JP2004263489A - Electronic control unit for work vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control system for a work vehicle, which facilitates change of a program even if a data acquisition target is changed. <P>SOLUTION: A processor of each controller of an electronic equipment system 1 is comprised of an application 31 for executing processing specific to the controller, a driver 33 for controlling a signal exchanged between the controllers and acquiring a signal from the other controller via a bus 11, and an intermediate layer 32 for exchanging data between the application 31 and the driver 33, and executes a program operation to control corresponding device of a hydraulic shovel 2. When the configuration of the controller of the electronic equipment system 1 is changed and therefore the data acquisition target is changed, only the intermediate layer 32 is changed. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an electronic control device that controls various devices of a work vehicle such as a construction machine.
[0002]
[Prior art]
In recent years, computerization of construction machine control devices has also been advanced. In the electronic control device, multiple sensors are attached to the body of the construction machine, the controller collects information from each sensor, detects the state of the body, and controls the body based on the detected result. I have. In such a control device for a construction machine, not only the control of the vehicle body but also the collection and recording of data such as the occurrence status of a failure in order to manage the operation status are performed. In order to achieve these objects, there is a control system in which a plurality of controllers are networked using another controller for each function (Patent Document 1).
[0003]
[Patent Document 1]
JP-A-7-277675
[0004]
Some construction machine functions are installed as standard functions from the beginning, and some are added later as extended functions according to individual customer requirements. Therefore, in the control system described in Patent Document 1, the configuration of the controller used for each system changes. The application that realizes the function of each controller incorporates information on the acquisition destination (request destination) of the data used for each processing. However, since the system configuration is not constant, the acquisition destination of the data depends on the system. May be different. In such a case, it is necessary to change the application of the controller, but it is necessary to change all the source codes of the programs constituting the application, which requires much cost and time.
[0005]
The present invention provides a control system for a work vehicle such as a construction machine, which can easily change a program even if a data acquisition destination changes.
[0006]
[Means for Solving the Problems]
An electronic control unit for a work vehicle according to the first aspect of the present invention has at least two controllers connected to each other by a bus, each of which executes a program operation by a processor to control various devices of the work vehicle. An application program unique to each controller and a driver program for controlling signals transmitted and received between controllers and acquiring signals from other controllers via a bus, and transmitting and receiving data between the application program and the driver program The various programs are controlled by executing a program operation using the intermediate program.
According to a second aspect of the present invention, in the electronic control device according to the first aspect, the driver program further acquires a signal indicating a control state of each device measured by the measuring unit, and the intermediate program converts the acquired signal into an application program. This is converted into data to be used.
According to a third aspect of the present invention, in the electronic control device according to the first aspect, the driver program further acquires a signal indicating a control state of each device measured by the measuring unit, and the intermediate program performs a filtering process on the acquired signal. This is to remove unnecessary components from the acquired signal.
According to a fourth aspect of the present invention, in the electronic control device of the second aspect, the intermediate program performs a filtering process on the converted data to remove unnecessary components from the data.
According to a fifth aspect of the present invention, in the electronic control device according to the second or fourth aspect, the converted data is transmitted to a bus, and the converted data is shared by all controllers.
According to a sixth aspect of the present invention, in the electronic control device of the fifth aspect, the converted data is transmitted to the bus at a predetermined cycle determined for each data.
According to a seventh aspect of the present invention, in the electronic control device according to any one of the first to sixth aspects, the intermediate program stores an acquisition destination of a signal acquired by the driver program and changes the acquisition destination by changing only the intermediate program. It can be changed.
According to an eighth aspect of the present invention, in the electronic control device according to any one of the first to seventh aspects, the controller calculates a command value of a hydraulic pressure used for operation of the work vehicle based on an operation amount of a lever operated by an operator. A lever controller, a work range limit control controller that corrects a command value calculated by the electric lever controller, based on a positional relationship between an entry prohibited area set in a work range of the work vehicle and an operating part of the work vehicle, A vehicle body controller that controls the operation of the work vehicle based on a command value calculated by the electric lever controller or a command value corrected by the work range limit control controller; and a display unit that displays an operation state of the work vehicle to an operator. Controlling and changing the display content of the display means based on the state of the input means operated by the operator Storage controller that stores information transmitted and received between any two or more of an electronic lever controller, an electric lever controller, a work range restriction controller, a vehicle body controller, and a display controller. It is.
The invention according to claim 9 is applied to a work vehicle and has various devices controlled by the electronic control device according to any one of claims 1 to 8.
[0007]
BEST MODE FOR CARRYING OUT THE INVENTION
--First Embodiment--
FIG. 1 shows a first embodiment of an electronic device system according to the present invention. The electronic device system 1 is mounted on a hydraulic excavator 2 shown in FIG. Hereinafter, the operation of the electronic device system 1 will be described together with the operation of each part of the excavator 2 shown in FIG.
[0008]
The bus line 11 connects each controller described below with a bus to construct a network. Data between the controllers is input and output via the bus line 11. The bus line 11 is realized by, for example, a CAN (Controller Area Network).
[0009]
The electric lever controller 12 obtains the operation amounts of the two-axis electric operation levers 121 and 122 operated by the operator and, based on the obtained operation amounts, command values for controlling the front part 26 in FIG. 2. Is calculated. The calculated command value is output to the vehicle controller 14 via the bus line 11. The operation levers 121 and 122 are installed in the driver's seat 25 in FIG.
[0010]
The work range restriction controller 13 calculates a command value for controlling the front section 26 based on the measurement values of various sensors so that the front section 26 in FIG. 2 does not enter the set entry prohibited area. The calculated command value is output to the vehicle controller 14 via the bus line 11. Various sensors used at this time are an inclination sensor 131, a bucket stroke sensor 132, an arm angle sensor 133, and a boom angle sensor 134. 2, the bucket stroke sensor 132 measures the stroke of the bucket cylinder 266, the arm angle sensor 133 measures the angle of the arm 262, and the boom angle sensor 134 measures the angle of the boom 261. .
