 or the like. In addition, the ultrasonic sensors 20a and 20b as the cutting height sensors for detecting the cutting height by detecting the ground height between the cutting pre-processing device 4 and the field scene,
As shown in FIG. 4, the ultrasonic sensors 20 a and 20 b are disposed on brackets (not shown) provided on the back side of the cereal stem raising device 6 on both left and right ends of the pre-cutting device 4.
The transmitting part (horn part) of the transmitter and the receiving part of the receiver are arranged so as to face the field scene. Each ultrasonic sensor 2
When the installation heights of the cutting blades 0a and 20b are different from the installation height of the cutting blade 5, the detection value of the cutting height is obtained by a predetermined conversion from the detection values of the ultrasonic sensors 20a and 20b.

An elevation position sensor 75 for detecting the relative height between the traveling machine 1 and the pre-cutting device 4.
Is configured to be obtained by detecting a rotation angle of the lifting frame 14.

A control panel (not shown) in the driver's cab 11 has a changeover switch 76 for switching between an automatic mode and a manual mode, and a vehicle height control irrespective of the automatic mode and the manual mode. In this case, an operation lever 77 as a manual variable operation unit capable of changing and adjusting the height (vehicle height) of the traveling body 1 and an inclination setting device 78 for setting a left-right inclination angle of the traveling body 1 are arranged. .

FIG. 7 shows the lifting hydraulic cylinder 54a,
54b shows a hydraulic circuit for the hydraulic pump 54b and the like, and branches via a branch valve 63 for branching the pressure oil discharged from the hydraulic pump 60;
A hydraulic cylinder 9 as a mowing unit elevating actuator for elevating the mowing pre-processing device 4 from one of the discharge paths.
And the right and left (operator cab 11 side) lifting / lowering control hydraulic cylinders 5
4b to the first hydraulic circuit 61. From the other discharge path of the flow dividing valve 63, the horizontal pipe 28a of the discharge auger 28
The hydraulic cylinders 9 and 64 are configured to send the hydraulic cylinders 64 to the second hydraulic circuit 62 for the discharge auger lifting hydraulic cylinder 64a for changing the inclination angle with respect to the vertical pipe 28b and the left lifting hydraulic cylinder 54a.
a, 54a, 54b, electromagnetic control valves 65, 66a,
67, 68, a check valve, a relief valve, and the like are connected.

FIG. 9 is a functional block diagram of a control device 70 for controlling the traveling speed, attitude and vehicle height of the traveling body 1, the discharge position of the discharge auger 28, and the like.
Is an electronic control device such as a microcomputer,
It comprises a plurality (five in the embodiment) of CAN controller units C1, C2, C3, C4, C5, and a CAN communication bus 82 connecting them. The CAN communication bus 82 has two lines. One of the CAN bus levels is called dominant, and the other is called recessive. In the CAN protocol, the recessive bus level is expressed as logical 1 and the dominant bus level is expressed as logical 0 (see FIG. 11).
The dominant can then overwrite recessive.

As shown in FIG. 10, each of the CAN controller units C1, C2, C3, C4, and C5 includes a central processing unit (CPU) 1 for executing various arithmetic processing and control.
00, a read-only memory (ROM) 101 storing a control program, a random-access memory (RAM) 102 for temporarily storing various detected values, data, and the like.
A system clock generator 103, a clock synchronous serial interface 104, a timer 105 used for a time stamp function, a monitoring timer 106 for measuring transmission / reception timing, a UART (general-purpose asynchronous transmission / reception circuit) 10
7, DMAC (direct memory access controller) 108, A / D (analog / digital) converter 109, D / A (digital / analog) converter 110,
It comprises a CRC (cyclic code redundancy check) calculator 111, a CAN controller 112, a CAN driver 113 and the like. Here, the CAN controller 112 is configured to operate the CAN.
This is a part that controls communication by a communication protocol. The transmission completion flag, the reception completion flag, the transmission flag, and the reception flag are provided in a status register in the CAN controller 112.

