JP2726931B2 - Control device for mobile farm machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Industrial application field The present invention relates to a mobile agricultural machine such as a management machine or a combine,
More specifically, the present invention relates to a control device for controlling a large number of operating devices mounted on an airframe.

(B) Conventional technology In recent years, mobile machines such as management machines and combine machines are controlled by microcomputers to control various operating devices mounted on the traveling machine body.
Various automatic controls such as automatic handling depth control and automatic cutting height control are performed.

(C) Problems to be Solved by the Invention In the above-described conventional control device, as the number of control items increases due to the needs of the times, a single control unit cannot cope with appropriate control. Therefore, some control units are mounted and the functions of these control units are simply independent.However, according to this, a plurality of control units input data of the same sensor to each. It is necessary to perform such operations as wasteful control, and because multiple control units are independently controlling the operating devices, an imbalance in control occurs and the operating devices are There is a possibility that problems such as loss of control may occur.

A control device in which a plurality of control units are connected to each other by parallel communication is also conceivable. However, this method requires a large number of communication lines, and the structure becomes complicated.

(D) Means for Solving the Problems The present invention has an object to solve the above-described problems. For example, referring to FIG. 1 to FIG. A mobile agricultural machine (1) having a large number of operating devices and controlled by the control unit (29) mounted on the traveling body (5);
The control unit (29) includes a plurality of control units (36), (3
7) and the respective control units (36, 3
7) Timer to adjust transmission / reception timing (50,51)
The plurality of control units (36, 37) are interconnected by two signal lines (39, 40) required for data transmission and reception by serial communication, and each of these control units is Corresponding sensors (a) to (j),
It is characterized in that signals from (k) to (p) are input.

(E) Action Based on the above-described configuration, when working using the mobile farming machine (1), a large number of operating devices mounted on the traveling machine (5) are connected between the control unit (36) and the control unit (37). It is connected via the two signal lines (39, 40) and is controlled with a simple structure based on signals transmitted and received between these control units (36, 37). Signals from the corresponding sensors are input to the plurality of control units (36) and (37), respectively.
Are mutually connected by serial communication, so that the same sensors can be shared without waste during control. Further, since the control units (36, 37) include the timers (50, 51) for adjusting the transmission / reception timing, it is possible to determine the type of transfer data without using a control line.

Note that the reference numerals in parentheses do not limit the configuration at all.

(F) Example Hereinafter, an example according to the present invention will be described with reference to the drawings.

As shown in FIGS. 3 and 4, the management machine 1 includes wheels 2,
2 and a body frame 5 arranged in a rectangular shape supported by the wheels 3 and 3, and a turning support shaft 6 installed at the center of the body frame 5 has a turning frame that is rotatable in the horizontal direction. 7 are provided. Further, links 9 and 10 are attached to one end of the frame 7 so as to be vertically swingable, and the tips of the links 9 and 10 are attached adjacent to one end of the stick 11, respectively. One end of a hydraulic cylinder 13 installed on the turning frame 7 is connected to a bracket 12 provided near the turning base 9. Also,
The fertilizer application section is connected to the other end of the revolving frame 7 via the parallel link 15.
A hydraulic cylinder 17 attached to the other end of the turning frame 7 is connected to the parallel link 15 via a bracket 19. On the other hand, fertilizer tanks 20 and 20 are installed at the center of the turning frame 7 so as to sandwich the frame 7, and the fertilizer tanks 20 and 20 send fertilizer to the fertilizer unit 16 via the hose 21. And the fertilizer is applied to the fertilizer application section 16
The fertilizer is supplied from the lower fertilizing nozzle 22 to the rice field. The engine 23 and the transmission 2 are located below the fuselage frame 5.
5, a solenoid valve 26, a hydraulic pump 27, a control unit 29, and a battery 30 are provided, respectively.

