JP2866561B2 - Control device for work vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a central control unit and a plurality of terminal control units which are distributed and arranged in each unit of the body are communicably connected via wired communication means. , Input of a detection signal from sensors for control information detection and transmission of the input data to the central control unit, and
The control unit receives the control data from the central control unit and outputs a drive signal to actuators based on the received data, and the central control unit executes the control of each of the terminal control units based on transmission data from the terminal control unit. The present invention relates to a control device for a working vehicle configured to determine the proper drive contents for the actuators and transmit the proper drive contents as the control data.

[0002]

2. Description of the Related Art In a control device for a work vehicle, in controlling a work vehicle such as a combine or the like, a central control unit intensively controls the whole work vehicle while detecting detection data from sensors for detecting control information. A plurality of terminal control units that input and output various signals to sensors and actuators are distributed to each part of the body to input data or output drive commands to actuators for operating each work unit. In addition to the arrangement, the plurality of terminal control units and the central control unit are connected to each other by a wired communication unit using a standard such as RS485, and various types of data are transmitted and received via the communication unit. When the control unit is directly connected to the sensors and actuators, the signal wiring is prevented from becoming complicated and large (for example, Japanese Patent Laid-Open No. 3-240).
802).

[0003]

However, in the above-mentioned prior art, in order to drive the actuators based on the drive command from the central control unit, first, the central control unit transmits control data for driving to the terminal control unit. However, since the terminal control unit must always relay the drive signal to the actuators based on the transmission data, the central control unit directly issues a drive command to the actuators. As a result, the drive command is output to the actuators at least later than the relay processing time in the terminal control unit as compared with the case of outputting the command, which hinders the operation of the actuators requiring quickness. There was a fear.

On the other hand, the above actuators are
In order to accurately determine the drive request to be made,
Detection data of sensors that will become
It must be receiving. The present invention has been made in view of the above circumstances, and has as its object to provide sensors and actuators in a centralized control mode by transmitting and receiving data between a central control unit and each terminal control unit via a wired communication unit. While simplifying signal wiring for
Reliable reception of sensor data from each terminal controller
And the determination based on the detection data of the sensors
What is to so as to drive the actuators without delay as much as possible time when the request to drive actuators occurs.

[0005]

According to a first aspect of the present invention, there is provided a control apparatus for a work vehicle, comprising: a central control unit;
And a terminal control unit for transmitting an address to each of the terminal control units.
Multiplex communication by polling selecting method by specifying
Is configured so that the central control unit is the terminal control unit
Of each terminal control unit based on transmission data from
Judgment processing for judging the proper drive content for tutors
And a detection signal from the control information detecting sensors.
Communication with each terminal control unit
The detection signal input processing that is performed repeatedly is executed in parallel,
And a request for transmission of the control data based on the determination processing.
If the error occurs, the control data transmission process
The point is that the detection signal input processing is executed prior to the detection signal input processing .

A second characteristic configuration is that the central control section
Indicates that the execution state of the detection signal input processing is one terminal control.
When the control data is being executed with the
When a data transmission request is issued, one terminal
After the communication to the control unit is completed, transmission of the control data
In that it is configured to perform communication .

A third characteristic configuration is that the central control section
Is an arithmetic processing unit for control, and an arithmetic processing unit for the control.
And communication with each terminal control unit.
It is configured to include a communication processing unit, Starring for the control
The arithmetic processing unit captures the data via the communication arithmetic processing unit.
However, based on the transmission data from the terminal control unit,
Appropriate driving contents for actuators of each terminal control unit
Is performed, and based on the determination process,
The appropriate driving content determined by the following is transmitted as the control data.
A transmission request to the communication arithmetic processing unit so that
The communication arithmetic processing unit is configured to detect the control information.
In order to capture the detection signal from the outgoing sensors,
The communication between each terminal control unit is sequentially and repeatedly performed.
Executing a detection signal input process and calculating the control operation
When the control unit requests transmission of the control data,
The transmission processing of the control data is superior to the detection signal input processing.
That is, it is configured to be executed first .

