JP2021058156A - Communication system for working machine - Google Patents

Abstract

To make setting of a pairing state (communication established state) while preventing malfunction of a working machine.SOLUTION: A vehicle side control unit 44 and a working machine side control unit 52 are configured to control an operation state of a working machine 2 by performing wireless communication of information via a vehicle side wireless communication device 41 and a working machine side wireless communication device 51, when a pairing state is established between the vehicle side control unit 44 and the working machine side control unit 52. There is provided a pairing state setting propriety unit 71 which permits setting of the pairing state when the working vehicle 1 is in travel stop state and the working machine 2 is in a non-operation state, and prohibits setting of the pairing state when the working vehicle 1 is in travelling state or the working machine 2 is in an operating state.SELECTED DRAWING: Figure 5

Description

The present invention relates to a communication system for a work machine capable of wirelessly communicating various information between a vehicle side control unit provided in a work vehicle and a work machine side control unit provided in a work machine connected to the work vehicle.

In the above-mentioned communication system for a work machine, the work vehicle is provided with a vehicle side control unit and a vehicle side wireless communication device, and the work machine is provided with a work machine side control unit and a work machine side wireless communication device. Various information can be wirelessly communicated between the vehicle side control unit and the work equipment side control unit via wireless communication between the side wireless communication device and the work machine side wireless communication device (for example, Patent Documents). See 1.).

In the system described in Patent Document 1, various information can be wirelessly communicated between the vehicle side control unit and the work machine side control unit, so that the vehicle side control unit can communicate with the work machine side control unit. Various information for controlling the operating state of the working machine is commanded, and the working machine side control unit controls the operating state of the working machine based on the command information. In this way, the vehicle side control unit controls the operating state of the work machine while using wireless communication with the work machine side control unit.

JP-A-2019-9600

In order to perform wireless communication between the vehicle side control unit and the work equipment side control unit, pairing processing such as mutual authentication is performed between the vehicle side control unit and the work equipment side control unit in advance. The pairing status (communication establishment status) is set. However, if the pairing state is set at a timing not intended by the user, for example, while the work vehicle is running or working on the work machine, the vehicle side control unit controls the operation state of the work machine. It will be possible. Therefore, the user or the like may misunderstand that the pairing state has not been set, and the work machine may malfunction due to an erroneous operation or the like.

In view of this situation, a main object of the present invention is to provide a communication system for a work machine capable of setting a pairing state (communication establishment state) while preventing a malfunction of the work machine.

The first characteristic configuration of the present invention is that the work vehicle is provided with a vehicle side control unit and a vehicle side wireless communication device, and the work machine that can be connected to the work vehicle has a work machine side control unit and a work machine side. Equipped with a wireless communication device
When a pairing state is set between the vehicle side control unit and the work machine side control unit, the vehicle side control unit and the work machine side control unit are the vehicle side wireless communication device and the work machine side control unit. It is configured to perform wireless communication of information via a wireless communication device on the work equipment side and control the operating state of the work equipment.
When the work vehicle is in the traveling stopped state and the working machine is in the non-working state, the setting of the pairing state is permitted, and when the working vehicle is in the traveling state or the working machine is in the working state. Is provided with a pairing state setting enable / disable unit that prohibits the setting of the pairing state.

According to this configuration, when the work vehicle is in the running state or the work machine is in the working state, the pairing state setting enable / disable unit prohibits the setting of the pairing state. It is possible to prevent the pairing state from being set. When the work vehicle is in the stopped running state and the work machine is in the non-working state, the pairing state setting enable / disable unit permits the setting of the pairing state. Will be done.

As a result, when the work vehicle is in the running state or the work machine is in the work state, it is possible to prevent the pairing state from being set and prevent the work machine from malfunctioning. When the work vehicle is in the stopped running state and the work machine is in the non-work state, the pairing state is set, information is wirelessly communicated between the vehicle side control unit and the work machine side control unit, and the work machine is used. It is possible to control the operating state of.

The second feature configuration of the present invention includes a forward / backward switching operation unit that can freely switch between a forward running state, a running stop state, and a reverse running state in order to switch the work vehicle between a forward running state, a running stop state, and a reverse running state. Be,
The pairing state setting enable / disable unit is in that when the forward / backward advance switching operation unit is in the neutral state, it is determined that the work vehicle is in the traveling stopped state.

According to this configuration, the pairing state setting enable / disable unit determines that the work vehicle is in the running stop state based on the switching state of the forward / backward switching operation unit for operating the running state of the work vehicle. Therefore, it is possible to accurately determine the running stop state of the work vehicle with a simple configuration.

The third characteristic configuration of the present invention includes a PTO shaft that transmits power from the work vehicle to the work machine.
The pairing state setting enable / disable unit is in that when the PTO axis is in the stopped state, it is determined that the working machine is in the non-working state.

According to this configuration, the pairing state setability unit determines that the work machine is in the non-work state based on the state of the PTO axis for transmitting power from the work vehicle to the work machine. With a simple configuration, it is possible to accurately determine that the working machine is in a non-working state.

The fourth characteristic configuration of the present invention includes a PTO shaft that transmits power from the work vehicle to the work machine.
The work machine is configured so that the posture can be freely changed to a plurality of work postures including the initial work posture.
The pairing state setting possibility unit is in that when the PTO axis is in the stopped state and the working machine is in the initial working posture, it is determined that the working machine is in the non-working state.