The rotation of the engine 23 is decelerated by the transmission 25, and the wheels 2, 2 and 3, 3, via the bevel cases 31, 31 arranged on the body frame 5 composed of the transmission pipe.
Is transmitted to The wheels 2, 2 and 3, 3 are respectively 270 driven by hydraulic actuators 32 for steering.
It is configured to be able to stop at an arbitrary rotation angle by detecting the rotation with a steering angle detection sensor. Further, arm members 32a and 32b are rotatably supported at the intermediate portion of the stick 11, and a beam sensor 33 composed of a light emitting element 33a and a light receiving element 33b is disposed at the tip thereof.

The control unit 29 includes a control unit 36 having a timer 50 for adjusting transmission / reception timing, as shown in FIG.
The control unit 37 includes a control unit 37 having a timer 51 for adjusting transmission / reception timing.
Are connected by two signal lines 39 and 40 for transmission and reception, and are configured to be able to perform serial communication with each other. Further, the control unit 36 has an analog signal (AN
00 to AN09) and digital signals (SW00 to SW29) are input to the control unit 37, and analog signals (AN10 to AN19) are input to the control unit 37.
And digital signals (SW30 to SW59).

Then, as shown in FIG. 2, the control unit 36 includes an axle rotation sensor (a), a gauge wheel rotation sensor (b), a headland detection sensor (c), a direction sensor (d), a fertilizer remaining amount sensor ( e), through the driver 41, based on data input from the turning position sensor (f), turning position sensor (g), steering position sensor (h), fertilizer application position sensor (i), stick position sensor (j), etc. Control signals are output to switch the hydraulic pressure, turn the frame 7, steer, raise and lower the fertilizer application section 16, raise and lower the stick 11, and perform other urgent controls such as real time. Further, the control unit 37 inputs data from a charge sensor (k), an Eng / rpm sensor (l), a throttle position sensor (m), a sensor arm position sensor (n), (o), an inclination sensor (p), and the like. , A control signal is output via the driver 41 to start / stop the engine 23, adjust the throttle,
Controls such as pillow sensor lifting and lowering, gauge wheel lifting and lowering, and electromagnetic clutch control are performed with a relatively margin. In the figure, 42 is a receiver, and 43 is a transmitter.

Since the present embodiment has the above configuration, for example, when fertilizing work is performed on a seedling planted in a field, the traveling machine is turned on to operate the management machine 1 on one headland A shown in FIG. It moves to the start position A, supplies fertilizer to the fertilizer tanks 20 and 20 at the position, and starts the operation based on a command from the control unit 29.

The management machine 1 traveling from the work start position A to the other headland B in the direction shown by the arrow A in FIG.
The stick 11 is raised and the fertilizer
The fertilizer is supplied from the fertilizing nozzle 22 to the rice field by descending 16 and floating on the rice field. When the management machine 1 reaches the other headland B, the traveling clutch and the PTO clutch are turned off by the control signal of the control unit 37, and the hydraulic actuator 17 is operated based on the control signal of the control unit 36 to apply fertilizer. The section 16 is raised, and the stick 11 is lowered toward the field scene by the operation of the hydraulic
In this state, the wheels 2,2 are steered by 90 degrees by the operation of the steering hydraulic actuator 32, and the stick 11 is lifted to move the wheels 2,2.
To ground. Then, the turning frame 7 is turned 180 degrees to turn the stick 11 toward one headland A, and in this state, the stick 11 is lowered to the field and the wheels 3, 3 are lifted.
By operating the steering hydraulic actuator 32, the wheels 3, 3 are steered in the same direction as the wheels 2, 2, and thereafter, the stick 11 is lifted to ground the wheels 3, 3. Then, the revolving frame 7 is turned 90 degrees clockwise in FIG. 5 to turn the stick 11 in the direction indicated by the arrow C in FIG. 5, and the hydraulic cylinder 17 is operated to lower the fertilizer application section 16. The headland B is fertilized while traveling an appropriate distance in the direction of arrow c.