[0008]

According to the first feature of the present invention, the central control unit captures a detection signal from sensors for detecting control information.
Address, specify the address for each terminal control unit.
While performing multiplex communication using the
A detection signal that repeats communication with the terminal controller in order
Signal input processing and the detection signal input processing
In parallel with the transmission data from each terminal control unit, ie, the sensor
Of each terminal control unit based on the detected data
Executes the judgment processing to judge the proper drive contents for the data
Based on the determination process,
When proper drive content, that is, a control data transmission request is issued
Is controlled by specifying the address for the terminal control unit.
The process of transmitting data has priority over the detection signal input process.
Te (e.g., to suspend the detection signal input processing
Then, the terminal control unit that has received the control data outputs a drive signal to actuators based on the received data.

Further, according to the second characteristic configuration, the central control unit determines that the execution state of the detection signal input processing is one terminal control.
When the control data is being executed with the
When a data transmission request is issued, one terminal
After completing communication with the control unit (receiving the detection signal),
And transmitting the control data. And the terminal control part which received the control data outputs a drive signal to actuators based on the received data.

Further, according to the third characteristic configuration, the central control unit is provided.
In, the communication arithmetic processing unit, between each terminal control unit
The above-described detection signal input processing for sequentially repeating the communication is performed.
To detect detection signals from sensors for detecting control information.
And the detection signals from the sensors are calculated for control.
To the processing unit, and the arithmetic processing unit for control
From the terminal control unit captured via the arithmetic processing unit.
Based on transmission data, that is, detection signals from sensors,
Appropriate drive contents for actuators of terminal control unit
Executing the determination process, and
The appropriate driving content determined is transmitted as the control data.
Request to the communication arithmetic processing unit so that
The credit calculation processing unit sends the control data from the control calculation processing unit.
When transmission of data is requested, transmission of the control data
The signal processing is executed prior to the detection signal input processing .

[0011]

Therefore, according to the first characteristic configuration of the present invention, the polling section which specifies the address of each terminal control section between the central control section and each terminal control section via the wired communication means.
By transmitting and receiving data using the lecting method, centralized control by the central control unit and simplification of signal wiring for sensors and actuators are realized, while each terminal control unit
Sensor data and receive the data
If the request to drive actuators occurs by determination based on chromatography data, and control data for the actuators driving in preference to the reception of the detection data of the sensors is transmitted, as much as possible the actuators from the drive request is generated
The drive can be performed without time delay, and it is possible to avoid as much as possible to hinder the operation of actuators that require quickness.

Further, according to the second characteristic configuration, one terminal
When receiving detection data of sensors from the control unit
Even if a drive request for actuators occurs,
The process of receiving the detection data of the sensors is executed first.
Therefore, the actuators can be driven with as little time as possible from the generation of the drive request while receiving the detection data of the sensors from each terminal control unit more reliably. Is obtained.

Further, according to the third characteristic configuration, the central control unit is provided.
In, the arithmetic processing unit for control, between each terminal control unit
Communication load is not directly executed, reducing the control load.
Sensor data received from the communication processing unit
Drive requirements for actuators based on data?
Can be quickly determined, while the communication processing unit
Is dedicated to the communication process with each terminal control unit.
Detection data transmission and control data transmission processing quickly
It can be carried out, so that suitable means of the first or second feature configuration is obtained.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings when applied to a combine as a working vehicle.

[0015] In the combine, for example, the steering control for steering the aircraft so as to automatically travel along the planted grain culm, or the handling depth of the harvested grain culm in the handling room is within an appropriate range. Handling depth control that automatically adjusts to be maintained, sorting control that sorts and collects kernels from treated products mixed with straw waste,
Various controls, such as the operation control of the auger that discharges the sorted and collected grains to the outside from the tank that temporarily stores the collected grains, and the attitude control that maintains the attitude of the aircraft at a predetermined attitude such as a horizontal attitude regardless of the state of the running ground, etc. Done.

