JP2021164113A - Work vehicle - Google Patents

Abstract

To shorten a processing time in replacement of an electronic control unit.SOLUTION: A tractor (1) comprises a plurality of electronic control units (10) and each electronic control unit (10) includes a storage unit (500) which stores a first control parameter to use for control processing and a second control parameter to use in another electronic control unit; and a parameter acquisition unit (213) which, when the first control parameter is not in its own unit, checks another electronic control unit mentioned above and acquires the first control parameter from the another electronic control unit.SELECTED DRAWING: Figure 1

Description

The present invention relates to a work vehicle equipped with a plurality of ECUs.

In recent years, work vehicles such as tractors and construction vehicles are equipped with a large number of electronic control units (ECUs) that control engines, traveling systems, various devices, connected work machines, and the like. The ECUs are connected by one or a plurality of communication lines, and are connected so as to be able to communicate with each other by a communication protocol such as CAN (Controller Area Network).

Then, for example, Patent Document 1 describes an ECU capable of dynamically mutual use of each function.

Further, Patent Document 2 describes a LAN system of a work vehicle provided with an information communication terminal capable of promptly transmitting information between the in-vehicle LAN system and the out-of-vehicle LAN system even if the amount of information increases.

Japanese Unexamined Patent Publication No. 2017-220220 (published on December 14, 2017) Japanese Patent No. 2013-126829 (published on June 27, 2013)

In recent years, ECUs have become more sophisticated and their control contents have become more complicated. Therefore, there is a risk of failure, and if it fails, it may be necessary to replace it.

However, in the above-mentioned conventional technique, replacement of the ECU and the like are not described. When the ECU is replaced, it is necessary to reset the parameters used for control and the like in the new ECU. As described above, in recent years, the functions of ECUs have been improved and the parameters to be set are diverse. Therefore, it takes a considerable amount of time just to reset the parameters used for control and the like.

One aspect of the present invention has been made in view of the above problems, and an object of the present invention is to realize a work vehicle capable of shortening the processing time at the time of ECU replacement.

In order to solve the above-mentioned problems, the work vehicle according to one aspect of the present invention is a work vehicle including a plurality of electronic control units, and one or a plurality of the work vehicles for communicably connecting the plurality of electronic control units. The electronic control unit includes a communication line, and the electronic control unit stores a first control parameter used for control processing in the own unit and a second control parameter used for control processing in another electronic control unit connected by the communication line. The unit, the determination unit that determines whether or not the first control parameter used for the control process of the own unit is stored, and the determination unit that the first control parameter is not stored in the storage unit of the own unit. When it is determined, the confirmation unit for confirming whether or not the first control parameter is stored in the other electronic control unit connected by the communication line, and the first control in the other electronic control unit. When the parameters are stored, the acquisition unit that acquires the first control parameter from the other electronic control unit and the control unit that performs control processing using the first control parameter acquired by the acquisition unit. I have.

According to the above configuration, when the first control parameter used in the control process is not stored in the own unit, the first control parameter is acquired from another electronic control unit capable of communicating, and the first control parameter is used. Therefore, control processing can be performed. Therefore, for example, even when the electronic control unit is replaced and the control parameter is not stored in the own unit, the control parameter required by the electronic control unit can be set without setting the control parameter from scratch. It can be acquired and set. Therefore, the time required for the process of setting the control parameter from scratch can be shortened, and the process time at the time of exchanging the electronic control unit can be shortened.

In the work vehicle according to one aspect of the present invention, when there are a plurality of other electronic control units to be checked whether or not the first control parameter is stored, the confirmation unit has a predetermined priority. Confirmation may be performed according to the order, and when the first control parameter exists, subsequent confirmation may not be performed.

According to the above configuration, it is confirmed whether or not the first control parameter is stored in order from the electronic control unit having the highest priority, and when it is confirmed that the first control parameter is stored, thereafter. , Does not confirm whether the first control parameter is stored. As a result, it is possible to prevent unnecessary processing such as performing a process of confirming whether or not the first control parameter is stored even though the first control parameter is already in a state where it can be acquired. ..

