JP2019036930A - Sensor information processing system for construction machinery - Google Patents

Abstract

To execute a process of identifying each sensor from among a plurality of identical sensors connected to the same communication bus with a simple configuration.SOLUTION: A sensor information processing system 1 for a construction machine includes: a controller 21; and a plurality of sensors 23, 24, 25, 26 connected to the controller 21 via the same communication bus 22. The system includes information input means 31 capable of communicating with the controller 21 and connection means 33 for connecting each of the sensors 23, 24, 25, 26 separately to a power supply 32 so as to be able to connect and disconnect. Connection information between each sensor 23, 24, 25, 26 and the power supply 32 can be input by the information input means 31. The connection information can be input to the controller 21 via the information input means 31. The controller 21 uses the connection information as reference data for identifying each sensor 23, 24, 25, 26 individually, so that a process is performed to identify each sensor 23, 24, 25, 26.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a control device and a sensor information processing system for a construction machine, which is attached to a fuselage and connected to the control device via the same communication bus and has a plurality of sensors and the like.

  A vehicle such as a construction machine includes a plurality of sensors that operate while communicating information with a control device. The communication is often performed via the same communication bus using a communication method such as CAN (Controller Area Network) communication.

  When connecting a plurality of sensors on the same communication bus, it is necessary to execute processing for identifying each sensor, such as setting individual identification IDs. As a sensor information processing system for a construction machine that executes processing for identifying each sensor when a plurality of the same sensors are connected on the same communication bus, for example, a technique found in Patent Document 1 Has been proposed.

JP2015-224006A

  In the conventional sensor information processing system for construction machines found in Patent Document 1, a plurality of bus-side connectors are provided on a communication bus that performs CAN communication. Each bus-side connector includes a bus-side identification connection terminal, and a bus-side connector identification signal for identifying each bus-side connector is input to each bus-side identification connection terminal.

  The same sensor is connected to each of the plurality of bus side connectors. Each of the plurality of sensors includes a sensor side identification terminal connected to the bus side identification connection terminal. By connecting the sensor to the bus side connector, the bus side identification connection terminal and the sensor side identification terminal are connected. Then, the bus side connector identification signal is input to the sensor. Each sensor determines an identification ID for identifying its own detection data in accordance with the input bus-side connector identification signal. Thereafter, each sensor is identified by the identification ID.

  However, in order to identify each sensor from a plurality of the same sensors connected to the same communication bus, in addition to the sensor, a bus side connector having a bus side identification connection terminal and a sensor side identification Since a sensor having a terminal is required, the hardware cost increases.

  In view of the above, the present invention is for a construction machine capable of executing a process for individually identifying each sensor from a plurality of the same sensors connected to the same communication bus with a simple configuration. An object is to provide a sensor information processing system.

[1] In order to achieve the above object, a sensor information processing system for a construction machine according to the present invention comprises:
A sensor information processing system for a construction machine having a control device and a plurality of sensors attached to the airframe and connected to the control device via the same communication bus,
It has information input means capable of communicating with the control device, and connection means for connecting each of the sensors individually to a power source so as to be connectable / disconnectable,
Connection information between each sensor and the power source can be input by the information input means, and the connection information can be input to the control device via the information input means,
The control device is configured to execute processing for identifying each sensor by using the connection information as reference data for individually identifying each sensor.

  According to the present invention, the connection information between each sensor and the power source can be input by the information input means, and the connection information can be input to the control device via the information input means. Since the control device is configured to execute processing for identifying each sensor using the connection information as reference data for individually identifying each sensor, the control device is connected to the same communication bus. A process of individually identifying each sensor from a plurality of the same sensors can be executed with a simple configuration.

[2] In the present invention, each of the plurality of sensors is a sensor that is attached to each attachment position of the fuselage, and has an individual serial number. The sensor is connected by connecting the power source and the sensor. Transmits initial data including its serial number to the control device, the control device stores the serial number included in the initial data, and the control device uses the serial number and the information input means. The information addition data including the input attachment position information of the sensor is transmitted to the sensor, and the sensor determines its own identification ID based on the attachment position information of the information addition data including the serial number of itself. It is preferable that the information additional data including the identification ID is transmitted to the control device.