For this purpose, as shown in FIG. 1, a central control unit CU for centrally executing the control of the whole combine.
And a plurality of terminal control units LU1 to LU5 distributed in each part of the machine including the cutting block 1, the threshing block 2, the tank block 3 and the main unit block 4 are multiplexed via a wired communication means T. Connected for communication. Each of the terminal control units LU1 to LU5 receives a detection signal from a control information detection sensor SW and a central control unit C of the input data.
It is configured to execute transmission to the U, reception of control data from the central control unit CU, and output of drive signals to the actuators M, L, B based on the received data. In addition, the central control unit CU controls each terminal control unit L
Based on the transmission data from U1 to U5, each terminal control unit L
The configuration is such that the proper drive contents for the actuators M, L, B of U1 to U5 are determined, and the proper drive contents are transmitted as control data. The sensors S
W includes a plurality of switches SW for detecting various control information as ON / OFF binary information, and the actuators M, L, and B include an electric motor M, a solenoid L, an alarm buzzer B, and the like. .

As shown in FIG. 2, the central control unit CU
A microcomputer CPU1 as an arithmetic processing unit for control, a gate array GA1 as a central communication IC for relaying data exchange between the microcomputer CPU1 and the communication means T, and the microcomputer It is provided with a microcomputer CPU2 as a communication arithmetic processing unit for performing data transmission and reception between the CPU1 and the gate array GA1 and communication control for each of the terminal control units LU1 to LU5. Data transfer between the two microcomputers CPU1 and CPU2 and between the microcomputer CPU2 and the gate array GA1 are performed via 8-bit bus lines. For example, the microcomputer CPU1 is replaced by the CPU2.
FIG. 12 shows a data format for requesting data input / output to the terminal control units LU1 to LU5.
When the B and C bits are 1, each of the input / output ports A, B, and C (see FIGS. 2 and 3) of the terminal control units LU1 to 5 is connected. When the data input / output request is 1, it indicates that a request for error information is specified.

The control microcomputer CPU
1 inputs an analog signal from an analog sensor for detecting continuously changing information such as a potentiometer, and a pulse signal from a pulse sensor for detecting a rotation speed and the like via input ports Port1 and Port2. The control microcomputer CPU1 has an E ² ROM
And a non-volatile memory MEM such as
Various error information and the like are stored in the EM. In the figure, PS1 is the microcomputer CPU
1, a DC voltage source that supplies a power supply voltage and a reset signal when the power is turned on to the CPU 2, the gate array GA1, and the like.

On the other hand, as shown in FIG.
U1 to 5 are sensors SW and actuators M,
A gate array GA2 is provided as a terminal-side communication IC for relaying data exchange between L and B and the communication means T. Further, four harnesses AD1 to AD4 for generating an address signal for each of the terminal control units LU1 to LU5 are provided in combination with a low-level voltage harness connected to the ground and a non-connected harness. The harnesses AD1 to AD4, the sensors SW, and the actuators M, L, B are connected to the terminal control units LU1 to LU5 via an integrally formed connector CN. In particular,
The harnesses AD1 to AD4 are connected to address setting external terminals A0 to A3 of the gate array GA2, and the sensors SW
The actuators M, L, and B are connected to an input / output port of the gate array GA2 via a signal processing circuit and a driving circuit, respectively. In the drawing, PS2 is a DC voltage source that supplies a power supply voltage to the gate array GA2 and the like.

The communication means T is configured using, for example, the RS485 standard, and as shown in FIG. 2, a two-wire communication line Ln, a central control unit CU and each terminal control unit LU.
And communication drivers DR provided at the contact points with the communication line Ln in each of the communication drivers DR.
Converts the transmission data received from each of the gate arrays GA1 and 2 into a signal conforming to the standard such as RS485 and outputs the signal to the communication line Ln, while inputting the signal on the communication line Ln and Output to the gate arrays GA1, GA2.

The gate array GA1 on the center side and the gate array GA2 on the terminal side are formed so as to have a center side component for use as a center side and a terminal side component for use as a terminal side. The gate array GA is a communication IC of the same specification. Hereinafter, a specific description will be given based on FIG.