[0011]
The work range restriction controller 13 includes a processor 135, a ROM 136, a RAM 137, and an I / O circuit 138. The processor 135 executes a program stored in the ROM 136 using the RAM 137 as a work area, and executes the above-described processing. The I / O circuit 138 performs signal conversion with the outside. Each of the other controllers 12, 14 to 16 has a processor, a ROM, a RAM, and an I / O circuit, similarly to the work range restriction control controller 13, but illustration and description thereof are omitted.
[0012]
The vehicle body controller 14 controls the solenoid valve 141 based on command values output from the electric lever controller 12 and the work range restriction controller 13. The hydraulic pressure of the boom cylinder 264, the arm cylinder 265, and the bucket cylinder 266 in FIG. 2 is controlled by the solenoid valve 141, and each part of the front part 26 operates. The details of the operation of the front section 26 will be described later.
[0013]
The information storage controller 15 records various information measured by an engine speed sensor, a temperature sensor, and the like (not shown), for example, vehicle operation information and a failure history. The recorded information may be displayed on the display device 161, for example, or may be connected to an external device such as a personal computer as necessary and output to the device. The timing at which the information storage controller 15 records various types of information can be set arbitrarily. For example, recording may be performed periodically at a preset time, or may be performed when any abnormal state is detected by any of the sensors.
[0014]
The information display controller 16 acquires information from each controller, and displays various information of the vehicle body on the display device 161 based on the acquired information. In addition, the output of the key input device 162 is detected, and information content to be displayed on the display device 161 is switched based on the detected output content. The display device 161 and the key input device 162 are installed in the driver's seat 25 in FIG. 2, and the operator can check information of the vehicle body using the display device 161 and operate the key input device 161 to switch the information content. it can.
[0015]
Next, the hydraulic excavator 2 shown in FIG. 2 will be described. The hydraulic excavator 2 includes, besides the front part 26 controlled by the electronic device system 1 described above, a lower traveling body 21 for self-propelling, and an upper revolving body provided on the lower traveling body 21 and revolving thereon. 22 mainly. The upper slewing body 22 is provided with a driver's cab 25 on the left side of the front part thereof, and supports the front part 26 in the center of the front part. The upper revolving unit 22 is provided with the above-described tilt sensor 131 for measuring the tilt angle of the vehicle body.
[0016]
The front portion 26 includes a boom 261 supported by the upper swing body 22 and raised and lowered about a rotation shaft 267, an arm 262 provided at the tip of the boom 261 and rotated about a rotation shaft 268, and an arm 262. A bucket 263 that is provided at the tip and rotates about a rotation shaft 269. The boom 261, arm 262, and bucket 263 are driven by a boom cylinder 264, an arm cylinder 265, and a bucket cylinder 266, respectively. The boom cylinder 264, the arm cylinder 265, and the bucket cylinder 266 are hydraulic cylinders, and the hydraulic pressure is controlled by the solenoid valve 141 in FIG. As a result, the boom 261, the arm 262, and the bucket 263 are operated by the respective cylinders. The boom angle sensor 134 described above is attached to the rotating shaft 267, and the arm angle sensor 133 is attached to the rotating shaft 268. The operation of the front section 26 is performed by these and the bucket stroke sensor 132 provided in the bucket cylinder 266. The state is measured.
[0017]
Next, the processing contents of the controllers 12 to 16 shown in FIG. 1 will be described in detail. Programs for executing the respective processes are mounted in the ROM of each controller, and have the same basic configuration. The basic configuration of the program in each controller includes an application 31, an intermediate layer 32, and a driver 33 shown in FIG.
[0018]
The application 31 executes a process for realizing a function unique to a controller on which the program is mounted. The processing content relates to the control of the excavator 2 and differs for each controller. For example, in the work range restriction controller 13, the command value for restricting the operation range of the front unit 26 in FIG. 2 is corrected in the application 31, but this processing is not performed by another controller. Note that the processing result of the application 31 is output to the intermediate layer 32 as necessary, and when there is data required for processing in the application 31, a data request is output to the intermediate layer 32.
[0019]
The middle layer 32 controls data transfer between the application 31 and the driver 33. The intermediate layer 32 further includes a data distribution unit 321, a data table 322, a data conversion unit 323, a timer unit 324, and a data storage unit 325. The data distribution unit 321 appropriately distributes the data output from one of the application 31 and the driver 33 to the intermediate layer 32, and outputs the data to the other or stores the data in the data storage unit 325. The data distribution unit 321 also receives a data request output from one of the application 31 and the driver 33 to the intermediate layer 32, acquires the requested data from the other or the data storage unit 325, and returns it to the request source. I do. At this time, the output or acquisition of such data can be periodically executed by the timing process in the timer unit 324 described later.
[0020]
The data table 322 stores an information table required when the data distribution unit 321 acquires and stores data. Based on the information table stored in the data table 322, the data distribution unit 321 determines an output destination and an acquisition destination of data, or a storage destination when storing the data in the data storage unit 325. The details of the information table will be described later.
[0021]
The data converter 323 converts data exchanged between the application 31 and the driver 33 as necessary. For example, a value measured by a sensor is converted by the data conversion unit 323 into a data format used by the application 31. As an example, the angle of the boom 261 in FIG. 2 measured by the boom angle sensor 134 in FIG. 1 is output from the boom angle sensor 134 as a voltage value, and the voltage value is detected by the work range limit controller 13. The detected voltage value is converted into angle data in the data conversion unit 323. The data thus converted is output to the network of the bus line 11 at a predetermined cycle determined for each data by a network driver described later, in addition to being used by the application 31. In this way, the data converted in one controller can be shared by all other controllers.
[0022]
The timer unit 324 executes a timing process for taking the timing of the process periodically executed by the data distribution unit 321 at a constant cycle. A timing signal is output to the data distribution unit 321 at regular time intervals by the timing processing, and the data distribution unit 321 counts the timing signal to determine an execution cycle of the processing. The output cycle of the timing signal at this time is at least shorter than the execution cycle of the processing in the data distribution unit 321. Alternatively, the timer unit 324 may determine the execution period of the process, and request the data distribution unit 321 to execute the process at regular intervals.