By connecting the power supply and the sensor, the sensor transmits initial data including an individual serial number to the control device. The control device stores the serial number and the sensor input by the serial number and information input means. Information addition data including the mounting position information is transmitted to the sensor. The sensor determines its own identification ID based on the mounting position information of the information additional data including its own serial number, and thereafter transmits CAN data including the identification ID to the control device, so it is connected to the communication bus. When setting the mounting position information for a plurality of sensors one by one, processing for identifying the next sensor can be performed without removing the power supply of the sensor for which the setting has been completed. Can be reduced.

[3] Further, in the present invention, the sensor has a calculation function, and the control device provides information necessary for internal calculation of the sensor, such as a mounting position coordinate and a mounting angle, according to the mounting position information. It is preferably configured to transmit to the sensor. The sensor can input necessary information according to the mounting position, such as the mounting position coordinates and mounting angle.

[4] In the present invention, it is preferable that the connecting means is a connector provided so as to be detachable. By making the connection means a detachable connector, instead of preparing a setting switch, instead of using the switch, the connector mounted on the construction machine can be used as a component of the construction machine. Equipment costs can be reduced.

[5] In the present invention, it is preferable that the information input means and the connection means are arranged in a cab provided in the aircraft. By arranging both the information input means and the information input means in the cab of the construction machine, the setting work can be performed within the reach of the hand, and the workability can be improved.

The top view which shows notionally the construction machine with which the some sensor connected to the control apparatus which concerns on embodiment was attached. The block diagram of the sensor information processing system for construction machines which concerns on embodiment. Explanatory drawing of the communication sequence of embodiment. Explanatory drawing of each data of embodiment. The flowchart by the side of the control apparatus of embodiment. The flowchart by the side of the sensor of embodiment.

(Embodiment)
A sensor information processing system 1 for construction machines according to an embodiment of the present invention will be described in detail with reference to the drawings. As shown in FIG. 1, the arrangement of each component on the construction machine 10 is conceptually shown, and the sensor information processing system 1 for the construction machine is provided in the body 11 of the construction machine 10 that performs the work. And a plurality of sensors 23, 24, 25, 26 attached to the control device 21 and connected to the control device 21 via the same communication bus 22 and information input means capable of communicating with the control device 21. 31 and connection means 33 for connecting each of the sensors 23, 24, 25, and 26 individually to the power source 32 (see FIG. 2) so as to be connectable and detachable.

  The construction machine 10 is, for example, a hydraulic excavator, and includes a lower traveling body 12, a machine body 11 that is turnable on the lower traveling body 12, a working device 13 that is provided at the front of the machine body 11, and the body 11. And a counterweight 16 provided at a rear end portion of the airframe 11.

  The control device 21, the information input unit 31 and the connection unit 33 are disposed in the cab 14 of the construction machine 10. The connection means 33 is a connector that is detachable. The connector which is the connection means 33 is mounted on the construction machine 10 as a component of the construction machine 10 on a wiring portion that feeds power from the power source 32 to the sensors 23, 24, 25, 26.

  In the embodiment, the connecting means 33 is a connector arranged in the cab 14, but the present invention is not limited to this, and the connecting means 33 may be a switch device.

  The sensors 23, 24, 25, and 26 are obstacle sensors that detect an object that is within an arbitrary distance from the sensors 23, 24, 25, and 26 around the body 11. The first sensor 23 is provided on the right side of the machine body 11, and uses the right area S <b> 1 located on the right side of the machine body 11 as a detection range. The second sensor 24 is provided at the right rear portion of the airframe 11, and uses a right rear area S <b> 2 located at the right rear of the airframe 11 as a detection range.

  The third sensor 25 is provided in the left rear portion of the body 11 and uses a left rear area S3 located at the left rear of the body 11 as a detection range. The fourth sensor 26 is provided on the left side of the body 11 and uses a left area S4 located on the left side of the body 11 as a detection range.