The CAN driver 113 is connected to the CAN communication bus 8
2 to the control data 114 with the ID code.
It is for transmitting and receiving with the N controller unit, and may be externally attached to the CAN controller unit.

The RAM 102 has a receiving slot 10
2a and a transmission slot 102b. A plurality of reception slots 102a are provided. In the embodiment, there are five receiving slots 102a.

The transmission slot 102b has its own CAN.
It has an ID code of the controller unit, and when transmitting control data with ID code 114 to be described later at a predetermined timing, this is written and stored in advance. Therefore, the control data in the transmission slot 102b has the ID code of the CAN controller unit to be transmitted. On the other hand, each receiving slot 102a stores the control data 114 with the ID code returned via the CAN communication bus 82.

FIG. 12 shows control data 114 with ID code.
1 shows the structure of a data frame. The first one-bit data frame location (SOF) 120 is the first bit for synchronization, and is used for the falling of the signal (change from recessive to dominant, high level “1” to low level “0”). To change).

The following 11-bit length part is an ID code part 121, in which an ID code is determined in advance for each CAN controller unit that transmits control data. The next one-bit length part is a bit indicating the end of the RTR 122 (the ID code part 121. The next six-bit length part is the control unit 123.

Subsequently, a portion of 0 to 64 bits length is a control data portion 124 of 0 to 8 bytes, which is a control signal of an input system external device or an output system external device for executing the above-described combine control. This part stores the control signal of the device.

The next 15-bit length part is the CRC
(Cyclic redundancy check) Arrangement 125, which is used for error check of transmission data. The following 1-bit length part is the CRC
(Cyclic Redundancy Check) This is a bit for transfer 126. Subsequently, an ACK (acknowledge, response signal) slot 12
7, the response signal delegate portion 128 is both one bit. Finally, the EOF 129 indicates the end of the frame.

There is an inter-frame space including the ITM 130 and the bus idle 131 between the next data frame of the control data with ID code 114.

Next, the CAN controller unit C
A description will be given of a form of transmission / reception of control data among 1, C2, C3, C4, and C5 and processing control when a communication error occurs.

For example, a CAN controller unit C1 provided in an operation section (operation column) in the cab 11 has an input system external device related to the operation, for example, a command switch (shown in the figure) in the operation section 90 arranged in the cab 11. ), The discharge auger is connected so that an operation command can be given, and the horizontal turning angle can be set by a potentiometer type turning angle setting device 95 provided in the operation section 90. A position sensor for the changeover switch 76 and the operation lever 77,
Tilt setting device 7 for setting the degree of left and right inclination of the traveling section
8. The cutting height setting device 80 for changing the height of the pre-cutting device 4 with respect to the traveling machine and setting the cutting height, and the power switch 96 are also connected to the CAN controller unit C1 (see FIG. 9). .

Then, each CAN controller unit C
1, C2, C3, C4, and C5 transfer control data via a CAN communication bus 82. In the present embodiment, input signals from sensors and setting devices, which will be described later, are input by a command from a CAN controller unit C1 of an operation unit. In response to a signal from the system external device, the CAN controller units C2, C3, C4, and C5 of the respective mechanical units output predetermined output signals to drive output system external devices such as a hydraulic cylinder, a drive motor, and an actuator. To control.

As shown in FIGS. 1 and 9, the C
The AN controller units C2, C3, C4 and C5 are:
It is a grouping of operation and control parts that are closely related to each mechanism part of the combine assembly, such as the traveling part system in the combine, the pre-cutting device in the working part, the discharge auger part, the engine part, etc. As a guide, place it in a location near the location of the related output system external devices such as actuators. One CAN controller unit is connected to an input system external device and an output system external device of an operation control system which are closely related as one group.