[0023]
The data storage unit 325 performs a memory operation for temporarily storing data output from the application 31 or the driver 33. The stored data is taken out by the data distribution unit 321 as necessary, and output to the application 31 and the driver 33. In the data storage unit 325, the data storage destination is specified by an address number. With the above-described configurations, the intermediate layer 32 controls data transfer between the application 31 and the driver 33.
[0024]
The driver 33 controls signals transmitted and received by a controller in which the program is mounted to and from the outside, and acquires signals from various sensors, signals from other controllers, and the like. Different drivers 33 are used for different signal input / output destinations, and two or more drivers may be used for one controller. For example, in the work range restriction controller 13 shown in FIG. 1, an AD conversion driver for taking in the output voltage from each of the sensors 131 to 134 as data, and input / output of data to / from other controllers via the bus line 11 are performed. Network driver is used. The signal external to the controller obtained by the driver 33 is output to the intermediate layer 32 as data as necessary, and when there is data required for processing in the driver 33, a data request is output to the intermediate layer 32. .
[0025]
FIGS. 4 to 7 show the basic configuration of the program described above for each of the controllers 12 to 16 in FIG. FIG. 4 illustrates a basic configuration of programs of the electric lever controller 12 and the work range restriction control controller 13. The driver 33 includes an AD conversion driver 331 and a network driver 332. The AD conversion driver 331 converts an analog voltage value into a digital value. In the electric lever controller 12, the AD conversion driver 331 acquires a voltage value output according to the operation amount of the electric operation levers 121 and 122 in FIG. The work range restriction controller 13 takes in the output voltages from the sensors 131 to 134 as data as described above. Further, the network driver 332 inputs and outputs data to and from each other controller via the bus line 11 as described above.
[0026]
FIG. 5 illustrates the vehicle body controller 14, and includes the above-described network driver 332 and the PWM driver 333 as the driver 33. The PWM driver 333 is for controlling the solenoid valve 141 of FIG. 1 according to the above-mentioned command value. FIG. 6 illustrates the information storage controller 15, and includes the above-described network driver 332 as the driver 33.
[0027]
FIG. 7 illustrates the information display controller 16. The driver 33 includes the network driver 332, the DI driver 334, and the display driver 335. The DI driver 334 is for acquiring an output from the key input device 162 of FIG. 1 for inputting an operator's setting operation and the like. The display driver 335 is for displaying the information screen of the vehicle body on the display device 161.
[0028]
As described above, the basic configuration of the program of the controller shown in FIG. 3 includes an application 31 that executes main processing, an intermediate layer 32 that controls data transfer performed between the application 31 and the driver 33, And a driver 33 for controlling a signal to be performed. The basic configuration of the program for each controller shown in FIGS. In this way, when the configuration of the electronic device system 1 of FIG. 1 is partially changed, the program only needs to change the intermediate layer 32 that controls data transfer. Therefore, the development time and development cost of the program can be reduced.
[0029]
In addition, in the basic configuration of the program for each controller shown in FIGS. 4 to 7, various drivers used as the driver 33 may be various drivers other than those described here as needed.
[0030]
8 to 11 show examples of the contents of the information table stored in the data table 322 in FIGS. 8A and 8B show examples of information tables stored in the electric lever controller 12, FIG. 9 shows an example of the work range restriction control controller 13, FIG. 10 shows an example of an information table stored in the vehicle body control controller 14, and FIG. It is. In these information tables, the contents of the columns indicated by reference numerals 81 to 85 represent the following. A column 81 indicates a name of the data, a column 82 indicates a data source indicating a source (output source) of the data, and a column 83 indicates a channel of the source of the data when the data source has a plurality of channels. When the data is stored in the data storage unit 325, the column 84 indicates the address number of the storage destination of the data storage unit 325, and the column 85 indicates the data size of the data.
[0031]
For example, data indicated by reference numeral 86 in FIG. 8A describes data called a boom operation lever operation amount. This data is output from channel 0 of the AD conversion driver 331, and indicates that the data size is 2 bytes. In the row indicated by reference numeral 87, data named boom command value is described. This data is stored in a memory, that is, a data storage unit 325, and is output from the data storage unit 325, which indicates that the address number is 0x0100 and the data size is 2 bytes. According to such an information table, the data distribution unit 321 determines the output destination of data when distributing data in the intermediate layer 32, the request destination when requesting data, or the address number when storing the data in the data storage unit 325. to decide.
[0032]
Next, in the basic configuration of the program of each controller shown in FIGS. 4 to 7, examples of processing contents in each configuration and data flows between the configurations are shown in FIGS. Hereinafter, description will be made in order from FIG. FIG. 12 shows a data flow diagram when data is acquired by the AD conversion driver 331 in the basic configuration of the electric lever controller 12 and the work range restriction control controller 13 shown in FIG. In step S91, when the application 31 requires, for example, the boom operation lever operation amount shown in the row 86 of FIG. 8A, the application 31 issues a data request to request the data and outputs the data request to the middle layer 32. I do.
[0033]
The processing of steps S92 to S94 is executed in the intermediate layer 32. In step S92, the data request output from the application 31 in step S91 is received. In step S93, referring to the information table of FIG. 8A stored in the data table 322, the acquisition destination of the requested boom operation lever operation amount is the AD conversion driver 331, and the channel number thereof is 0. Judge that. In step S94, the data of the channel number 0 is requested to the data acquisition destination determined in step S93, that is, the AD conversion driver 331.
[0034]
The processing of steps S95 to S97 is executed by the AD conversion driver 331. In step S95, the data request output from the intermediate layer 32 in step S94 is accepted. In step S96, A / D conversion is performed on the requested measurement value of channel number 0, and the value is obtained as data. In step S97, the AD conversion data of channel number 0 acquired in step S96 is output to the intermediate layer 32.