  In the embodiment, the sensors 23, 24, 25, and 26 are obstacle sensors. However, the present invention is not limited to this, and a temperature sensor or a pressure sensor may be used. The type of sensor is not limited as long as it cannot be used. In the embodiment, the number of sensors 23, 24, 25, and 26 is four, but the number is not limited as long as there are a plurality of sensors such as three or six.

Next, the configuration of the sensor information processing system 1 for construction machines will be described in detail.
As shown in FIG. 2, the sensor information processing system 1 for a construction machine includes a control device 21, a touch panel type information input means 31 that can communicate with the control device 21, and a control device via the same communication bus 22. 21, the first sensor 23, the second sensor 24, the third sensor 25, and the fourth sensor 26, and the first sensor 23, the second sensor 24, the third sensor 25, and the fourth sensor 26. Each of the sensors 26 is individually connected to a power source 32 so as to be connected and disconnected.

  The connection means 33 includes a first connection portion 34 that connects the first sensor 23 and the power source 32 in a connectable manner, a second connection portion 35 that connects the second sensor 24 and the power source 32 in a connectable manner, The third sensor 25 and the power source 32 are connected in a connectable manner, and the fourth sensor 26 and the power supply 32 are connected in a connectable manner.

  The communication bus 22 is a communication bus that performs CAN communication. In the sensor information processing system 1 for construction machines, connection information between the sensors 23, 24, 25, 26 and the power source 32 can be input by the information input unit 31, and the connection information is input via the information input unit 31. It can be input to the control device 21, and the control device 21 uses the connection information as reference data for individually identifying each sensor 23, 24, 25, 26, and uses each sensor 23, 24, 25, 26. It is comprised so that the process for identification may be performed.

  In the embodiment, the information input means 31 is a touch panel type, but is not limited thereto, and may be a personal computer or a dedicated information input terminal. Further, the connecting means 33 only needs to be able to individually connect the first sensor 23, the second sensor 24, the third sensor 25, and the fourth sensor 26 to the power source 32. Although the connection means 33 is a switch device, the identification setting of the sensors 23, 24, 25, and 26 can be efficiently performed on the production line.

  Next, the communication sequence of the sensor information processing system 1 for construction machines will be described. In the present embodiment, a process for connecting the first connection unit 34 and identifying the first sensor 23 is executed, and then the second connection unit 35 is connected and the second sensor 24 is identified. A process for sequentially connecting the first connection unit 34 to the fourth connection unit 37 one by one and identifying the first sensor 23 to the fourth sensor 26 one by one so as to execute the process. Execute. In the following description, for convenience, the communication sequence of the process for identifying the first sensor 23 will be described. However, the communication sequence of the process for identifying the other sensors 24, 25, and 26 is the same, and the description is omitted. To do.

  As shown in FIG. 3, in the sensor information processing system 1 for a construction machine, a first sensor 23 is connected to a power source 32 via a first connection portion 34 of a connection means 33, and the first sensor 23 communicates with the power supply 32. It is connected to the control device 21 via the bus 22. The information input means 31 is connected to the control device 21 so as to be communicable. The connection between the information input means 31 and the control device 21 may be wired or wireless.

The plurality of sensors 23, 24, 25, and 26 include an arithmetic processing unit such as an MPU (Micro Processing Unit) having an arithmetic function and have serial numbers individually. Among these, the identification of the first sensor 23 will be described. The first sensor 23 is activated by connecting the first connecting portion 34 of the connecting means 33 and connecting the power source 32 and the first sensor 23. The first sensor 23 transmits initial data 41 including an initial ID (default provisional ID) and its serial number to the control device 21.

The control device 21 recognizes the first sensor 23 and stores the serial number included in the initial data 41. When the setting is started, the control device 21 uses first information additional data (hereinafter referred to as first CAN data) 42 as connection information including the serial number and the attachment position information input by the information input means 31. Transmit to the first sensor 23.