In the work vehicle according to one aspect of the present invention, the priority may be higher as the time required for acquiring the first control parameter from the electronic control unit is shorter.

According to the above configuration, since it is confirmed whether or not the electronic control unit that takes a short time to acquire the first control parameter is stored as the first control parameter, the first control parameter is stored in a plurality of electronic control units. If so, the first control parameter can be acquired earliest.

In the work vehicle according to one aspect of the present invention, when the first control parameter is not stored in the own unit or in another electronic control unit connected to the own unit by the communication line, the control unit The control process may be performed using the initial value stored in advance.

According to the above configuration, when the first control parameter is not stored in any electronic control unit, the control process can be performed using the initial value, and the control process is stopped due to the absence of the first control parameter. It is possible to prevent it from being stored.

According to one aspect of the present invention, when the own unit does not store the first control parameter used in the control process, the first control parameter is acquired from another electronic control unit capable of communicating, and the first control parameter is obtained. Can be used to perform control processing. Therefore, for example, even when the electronic control unit is replaced and the control parameter is not stored in the own unit, the control parameter required by the electronic control unit can be set without setting the control parameter from scratch. It can be acquired and set. Therefore, the time required for the process of setting the control parameter from scratch can be shortened, and the process time at the time of exchanging the electronic control unit can be shortened.

It is a figure for demonstrating the outline of the tractor of this invention. It is a functional block diagram which shows the structure of the electronic control unit provided in the tractor. It is a functional block diagram which shows the detail of the setting part provided in the said electronic control unit. It is a figure which shows the example of the control parameter of an electronic control unit. It is a flowchart which shows the flow of the setting process of a control parameter.

〔Overview〕
First, the work vehicle according to the present embodiment will be described with reference to FIG. In the following, a tractor will be described as an example of a work vehicle, but the present invention is not limited to this. Any vehicle may be used as long as it is equipped with an electronic control unit (ECU). Further, since the normal function of the tractor as a tractor can be realized by using a known technique, the description will be given here only when necessary.

As shown in FIG. 1, the tractor 1 includes a plurality of electronic control units (ECUs) 10. Here, as an example of the electronic control unit 10, ARU (ArmRest Unit) 10A, DBM (DashBoard Meter) 10B, VT (Virtial Terminal) 10C, TCU (Transmission Control Unit) 10D, VCU (Vehicle Control Unit) 10E, ENCU ( Engine Control Unit) 10F and ACU (Exhaust After Treatment Control Unit) 10G are listed. When it is not necessary to distinguish between them, they are collectively referred to as an electronic control unit 10. Further, the electronic control unit 10 is not limited to these. Various electronic control units 10 can be considered depending on the functions, mechanisms, devices, etc. of the tractor 1, and any electronic control unit required to control these functions, mechanisms, devices, etc. You may.

Then, in the example shown in FIG. 1, among the electronic control units 10, ARU10A, DBM10B, VT10C, TCU10D, and VCU10E are communicably connected by the communication line 101, and TCU10D, VCU10E, ENCU10F, and ACU10G are connected by the communication line 102. It is connected so that it can communicate.

Further, the ARU10A is a unit that controls the armrest portion of the tractor 1. The DBM10B is a unit that controls, displays, and the like regarding the meter in the dashboard of the tractor 1. The VT10C is a terminal that displays a status or the like in the tractor 1. The TCU10D is a unit that controls the drive of the tractor 1. The VCU 10E is a unit that controls the traveling of the tractor 1. The ENCU 10F is a unit that controls the engine of the tractor 1. The ACU10G is a unit that controls the exhaust of the tractor 1.

The communication line 101 and the communication line 102 communicate with each other by CAN (Controller Area Network).