[0035]
The processing of steps S98 to S910 is executed in the intermediate layer 32. In step S98, the AD conversion data of the channel number 0 output from the AD conversion driver 331 in step S97 is obtained. In step S99, the data conversion unit 323 converts the data acquired in step S98 into a data format of the boom operation lever operation amount used in the application 31. In step S910, the data of the boom operation lever operation amount obtained in step S99 is output to the application 31.
[0036]
In step S911, the application 31 acquires the boom operation lever operation amount output from the middle layer 32 in step S910. After step S911, the application 31 proceeds to the next process, and executes various processes using the boom operation lever operation amount.
[0037]
FIG. 13 shows a data flow diagram when data is acquired by the AD conversion driver 331 in the basic configuration of the electric lever controller 12 and the work range restriction control controller 13 shown in FIG. However, the processing contents in FIG. 13 are different from those in FIG.
[0038]
In step S101, in the intermediate layer 32, processing is started by the timer unit 324 at a constant cycle. In step S102, by referring to the information table stored in the data table 322, for example, the information table of FIG. 331, and determines that the channel number is 0. Further, the data of the channel number 0 is requested to the AD conversion driver 331.
[0039]
In steps S103 to S105, the AD conversion driver 331 performs the same processing as steps S95 to S97 in FIG. In step S103, the data request output from the intermediate layer 32 is received. In step S104, the AD conversion data of the channel number 0 is obtained, and output to the intermediate layer 32 in step S105.
[0040]
The processing of steps S106 to S1010 is executed in the intermediate layer 32. In step S106, similarly to step S98 in FIG. 12, the data of the channel number 0 output from the AD conversion driver 331 in step S105 is obtained. In step S107, the data conversion unit 323 converts the acquired data into a data format used by the application 31, that is, a boom operation lever operation amount shown in a row 89 in FIG. 8B. In step S108, a filtering process is performed to remove noise from the data converted in step S107. In step S109, by referring to the information table of FIG. 8B stored in the data table 322, it is determined that this boom operation lever operation amount is stored in the data storage unit 325, and that the address number is 0x0100. I do. In step S1010, the data of the boom operation lever operation amount subjected to the filtering process in step S108 is stored in the address number 0x0100 of the data storage unit 325 determined in step S109. After executing step S1010, the process returns to step S101, and after a predetermined period has elapsed, the above-described processing is started again by the timer unit 324.
[0041]
Step S1011 is executed in the application 31 when the application 31 requires the boom operation lever operation amount. In step S1011, a data request for requesting the boom operation lever operation amount is issued and output to the middle layer 32.
[0042]
The processing of steps S1012 to S1015 is executed in the intermediate layer 32. In step S1012, the data request output from the application 31 in step S1011 is accepted. In step S1013, referring to the information table of FIG. 8B stored in the data table 322, the acquisition destination of the requested boom operation lever operation amount is the data storage unit 325, and its address number is 0x0100. Determine that there is. In step S1014, the acquisition destination of the data determined in step S1013, that is, the data stored in the data storage unit 325 at the address 0x0100 is acquired. In step S1015, the obtained data is output to the application 31.
[0043]
In step S1016, the application 31 acquires the boom operation lever operation amount output from the middle layer 32 in step S1015. After step S1016, the application 31 proceeds to the next process, and executes various processes using this boom operation lever operation amount.
[0044]
FIG. 14 shows a data flow diagram when data is acquired by the network driver 332 in the basic configuration of each controller shown in FIGS. The processes of steps S111 to S113 are repeatedly executed in the network driver 332. In step S111, data reception is waited until data is transmitted from another controller via the bus line 11. When data is received from another controller, the data is received in step S112, and the received data is stored in a buffer (not shown) provided in the network driver 332 in the next step S113.
[0045]
In step S114, the processing is started in the middle layer 32 by the timer unit 324 at a constant cycle. In step S115, referring to the information table stored in the data table 322, the acquisition source of necessary data is determined. For example, the vehicle body controller 14 shown in FIG. 5 refers to the information table shown in FIG. 10 and determines that the acquisition destination of the required boom command value shown in the row 90 is the network driver 332. Furthermore, it requests the data of the required boom command value from the network driver 332.
[0046]
The processing of steps S116 to S117 is executed by the network driver 332. In step S116, the data request output from the intermediate layer 32 in step S115 is accepted. In step S117, the data of the requested boom command value is obtained from the buffer. In step S118, the boom command value acquired in step S117 is output to the middle layer 32.
[0047]
The processing of steps S119 to S1111 is executed in the intermediate layer 32. In step S119, the boom command value output from the network driver 332 in step S118 is obtained. In step S1110, it is determined with reference to the information table in FIG. 10 that the address number of the storage destination of the boom command value is 0x0100. In step S1111, the boom command value acquired in step S119 is stored in the address number determined in step S1110, that is, address 0x0100. After executing step S1111, the process returns to step S114, and after a certain period elapses, the timer unit 324 starts the above-described processing after step S114 again.
[0048]
Step S1112 is executed in the application 31 when the application 31 needs the boom command value. In step S1112, a data request requesting a boom command value is issued and output to the intermediate layer 32.
[0049]
In steps S1113 to S1116, the same processing as steps S1012 to S1015 in FIG. In step S1113, the data request output from the application 31 is received, and in step S1114, referring to the information table in FIG. Judgment is made, and the data stored at the address 0x0100 is acquired in step S1115, and the acquired data is output to the application 31 in step S1116.
[0050]
In step S1117, the application 31 acquires the boom command value output from the intermediate layer 32 in step S1116. After step S1117, the application 31 proceeds to the next process, and executes various processes using this boom command value.
[0051]
FIG. 15 shows a data flow diagram when the network driver 332 transmits data to another controller in the basic configuration of each controller shown in FIGS. In step S121, a data storage request is issued for the data calculated by the application 31, for example, the boom command value shown in the row 87 of FIG.