As shown in FIG. 3A, when the MODE terminal is set to the LOW level, the internal circuit is switched to the master mode in which the internal circuit functions as the gate array GA1 on the center side. The array GA includes an input / output buffer 11 for holding data input / output to / from the CPU 2 via a bus line, a transmission buffer 13 for holding parallel data for transmission from the input / output buffer 11, and a parallel connection of the transmission buffer 13. P / S that converts data into serial data from parallel to serial
A communication control circuit 16 for transmitting the serial data from the P / S converter 14 with CRC data for error detection from a CRC generator 15 as transmission data; S / P converter 18 for serial-to-parallel conversion, error detector 17 for checking the received serial data for CRC and the like to detect the presence or absence of a communication error, and parallel data and error detector from S / P converter 18 A reception buffer 19 for holding the error data from 17 and outputting it to the input / output buffer 11 and an R / W (read / write) signal and an STB (data strobe) signal which are control signals for data input / output from the CPU 2 are input. In addition, a CPU I / F section 12 for outputting an interrupt INT signal to the CPU 2 is provided.

The gate array GA is shown in FIG.
As shown in (2), when the MODE terminal is set to the HIGH level, the internal circuit is switched to the slave mode in which the terminal functions as the gate array GA2 on the terminal side. In this slave mode, the gate array GA includes the switch SW and the actuators M, L, B, an input / output port 21 for inputting / outputting data to / from B, a transmission buffer 13 for holding the detection signal from each switch SW input through the input / output port 21 as parallel data, and a transmission buffer 13
A P / S conversion unit 14 for converting the parallel data of the P / S into serial data into a serial data, and a serial data from the P / S conversion unit 14
A communication control circuit 16 for transmitting the data with the C data added thereto as transmission data; an S / P converter 18 for serially / parallel-converting the received serial data; An error detection unit 17 for detecting the presence or absence of
A reception buffer 19 for holding the parallel data from the / P conversion unit 18 and the error data from the error detection unit 17 and outputting the data to the input / output port 21, and the terminal control units LU1 to LU5
Address setting unit 22 for setting an address for
It becomes the composition provided with.

As described above, the CPU I / F unit 12 corresponds to the central component, the address setting unit 22 corresponds to the terminal component, and gates other than the CPU I / F 12 and the address setting unit 22 are used. The main part of the array GA is
As shown by the same part number, it is shared by the center side and the terminal side. The input / output port 21 is composed of three ports A, B, and C each having 8 bits. Ports A and B of the terminal control unit LU3 at address 0 are input ports, and port C is an output port. The port A of the terminal control unit LU4 at address 1 is set as an input port, and the ports B and C are set as output ports. The input / output buffer 11 in the master mode is shared with the port B of the input / output ports 21 in the slave mode.

Each of the terminal control units LU1 to LU5 inputs address signals from the harnesses AD1 to AD4 connected to the external terminals A0 to A3 to the address setting unit 22 as its own address data only when the power is turned on. It is configured. That is, a LOW level voltage signal is supplied from the LOW level voltage harness, and a HIGH level voltage signal is supplied to the unconnected harness because the harness is pulled up to the power supply side inside the gate array GA2,
Each of the terminal control units LU1 to LU5 sets its own address according to the combination of the voltage signals. In FIG. 2, the terminal control unit LU3 sets the external terminals A0 to A3 at the LOW level and sets the address as 0, and sets the terminal control unit LU3.
U4 is high only in A0 of the external terminals A0 to A3.
At the level, the other terminals A1 to A3 are at the LOW level and set as address 1.

The central control unit CU and each terminal control unit L
U1 to U5 are configured to perform multiplex communication by designating addresses set for the terminal control units LU1 to LU5. Specifically, the central control unit CU uses a polling selecting method. It is configured to communicate with each of the terminal control units LU1 to LU5 (see FIG. 11). In other words, medium
The central control unit CU receives a detection signal from the sensors SW.
Communication between the terminal control units LU1 to LU5
Signal input processing that repeats
Each terminal control unit based on transmission data from LU1 to LU5
Appropriate for actuators M, L, B of LU1-5
The determination processing for determining the driving content is executed in parallel. This
Here, the detection signal input processing is provided in the central control unit CU.
The CPU 2 executes the above-described determination processing, and the central control unit CU
The CPU 1 provided for the
To be executed based on the transmission data from the end control units LU1 to LU5.
You.