Then, in the tractor 1 according to the present embodiment, the control parameters necessary for performing the control processing in each of the electronic control units 10 are stored in the own unit, and other electronic control capable of communicating with the communication line 101 or the communication line 102. When the electronic control unit 10 is replaced due to a failure or the like by storing it in at least one of the units 10, the control parameters required for the replaced electronic control unit 10 are connected by the communication line 101 or the communication line 102. It is acquired from another electronic control unit 10 which is used.

As a result, when the electronic control unit 10 is replaced, it is not necessary to set the control parameters from the beginning again, and the processing time required for setting up the electronic control unit 10 after the replacement can be significantly reduced.

The control parameters may be stored in the respective electronic control units 10 before the tractor 1 is shipped. If the control parameters of the electronic control unit 10 are adjusted after shipment, the control parameters of the electronic control unit 10 may be updated in each of the electronic control units 10 after the adjustment.

[Electronic control unit 10]
Next, the configuration of the electronic control unit 10 according to the present embodiment will be described with reference to FIG. FIG. 2 is a functional block diagram showing the configuration of the electronic control unit 10. Note that FIG. 2 shows a general configuration common to each electronic control unit 10. Each electronic control unit 10 differs in the content and number of input data, the content and number of output data, required software, and the like, depending on the control content.

As shown in FIG. 2, the electronic control unit 10 includes an input unit 100, a control unit 200, an output unit 300, a communication unit 400, and a storage unit 500.

Data necessary for control by the electronic control unit 10 is input to the input unit 100. As described above, the input data content and number differ depending on the control content of the electronic control unit 10.

The control unit 200 executes the control performed by the electronic control unit 10 based on the data input to the input unit 100. Further, the control unit 200 includes the setting unit 210 and sets the control parameters required for the control process. The details of the setting unit 210 will be described later.

The output unit 300 outputs data necessary for control to the control target. The output data differs depending on the control content.

The communication unit 400 communicates with another electronic control unit 10. Here, communication is possible via the communication line 101 and the communication line 102 (TCU10D, VCU10E in FIG. 1), but depending on the electronic control unit 10, only the communication line 101 (ARU10A, DBM10B, VT10C in FIG. 1). , Or only the communication line 102 (ENCU10F, ACU10G in FIG. 1) can communicate.

The storage unit 500 is a storage unit that stores control parameters and the like required for processing in the electronic control unit 10, and stores own machine parameters 510, other machine parameters 520, and initial values 530. When viewed from the own unit, the own machine parameter 510 corresponds to the first control parameter, and the other machine parameter 520 corresponds to the second control parameter.

The own machine parameter 510 is a control parameter required for the control process in the own unit.

The other machine parameter 520 is a control parameter required for control processing in the other unit. This is transmitted from the other electronic control unit 10 via the communication line 101 or the communication line 102.

The initial value 530 is an initial value (default value) of the control parameter.

Next, the details of the setting unit 210 will be described with reference to FIG. FIG. 3 is a functional block diagram showing details of the setting unit 210.

As shown in FIG. 3, the setting unit 210 includes a start confirmation unit 211, a parameter confirmation unit (determination unit, confirmation unit) 212, a parameter acquisition unit (acquisition unit) 213, and a parameter setting unit 214.

The activation confirmation unit 211 confirms whether or not the tractor 1 has been activated, that is, whether or not the key switch has been turned on.

When the start confirmation unit 211 confirms that the tractor 1 has been activated, the parameter confirmation unit 212 confirms whether or not the control parameters required for the control process in the electronic control unit 10 are stored in the storage unit 500. Then, when the control parameters required for the control processing in the electronic control unit 10 are not stored in the storage unit 500, another electronic control unit 10 capable of communicating in the communication line via the communication line 101 or the communication line 102 can be used. Check if the control parameters required for control processing in the own unit are stored. Then, when the control parameters required for the control processing in the own unit are stored in the other electronic control unit 10, the parameter acquisition unit 213 is instructed to acquire the control parameters.