The first sensor 23 starts the identification, and based on the mounting position information input by the information input means 31 of the first CAN data 42 including its own serial number, the first sensor 23 performs arithmetic processing. The self-identification ID is determined from the CANID table 43 registered in advance in the section, and second information additional data (hereinafter referred to as second CAN data) 44 including the identification ID is transmitted to the control device 21. To do. The control device 21 collates with the identification ID registered in the table 45, and the setting of the identification ID is completed. The information including the setting completion message 46 is sent to the first sensor 23, and thereafter, the identification ID is used for the first sensor 23.

  As shown in FIG. 4, the initial data 41 includes the serial number of the first sensor 23 itself in the initial ID. The first CAN data 42 includes, in addition to its own serial number and attachment position information (right), an initial ID, attachment position coordinates and attachment angle input by the information input means 31. The second CAN data 44 includes, in addition to the identification ID, an initial ID, a serial number, mounting position information (right) input by the information input means 31, mounting position coordinates, and mounting angle. With the first CAN data 42, the attachment position coordinates and the attachment angle input by the information input means 31 can be input to the first sensor 23 together with the attachment position of the first sensor 23.

  Next, regarding the sensor information processing system 1 for construction machines described above, processing of the control device 21 will be described based on a flowchart. A process for identifying the sensor shown in FIG. 5 is executed at a predetermined arithmetic processing cycle. In STEP1, it is confirmed whether a sensor signal (initial data) has been received. If the sensor signal (initial data) is received (YES in STEP 1), the process proceeds to STEP 2. If no sensor signal has been received (NO in STEP 1), execution of the current calculation processing cycle is terminated.

  In STEP 2, it is confirmed whether the sensor position information (attachment position information) has been selected by inputting to the information input means 31. If the sensor position information has been selected (YES in STEP 2), the process proceeds to STEP 3. If the sensor position information has not been selected (NO in STEP 2), execution of the current calculation processing cycle is terminated.

  In STEP 3, the first CAN data 42 including the mounting position information (right) and the serial number is transmitted to the first sensor 23.

  In STEP 4, it is confirmed whether or not the second CAN data 44 including the identification ID has been received. If the second CAN data 44 including the identification ID is received (YES in STEP 4), the process proceeds to STEP 5. If the second CAN data 44 including the identification ID has not been received (NO in STEP 4), execution of the current arithmetic processing cycle is terminated.

  In STEP 5, the setting of the identification ID of the first sensor 23 is completed, and a setting completion message is transmitted to the first sensor 23, and the execution of the current arithmetic processing cycle is finished.

Next, regarding the sensor information processing system 1 for construction machines described above, the processing in the first sensor will be described based on a flowchart. The processing shown in FIG. 6 (processing such as identification ID setting) is executed at a predetermined calculation processing cycle. In STEP 6, it is confirmed whether or not the identification ID setting process of the first sensor 23 has not been completed. If it is an unadjusted state (YES in STEP 6), the process proceeds to STEP 7. If it is in the adjusted state where the setting process of the identification ID has been completed (NO in STEP 6), the execution of the current arithmetic processing cycle is terminated.

  In STEP 7, a sensor signal (initial data) including an initial ID and a serial number is transmitted to the control device 21.

  In STEP 8, it is confirmed whether or not the first CAN data 42 including the mounting position information (right) and the serial number from the control device 21 has been received. If the first CAN data 42 including the attachment position information (right) and the serial number is received (YES in STEP 8), the process proceeds to STEP 9. If the first CAN data 42 including the mounting position information (right) and the serial number has not been received (NO in STEP 8), execution of the current calculation processing cycle is terminated.

  In STEP 9, based on the attachment position information (right), the identification ID is extracted from the use ID set of the table 43 and the identification ID of the first sensor 23 itself is determined. In STEP 10, the second CAN data 44 including the identification ID is transmitted to the control device 21.

  In STEP 11, it is confirmed whether a setting completion message in which the setting of the identification ID in the control device 21 has been received is received. If a setting completion message has been received (YES in STEP 11), the process proceeds to STEP 12. If the setting completion message has not been received (NO in STEP 11), execution of the current arithmetic processing cycle is terminated.