In this embodiment, for example, the CAN controller unit C2 relating to the traveling body 1 and the traveling section arranged near the traveling section controls traveling of the traveling crawlers 2a and 2b to control the relative height, inclination, and the like with respect to the traveling body 1. In the operation control system group of the unit, as output system external devices connected to the CAN controller unit C2, there are left and right elevation control hydraulic cylinders 54a, 54b and electromagnetic control valves 67, 68 corresponding to each. On the other hand, as input system external devices connected to the CAN controller unit C2, the left and right elevation control hydraulic cylinders 54a, 54b are used.
Height detecting sensors 72a, such as rotary encoders, for detecting the relative height (vehicle height) of the traveling body 1 with respect to the left and right traveling parts 2, 2 corresponding to the amount of protrusion of the piston rod of the vehicle.
72b and an inclination sensor 74.

The CAN arranged at the place of the pre-cutting device 4
The controller unit C3 is a group of control systems of the pre-cutting device, and the input system external devices connected thereto include the right and left of the pre-cutting device 4 as a mowing unit elevation position sensor 75 and a cutting height sensor. There are ultrasonic sensors 20a, 20b and the like provided at both ends, and as an output system external device, there are a mowing unit hydraulic cylinder 9 and an electromagnetic control valve 65 for driving the same.

The CAN controller unit C4 disposed in the threshing section is a group for controlling the operation of the threshing section and the mechanism of the discharge auger. The input external device for operating the discharge auger connected thereto is a horizontal unit. Auger cylinder 28a
A command switch (not shown) in a distal end operating section 91 provided beside the discharge section at the distal end, an angle sensor 85 such as a rotary encoder for detecting the horizontal turning angle of the discharge auger 28,
There is an angle sensor 86 for detecting the elevation angle of the elevation of the horizontal auger cylinder 28a of the discharge auger 28, and a rest table detector 87,
As the output system external device, the vertical pipe 2 of the horizontal pipe 28a is used.
8b, a hydraulic cylinder 64a for elevating and lowering the discharge auger for changing the inclination angle with respect to 8b, and its electromagnetic control valve 66a,
There is a discharge auger turning drive motor 64b for turning the vertical pipe 28b left and right and a drive circuit 66b thereof. The description of the input external device and the output external device related to the threshing operation unit will be omitted.

The driver's cab 11 near the engine 15
CAN controller unit C5 arranged inside
Is an output operation control system group of the engine 16,
The input external devices connected thereto include a vehicle speed sensor 94 and a rack position sensor 93 for detecting a plunger position for feedback control of the electronic governor 92. The output external device includes a fuel supply to the engine 16. There is a plunger driving means for adjusting a fuel injection amount in a fuel injection pump of the electronic governor 92 as an actuator for supply amount control.

The transmission / reception speed of the CAN communication bus 82 is 1 Mbps at the maximum.

Next, the determination of the presence / absence of a communication error and the processing when there is an error will be described with reference to the flowchart of FIG.
For example, when transmitting control data for the operation system from the CAN controller unit C1, the ID code of the CAN controller unit C1, for example, # 1 (the ID code portion 121 in the data frame of the control data with ID code 114 shown in FIG. Is stored in the transmission slot 102b in advance (S1), and then, for example, the data of the horizontal turning angle set by the potentiometer turning angle setting device 95 provided in the operation unit 90 (control data unit 124) Is written in the buffer memory portion in the transmission slot 102b (S
2). Next, these are transmitted through the CAN communication bus 82 to the CA.
When communication is performed according to the N communication protocol, for example,
Is written to the reception slot 102a provided in the other CAN controller units C2, C3, C4, and C5. The transmission data is returned at a predetermined timing, and is also received by the transmitting CAN controller unit, here, the reception slot 102a in C1.

When the return reception is completed (S3: yes)
s) The written and transmitted CAN controller unit C1 compares the data written in the transmission slot 102b and the data written in the reception slot 102a (S4).