Then, the management machine 1 that has traveled an appropriate distance and stopped at the point d raises the fertilizer application section 16 by the control signal of the control unit 36 at the position, and moves the fertilizer application section 16 to the headland A so as to face the headland A. The turning frame 7 is turned. In this state, the stick 11 is lowered, the wheels 2, 2 are lifted, and one headland A
, And further raise the stick 11 to ground the wheels 2, 2. Then, the turning frame 7 is turned by 180 degrees, and the stick 11 is turned to the headland A. In this state, the stick 11 is lowered to lift the wheels 3, 3, and the wheels 3, 3 are similarly moved to the headland. Steer toward A,
Thereafter, the stick 11 is lifted to ground the wheels 3,3.
Then, the hydraulic actuator 17 is operated to lower the fertilizer application section 16 to the field, and the fertilizer application operation is performed while traveling in the direction of arrow e in FIG.

Then, when the control device 1 reaches the point A of the headland A, the control device 1 moves up the fertilizer application section 16 as described above, and further moves the stick.
11, the wheels 3, 3 on the headland A side are lifted, and in this state, the wheels 3, 3 are steered toward the first work start position A, and the stick 11 is raised to move the wheels 3, 3 Ground. Next, the turning frame 7 is turned by 180 degrees, the stick 11 is directed to the other headland B, and in this state, the stick 11 is lowered to lift the wheels 2, 2, and the wheels 2, 2 are
In the same manner as in steps 3 and 3, the steering wheel is steered toward the work start position A, and thereafter, the stick 11 is raised to ground the wheels 2, 2. Then, the revolving frame 7 is revolved so that the stick 11 faces the work start position A, and moves in the direction indicated by the arrow in FIG.

This time, stop at a point h which is half the distance to the work start position a, further rotate the turning frame 7 so that the fertilizer application section 16 faces the headland B, and lower the stick 11 in this state. The wheels 3, 3 are steered so as to face the headland B, the stick 11 is lifted, and the wheels 3, 3 are grounded. Then, the turning frame 7 is turned 180 degrees, and the stick 11 is directed to the headland B. In this state, the stick 11 is lowered and the wheels 2, 2
, And the wheels 2, 2 are also steered toward the other headland B, and thereafter, the stick 11 is lifted to raise the wheels 2, 2.
Ground 2 Then, the fertilizer application section 16 descends to perform the fertilizer application while traveling in the direction indicated by the arrow in FIG.

Further, when the control machine 1 reaches the point U of the headland B, firstly, the fertilizer application section 16 is raised, and the stick 11 is lowered, so that the wheels 2, 2,
2. In this state, the wheels 2, 2 are steered in the direction indicated by the arrow in FIG. 5, and the stick 11 is further raised to ground the wheels 2, 2. Then, turn the turning frame 7 to 180
And turn the stick 11 toward the headland A. Then, the stick 11 is lowered to lift the wheels 3,3, and the wheels 3,3 are steered in the same direction as the wheels 2,2.
Ascend 1 to ground wheels 3,3. Further, the turning frame 7
Is turned so that the stick 11 is directed in the direction of the arrow, and the fertilizer application section 16 is lowered. In this state, the fertilizer application work of the headland B is performed while proceeding in the direction of the arrow.

In addition, the management machine 1 that has traveled an appropriate distance in the direction indicated by the arrow in FIG. 5 is stopped at the point S, and turned in the direction indicated by the arrow S in FIG. Then, the vehicle travels in the direction of the arrow while the fertilizer is applied by the fertilizer application section 16. When the control device 1 reaches the point C of the headland A, the direction change is performed in the same manner as in the previous direction change at the headland A at the point A, and further moves toward the point C, and At the midway point So, a turn is made in the same way as at the time of turning at point Q, and the control machine 1
Moves to the work start position. Then, the fertilizer application operation is performed while traveling in the direction indicated by the arrow in FIG.