The parameter confirmation unit 212 confirms another electronic control unit capable of communicating with the communication line 101 or the communication line 102. Therefore, for example, if the electronic control unit 10 is the TCU10D or VCU10E shown in FIG. 1, the other electronic control unit is used. Check all the control units 10, but if it is ARU10A, DBM10B, VT10C, check the electronic control unit 10 in the range connected by the communication line 101, and if it is ENCU10F, ACU10G, connect by the communication line 102. Confirmation will be performed for the electronic control unit 10 in the range shown.

Further, the parameter confirmation unit 212 refers to the other electronic control unit 10 to be confirmed when confirming whether or not the control parameters necessary for the control processing in the own unit are stored in the other electronic control unit 10. , You may prioritize and check in order from the highest priority. The priority may be higher as the time required to acquire the control parameter from the electronic control unit is shorter. If the shorter the time required to acquire the control parameters from the electronic control unit, the higher the priority, the presence or absence of the control parameters will be confirmed from the electronic control unit 10 which does not take much time to acquire the control parameters. Therefore, when the control parameters are stored in the plurality of electronic control units 10, the control parameters can be acquired earliest.

Further, the parameter confirmation unit 212 confirms whether or not the control parameters required for the control process in the own unit are stored in the other electronic control unit, and if it can be confirmed that the control parameters are stored, at that time. Even if the unconfirmed electronic control unit 10 exists, the confirmation of the control parameters may be completed. This is because it is not necessary to acquire the same control parameters from a plurality of electronic control units 10.

When the parameter confirmation unit 212 confirms that the other electronic control unit 10 stores the control parameters necessary for the control processing in the own unit, the parameter acquisition unit 213 acquires the control parameters and acquires the control parameters of the own unit. It is stored in the storage unit 500.

The parameter setting unit 214 sets the control parameters required for the control processing in the electronic control unit 10 by using the own machine parameter 510 stored in the storage unit 500. If neither the own unit nor the other electronic control unit 10 stores the control parameters required for the control process in the own unit, the parameter setting unit 214 sets the initial value 530 to the control required for the control process. Set as a parameter.

FIG. 4 shows an example of control parameters required for control processing. Parameter 501 shown in FIG. 4 shows an example in the case where the electronic control unit 10 is a TCU 10D. As shown in parameter 501, in the case of TCU10D, there are a config value and a sensor reference value (control reference value) as control parameters, and the config values include engine horsepower setting, transmission type setting, destination setting, and language used setting. Examples of the sensor reference value (control reference value) include a clutch pedal sensor reference value, an accelerator pedal sensor reference value, an engine rotation reference value, a clutch pressure adjustment value, and a suspension adjustment value.

Therefore, if the electronic control unit 10 is a TCU10D, the above engine horsepower setting, transmission type setting, destination setting, language used setting, clutch pedal sensor reference value, accelerator pedal sensor reference value, and engine rotation are set as own machine parameters 510. The reference value, the clutch pressure adjustment value, and the suspension adjustment value are stored in the storage unit 500. Further, if the electronic control unit 10 is other than the TCU 10D, these parameters are stored in the storage unit 500 as the parameters 520 of the other machine.

[Flow of parameter setting process]
Next, with reference to FIG. 5, the flow of the parameter setting process by the setting unit 210 will be described. FIG. 5 is a flowchart showing the flow of the parameter setting process.

As shown in FIG. 5, first, the activation confirmation unit 211 confirms that the key switch of the tractor 1 is turned on (S101). Next, the parameter confirmation unit 212 confirms whether or not the control parameters required for the control processing in the electronic control unit 10 are stored in the storage unit 500 (S102). If the storage unit 500 stores the control parameters required for the control processing in the electronic control unit 10 (YES in S102), the parameter setting unit 214 sets the parameters as control parameters used in the control processing in the electronic control unit 10. Then, the electronic control unit 10 performs a control process using the control parameter (S103).