The central control unit CU is configured to execute transmission of control data for driving the actuators M, L, and B prior to reception of detection data of the sensors SW. That is, the central control unit CU executes the determination processing.
When a request for transmission of the control data is generated based on
The control data transmission process is the detection signal input process
It is configured to be executed in preference to. Specifically
Is the proper drive determined by the CPU 1 based on the determination process.
The CPU 2 transmits the operation contents as the control data.
CPU2 sends a transmission request to the
If data transmission is requested, the control data
The transmission process is executed prior to the detection signal input process.
It is configured as follows. However, the central control unit CU requests the terminal control units LU1 to LU5 to transmit control data for driving the actuators M, L, and B to the terminal control units LU1 to LU5 while receiving the detection data of the sensors SW from the terminal control units LU1 to LU5. Is generated, the transmission of the control data for driving the actuators M, L, and B is executed after the reception of the detection data of the sensors SW being received is completed. That is, the central control unit CU inputs the detection signal.
The execution state of the power processing is one terminal control unit LU1 to LU5.
During the execution of the control data,
When a transmission request is issued, the one terminal control unit
After completing communication with LU1 to LU5, the control
Execute data transmission.

Next, a control operation in the central control unit CU will be described with reference to flowcharts shown in FIGS. 4 to 6 and FIGS.

As shown in FIG. 4, when the main switch is turned on and the power is turned on, first, the reset state of the CPU 1 is released and the control is started. Then, after performing the initialization processing, the input processing of the analog signal from the analog sensor and the pulse signal from the pulse sensor is performed, and the operation of all the terminal control units LU1 to LU5 is stabilized after the main switch is turned on. The CPU 2 is kept in the reset state (the output Port3 of the CPU 1 shown in FIG. 2 = HIGH) until the time required for the communication (e.g., 250 ms) elapses, and the communication with each of the terminal control units LU1 to 5 is stopped.
During this time, lamp check processing of a meter panel (not shown) is performed (# 1 to # 5 and # 12).

When the time for stabilizing the operation of all the terminal control units LU1 to LU5 elapses, the CPU 1 sets the output port
Set t3 to LOW to release the reset state of CPU2,
The communication between the CPU 2 and each of the terminal control units LU1 to LU5 is started (# 6). That is, the CPU 2 controls the terminal control units LU1 to LU5.
Are sequentially called, and the operation of receiving the data of each switch SW is repeatedly performed at a predetermined cycle (for example, 5 ms) (see FIG. 8). By repeating the communication in this predetermined cycle,
A time period (for example, 900 ms after the main switch is turned on) in which the CPU 2 determines that the communication error information for each of the terminal control units LU1 to 5 such that the data of each switch SW and the normal reply data cannot be received is sufficiently accumulated. Then, the CPU 1 starts a process of transmitting and receiving control data to and from the CPU 2 via an 8-bit bus line (# 7).
# 8, see FIGS. 9 and 10). After that, the CPU 1
When the time required to grasp the state of the entire system by exchanging data with the PU 2 (for example, 1.5 seconds after the main switch is turned on) elapses, the CPU 1 sets the display on the meter panel to the normal state and starts the entire control processing. (# 9 to # 11). Note that the CPU 1 operates the watchdog timer routine at regular intervals, and when the control goes out of control, the power supply PS1 is output from the output port Port4.
To output a reset signal (see FIG. 2).

In the bus communication performed by the CPU 1 with the CPU 2, as shown in FIG. 5, first, in order to eliminate the influence of the chattering of the switch operation, the data is received from the CPU 2 by a plurality of (for example, four) bus communication. Each switch SW
Is filtered only when the data is the same, and then the data is stored (# 2).
1). Next, communication error information is input to each of the terminal control units LU1 to LU5, and if there is any terminal control unit LU1 to LU5 in an error state, an abnormal output process for displaying an alarm on a meter panel or the like is performed and the terminal in the error state Control units LU1-5
Error processing such as stopping the communication of the drive command to the actuators M, L, and B for a predetermined period (# 22 to # 2)
3). Next, it is determined whether or not the previous communication with the CPU 2 was OK (if the value of the SBUSend flag is 0, it is determined that
K), and determines whether or not the CPU 2 is in a command waiting state of waiting for a command from the CPU 1 (# 24 to # 25). When the previous communication with the CPU 2 is OK and the CPU 2 is in the command waiting state, the external interrupt from the CPU 2 is permitted, the SBUSend flag is set (the value is set to 1), and the TA used in the interrupt processing from the CPU 2 is set.
The SKno is reset (to a value of 0), and a process for outputting a command for executing a process for the terminal control unit LU3 at the address 0 to the CPU 2 in the first part of the interrupt process is performed. On the other hand, if the previous communication with the CPU 2 is not OK, or if the previous communication with the CPU 2 is OK but the CPU 2 is not in the command waiting state, the CPU 2 is reset to the abnormal state for a predetermined time, and the alarm display output is performed. (# 30 to # 31).