In the same manner, the management machine 1 repeats the operation of traveling between one headland A and the other headland B and turning in the same direction in the same manner, while following the arrows shown in FIG. And perform fertilization work.

Therefore, the management machine 1 is controlled by respective control signals from the control units 36 and 37.
When the vehicle approaches the headland and travels a predetermined distance from the position where the beam sensor 33 detects the headland and disengages the traveling clutch, the data of the gauge / wheel rotation sensor (b) connected to the control unit 36 is required. Is transmitted from the control unit 36 to the control unit 37 by serial communication.
When the management machine 1 has traveled a predetermined distance based on this, the traveling clutch is disengaged when the management machine 1 has traveled a predetermined distance, etc., and when necessary, data is exchanged by serial communication with each other. It is possible to cope with a case where sensor data is required, and control waste is eliminated.

The control units 36 and 37 are connected by only two signal lines 39 and 40 required for data transmission and reception without providing a control line. The operation at the time of communication to
The description will be made with reference to FIGS.

In the control unit 36, first, the initialization for the serial communication is performed in the initialization subroutine, the serial mode is set (S1), and whether to jump to the transmission subroutine for transferring data is determined based on the contents of the transmission timer in the main routine. Is determined, and when the transmission timer expires, the process jumps to the transmission subroutine (S2). Then, in the transmission subroutine, it is confirmed whether or not the microcomputer hardware is ready for transmission (S3). If the result is OK, the transfer block is determined and the process jumps to the indicated location (S4). Therefore, it is determined whether or not this time is the first of the transfer block (S5).
No. 0 is transmitted (S6). If the transfer data is not at the beginning of the transfer block, it is determined whether the data is at the end of the transfer block (S7). As a result, when it is determined that the last transfer data n has been transmitted, the transfer is performed. Block No.
Is set to 1 (S8 transmission timer is set (S9), and the transfer data indicated by the transfer counter is transmitted (S10).
As a result, the transfer counter is incremented (S1
1) When the counter exceeds n, the transfer counter is set to 0 (S12). Then, the transmission of each transfer block is performed. When the transfer number is m-1, the transfer number is set to m (S13). When the transfer number is m, the transfer block number is set to 0. Is performed (S14).

The reception routine of the control unit 37 is an interrupt process, and is configured so that an interrupt occurs when the control unit 36 transmits. Then, in the reception routine, after saving the register (S15), the reception data is read (S16).
Then, it is determined whether or not the reception timer has expired (S17). If the reception timer has expired, the data read this time is set as the reception block number (S18). And
The reception counter is incremented (S19), and when the reception counter exceeds n, the reception counter is set to 0 (S20),
Further, the reception timer is set (S21), and the register is restored (S22). Here, the relationship of T ₁ > T ₂ > t is established among the set value T _{1 of} the transmission timer, the set value T ₂ of the reception timer, and the required main loop time t of the control unit 36. The set value T ₁ of the transmission timer is set when the transmit data n + 1 Ke of each block (0,1 ... n) is transmitted entirely and set value T ₂ of the reception timer is set every time it receives. Therefore, since the control unit 36 is not transmitted to the set value T ₁ of the transmission timer expires, it will be that course completed set value T ₂ of the reception timer of the control unit 37 when transmitting, the received If the set value T ₂ of the timer is finished, it can be determined that the first transmission data of each block. When the block is identified, the data is stored at the determined address.

Therefore, by connecting the control units 36 and 37 with only two signal lines 39 and 40 and using a transmission timer and a reception timer, the number of inputs and outputs is large and ports cannot be allocated, Even when it is difficult to modify the control unit of this type, even when there is no room to provide a control line for smooth transmission and reception timing, it is necessary to reliably determine the type of transfer data without using the control line. Can be.

Furthermore, in serial communication, when one piece of data is communicated, the data is sequentially transmitted one bit at a time, so that accurate data may not be transmitted due to noise or the like. An embodiment in which data and subsequent data in the same block are canceled to prevent malfunction on the data receiving side will be described with reference to FIGS. 10 and 11. FIG.