On the other hand, if the control parameter required for the control process is not stored in the storage unit 500 (NO in S102), the parameter confirmation unit 212 communicates with the other electronic control unit 10 via the communication line 101 or the communication line 102. (S104), it is confirmed whether or not the control parameters necessary for the control process in the own unit are stored in the other electronic control unit 10 (S105). Then, when the control parameters required for the control processing in the own unit are stored in the other electronic control unit 10 (YES in S105), the parameter acquisition unit 213 acquires the control parameters and stores the own unit. Store in unit 500 (S106). Then, the parameter setting unit 214 sets the control parameter as a control parameter used for the control process in the electronic control unit 10, and the electronic control unit 10 performs the control process using the control parameter (S107).

Further, in step S105, when the control parameters required for the control process in the own unit are not stored in the other electronic control unit 10 (NO in S105), the electronic control unit 10 is the storage unit of the own unit. The control process is performed using the initial value 530 stored in 500 (S108).

[Example of realization by software]
The control block (particularly the control unit 200 and the setting unit 210) of the electronic control unit 10 of the tractor 1 may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or by software. You may.

In the latter case, the electronic control unit 10 includes a computer that executes instructions of a program that is software that realizes each function. This computer includes, for example, at least one processor (control device) and at least one computer-readable recording medium that stores the program. Then, in the computer, the processor reads the program from the recording medium and executes it, thereby achieving the object of the present invention. As the processor, for example, a CPU (Central Processing Unit) can be used. As the recording medium, a "non-temporary tangible medium", for example, a ROM (Read Only Memory) or the like, a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. Further, a RAM (Random Access Memory) for expanding the above program may be further provided. Further, the program may be supplied to the computer via an arbitrary transmission medium (communication network, broadcast wave, etc.) capable of transmitting the program. It should be noted that one aspect of the present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the above program is embodied by electronic transmission.

The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and the embodiments obtained by appropriately combining the technical means disclosed in the different embodiments. Is also included in the technical scope of the present invention. Furthermore, new technical features can be formed by combining the technical means disclosed in each embodiment.

1 Tractor 10 Electronic control unit 100 Input unit 101, 102 Communication line 200 Control unit 210 Setting unit 211 Start confirmation unit 212 Parameter confirmation unit (judgment unit, confirmation unit)
213 Parameter acquisition unit (acquisition unit)
214 Parameter setting unit 300 Output unit 400 Communication unit 500 Storage unit 501 Parameter 510 Own unit parameter (first control parameter)
520 Other machine parameters (second control parameter)
530 initial value

Claims (4)

A work vehicle equipped with multiple electronic control units
It is provided with one or more communication lines for communicably connecting the plurality of electronic control units.
The electronic control unit is
A storage unit that stores the first control parameter used for the control process in the own unit and the second control parameter used for the control process in the other electronic control unit connected by the communication line.
A determination unit that determines whether or not the first control parameter used for the control process of the own unit is stored, and
When the determination unit determines that the first control parameter is not stored in the storage unit of the own unit, the first control parameter is stored in the other electronic control unit connected by the communication line. A confirmation unit to check if it is
When the first control parameter is stored in the other electronic control unit, an acquisition unit that acquires the first control parameter from the other electronic control unit, and an acquisition unit.
A work vehicle including a control unit that performs control processing using the first control parameter acquired by the acquisition unit. When there are a plurality of other electronic control units to be confirmed whether or not the first control parameter is stored, the confirmation unit confirms according to a predetermined priority, and the first control parameter. The work vehicle according to claim 1, wherein no further confirmation is performed at the time when the is present. The work vehicle according to claim 2, wherein the priority is higher as the time required for acquiring the first control parameter from the electronic control unit is shorter. When the first control parameter is not stored in the own unit or in another electronic control unit connected to the own unit by the communication line, the control unit controls using the initial value stored in advance. The work vehicle according to any one of claims 1 to 3, wherein processing is performed.

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