According to this configuration, the work machine can change its posture to a plurality of work postures including the initial work posture, so that the work can be performed while changing the work posture according to the work situation and the like, and the work efficiency can be changed. Can be achieved. However, depending on the working posture of the working machine, if a malfunction of the working machine occurs, a big problem such as damage to the working machine may occur. Therefore, when the PTO axis is in the stopped state and the working machine is in the initial working posture, the pairing state setting enable / disable part determines that the working machine is in the non-working state, and also considers the working posture of the working machine. To determine the non-working state of the working machine. As a result, the pairing state can be set while appropriately preventing major problems such as damage to the work machine due to malfunction of the work machine.

The fifth characteristic configuration of the present invention is that the pairing state can be set by operating the display device provided in the work vehicle.

According to this configuration, the pairing state can be set only by the user or the like operating the display device, so that the operability can be improved.

The sixth feature configuration of the present invention includes a mobile communication terminal capable of wirelessly communicating between the vehicle-side control unit and the work equipment-side control unit, and can specify a pairing target device to be paired. ,
The mobile communication terminal is a pairing target device to be paired when the work vehicle is in a stopped running state and the work machine is in a non-work state, and is a specific vehicle side control unit and a specific work machine side. Specify the control unit,
The point is that the pairing state is set between the specific vehicle side control unit and the specific work machine side control unit that have received the designation.

According to this configuration, the mobile communication terminal designates a specific vehicle side control unit and a specific work machine side control unit as pairing target devices to be in the pairing state, and is specified by the mobile communication terminal. Since the pairing state is set between the vehicle side control unit and the specific work machine side control unit, between the vehicle side control unit and the work machine side control unit that have not been specified by the mobile communication terminal. , It is possible to prevent the pairing state from being set. In this way, the mobile communication terminal can specify which vehicle side control unit and which work machine side control unit to set the pairing state, and at what timing the pairing state is set. Since it can be specified, it is possible to prevent the pairing state from being set between the vehicle side control unit and the work equipment side control unit that the user or the like does not expect, and the user or the like does not expect it. It is also possible to prevent the setting of the pairing state at the timing.

Side view with the tractor connected to the puddling machine Plan view with the tractor connected to the puddling machine View of the puddling machine from the rear side View of the puddling machine from the front side Control block diagram of tractor, display device, puddling machine Diagram showing a display device Diagram showing the specified state by the mobile communication terminal Flowchart showing the operation when setting the pairing state Flowchart showing operation when determining communication abnormality Diagram showing the connection status of the tractor, communication connection kit, and puddling machine

An embodiment of a communication system for a working machine according to the present invention will be described with reference to the drawings.
[First Embodiment]
As shown in FIG. 1, this communication system for work machines includes a work vehicle 1 and a work machine 2 connected to the work vehicle 1, and wirelessly communicates between the work vehicle 1 and the work machine 2. However, it is for controlling the operating state of the work vehicle 1 and the work machine 2.

As shown in FIG. 1, the tractor 1 is applied as the work vehicle, but a work vehicle other than the tractor can be applied. The work vehicle can be applied not only to a work vehicle that can be manually driven by a user or the like, but also to a work vehicle that can be automatically driven and has an automatic travel control unit that can automatically travel along a target travel route. Although the puddling machine 2 is connected as the working machine, various working machines other than the puddling machine, such as a rotary tiller, a mower, a plow, a sowing device, and a spraying device, can be connected.

The tractor 1 includes left and right front wheels 3 that function as driveable steering wheels, and a traveling machine body 5 that has left and right rear wheels that can be driven. A bonnet 6 is arranged on the front side of the traveling machine body 5, and an electronically controlled diesel engine (hereinafter, referred to as an engine) 7 equipped with a common rail system is provided in the bonnet 6. A cabin 8 forming a boarding-type driving unit is provided behind the bonnet 6 of the traveling machine body 5.

Inside the cabin 8, a steering wheel 9 that enables manual steering of the left and right front wheels 3, a driver's seat 10 for passengers, a touch panel type display device 11 (sub-monitor device), various operating tools, and the like are provided. Has been done.

A puddling machine 2 is connected to the rear portion of the traveling machine body 5 via a three-point link mechanism 12 so as to be able to move up and down and roll (the inclination in the left-right direction can be adjusted). The puddling machine 2 has an input shaft 25 connected to a PTO shaft 13 provided at the rear of the traveling machine body 5, and is configured to freely transmit power from the tractor 1 to the puddling machine 2 via the PTO shaft 13.

As shown in FIGS. 2 to 4, the puddling machine 2 is provided with a central working portion 21 arranged at the central portion in the left-right direction and side working portions 22 arranged at both ends in the left-right direction, and the central working portion 2 is provided. The side working portion 22 is configured to be foldable so as to be foldable upward with respect to the portion 21. Incidentally, FIG. 2 shows a plan view in a state where the scavenger 2 is connected to the tractor 1, but only the outer shape of the scavenger 2 is schematically shown.

The side working portion 22 is in a folded state in which the side working portion 22 is folded upward with respect to the central working portion 21 by operating the rotating mechanism 24 by the expansion / contraction operation of the electrohydraulic cylinder 23 (see the left side of FIG. 4). And the expanded state (see the right side of FIGS. 3 and 4) in which the side working portions 22 are arranged side by side with respect to the central working portion 21. The puddling machine 2 is configured so that the working width in the left-right direction can be adjusted by adjusting whether or not the side working portion 22 is folded.

The central working portion 21 and the side working portion 22 are provided with a puddling claw 26 (see FIG. 1), a flat plate 27, and a rake 28. A soil pulling unit 34 whose height in the vertical direction of the rake 28 can be adjusted is provided. The soil pulling unit 34 adjusts the height of the rake 28 in the vertical direction via the soil pulling portion 35.