The transmission subroutine is performed in the same manner as in the above embodiment, and the transfer data is transmitted. And the control unit 37
In the receiving routine of the first embodiment, an interrupt is generated when the control unit 36 transmits data. After the register is saved (S23), it is checked whether or not a receiving error has occurred in hardware (S24). As a result, a receiving error occurs. If it is determined that the data has not been received, the received data is read (S25). Then, whether the set value T ₂ of the reception timer has ended is determined (S2
6) As a result, if the processing is completed, the data read this time is set as the reception block No. (S27). Then, the error flag is reset (S28), and the reception counter is incremented (S29). When the reception counter exceeds n, it is set to 0 (S30), and the set value T of the reception timer is further set.
₂ is set (S31), and the register is restored (S32).
On the other hand, if an error has occurred during the hardware reception error check, an error flag is set (S33), the reception counter is set to 0 (S34), and the reception timer set value T ₂ Is set (S3
5) Therefore, the data of the block in which the error has occurred is canceled and the next block is interrupted. When the reception error does not occur, it is determined whether the first of the blocks are first checks a set value T ₂ of the reception timer, the result, if the first one, as in the case where reception error occurs leave operate a set value T ₂ of the reception timer, repeated until the block is the first one. And if the block is the first one,
The set error flag is released, and the normal operation is performed thereafter.

Therefore, if a hardware reception error is checked, and an error has occurred, the data until the first data of the next block is received can be canceled, so that the control unit on the receiving side has a fault. Without receiving data, it is possible to reliably prevent malfunction from occurring.

(G) Effects of the Invention As described above, according to the present invention, two signal lines (39, 4) necessary for transmitting and receiving data by serial communication are provided.
0), and these control units (3
6) and (37) correspond to sensors (a) to
(J) Since the signals from (k) to (p) are inputted, the plurality of control units (36) and (37) can communicate with each other and exchange data. Thus, it is possible to eliminate waste in control such as separately inputting signals of the same sensor, and to reduce the number of inputs in the entire system. In addition, since the plurality of control units (36) and (37) do not control the operation devices independently, the control units can cooperate with each other to perform balanced control. In addition, the control unit (2
9) A plurality of control units (36, 37) comprising timers (50, 51) for adjusting the transmission / reception timing to determine the type of transfer data without using a control line Can be.

[Brief description of the drawings]

1 is an electric circuit diagram according to the present invention, FIG. 2 is a system block diagram thereof, FIG. 3 is a plan view showing a management machine equipped with the control unit, FIG. 4 is a side view thereof, and FIG. 6 to 8 are flow charts showing the operation of the present embodiment, and FIG. 9 is a time chart showing the reception interruption timing and the like of the management machine.
FIG. 10 is a flowchart showing the operation of a reception interrupt routine that eliminates reception errors between control units,
FIG. 11 is a time chart showing the reception interrupt timing and the like. 1 mobile agricultural machine (management machine), 5 traveling machine body (machine frame), 29 control unit, 36,37 multiple control units, a to p sensors (axle rotation sensor, gauge wheel Rotation sensor, headland detection sensor, direction sensor, fertilizer remaining amount sensor, turning position sensor, turning positioning sensor, steering position sensor, fertilizer application position sensor, stick position sensor, charge sensor, Eng / rpm sensor, throttle position sensor, sensor Arm position sensor, tilt sensor).

Claims (1)

(57) [Claims] 1. A mobile agricultural machine comprising a traveling machine having a large number of operating devices and controlling the large number of operating devices by a control unit mounted on the traveling machine, wherein the control unit comprises a plurality of control units. In addition, each of the control units is provided with a timer for adjusting the transmission / reception timing, and the plurality of control units are connected to each other by serial communication to perform data transmission and reception.
A control device for a mobile agricultural machine, wherein the control device is connected to each other by a signal line and configured to input signals from sensors corresponding to these control units.