[0052]
The processing of steps S122 to S125 is executed in the intermediate layer 32. In step S122, a data storage request output from the application 31 in step S121 is received. In step S123, with reference to the information table of FIG. 8A stored in the data table 322, it is determined that the address number of the storage destination of the requested boom command value is 0x0100. In step S124, the data is stored in the data storage unit 325 at the address number of the storage destination determined in step S123, that is, the address 0x0100. In step S125, the application 31 is notified that the data storage has been completed.
[0053]
In step S126, the application 31 confirms that the end of data storage has been notified from the intermediate layer 32 in step S125. After step S125, the application 31 proceeds to the next process.
[0054]
The processing of steps S127 to S1210 is executed in the intermediate layer 32. In step S127, the process is started by the timer unit 324 at a constant cycle. In step S128, referring to the information table of FIG. 8A, the address number 0x0100 of the storage destination of the boom command value to be output to another controller is determined. In step S129, data of the boom command value is read from the address number 0x0100 determined in step S128, and the data is obtained. In step S1210, the data of the boom command value acquired in step S129 is output to the network driver 332, and a data output request is made.
[0055]
The processing of steps S1211 to S1213 is executed by the network driver 332. In step S1211, a data output request for the boom command value output from the intermediate layer 32 in step S1210 is accepted. In step S1212, a process of transmitting the data of the boom command value to the bus line 11 is performed. In step S1213, the middle layer 32 is notified that the transmission has been completed.
[0056]
In step S1214, the middle layer 32 confirms that the transmission of data has been notified from the network driver 332 in step S1213. After executing step S1214, the process returns to step S127, and after the elapse of a certain period, the timer unit 324 starts the above-described processes after step S127 again.
[0057]
FIG. 16 shows a data flow diagram when controlling the electromagnetic valve 141 using the PWM driver 333 in the basic configuration of the vehicle body controller shown in FIG. In step S131, the application 31 that has completed the process of calculating the duty to be used in the PWM driver 333 issues a storage request for the duty and outputs it to the intermediate layer 32.
[0058]
In steps S132 to S135, the same processing as in steps S122 to S125 in FIG. 15 is performed in the intermediate layer 32. In step S132, a duty storage request output from the application 31 is received, and in step S133, the address number of the duty storage destination, for example, the duty (boom) address number 0x0108 shown in the row 91 is referred to with reference to the information table of FIG. Judge the address. In step S134, duty (boom) data is stored in the address number 0x0108, and in step S135, the application 31 is notified that the data storage has been completed.
[0059]
In step S136, the application 31 confirms that the end of data storage has been notified from the intermediate layer 32 in step S135. After step S135, the application 31 shifts to the next process.
[0060]
In step S137, the PWM driver 333 periodically starts processing by a timer. This timer may use the timer unit 324 in the intermediate layer 32, or may use a timer different from the timer unit 324. In step S138, the duty of the solenoid valve 141 to be controlled, for example, the data of the duty (boom) shown in the row 91 is requested to the intermediate layer 32.
[0061]
The processing of steps S139 to S1312 is executed in the intermediate layer 32. In step S139, the data request output from the PWM driver 333 in step S138 is accepted. In step S1310, it is determined with reference to the information table of FIG. 10 that the address number of the storage destination of the duty (boom) is 0x0108. In step S1311, data of the address number 0x0108 determined in step S1310 is read, and data of duty (boom) is obtained. In step S1312, the obtained duty (boom) is output to the PWM driver 33.
[0062]
In step S1313, the PWM driver 333 acquires the duty (boom) output from the intermediate layer 32 in step S1312. In step S1314, the PWM driver 333 outputs a PWM signal to the solenoid valve 141 based on the duty value. After executing step S1314, the process returns to step S137, and after a predetermined period elapses, the timer unit 324 starts the above-described processing after step S137 again.
[0063]
FIG. 17 is a data flow diagram when the output from the key input device 162 is obtained by the DI driver 334 in the basic configuration of the information display controller 16 shown in FIG. In step S141, the DI driver 334 periodically starts a process using a timer. This timer may use the timer unit 324 in the intermediate layer 32, or may use a timer different from the timer unit 324. In step S142, the DI value output from key input device 162 at that time, for example, data of key 0 shown in row 92 of FIG. 11 is obtained. In step S143, a filtering process is performed to remove noise of the obtained key 0 data. In step S144, the data of the key 0 that has been subjected to the filtering process in step S143 is stored in a predetermined channel of a buffer (not shown) provided in the DI driver 334, here, channel number 0.
[0064]
Step S145 is executed in the application 31 when the application 31 needs the data of the key 0. In the step S145, a data request for requesting the data of the key 0 is issued and output to the intermediate layer 32.
[0065]
The processing of steps S146 to S148 is executed in the intermediate layer 32. In step S146, the data request output from the application 31 in step S145 is accepted. In step S147, by referring to the information table of FIG. 11 stored in the data table 322, it is determined that the acquisition destination of the data of the requested key 0 is the DI driver 334 and the channel number is 0. In step S148, the data of the channel number 0 is requested to the acquisition destination of the data determined in step S147, that is, the DI driver 334.
[0066]
Steps S149 to S1411 are executed by the DI driver 334. In step S149, the data request output from the intermediate layer 32 in step S148 is accepted. In step S1410, the data of key 0 stored in the buffer of the requested channel number 0 is read, and the value is obtained as data. In step S1411, the data of channel number 0 acquired in step S1410 is output to the intermediate layer 32.
[0067]
In step S1412, the intermediate layer 32 acquires the data of the channel number 0 output from the DI driver 334 in step S1411, that is, the data of the key 0. In step S1413, the data of the key 0 is output to the application 31.
[0068]
In step S1414, the application 31 acquires key 0 data output from the middle layer 32 in step S1413. After step S1414, the application 31 proceeds to the next process, and executes various processes using the data of the key 0.