As shown in FIG. 1, the puddling machine 2 is configured such that the input shaft 25 is connected to the PTO shaft 13 of the tractor 1 and receives power from the tractor 1 via the PTO shaft 13 and the input shaft 25. Has been done. The puddling machine 2 is configured to rotate and drive the puddling claw 26 by transmitting power from the tractor 1 to perform puddling work.

As shown in FIGS. 3 and 4, an extension rake 31 is provided on the outside of the side working portion 22 in the left-right direction via a control bar 29 and a wire 30. The extension rake 31 is provided so as to be rotatable up and down around a rotation shaft 32, and a rake opening / closing device 33 that opens and closes the extension rake 31 between a used state and a non-used state by rotating around the rotating shaft 32. Is provided.

As shown in FIG. 5, the communication system for working machines is configured to control the operating state of the puddling machine 2 while wirelessly communicating various information between the tractor 1 and the puddling machine 2. A display device 11 (sub-monitor device) that can be mounted at a predetermined position in the cabin 8 is used to give various commands for controlling the operating state of the puddling machine 2. The display device 11 can also be used by being removed from a predetermined location in the cabin 8.

The tractor 1 includes a vehicle-side wireless communication device 41, a machine-side control unit 42 that controls the operating state of the tractor 1, and a vehicle-side detection unit 43 that detects the state of the tractor 1. The machine-side control unit 42 raises and lowers the three-point link mechanism 12 to control the raising and lowering operation of the puddling machine 2, and rolls the three-point link mechanism 12 (adjusts the inclination in the left-right direction). A rolling operation control unit 42b for controlling the rolling operation of the puddling machine 2 and a PTO control unit 42c for switching the PTO shaft 13 between an operating state and a stopped state are provided.

As the vehicle side detection unit 43, the elevating height sensor 43a that detects the elevating height of the puddling machine 2 by the three-point link mechanism 12 and the vehicle side that detects the inclination of the puddling machine 2 in the left-right direction by the three-point link mechanism 12. The left / right tilt sensor 43b, the PTO axis sensor 43c that detects whether the PTO axis 13 is in the operating state or the stopped state, and the working machine such as the puddling machine 2 are connected to the three-point link mechanism 12 to connect the working machine. A traction sensor 43d that detects the traction state that is being traction, and a reverser lever that can be switched between the forward state, the neutral state, and the reverse state in order to switch the tractor 1 between the forward running state, the running stop state, and the reverse running state. The reverser lever sensor 43e that detects the operating position of the auxiliary speed changer (not shown) and the auxiliary speed change sensor 43f that detects whether the shift stage of the auxiliary transmission (not shown) is in the high speed state, the low speed state, or the neutral state. It is equipped.

The puddling machine 2 includes a working machine side wireless communication device 51, a working machine side control unit 52 that controls the operating state of the puddling machine 2 (working machine), and a working machine that detects the state of the puddling machine 2 (working machine). A side detection unit 53 is provided. The work machine side control unit 52 operates a side work unit control unit 52a that expands and contracts the electrohydraulic cylinder 23 to switch the left and right side work units 22 into a folded state and an unfolded state, and operates a rake unit 34. A rake height control unit 52b that controls the height of the 28 in the vertical direction and an extension rake control unit 52c that operates the rake opening / closing device 33 to switch the extension rake 31 between a used state and a non-used state are provided. There is.

As the work machine side detection unit 53, a work machine side front-rear tilt sensor 53a that detects the tilt of the puddling machine 2 in the front-rear direction, a work machine side left-right tilt sensor 53b that detects the tilt of the puddling machine 2 in the left-right direction, and the like. Whether the rotating state (transmission state or non-transmission state) of the power transmission rotating body (for example, the rotation shaft in the power transmission mechanism) that can rotate by receiving the power transmission from the tractor 1 via the PTO shaft 13 ), A traction rotation sensor 53d that detects the rotational state of a traction rotating body (for example, a free-swing wheel, etc.) that can be rotated by the traction of the tractor 1, and left and right side working portions 22. The side open / close sensor 53e that detects whether each of the above is in the folded state (closed state) or the unfolded state (open state), and the left and right extension rakes 31 are in the used state (open state) or not. It is provided with an extension rake opening / closing sensor 53f that detects whether it is in a state (closed state).

The display device 11 is configured to freely communicate various information with the machine-side control unit 42 by wire or wirelessly, and is provided with the machine-side control unit 42 and the display control unit 61 as the vehicle-side control unit 44. ing. The display device 11 includes a display control unit 61 that controls the display device 11, a display unit 62 that can freely display various information, and an operation unit 63 (operation switch) that performs various operations.

As shown in FIG. 6, the display device 11 is provided with a touch panel type display unit 62, and a plurality of operation units 63 are arranged in the display unit 62 and above the display unit 62. The operation unit 63 in the display unit 62 is an operation switch displayed on the screen of the display unit 62.

On the display unit 62, various information related to the working machine such as the state of the puddling machine 2 is displayed. In FIG. 6, the state of the depth of the rake 2 is shown on the left side, the open / closed state of the side working portion 22 and the opened / closed state of the extension rake 31 are shown in the upper center, and the rake is shown in the lower center. The tilted state of the machine 2 in the left-right direction is shown. Incidentally, in FIG. 6, as the open / closed state of the side work portion 22 and the open / closed state of the extension rake 31, the left and right side work portions 22 are expanded on both sides, and the left and right extension rakes 31 are used. It shows that. In the upper right part, an operation switch for selecting either puddling work or soil gathering work, and a working state of which work is selected are shown. The first operation switch 63a on the left side is for adjusting the depth of the puddling machine 2, and the second operation switch 63b at the lower center is for adjusting the inclination of the puddling machine 2 in the left-right direction. is there.