In the processing routine for the interruption from the CPU 2, as shown in FIG. 6, after the re-interruption is prohibited, the processing according to the value of each TASKno is performed sequentially from TASKno = 0, and the value of TASKno is increased by one. The next interrupt is enabled, and the process ends. As shown in FIGS. 9 and 10, the processing in each TASKno is performed in the first TASKno.
When SKno = 0, data is taken in from the input port A of the terminal control unit LU3 at address 0, and TASKno is read.
= 1, input port B of terminal control unit LU3 at address 0
And the process of transferring the output data to the output port C. When TASKno = 2, a process for outputting a command for executing a process for the terminal control unit LU4 at address 1 is performed, and when TASKno = 3, data is taken in from the input port A of the terminal control unit LU4 at address 1 and output. The output data is transferred to the port B. When TASKno = 4, the address 1
Transfer processing of output data to the output port C of the terminal control unit LU4. Hereinafter, similarly, the terminal control units LU1 to LU5 of the remaining addresses sequentially execute command transfer and data input / output processing. In the above flow, the transfer of the output data to the output port is performed by the CPU.
1 is not performed until 1.5 starts the entire control process (1.5 seconds after the main switch is turned on).

According to the above flow (FIG. 9), the address 0
When the request command is transferred to the terminal control unit LU3, the CPU 2 is receiving the data of the sensors SW from the terminal control unit LU4 of the address 1,
After the reception of the data is completed, a transfer process of output data for outputting a drive signal to the actuators from the output port C of the terminal control unit LU3 at the address 0 is performed. That is, when a request to transmit control data for driving the actuators M, L, B to the terminal control units LU1 to LU5 occurs while receiving the detection data of the sensors SW, the actuators M, L, B are transmitted. The transmission of the drive control data is executed after the reception of the detection data of the sensors SW being received is completed. In the above flow, the transfer processing of the output data to the output port C of the terminal control unit LU3 at the address 0 is performed after the data is fetched from the input ports A and B. The transfer process may be performed first.

Then, TASKno which is one before the last is
n, a command requesting communication error information for each of the terminal control units LU1 to LU5 is transferred, and the last TASKno
When = n + 1, the communication error information is read, and then the SBUSend flag is reset (value is set to 0) to indicate that the communication with the CPU 2 is OK. In the last TASKno = n + 1,
Since the processing is ended in a state where the next interrupt is prohibited, the processing for the interrupt from the CPU 2 is not executed thereafter until the interrupt is permitted in the bus processing shown in FIG.

When the main switch is turned off to stop the operation of the combine, first, as shown in FIG. 4, the CPU 2 is reset to stop the communication with the terminal control units LU1 to LU5 (# 13). Then, for 5 seconds after the main switch is turned off, the solenoid for stopping the engine is driven to cut off the fuel supply to the engine, and error information is written to the memory MEM.
After the elapse of 5 seconds, the driving of the solenoid is stopped (# 14 to # 17).

Writing of the error information to the memory MEM may be performed at predetermined time intervals other than when the engine is stopped, but erroneous data may be written when the power supply voltage is lowered such as when the engine starter is started. Therefore, the power supply voltage (for example, 12 V) is monitored, and the processing is not performed when the voltage is reduced. Note that the memory M
The error information written in the EM is read by a checker or the like, and failure analysis is performed based on the error information.
Since the error history is recorded, there is an advantage that it is possible to analyze an error in which it is difficult to reproduce, for example, an instantaneous disconnection.