[0069]
As described above with reference to FIGS. 12 to 17, each controller performs each processing and inputs and outputs data between the basic components of the program. In this way, only the intermediate layer 32 can have a function of controlling data transfer between the controllers. If the configuration of the electronic device system 1 in FIG. ), (B) and the information tables as shown in FIGS. Note that the example described above is a part of the processing of each controller, and various other processing is performed.
[0070]
Next, a description will be given of processing contents when performing the work range restriction control. The work range restriction control is, for example, when an obstacle such as an electric wire is present in the work range of the work machine, setting an entry-prohibited area in the work range and controlling the work machine so as not to enter the work area. It is. FIG. 18 shows an example of a method of performing the work range restriction control. In the working range of the excavator 2, an area 151 having a height equal to or higher than the height HL is an entry-prohibited area, and the front section 26 is controlled so as not to enter the area. An area 152 having a height equal to or higher than the height HS is a deceleration area. When the front section 26 enters this area, the front section 26 is decelerated so as not to enter the entry prohibited area 151. Such areas 151 and 152 are set by operating the key input device 162 by an operator.
[0071]
Such work range restriction control is performed by detecting the position of a reference point set in each part of the front part 26. This reference point is set, for example, at a location indicated by reference symbols M1 to M4. Each setting location will be described. The reference point M1 is a rotating portion of the base end portion of the boom 261 and the arm cylinder 265, the reference point M2 is a rotating portion of the rod end portion of the arm 262 and the arm cylinder 265, the reference point M3 is an upper end portion of the arm 262, the reference point M4 is the uppermost part of the circle in which the cutting edge of the bucket 263 is inscribed. It is determined whether or not the detection results of the positions of these reference points are in the above-mentioned no-go area 151 or deceleration area 152, and the operation of the front section 26 is controlled according to the determination results.
[0072]
FIGS. 19 to 22 show flowcharts of processing in each controller when performing the work range restriction control. FIG. 19 is a processing flow based on a program executed by the information display controller 16, FIGS. 20 and 21 are electric lever controllers 12, and FIG. Hereinafter, these flowcharts will be described in order.
[0073]
The process shown in the flowchart of FIG. 19 is always executed during the operation of the information display controller 16. In step S161, it is determined whether or not the work range restriction is set by the key input device 162. If the work range restriction has been set, the process proceeds to step S162; otherwise, the process ends. In step S162, data indicating that the work range restriction is set is output to the bus line 11. When this data is received by another controller, the controller recognizes that the work range restriction is set.
[0074]
In step S <b> 163, data indicating the angles of the boom 261, the arm 262, and the bucket 263 output from the work range restriction controller 13 is received via the bus line 11. These angle data are acquired by the work range restriction controller 13 as shown in FIG. 12 or 13 and transmitted as shown in FIG. In step S164, the attitude of the front part 26 is calculated based on the angle data of each part received in step S163, and the attitude is displayed on the display device 161. After executing step S164, the process returns to step S161. In this manner, the information display controller 16 detects the presence or absence of the setting of the work range restriction, and when the work range restriction is set, transmits the information to another controller and changes the attitude of the front unit 26. The information is displayed on the display device 161.
[0075]
The process shown in the flowchart of FIG. 20 is executed when the electric lever controller 12 is started. In step S171, the configuration of the controller connected to the bus line 11 is confirmed. For example, when the electronic device system 1 shown in FIG. 1 including the electric lever controller 12 is started, data representing the type is alternately output from each controller to the bus line 11 and confirmed by the data. Done by the method.
[0076]
In step S172, it is determined whether or not the work range restriction controller 13 is included in the configuration confirmed in step S171. If there is the work range restriction controller 13, the process proceeds to step S173, and if not, the process in FIG. 20 ends. In step S173, a flag indicating that there is the work range restriction controller 13 is set internally. By setting this flag, the destination of the data to be output is changed in the next process shown in FIG. After executing step S173, the processing in FIG. 20 ends. In this manner, the electric lever controller 12 determines the presence or absence of the work range restriction control controller 13, and in some cases, sets a flag internally.
[0077]
The processing shown in the flowchart of FIG. 21 is always executed during the operation of the electric lever controller 12 after executing the processing shown in the flowchart of FIG. In step S181, the operation amounts of the electric operation levers 121 and 122 are acquired. This operation amount is obtained as shown in FIG. 12 or 13 described above. In step S182, based on the lever operation amount acquired in step S181, the direction of the pressure oil and the flow rate (command value) to be applied to the boom cylinder 264, the arm cylinder 265, and the bucket cylinder 266 to operate the front section 26 are calculated.
[0078]
In step S183, it is determined whether or not a flag indicating that the work range restriction controller 13 is present is set internally. This flag is set at the time of startup in step S173 shown in FIG. When the flag is set, the process proceeds to step S184, and when the flag is not set, the process proceeds to step S186.
[0079]
In the step S184, it is determined whether or not the work range restriction is set. This determination is made based on whether or not data indicating that the work range restriction is set has been output from the information display controller 16 to the bus line 11 in step S162 shown in FIG. If the data is output on the bus line 11, it is determined that the work range restriction is set, and the process proceeds to step S185. If the data has not been output, it is determined that the setting has not been made, and the process proceeds to step S186.
[0080]
In step S185, the destination of the data of the command value indicating the pressure oil direction and the flow rate calculated in step S182 is set in the work range restriction controller 13. In step S186, the destination of this data is set to the vehicle body controller 14. The setting of the data destination is performed by a method such as adding a header indicating the destination to the data when outputting the data to the bus line 11. In step S187, the command value data calculated in step S182 is transmitted according to the destination set in step S185 or S186. After executing step S187, the process returns to step S181. In this manner, the electric lever controller 12 determines the presence or absence of the work range restriction controller 13 and the setting of the work range restriction, and switches the destination of the command value data indicating the pressure oil direction and the flow rate.
[0081]
The process shown in the flowchart of FIG. 22 is always executed when the work range restriction is set. In step S191, command value data transmitted from the electric lever controller 12 to the work range restriction control controller 13 in step S187 of FIG. 21 is received. In step S192, data of the tilt angle, the arm angle, and the boom angle measured by the tilt sensor 131, the arm angle sensor 133, and the boom angle sensor 134 are acquired. These angle data are acquired as shown in FIG. 12 or 13 described above.