As shown in FIG. 6, upper portions of the display unit 62 are provided with third to seventh operation switches 63c to 63g. The third operation switch 63c is for selecting which of the left and right directions of the puddling machine 2 is to be operated. The fourth operation switch 63d is for performing a preparatory operation for operating the puddling machine 2, such as opening and closing a valve. The fifth operation switch 63e is for deploying the side working unit 22. The sixth operation switch 63f is for folding the side working portion 22. The seventh operation switch 63g is for operating the display screen of the display unit 62, such as returning the screen of the display unit 62 to the previous screen.

When controlling the operating state of the puddling machine 2, as shown in FIG. 5, when the user or the like operates the operation unit 63 on the display device 11, the display control unit 61 and the vehicle side wireless communication device 41 An operation command corresponding to the operation of the operation unit 63 is issued to the work machine side control unit 52 via wireless communication with the work machine side wireless communication device 51. The work machine side control unit 52 controls the operation state of the puddling machine 2 based on the operation command.

For example, when the operation unit 63 performs an operation for expanding the side work unit 22 (open state), the display control unit 61 expands the side work unit 22 with respect to the work machine side control unit 52. Give an operation command to make it (open state). The side work unit control unit 52a of the work machine side control unit 52 operates the electro-hydraulic cylinder 23 to switch the side work unit 22 from the folded state (open state) to the unfolded state (open state).

In this way, in response to the operation of the display device 11 on the tractor 1 side, the vehicle side control unit 44 ( The operating state of the puddling machine 2 is controlled while wirelessly communicating between the display control unit 61 and the machine side control unit 42) and the work machine side control unit 52).

Before performing wireless communication between the vehicle side control unit 44 and the work machine side control unit 52, the vehicle side control unit 44 (display control unit 61 and the machine side control unit 42) and the work machine side control unit 42 It is necessary to perform pairing processing such as mutual authentication with 52 and set the pairing state (communication establishment state). However, if the pairing state is set at a timing not intended by the user, such as while the tractor 1 is running or working on the puddling machine 2, the puddling machine 2 may malfunction due to an erroneous operation or the like. There is sex.

Therefore, as shown in FIG. 5, when the tractor 1 is in the traveling stopped state and the puddling machine 2 (working machine) is in the non-working state, the setting of the pairing state is permitted and the tractor 1 is in the traveling state. In the case or when the puddling machine 2 (working machine) is in the working state, the pairing state setting enable / disable unit 71 for prohibiting the setting of the pairing state is provided.

The determination of whether the tractor 1 is in the traveling stopped state or the traveling state will be described.
When the reversal lever sensor 43e detects that the reverser lever (corresponding to the forward / backward switching operation unit) is in the neutral state, the pairing state setting enable / disable unit 71 determines that the tractor 1 is in the traveling stopped state. .. Further, the pairing state setting enable / disable unit 71 can determine that the tractor 1 is in the traveling stop state by detecting that the shift stage of the auxiliary transmission is in the neutral state by the auxiliary transmission sensor 43f. Therefore, the pairing state setting enable / disable unit 71 can determine that the tractor 1 is in the traveling stopped state by using at least one of the detection result of the reverser lever sensor 43e and the detection result of the auxiliary transmission sensor 43f. When both the detection result of the reverser lever sensor 43e and the detection result of the auxiliary transmission sensor 43f are used, the reversal lever sensor 43e detects that the reverser lever is in the neutral state, and the transmission speed of the auxiliary transmission device is changed. By detecting that the stage is in the neutral state by the auxiliary transmission sensor 43f, the pairing state setting enable / disable unit 71 can determine that the tractor 1 is in the traveling stopped state.

The determination of whether the puddling machine 2 is in the non-working state or the working state will be described.
The pairing state setting enable / disable unit 71 determines that the puddling machine 2 (working machine) is in the non-working state by detecting that the PTO shaft 13 is in the stopped state by the PTO axis sensor 43c.

Since the left and right side work portions 22 and the left and right extension rakes 31 can be opened and closed in the puddling machine 2, the left and right side work portions 22 are closed (folded) and left and right as a working posture. The initial working posture in which the extension rake 31 of the above is closed (unused state), the left and right side working portions 22 are opened (deployed state), and the left and right extension rake 31 are closed (non-used state). The posture can be freely changed to a plurality of work postures, such as a work posture, a fully open work posture in which the left and right side work portions 22 are in an open state (deployed state) and the left and right extension rakes 31 are in an open state (use state). ..

Therefore, the pairing state setting enable / disable unit 71 detects that the PTO shaft 13 is in the stopped state by the PTO shaft sensor 43c, and also detects that the puddling machine 2 is in the initial working posture with the side opening / closing sensor 53e. By detecting with the extension rake opening / closing sensor 53f, it can be determined that the puddling machine 2 (working machine) is in a non-working state. Incidentally, regarding the detection results of the side opening / closing sensor 53e and the extension rake opening / closing sensor 53f, the display control unit 61 and the vehicle side control unit 44 of the machine side control unit 42 make an inquiry to the work machine side control unit 52, and the work machine side. When the control unit 52 responds to the inquiry, the pairing state setting enable / disable unit 71 can acquire the detection results of the side open / close sensor 53e and the extended rake open / close sensor 53f.

By providing the pairing state setting enable / disable unit 71 in this way, the setting of the pairing state is permitted only when the tractor 1 is in the traveling stopped state and the puddling machine 2 (working machine) is in the non-working state. .. Therefore, it is possible to prevent the pairing state from being set at a timing not intended by the user or the like.