Next, a control operation in each of the terminal control units LU1 to LU5 will be described with reference to flowcharts shown in FIG. 7 and FIGS. First, it is determined whether or not a polling signal for itself is received based on an address in the received data. If the polling signal is for itself, it is determined whether the request is an input request from the switch SW or an output request for the actuators M, L, and B. I do. In the case of an input request from the switch SW, a detection signal from the switch SW is input via an input port, and sensor data for reply is created based on the input signal. On the other hand, in the case of an output request to the actuators M, L, B, the received data is output via the output port, and ACK data for reply is created. Next, as shown in FIG. 11, the centralized control unit CU
The transmission time t until the transmission start point with respect to the end time point of the polling signal from is changed at random.

Thus, when a plurality of terminal control units LU1-5 respond to the same polling signal due to an address setting error for each terminal control unit LU1-5, the timing of each return signal is shifted. The overlapped waveforms are received by the central control unit CU, are determined to be abnormal data different from normal data, and can be detected as a communication error. Note that the communication control circuit 16 performs the random processing of the return timing based on a signal from the random signal generation circuit 23 (see FIG. 3) in the gate array GA2.

Next, another embodiment will be described.
In the above embodiment, the central control unit CU and each terminal control unit LU1
To LU5 perform multiplex communication via the wired communication means T, but this is not a multiplex communication. For example, the central control unit CU is provided with individual terminals provided between the terminal control units LU1 to LU5. (Accordingly, the same number as the number of terminal control units LU1 to LU5) may be individually communicated.

In the above embodiment, when the central control unit CU and the terminal control units LU1 to LU5 perform multiplex communication, the addresses of the terminal control units LU1 to LU5 are designated by the time division multiplexing method. Which terminal control unit LU
Although the communication between the terminal control units LU1 to LU5 is distinguished from each other, the terminal control units LU1 to LU5 may be made to communicate with transmission signals of different frequencies by a frequency multiplexing system instead of a time division multiplexing system. Also, when performing multiplex communication by designating an address, a communication method other than the polling selecting method is possible.

In the above embodiment, the central control unit CU
As a specific configuration in which the transmission of the control data for driving the actuators M, L, and B is performed prior to the reception of the detection data of the sensors SW, the detection data of the sensors SW from the terminal control units LU1 to LU5 is transmitted. When a request for transmitting control data for driving the actuators M, L, B to each of the terminal control units LU1 to LU5 occurs during reception, the transmission of the control data for driving the actuators M, L, B is performed as described above. Although the processing to be executed after the reception of the detection data of the sensors SW during reception has been described, without doing so,
For example, the reception of the detection data of the sensors SW is temporarily interrupted, the control data for driving the actuators M, L, and B is transmitted first, and then the detection data of the interrupted sensors SW is received. It is also possible to drive the actuators M, L, B more quickly.

In the above-described embodiment, the central control unit CU includes the microcomputer CPU 1 as a control arithmetic processing unit.
And a microcomputer C as a communication arithmetic processing unit
Although the case where two CPUs including the PU2 are provided is shown, when the required communication processing speed is not so fast, the overall control and the communication control are performed by one microcomputer CPU1 to simplify the configuration. It is also possible to achieve the conversion.

In the above embodiment, the wired communication means T is
Although the one constructed using the RS485 standard is shown,
Wired communication means of various other standards can be used.

In the above embodiment, the switch SW for detecting the sensors as binary data of ON / OFF of the control information is used.
However, it is also possible to include a sensor for detecting an analog signal or a pulse signal other than binary signals. Further, the actuators may include those other than the electric motor M, the solenoid L, and the alarm buzzer B.

In the above embodiment, an example in which the present invention is applied to a combine is illustrated. However, the present invention can be applied to various other automatic or manual traveling type work vehicles.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an overall control configuration of a combine;

FIG. 2 is a circuit diagram showing a control configuration of a combine;

FIG. 3 is a circuit configuration diagram of a communication IC.

FIG. 4 is a flowchart showing a control operation in a central control unit.

FIG. 5 is a flowchart showing a control operation in a central control unit.

FIG. 6 is a flowchart showing a control operation in a central control unit.

FIG. 7 is a flowchart showing a control operation in a terminal control unit.

FIG. 8 is an explanatory diagram of a control procedure in a central control unit and a terminal control unit.

FIG. 9 is an explanatory diagram of a control procedure in a central control unit and a terminal control unit.

FIG. 10 is an explanatory diagram of a control procedure in a central control unit and a terminal control unit.

FIG. 11 is an explanatory diagram of a signal waveform in the polling selecting method.