[0082]
In step S193, the positions of the reference points M1 to M4 are calculated based on the angle data acquired in step S192 and the preset lengths of the boom 261, the arm 262, and the bucket 263. In step S194, based on the position of each reference point calculated in step S193, it is determined whether any of the reference points is within the deceleration region 152 in FIG. If it is determined that any of the reference points is within the deceleration region 152, the process proceeds to step S195, and if it is determined that none of the reference points is within the deceleration region 152, the process proceeds to step S197.
[0083]
In step S195, a deceleration coefficient K is calculated based on the positions of the reference points M1 to M4 calculated in step S193. The deceleration coefficient K is represented by 0 ≦ K ≦ 1, and the operation of the front part 26 is decelerated and limited by multiplying the data indicating the flow rate among the command values by the deceleration coefficient K. Note that the deceleration coefficient K is 1 at the height HS in FIG. 18, that is, at the boundary between the normal region and the deceleration region 152, and is 0 at the height HL, that is, at the boundary between the entry prohibited region 151 and the deceleration region 152.
[0084]
In step S196, the command value data received in step S191 is corrected based on the deceleration coefficient K calculated in step S195. In step S197, the command value data received in step S191 or the command value data received in step S191 and corrected in step S196 is transmitted to the vehicle body controller 14. After executing step S197, the process returns to step S191. In this way, the work range restriction controller 13 determines whether any of the reference points is in the deceleration region, and if so, corrects the command value data.
[0085]
Based on the data of the command value determined in this way, the vehicle body controller 14 calculates the duty, and the PWM driver 333 controls the solenoid valve 141. At this time, it is not necessary for the vehicle body controller 14 to consider which of the command value data is transmitted from the electric lever controller 12 or the work range restriction controller 13. In any case, it suffices if it is possible to recognize the command value data transmitted to the vehicle body controller 14.
[0086]
As described above, the electromagnetic valve 141 is controlled according to the operation amounts of the electric operation levers 121 and 122 operated by the operator, and the front part 26 operates. FIGS. 23 and 24 show the processing contents of each controller and the data flow between the controllers at this time. FIG. 23 shows a case where the work range restriction is set, and FIG. 24 shows a case where the work range restriction is not set. These will be described below in order.
[0087]
In steps S201 to S203 in FIG. 23, the electric lever controller 12 performs the processing shown in the flowchart in FIG. 18 and transmits data of the calculated command value. At this time, since the work range restriction is set for the destination, the work range restriction controller 13 is set in step S185 in FIG. In subsequent steps S204 to S208, the process shown in the flowchart of FIG. 22 is performed in the work range restriction controller 13 and the data of the corrected command value is transmitted to the vehicle body controller 14.
[0088]
In steps S209 to S2011, the processing is performed in the vehicle body controller 14. In step S209, the data of the corrected command value transmitted from the work range restriction controller 13 in step S208 is received. In step S2010, the duty at the time of performing the PWM control on the solenoid valve 141 is calculated based on the command value data received in step S209. In step S2011, PWM control is performed using the duty calculated in step S2010, and the electromagnetic valve 141 is driven. At this time, the calculated duty is output from the application 31 to the PWM driver 333 as shown in FIG.
[0089]
In FIG. 24, among the processes described above, the processes of steps S204 to S208 are not performed in the work range restriction controller 13. At this time, the electric lever controller 12 performs the processing of steps S201 to S203 and transmits the data of the calculated command value. At this time, since the work range restriction is not set, the destination is the vehicle body controller 14 in step S186 in FIG. The command value data is received by the vehicle body controller 14, and the electromagnetic valve 141 is driven in the same manner as in steps S209 to S2011 in FIG. As described above, the control method is switched between the normal case and the case where the work range is limited.
[0090]
According to the electronic device system 1 described above, the following operation and effect can be obtained.
(1) The processor of each controller includes an application 31 that executes processing unique to each controller, a driver 33 that controls signals transmitted and received between the controllers, and obtains a signal from another controller via the bus 11. The intermediate layer 32 that exchanges data between the application 31 and the driver 33 executes a program operation to control various devices of the excavator 2. Thus, even if the configuration of the controller of the electronic device system 1 is changed and the data acquisition destination is changed, only the intermediate layer 32 needs to be changed, and the program can be easily changed.
(2) The driver 33 further acquires a signal indicating the control state of various devices of the excavator 2 measured by each sensor, and the intermediate layer 32 converts the acquired signal into data used by the application 31. Further, a filtering process may be performed on the obtained signal or converted data to remove unnecessary components. With this configuration, even if the data acquisition destination changes and the content of the signal acquired by the driver 33 changes, only the intermediate layer 32 needs to be changed without changing the application 31, and by performing the filtering process, In addition, there is no need to remove unnecessary components in the application 31. Therefore, the program can be easily changed.
(3) The data converted by the intermediate layer 32 is transmitted to the bus 11 so that the converted data can be shared by all controllers. The data is output to the bus at a predetermined cycle determined for each data. With this configuration, it is sufficient that any one of the controllers has the data conversion function, and cost can be reduced.
(4) The intermediate layer 32 stores the acquisition destination of the signal acquired by the driver 33, and the acquisition destination can be changed by changing only the intermediate layer 32, so that the program can be easily changed. be able to.
[0091]
In the above embodiment, the electronic device system mounted on the hydraulic excavator 2 and controlling the excavator 2 has been described. However, the present invention is not limited to this, and can be applied to various construction machines and work vehicles such as business vehicles. The present invention can be applied to an electronic device system that is mounted and controls this.