Further, the mobile communication terminal 80 is used to limit the setting of the pairing state. The mobile communication terminal 80 is capable of wireless communication between the vehicle side control unit 44 (display control unit 61 and the machine side control unit 42) and the work machine side control unit 52, and is a pairing target device to be in a pairing state. Is configured to be freely specified.

When there are a plurality of tractors 1 and a plurality of puddling machines 2 (working machines), the mobile communication terminal 80 sets the pairing state as the pairing target device, that is, the specific vehicle side control unit 44 in the specific tractor 1. In addition, a specific work machine side control unit 52 in the specific puddling machine 2 is designated. The mobile communication terminal 80 is a vehicle-side control unit 44 and a non-working state in the tractor 1 in the traveling stopped state when the tractor 1 is in the traveling stopped state and the puddling machine 2 (working machine) is in the non-working state. The work machine side control unit 52 in the puddling machine 2 is designated as a specific vehicle side control unit 44 and a specific work machine side control unit 52. Thereby, the mobile communication terminal 80 can specify which vehicle side control unit 44 and which work machine side control unit 52 to set the pairing state, and set the pairing state at what timing. You can also specify.

As shown in FIG. 7, even if there are a plurality of work vehicles A to C and a plurality of work machines a to c within the communicable range of wireless communication, the pairing state is set from among them. As the target device, the mobile communication terminal 80 designates the vehicle side control unit 44 in the specific work vehicle A and the work machine side control unit 52 in the specific work machine a. FIG. 7 shows a case where the work vehicle A and the work machine a are designated as the pairing target devices. Which work vehicle and which work machine are to be paired with respect to the vehicle side control unit 44 in the specific work vehicle A and the work machine side control unit 52 in the specific work machine a by the mobile communication terminal 80. By communicating the designated information including the device-specific information for recognizing the above, the mobile communication terminal 80 designates the specific vehicle side control unit 44 and the specific work machine side control unit 52.

The operation when the pairing state is set will be described with reference to the flowchart of FIG.
First, when the mobile communication terminal 80 is in the traveling stopped state of the tractor 1 and the puddling machine 2 (working machine) is in the non-working state, a specific display control unit 61 or The vehicle side control unit 44 and the specific work machine side control unit 52 of the machine side control unit 42 are designated (step # 1).

The vehicle-side control unit 44 (display control unit 61 or machine-side control unit 42) confirms whether or not the mobile communication terminal 80 has received a command as a pairing target device (step # 2). When the vehicle-side control unit 44 receives a command as a pairing target device from the mobile communication terminal 80, the vehicle-side control unit 44 confirms whether or not the pairing state setting possibility unit 71 permits the setting of the pairing state ( In the case of Yes in step # 2, step # 3).

The vehicle-side control unit 44 sets the pairing state when the pairing state setting enable / disable unit 71 permits the setting of the pairing state (in the case of Yes in step # 3, step # 4). Regarding the setting of the pairing state, as shown in FIG. 5, the pairing setting unit 72 of the display control unit 61 and the pairing setting unit 72 of the display control unit 61 via wireless communication between the vehicle side wireless communication device 41 and the work equipment side wireless communication device 51. The pairing process (communication establishment state) is set by performing pairing processing such as mutual authentication with the pairing setting unit 52d of the work machine side control unit 52.

When the pairing state is set, the display device 11 indicates whether the pairing state is set between the vehicle side control unit 44 of which tractor 1 and the work machine side control unit 52 of which puddling machine 2. It can be displayed on the display unit 62. At this time, if another tractor 1 (working vehicle) or another puddling machine 2 (working machine) exists within the wireless communication range, the vehicle side control unit 44 and the working machine side control that are waiting for the setting of the pairing state A list of parts 52 and the like can also be displayed.

When setting the pairing state, the above-mentioned operations of steps # 1 to # 4 are performed, but this operation is not limited to the case where the scavenger 2 is connected to the tractor 1 for the first time, and is connected to the tractor 1. Even when the scavenger 2 is changed to another scavenger 2, the operations of steps # 1 to # 4 described above are performed. In this way, even when the work machine connected to the work vehicle is replaced with another work machine, it is possible to prevent the pairing state from being set at a timing not intended by the user or the like. be able to.

When controlling the operating state of the puddling machine 2, if a communication abnormality of wireless communication occurs, the operating state of the puddling machine 2 cannot be appropriately controlled. Therefore, as shown in FIG. 5, a communication abnormality determination unit 73 for determining a communication abnormality of wireless communication is provided when controlling the operating state of the puddling machine 2.

When the operating state of the puddling machine 2 is controlled and the puddling machine 2 is operated, the operating state such as the position and posture of the puddling machine 2 changes according to the operating operation. Therefore, the operating state of the puddling machine 2 detected by the vehicle side detection unit 43 and the operating state of the puddling machine 2 detected by the working machine side detection unit 53 and acquired by wireless communication are similarly changed.

However, for example, when the puddling machine 2 is replaced, the puddling machine that forgets to reset the pairing state and sets the pairing state with the puddling machine 2 that is actually connected to the tractor 1. Unlike No. 2, a communication abnormality may occur in which the pairing state is not set and the pairing state is not set with the puddling machine 2 connected to the tractor 1. In this case, even if the user or the like tries to operate the puddling machine 2 connected to the tractor 1, the puddling machine 2 for which the pairing state is set will be operated. Therefore, the movement of the puddling machine 2 connected to the tractor 1 (operating state) and the movement of the puddling machine 2 for which the pairing state is set (operating state) are different, and the vehicle side detection unit 43 detects the movement (operating state). The operating state of the puddling machine 2 and the operating state of the puddling machine 2 detected by the working machine side detection unit 53 and acquired by wireless communication are different.