If the data of the ID code part 121 and the data of the control data part 124 in the transmission slot 102b and the reception slot 102a are completely the same (S
4: yes), it is determined that there was no communication error or the like. In this case, the discharge auger operation control system C
The discharge auger turning drive motor 64b is driven in accordance with the control data (here, the data of the horizontal turning angle set by the setting unit 95) stored in the receiving slot of the AN controller unit C4, and the angle sensor 85 It stops when the horizontal turning angle reaches a predetermined value.

Conversely, if either the data of the ID code part 121 or the data of the control data part 124 is different between the transmission slot 102b and the reception slot 102a (S4: no), it is determined that a communication error has occurred. . The communication error includes, for example, picking up an external disturbance signal on the CAN communication bus 82 or changing the communication signal due to poor connection between the CAN communication bus 82 and the CAN controller unit. Or the data of the control data section 124 may change (become garbled). Other CAs to be connected
Although the N controller units should be of different types, when two or more CAN controller units of the same type are connected at the time of factory shipment or repair, each is transmitted at a timing unique to each CAN controller unit. The control data part 12 which is another value
Since the data of the ID code portion 121 accompanying the data No. 4 becomes the same, the data is interpreted as a kind of communication error in this case as well.

If it is determined that there is a communication error (S4: no), a transmission command of a use prohibition command as status information to prohibit use of the control data of the transmitted ID code # 1 is issued. The transmitted CAN controller unit C1 transmits the data to the other CAN controller units C2, C3, C4, and C5 (S5).

It should be noted that each CAN controller unit 112
Three error states (error states) are determined based on the values of the transmission error counter and the reception error counter.
For example, when the transmission error counter value is smaller than 127 or the reception error counter value is smaller than 127, it is determined that the state is the error active state (normal state). If the transmission error counter value is larger than 127 or the reception error counter value is larger than 127, it is determined to be in an error passive state (intermediate state). Then, when each of the counter values exceeds or falls below the value (127), a transition can be made between the error active state and the error passive state. In these states, CAN communication is performed.
Further, when the transmission error counter value becomes larger than 255, the state becomes an error bus off state, and CAN communication becomes impossible.

Therefore, the reason that the above-described control is executed when it is determined that the communication error is present is a state where the transmission error counter value is smaller than 255 (error passive state) and the CAN communication is possible. .

FIG. 14 shows a control mode when there is an abnormality in the CAN controller.
The controller unit monitors its own reception flag (S10).

Next, it is determined whether or not a specified time has elapsed by a timer related to transmission (S11). in this case,
Each CAN controller unit stores beforehand the transmission timing of itself and the other CAN controller units C1, C2, C3, C4, C5.

When the specified time has elapsed (S11: yes
s) It is determined whether transmission from another CAN controller unit at a predetermined timing has been completed (S1).
2).

If it is determined that reception from a predetermined CAN controller unit has been completed (S12: yes), normal output system control is executed based on the received control data. If it is determined that the reception from the predetermined CAN controller unit has not been completed (S12: no),
It is determined that the CAN controller unit to be transmitted has an abnormality (S13), and the determined CAN controller unit prohibits the use of the transmission data from the abnormal CAN controller unit (S14). Further, the determined CAN controller unit outputs the status information to another CAN controller unit so as to prohibit the use of the output system external device in the abnormal CAN controller unit (S15).

Here, it is determined whether or not there has been a transmission from another CAN controller unit within the specified time (S11, and
S12) In other words, in order to determine whether or not the communication has been interrupted, the transmission time is transmitted each time control data is transmitted from the transmitting CAN controller unit. On the other hand, the CAN controller unit on the receiving side stores the previously transmitted time and the next transmitted time, and if the difference between the two times is within a specified time, the transmission is performed. Is normal. Conversely, if the difference is equal to or longer than the specified time, it is determined that transmission was not performed after the latest transmission, in other words, transmission is abnormal. In addition, time stamp data is added to control data to be transmitted, and whether the time stamp has changed is determined by the CAN controller unit on the receiving side to determine whether transmission is being performed. You may do it.