[0092]
In the above embodiment, the electronic control unit is realized by the electronic device system 1, the work vehicle is the hydraulic shovel 2, the application program is the application 31, the driver program is the driver 33, and the intermediate program is the intermediate layer 32. The electric lever controller is an electric lever controller 12, the work range restriction controller is a work range restriction controller 13, the vehicle body controller is a vehicle body controller 14, the information display controller is an information display controller 16, and the information storage controller is an information storage controller 15. Respectively. Further, the measuring means is realized by each of the sensors 131 to 134, the display means is realized by the display device 161, and the input means is realized by the key input device 162, and the controller is connected by the bus line 11. However, these are merely examples, and each component is not limited to the above-described embodiment as long as the features of the present invention are not impaired.
[0093]
【The invention's effect】
As described in detail above, according to the electronic control unit for a work vehicle according to the present invention, the processor of each controller controls an application program that executes a process unique to each controller, and a signal transmitted and received between the controllers. A driver program for acquiring signals from another controller and an intermediate program for exchanging data between the application program and the driver program control various devices of the work vehicle by performing program calculations. With this configuration, even if the configuration of the controller is changed and the data acquisition destination is changed, only the intermediate program needs to be changed, and the program can be easily changed.
[Brief description of the drawings]
FIG. 1 is a diagram showing a configuration of an electronic apparatus according to the present invention.
FIG. 2 is a diagram illustrating a hydraulic shovel on which the electronic device is mounted.
FIG. 3 is a diagram showing a basic configuration of a program of a controller.
FIG. 4 is a diagram showing a basic configuration of programs of an electric lever controller and a work range restriction control controller.
FIG. 5 is a diagram showing a basic configuration of a program of a vehicle body control controller.
FIG. 6 is a diagram showing a basic configuration of a program of an information storage controller.
FIG. 7 is a diagram showing a basic configuration of a program of an information display controller.
FIG. 8 is a diagram illustrating an example of an information table stored in a data table of the electric lever controller.
FIG. 9 is a diagram showing an example of an information table stored in a data table of the work range restriction controller.
FIG. 10 is a diagram showing an example of an information table stored in a data table of a vehicle body controller.
FIG. 11 is a diagram showing an example of an information table stored in a data table of the information display controller.
FIG. 12 is a diagram showing an example of a data flow when acquiring AD-converted data.
FIG. 13 is a diagram showing another example of a data flow when acquiring AD-converted data.
FIG. 14 is a diagram showing a data flow when acquiring data flowing on a network.
FIG. 15 is a diagram showing a data flow when data is transmitted to a network.
FIG. 16 is a diagram showing a data flow when setting a control value for controlling the solenoid valve.
FIG. 17 is a diagram illustrating a data flow when acquiring DI data.
FIG. 18 is a diagram illustrating an example of work range restriction control.
FIG. 19 is a diagram showing a processing flow of an information display controller when performing work range restriction control.
FIG. 20 is a diagram showing a processing flow when the electric lever controller is activated when performing the work range restriction control.
FIG. 21 is a diagram showing a processing flow when operating the electric lever controller when performing work range restriction control.
FIG. 22 is a diagram illustrating a processing flow of a work range restriction control controller when performing work range restriction control.
FIG. 23 is a diagram showing a data flow between controllers when performing work range restriction control.
FIG. 24 is a diagram illustrating a data flow between controllers when the work range restriction control is not performed.
[Explanation of symbols]
1 Electronic equipment system
11 bus line
12 Electric lever controller
13 Work range limit controller
14 Body control controller
15 Information storage controller
16 Information display controller
2 Hydraulic excavator
21 Undercarriage
22 Upper revolving superstructure
25 Driver's cab
26 Front part
261 boom
262 arm
263 bucket
264 boom cylinder
265 arm cylinder
266 Bucket cylinder
31 Application
32 middle class
33 Driver

Claims (9)

Each executing a program operation by a processor to control various devices of the work vehicle, having at least two controllers connected to each other by a bus,
The processor comprises:
An application program specific to each of the controllers;
A driver program for controlling signals transmitted and received between the controllers and acquiring signals from other controllers via the bus;
An electronic control device for a work vehicle, wherein the various programs are controlled by executing the program calculation using an intermediate program that exchanges data between the application program and a driver program. The electronic control device according to claim 1,
The driver program further acquires a signal indicating a control state of the various devices measured by a measuring unit,
The electronic control device for a work vehicle, wherein the intermediate program converts the obtained signal into data used in the application program. The electronic control device according to claim 1,
The driver program further acquires a signal indicating a control state of the various devices measured by a measuring unit,
The intermediate program performs a filtering process on the acquired signal to remove unnecessary components from the acquired signal. The electronic control device according to claim 2,
An electronic control device for a work vehicle, wherein the intermediate program performs a filtering process on the converted data to remove unnecessary components from the data. The electronic control device according to claim 2 or 4,
The electronic control device for a work vehicle, wherein the converted data is transmitted to the bus, and the converted data is shared by all controllers. The electronic control device according to claim 5,
The electronic control unit for a work vehicle, wherein the converted data is transmitted to the bus at a predetermined cycle determined for each data. The electronic control device according to any one of claims 1 to 6,
An electronic control device for a work vehicle, wherein the intermediate program stores an acquisition destination of a signal acquired by the driver program, and can change the acquisition destination by changing only the intermediate program. The electronic control device according to any one of claims 1 to 7,
An electric lever controller that calculates a command value of a hydraulic pressure used for the operation of the work vehicle based on an operation amount of a lever operated by an operator,
A work range limit control controller that corrects a command value calculated by the electric lever controller, based on a positional relationship between the entry prohibited area set in the work range of the work vehicle and an operating part of the work vehicle,
Based on a command value calculated by the electric lever controller or a command value corrected by the work range limit control controller, a vehicle body controller that controls the operation of the work vehicle;
A display controller that controls display means for displaying an operation state of the work vehicle to the operator, and changes display contents of the display means based on a state of input means operated by the operator;
A work vehicle that is any one of an information storage controller that stores information transmitted and received between two or more of the electric lever controller, the work range restriction control controller, the vehicle body control controller, and the display control controller For electronic control device. A work vehicle having various devices controlled by the electronic control device according to claim 1.

Images