In STEP 12, the setting completion in the first sensor 23 is written to complete the adjustment, and the execution of the current arithmetic processing cycle is finished.
In addition, the process for identifying each sensor 23, 24, 25, 26 shall include the process which identifies the attachment position of the right, right back, left, left back of each sensor 23, 24, 25, 26.

As described above, the control device 21 identifies each sensor 23, 24, 25, 26 using the connection information as reference data for identifying each sensor 23, 24, 25, 26 individually. Therefore, each sensor 23, 24, 25, 26 is selected from a plurality of the same sensors 23, 24, 25, 26 connected to the same communication bus 22. Individual identification processing can be executed with a simple configuration.

  The sensors 23, 24, 25, 26 determine their own identification ID based on the mounting position information of the first CAN data 42, and thereafter the second CAN data 44 including the identification ID is used as the control device 21. When performing processing such as determination of identification IDs of a plurality of sensors 23, 24, 25, and 26 connected to the communication bus 22 for performing CAN communication and setting of attachment position information one by one, Can be performed without removing the power source 32 of the sensors 23, 24, 25, and 26, and the number of processing steps can be reduced.

  Even if the number of sensors increases, it is possible to execute processing such as determining an identification ID without adding a hardware configuration of the sensor. Furthermore, when the control device 21 stores the combination of the sensor mounting position and the serial number, it can be detected that the sensor has been replaced.

  In the embodiment, the setting of the identification ID of the first sensor 23 has been described. However, the identification IDs of other sensors such as the second sensor 24, the third sensor 25, and the fourth sensor 26 are similarly set. Can be set. In the embodiment, the communication bus is CAN communication. However, the communication bus is not limited to this, and the communication bus may be a so-called LAN or other communication bus. In addition, the process for identifying each sensor is performed by connecting the power source and the sensor so that the control device receives initial data including the serial number transmitted from the sensor, and the control device receives the data of the sensor input by the information input means. The process includes identifying the sensor by associating the mounting position information with the serial number included in the initial data.

1 Sensor information processing system for construction machinery 1
DESCRIPTION OF SYMBOLS 10 Construction machine 11 Airframe 14 Driver's cab 21 Control apparatus 22 Communication bus (Bus which performs CAN communication)
23 1st sensor 24 2nd sensor 25 3rd sensor 26 4th sensor 31 Information input means 32 Power supply 33 Connection means (connector, switch device)
42 1st information additional data (1st CAN data)
44 Second information additional data (second CAN data)

Claims (5)

A sensor information processing system for a construction machine having a control device and a plurality of sensors attached to the airframe and connected to the control device via the same communication bus,
It has information input means capable of communicating with the control device, and connection means for connecting each of the sensors individually to a power source so as to be connectable / disconnectable,
Connection information between each sensor and the power source can be input by the information input means, and the connection information can be input to the control device via the information input means,
The construction is characterized in that the control device is configured to execute a process for identifying each sensor using the connection information as reference data for individually identifying each sensor. Sensor information processing system for machines. A sensor information processing system for a construction machine according to claim 1,
The plurality of sensors are sensors attached to the attachment positions of the airframe and have serial numbers individually.
By connecting the power source and the sensor, the sensor transmits initial data including the serial number of the sensor to the control device,
The control device stores the serial number included in the initial data,
The control device transmits information addition data including the serial number and the mounting position information of the sensor input by the information input means to the sensor,
The sensor determines its own identification ID based on the mounting position information of the information additional data including the serial number of the sensor, and transmits the information additional data including the identification ID to the control device. A sensor information processing system for construction machines, characterized in that it is configured. A sensor information processing system for a construction machine according to claim 2,
The sensor has a calculation function;
The control device is configured to transmit information necessary for sensor internal calculation, such as mounting position coordinates and mounting angle, according to the mounting position information, to the sensor. Sensor information processing system. A sensor information processing system for a construction machine according to any one of claims 1 to 3,
The sensor information processing system for a construction machine, wherein the connection means is a connector detachably provided. A sensor information processing system for a construction machine according to any one of claims 1 to 4,
The sensor information processing system for construction machines, wherein the information input means and the connection means are arranged in a cab provided in the airframe.