In this manner, the control data from the abnormal CAN controller is not used in executing the control, and the runaway of the output-related external device can be reliably prevented.

It goes without saying that the present invention can be applied not only to combine harvesters but also to traveling agricultural working machines such as tractors for cultivation and rice transplanters.

[0068]

As described above, the control device for the agricultural working machine according to the first aspect of the present invention is an input system for sensors, setting devices, and the like provided on the traveling unit, the working unit, the operating unit, and the like of the agricultural working machine. An external device, an output system external device such as an actuator, and three or more CAN controller units that transmit and receive control signals to and / or control one or both of the input system external device and the output system external device; In a control device for an agricultural work machine having a CAN communication bus for connecting the CAN controller units and performing control by transferring control data between the CAN controller units, each CAN controller unit is written by itself. A transmission slot having a data ID code, and a reception slot for storing reception data. In the case where the data including the self-ID code from the roller unit has transmitted via a CAN communication bus, when the CAN controller unit that the transmission is received in the reception slot self transmitted data,
The transmission data and the reception data are collated, and if the two data are different from each other, it is determined that a communication error has occurred, and the status is transmitted to another CAN controller unit so as to prohibit control using the data including the own ID code. It controls to transmit information.

As a result, it is possible to confirm that the control data flowing on the CAN communication bus is the control data of itself (the transmitted CAN controller unit itself), so that a signal of external disturbance is picked up by the CAN communication bus. Or when the data of the ID code part changes (garbles) due to a change in the communication signal due to a poor connection between the CAN communication bus and the CAN controller unit,
Although the CAN controller units to be connected should be of different types, inspections can be performed when two or more CAN controller units of the same type are connected at the time of factory shipment or repair, etc. In this case, by not using the transmitted control data, only normal control data can be used for control, and the effect of reliably and accurately controlling the agricultural work machine is exhibited.

The control device for an agricultural working machine according to the second aspect of the present invention includes a traveling unit, a working unit,
Control signals are sent and received between input system external devices such as sensors and setting devices provided in the operation unit, etc., output system external devices such as actuators, and one or both of the input system external devices and output system external devices. 3 or more CAN controlled by
A control device for an agricultural work machine, comprising a controller unit and a CAN communication bus for connecting the CAN controller units to each other, for executing control by transferring control data between the CAN controller units. Has a transmission slot having an ID code of data to be written by itself, and a reception slot to store received data. Each CAN controller unit monitors its own reception flag, and the other CAN controllers can monitor other CAN controllers even after a specified time has elapsed. When data reception from the unit is not completed, control is performed so as to determine that an abnormality has occurred in the other CAN controller unit.

According to this control, when the control data to be transmitted at a predetermined timing is not transmitted, if the CAN controller unit to be transmitted is abnormal or faulty, two or more of the other receiving side CAN
Can be recognized by the controller unit.

According to a third aspect of the present invention, in the control device for an agricultural work machine according to the second aspect, when it is determined that the abnormality has occurred, the control unit uses the data received from the CAN controller unit in which the abnormality has occurred. The control by another CAN controller unit is prohibited, and the output of an external device connected to the CAN controller unit in which the abnormality has occurred is controlled to be stopped. By this control, in addition to the effect of the invention described in claim 2, since the control data transmitted from the abnormal CAN controller unit is not used, inaccurate control can be eliminated. It is also possible to prevent runaway of output-related external devices directly connected to the unit.

[Brief description of the drawings]

FIG. 1 is a left side view of a combine.

FIG. 2 is a plan view of the combine.

FIG. 3 is a right side view of the combine.

FIG. 4 is a front view of the combine.

FIG. 5 is a skeleton diagram of a power transmission system.