FIG. 12 shows an example of a data format exchanged between CPUs.

[Explanation of symbols]

 CU Central control unit LU1 to LU5 Terminal control unit T Communication means SW Sensors M, L, B Actuators

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁶ Identification symbol FI H04Q 9/14 A01D 41/12 C // A01D 41/12 G05D 1/02 R G05D 1/02 H04L 11/00 321 (72) Inventor Yasunori Sueyoshi 64 Ishizu-Kitacho, Sakai City, Osaka Prefecture Inside Kubota Sakai Works, Ltd. (72) Inventor Masahiko Shimano 64 Ishizu-Kitamachi, Sakai City, Osaka Prefecture Inside Kubota Sakai Plant Co., Ltd. (72) Inventor Hirotsu Ando Osaka 64, Ishizukita-cho, Sakai-shi, Osaka Prefecture Inside the Kubota Sakai Works, Ltd. (72) Inventor Hideaki Tanaka 64, Ishizukita-machi, Sakai-shi, Osaka Prefecture, Inside Kubota Sakai Works, Ltd. (56) References JP-A-5-336158 (JP, A) JP-A-6-125353 (JP, A) JP-A-62-214746 (JP, A) JP-A-3-240802 (JP, A)

Claims (3)

(57) [Claims] 1. A central control unit (CU) and a plurality of terminal control units (LU1 to LU5) distributed and arranged in each unit of the body,
Communicably connected via a wired communication means (T),
The terminal control units (LU1 to LU5) input a detection signal from control information detection sensors (SW) and transmit the input data to the central control unit (CU), and the central control unit ( CU), and outputs drive signals to the actuators (M, L, B) based on the received data.
U), based on the transmission data from the terminal control units (LU1 to LU5), each of the terminal control units (LU1 to LU5).
5) A control device for a work vehicle configured to determine the proper drive content for the actuators (M, L, B) and transmit the proper drive content as the control data, wherein the central control unit Unit (CU) and the terminal control units (LU1 to LU1)
LU5) is transmitted to each of the terminal control units (LU1 to LU5).
Polling selecting method by specifying the address for
The central control unit (CU) is configured to perform multiplex communication by using the terminal control units (LU1 to LU1).
LU5) based on the transmission data from each terminal
Actuators (M, L,
A determination process for determining the proper drive content for B);
Detection signals from sensors (SW) for detecting control information
In order to insert, each of the terminal control units (LU1 to LU5)
Signal input processing that repeats communication between
Are executed in parallel, and the control is performed based on the determination processing.
When a transmission request for control data occurs, the control data
A control device for a working vehicle configured to execute transmission processing of the data prior to the detection signal input processing . 2. The method according to claim 1, wherein the central control unit (CU) is configured to control the detection signal.
The execution state of the signal input processing is one terminal control unit (LU1-L
U5), when the state is being executed,
When a data transmission request occurs, one end
After completing communication with the end control units (LU1 to LU5)
2. The control device for a work vehicle according to claim 1 , wherein the control device is configured to transmit the control data . 3. The control unit according to claim 1, wherein the central control unit (CU) performs a control operation.
An arithmetic processing unit (CPU1) and an arithmetic processing unit (C
PU1) and each terminal control unit (LU1).
To LU5), a communication arithmetic processing unit (CP)
U2), and the arithmetic processing unit (CPU1) for control is
The terminal, which is fetched via an arithmetic processing unit (CPU2)
Based on transmission data from control units (LU1 to LU5)
Of the terminal control units (LU1 to LU5)
To determine the proper drive contents for the data (M, L, B)
Execute the above-mentioned determination process and make a determination based on the determination process.
To transmit the appropriate drive content as the control data.
A transmission request is sent to the communication processing unit (CPU 2).
The communication arithmetic processing unit (CPU 2) is configured to detect the control information.
To capture detection signals from outgoing sensors (SW)
Communication between the terminal control units (LU1 to LU5).
Execute the detection signal input processing for sequentially repeating the communication
From the control arithmetic processing unit (CPU1).
When transmission of the control data is requested, the control data
3. The control device for a work vehicle according to claim 1 or 2 , wherein data transmission processing is executed prior to said detection signal input processing .