Therefore, the communication abnormality determination unit 73 changes the operating state of the puddling machine 2 detected by the vehicle side detecting unit 43 and the operating state of the puddling machine 2 detected by the working machine side detecting unit 53 and acquired by wireless communication. When the change in the operating state is different from the change, it is determined that the communication is abnormal. The communication abnormality determination unit 73 is a pair in which a pairing state is not set between the vehicle side control unit 44 of the tractor 1 and the work machine side control unit 52 of the puddling machine 2 connected to the tractor 1 as a communication abnormality. It is determined that the ring state has not been set.

When the change in the operating state is different, for example, the vehicle side detection unit 43 detects that the puddling machine 2 has moved to the front side, whereas the working machine side detection unit 53 detects that the puddling machine 2 has moved to the front side. The moving direction of the puddling machine 2 may be different, such as detecting that the puddling machine 2 has moved to the rear side. Further, even if the moving direction of the puddling machine 2 is the same, the moving amount of the puddling machine 2 detected by the vehicle side detection unit 43 and the moving amount of the puddling machine 2 detected by the working machine side detection unit 53 may be significantly different. is there.

Since the vehicle side detection unit 43 is provided with a plurality of sensors and the work machine side detection unit 53 is also provided with a plurality of sensors, the communication abnormality determination unit 73 responds to movements and the like accompanying the operation of the puddling machine 2. The detection information of the corresponding sensors in the vehicle side detection unit 43 and the work machine side detection unit 53 is compared to determine whether or not there is a communication abnormality.

For example, when the elevating operation control unit 42a elevates the three-point link mechanism 12 to elevate and lower the puddling machine 2, the inclination of the puddling machine 2 in the front-rear direction changes. Therefore, the elevating height sensor 43a and the work equipment side front-rear tilt sensor 53a correspond to the movement accompanying the elevating operation of the puddling machine 2. Therefore, when the communication abnormality determination unit 73 detects the change in the elevating height of the puddling machine 2 by the elevating height sensor 43a in the vehicle side detecting unit 43, the communication abnormality determining unit 73 detects it by the elevating height sensor 43a in the vehicle side detecting unit 43. Whether or not there is a communication abnormality by comparing the change in the ascending / descending height with the change in the tilt in the front-rear direction detected by the work-machine side front-back tilt sensor 53a of the work-machine side detection unit 53 and acquired by wireless communication. Is judged. When the elevating height detected by the elevating height sensor 43a changes, the communication abnormality determination unit 73 corresponds to the amount of change in the elevating height by the inclination in the front-rear direction detected by the work equipment side front-rear tilt sensor 53a. If it does not change as much as it does, it is judged that the communication is abnormal (pairing state is not set).

Further, when the rolling operation control unit 42b rolls the three-point link mechanism 12 to operate the puddling machine 2 to tilt the puddling machine 2 in the left-right direction, the inclination of the puddling machine 2 in the left-right direction changes. Therefore, the vehicle-side left-right tilt sensor 43b and the work machine-side left-right tilt sensor 53b correspond to the movement accompanying the rolling operation of the puddling machine 2 (the tilt adjustment operation in the left-right direction). Therefore, the communication abnormality determination unit 73 changes the inclination in the left-right direction detected by the vehicle-side left-right tilt sensor 43b of the vehicle-side detection unit 43, and the work-machine side left-right tilt sensor 53b of the work-machine side detection unit 53. Whether or not there is a communication abnormality is determined by comparing the detected change in inclination in the left-right direction. When the tilt in the left-right direction detected by the vehicle-side left-right tilt sensor 43b changes, the communication abnormality determination unit 73 determines the amount of change in the tilt in the left-right direction detected by the work equipment-side left-right tilt sensor 53b on the vehicle side. If it does not correspond to the amount of change in the left-right tilt sensor 43b, it is determined that the communication is abnormal (the pairing state is not set).

Since the puddling machine 2 receives power from the tractor 1 via the PTO shaft 13, if the PTO shaft 13 is in the operating state, the power transmission rotating body in the puddling machine 2 (for example, the rotating shaft in the power transmission mechanism). Etc.) will also be in a rotating state. Therefore, the PTO axis sensor 43c and the power transmission rotation sensor 53c correspond to the power transmission of the puddling machine 2. Therefore, when the communication abnormality determination unit 73 detects that the PTO axis 13 has changed from the stopped state to the operating state by the PTO axis sensor 43c of the vehicle side detection unit 43, the PTO axis sensor 43c of the vehicle side detection unit 43 detects it. It is determined whether or not there is a communication abnormality by comparing the state with the detection state of the power transmission rotation sensor 53c of the work equipment side detection unit 53. When the communication abnormality determination unit 73 detects the operating state of the PTO axis 13 by the PTO axis sensor 43c, if the power transmission rotation sensor 53c does not detect the rotation state, the communication abnormality (pairing state) Not set).

When the work is performed by the puddling machine 2, the puddling machine 2 is connected to the three-point link mechanism 12 at the rear of the tractor 1, and the tractor 1 is towing the puddling machine 2. Therefore, the traction sensor 43d and the traction rotation sensor 53d are sensors corresponding to the traction of the puddling machine 2. Therefore, when the communication abnormality determination unit 73 detects that the traction sensor 43d has changed from the non-traction state to the traction state, the detection state of the traction sensor 43d of the vehicle side detection unit 43 and the traction rotation of the work equipment side detection unit 53. It is determined whether or not the communication is abnormal by comparing with the detection state of the sensor 53d. The communication abnormality determination unit 73 determines that the communication abnormality (pairing state has not been set) if the traction state is detected by the traction sensor 43d and the rotation state is not detected by the traction rotation sensor 53d. ing.