FIG. 6 is a side view of an elevating drive unit of the traveling unit.

FIG. 7 is a hydraulic circuit diagram.

FIG. 8 is an explanatory view of means for raising and lowering and horizontally turning a discharge auger.

FIG. 9 is an overall functional block diagram of the control device.

FIG. 10 is a functional block diagram in the controller unit.

FIG. 11 is an explanatory diagram showing a bus level of a CAN communication bus.

FIG. 12 is a diagram showing the structure of a data frame.

FIG. 13 is a flowchart of a first embodiment of control.

FIG. 14 is a flowchart of a second embodiment of control.

[Explanation of symbols]

C1, C2, C3, C4, C5 CAN controller unit 1 Traveling machine body 2, 2 Crawler traveling unit 4 Cutting pretreatment device 9 Lifting hydraulic cylinder 20a, 20b Ultrasonic sensor 54a, 54b Hydraulic cylinder 64a Discharge auger lifting hydraulic Cylinder 64b Driving motor for turning a discharge auger 65, 66a, 67, 68 Electromagnetic control valve 70 Control device 74 Tilt sensor 77 Operating lever 78 Tilt setting device 82 CAN communication bus 95 Horizontal turning angle setting device 100 CPU 102a Receiving slot 102b Transmission slot 103 Receiving driver 112 CAN controller section 121 ID code 124 Control data section

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Tomohiro Koyama 1-32 Chaya-cho, Kita-ku, Osaka Yanmar Agricultural Machinery Co., Ltd. F-term (reference) 2B074 AA02 AB01 AC02 AD05 AF02 AG03 BA19 CA01 CE01 DA01 DA02 DA03 DB03 DB04 DC01 DC06 DE03 EA17 EC01 EC05 2B076 AA03 EA10 EC23 5H209 AA17 DD04 DD11 EE11 FF02 GG11 HH04 JJ01 JJ09 5K032 AA05 BA06 CC03 DA02 DB24 EA04

Claims (3)

[Claims] 1. An input system external device such as a sensor and a setting device provided in a traveling unit, a working unit, an operation unit and the like of an agricultural work machine, an output system external device such as an actuator, and each of the input system external devices or the output system It has three or more CAN controller units that send and receive control signals to and / or from one or both of the external devices, and a CAN communication bus that connects the CAN controller units. In a control device for an agricultural work machine configured to transfer data and execute control, each CAN controller unit includes a transmission slot having an ID code of data to be written by itself, and a reception slot for storing received data, ID from one CAN controller unit
When the data including the code is transmitted through the CAN communication bus, and when the transmitted CAN controller unit receives the data transmitted by the CAN controller unit in the receiving slot, the transmitted data and the received data are compared with each other. If the data is different, it is determined that a communication error has occurred, and another CAN is set so as to prohibit control using the data including the own ID code.
A control device for an agricultural work machine, which transmits status information to a controller unit. 2. An input system external device such as a sensor and a setting device provided in a traveling unit, a working unit, an operation unit, and the like of an agricultural work machine; an output system external device such as an actuator; It has three or more CAN controller units that send and receive control signals to and / or from one or both of the external devices, and a CAN communication bus that connects the CAN controller units. In a control device for an agricultural work machine configured to transfer data and execute control, each CAN controller unit includes a transmission slot having an ID code of data to be written by itself, and a reception slot for storing received data. The CAN controller unit monitors its own reception flag, and after the specified time elapses, the other CAN controller unit When the data reception from the controller unit is not completed, it is determined that an abnormality has occurred in the other CAN controller unit. 3. When it is determined that the abnormality has occurred, control of another CAN controller unit based on data received from the CAN controller unit in which the abnormality has occurred is prohibited, and the CAN controller unit in which the abnormality has occurred is prohibited. The control device according to claim 2, wherein the control is performed so as to stop the output of the connected output system external device.