When the communication abnormality determination unit 73 determines that the communication is abnormal, as shown in FIG. 5, a control prohibition unit 74 for prohibiting control of the operating state of the puddling machine 2 is provided. As a result, when a communication abnormality occurs, the wireless communication between the vehicle side control unit 44 and the work machine side control unit 52 can be stopped thereafter to control the operating state of the puddling machine 2. Since it is prohibited, it is possible to prevent the puddling machine 2 from malfunctioning due to the occurrence of a communication abnormality.

When a communication abnormality occurs, in addition to providing a control prohibition unit 74 that prohibits control of the operating state of the puddling machine 2 thereafter, as shown in FIG. 5, a notification unit that notifies the communication abnormality. 75 is provided. For example, as shown in FIG. 6, the notification unit 75 notifies the abnormality of the communication state by displaying "communication abnormality" in the message field 64 on the display unit 62 of the display device 11. In addition to displaying the communication abnormality on the display unit 62, the notification unit 75 can also notify the abnormality of the communication state by operating the alarm device or the voice device. By notifying the communication abnormality, the user or the like can recognize the communication abnormality and take measures to recover the communication abnormality.

Hereinafter, the operation when determining the communication abnormality will be described with reference to the flowchart of FIG.
When the vehicle side detection unit 43 detects a change in the operating state of the puddling machine 2, the communication abnormality determination unit 73 detects the operating state of the puddling machine 2 detected by the vehicle side detection unit 43 and the working machine side detection unit 53. Then, unlike the operating state of the puddling machine 2 acquired by wireless communication, it is determined whether or not the communication is abnormal (in the case of Yes in step # 11, step # 12).

For example, when the change in the elevating height of the puddling machine 2 is detected by the elevating height sensor 43a in the vehicle side detection unit 43, the communication abnormality determination unit 73 detects it by the elevating height sensor 43a in the vehicle side detecting unit 43. The elevating height of the puddling machine 2 is compared with the change in the elevating height and the change in the elevating height in the front-rear direction detected by the work-machine side front-rear tilt sensor 53a of the work-machine side detection unit 53 and acquired by wireless communication. Whether or not there is a communication abnormality is determined based on whether or not the operating states related to the sensor are different.

As described above, regarding the determination of whether or not the operating states of the puddling machine 2 are different, the operating state of the puddling machine 2 and the PTO regarding the tilt in the left-right direction by the vehicle side left-right tilt sensor 43b and the work machine side left-right tilt sensor 53b. Whether or not various operating states such as the operating state of the puddling machine 2 related to power transmission by the shaft sensor 43c and the power transmission rotation sensor 53c and the operating state of the puddling machine 2 related to traction by the traction sensor 43d and the traction rotation sensor 53d are different. Can be determined.

When the communication abnormality determination unit 73 determines that the operating state of the puddling machine 2 is different and the communication is abnormal, the control prohibiting unit 74 prohibits the puddling machine 2 from controlling the operating state thereafter, and the notification unit 75 prohibits the communication abnormality. (In the case of Yes in step # 12, step # 13).

[Second Embodiment]
In this second embodiment, as shown in FIG. 10, in the first embodiment, by adding the communication connection kit 91, the display control unit 61, the vehicle side control unit 44 of the machine side control unit 42, and the work machine It enables wireless communication with the side control unit 52. Hereinafter, the communication connection kit 91 will be mainly described, and the other configurations will be omitted by the same reference numerals as those in the first embodiment.

The communication connection kit 91 includes a vehicle-side power supply connection unit 92 that can be connected to the power supply connection unit 14 on the tractor 1 side by wire, and a work machine-side power supply connection unit 93 that can be connected to the power supply connection unit 36 on the puddling machine 2 side by wire. A communication connection unit 94 that can be connected to the communication connection unit 15 on the tractor 1 side by wire, and a communication conversion unit 95 that can wirelessly communicate between the work machine side wireless communication device 51 on the puddling machine 2 side are provided. ing.

Although not shown, the display control unit 61 and the vehicle side control unit 44 of the machine side control unit 42 are configured to freely communicate various information via the communication connection unit 15 on the tractor 1 side. The work machine side control unit 52 is configured to freely communicate various information via the work machine side wireless communication device 51.

The communication connection kit 91 can receive electric power from the tractor 1 by connecting the power connection unit 14 on the tractor 1 side and the power connection unit 92 on the vehicle side, and the received electric power is used by the communication conversion unit 95. It is used as operating power to operate. The communication connection kit 91 connects the power supply connection unit 36 on the puddling machine 2 side and the power supply connection unit 93 on the work machine side in a state where the power supply connection unit 14 on the tractor 1 side and the power supply connection unit 92 on the vehicle side are connected. Then, the electric power received from the tractor 1 can be supplied to the puddling machine 2.

The communication conversion unit 95 is capable of wireless communication with the work machine side wireless communication device 51 on the puddling machine 2 side, but is not configured to be capable of wireless communication with the tractor 1 side. The communication conversion unit 95 connects the communication connection unit 15 on the tractor 1 side and the communication connection unit 94 by wire, so that the vehicle side control unit 44 (display control unit 61 and the machine side control unit 42) on the tractor 1 side is connected. ) Is configured to communicate information by wire. As a result, information is communicated by wire between the tractor 1 side and the communication connection kit 91, and information is wirelessly communicated between the communication connection kit 91 and the puddling machine 2 side. When transmitting information from the tractor 1 side to the puddling machine 2 side, the communication conversion unit 95 wirelessly transmits the wired communication information received by the wired communication between the tractor 1 side and the communication connection kit 91. It is converted into communication information for use, and the converted wireless communication information is wirelessly transmitted to the work machine side wireless communication device 51. On the contrary, when the information is transmitted from the puddling machine 2 side to the tractor 1 side, the wireless communication information received by the wireless communication between the working machine side wireless communication device 51 and the communication connection kit 91 is transmitted. It is converted into wired communication information, and the converted wired communication information is transmitted by wire to the communication connection unit 15 on the tractor 1 side via the communication connection unit 94.

The communication conversion unit 95 is not configured to enable wireless communication with the working machine side wireless communication device 51 in one puddling machine 2, and the working machine side wireless in another puddling machine 2 (working machine). Wireless communication with the communication device 51 is disabled. That is, in performing wireless communication between the puddling machine 2 (working machine) and the communication connection kit 91, the working machine side wireless communication device 51 of the puddling machine 2 and the communication connection kit 91 have a one-to-one correspondence. There is only one communication connection kit 91 capable of wireless communication with the puddling machine 2 (working machine). As a result, when there are a plurality of puddling machines 2 (working machines), the same number of communication connection kits 91 as the number of puddling machines 2 are provided.

By connecting the communication connection kit 91 between the tractor 1 side and the puddling machine 2 side in this way, various information can be wirelessly communicated between the tractor 2 side and the communication connection kit 91, and the tractor Various information can be wiredly communicated between the 1 side and the communication connection kit 91, and the operating state of the puddling machine 2 can be controlled on the tractor 1 side.

[Another Embodiment]
Other embodiments of the present invention will be described. It should be noted that the configurations of the respective embodiments described below are not limited to being applied independently, but can also be applied in combination with the configurations of other embodiments.

(1) In the above embodiment, the case where the pairing state setting enable / disable unit 71, the pairing setting unit 72, the communication abnormality determination unit 73, the control prohibition unit 74, and the notification unit 75 are provided in the display control unit 61 of the display device 11. As shown, for example, the machine-side control unit 42 of the tractor 1 may be provided with a pairing state setting enable / disable unit 71, a pairing setting unit 72, a communication abnormality determination unit 73, a control prohibition unit 74, and a notification unit 75. it can.

(2) In the above embodiment, as shown in FIG. 1, an example in which the tractor 1 is applied as a work vehicle is shown, but for example, a work vehicle other than the tractor such as a combine harvester or a rice transplanter can be applied. it can.

For example, when a combine is applied, a working machine such as a cutting section is provided on the front side of the combine so as to be freely connectable. In this case, the pairing state setting enable / disable part detects that the threshing / cutting clutch is in the OFF state, thereby detecting that the PTO shaft that transmits power to the working machine such as the cutting part is in the stopped state. can do.

For example, when a rice transplanter is applied, a working machine such as a planting portion is provided on the rear side of the rice transplanter so as to be freely connected. In this case, the pairing state setting enable / disable part detects that the planting clutch is in the OFF state, thereby detecting that the PTO shaft that transmits power to the working machine such as the cutting part is in the stopped state. be able to.

1 Tractor (working vehicle)
2 generation scraper (working machine)
11 Display device 13 PTO axis 41 Vehicle-side wireless communication device 44 Vehicle-side control unit 51 Worker-side wireless communication device 52 Work-machine-side control unit 71 Pairing status setting availability unit 80 Mobile communication terminal

Claims (6)

The work vehicle is provided with a vehicle side control unit and a vehicle side wireless communication device, and the work machine that can be connected to the work vehicle is provided with a work machine side control unit and a work machine side wireless communication device.
When a pairing state is set between the vehicle side control unit and the work machine side control unit, the vehicle side control unit and the work machine side control unit are the vehicle side wireless communication device and the work machine side control unit. It is configured to perform wireless communication of information via a wireless communication device on the work equipment side and control the operating state of the work equipment.
When the work vehicle is in the traveling stopped state and the working machine is in the non-working state, the setting of the pairing state is permitted, and when the working vehicle is in the traveling state or the working machine is in the working state. Is a communication system for work equipment equipped with a pairing state setting enable / disable unit that prohibits the setting of the pairing state. In order to switch the work vehicle between the forward running state, the running stop state, and the reverse running state, a forward / backward switching operation unit capable of switching between the forward state, the neutral state, and the reverse state is provided.
The communication system for a work machine according to claim 1, wherein the pairing state setting enable / disable unit determines that the work vehicle is in the traveling stop state when the forward / backward switching operation unit is in the neutral state. A PTO shaft for transmitting power from the work vehicle to the work machine is provided.
The communication system for a work machine according to claim 1 or 2, wherein the pairing state setting enable / disable unit determines that the work machine is in a non-work state when the PTO axis is in the stopped state. A PTO shaft for transmitting power from the work vehicle to the work machine is provided.
The work machine is configured so that the posture can be freely changed to a plurality of work postures including the initial work posture.
The pairing state setability unit is any of claims 1 to 3 that determines that the work machine is in the non-work state when the PTO axis is in the stopped state and the work machine is in the initial work posture. The communication system for working machines according to item 1. The communication system for a work machine according to any one of claims 1 to 4, which is configured to be able to set a pairing state by operating a display device provided in the work vehicle. A mobile communication terminal capable of wirelessly communicating between the vehicle-side control unit and the work equipment-side control unit and can specify the pairing target device to be paired is provided.
The mobile communication terminal is a pairing target device to be paired when the work vehicle is in a stopped running state and the work machine is in a non-work state, and is a specific vehicle side control unit and a specific work machine side. Specify the control unit,
The communication system for a work machine according to any one of claims 1 to 5, wherein a pairing state is set between a specific vehicle side control unit and a specific work machine side control unit that have received the designation.

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