JP2933473B2 - 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 dispersedly arranged in each unit of an airframe, by designating an address for each of the terminal control units via a wired communication means. The terminal control unit is communicably connected, and inputs a detection signal from sensors for detecting control information and transmits the input data to the central control unit, and receives control data from the central control unit. And output a drive signal to actuators based on the received data,
The central control unit is configured to determine, based on transmission data from the terminal control unit, proper drive contents for the actuators of the terminal control units, and transmit the proper drive contents as the control data. To a control device for a working vehicle.

[0002]

2. Description of the Related Art In a work vehicle control device, a central control unit takes a form of centralized control in which control of a work vehicle as a whole is centralized in control of a work vehicle such as a combine while detecting control information. In order to obtain detection data from sensors and transmit operation commands to actuators in each working unit, a plurality of terminal control units that input and output various signals to and from the sensors and actuators The central control unit and each terminal control unit specify the address set for each terminal control unit and accurately identify the target terminal control unit while distributing them in each unit.
Various types of data are transmitted and received through wired communication means using standards such as 85, thereby avoiding the complicated and large amount of signal wiring when the central control unit is directly connected to sensors and actuators. I was And
Conventionally, the address setting for each of the terminal control units is performed by, for example, connecting an address signal generation unit including a plurality of harnesses connected to the ground or the power supply side to each terminal control unit via a connector, and combining the input voltages thereof. The address is set on the basis of the address (for example, see Japanese Patent Application Laid-Open No. 3-240802).

[0003]

However, in the above-mentioned prior art, the connector for connecting the address signal generating means to the terminal control section is formed separately from the connector for connecting sensors and actuators to the terminal control section. Because
It is necessary to connect a plurality of connectors to each terminal control unit, which makes the connector connection work cumbersome, and may cause forgetting of connection.

[0004] The present invention has been made in view of the above circumstances, and an object of the present invention is to simplify the work of connecting a connector to each terminal control unit and to eliminate the drawbacks of the above-mentioned prior art. .

[0005]

A first characteristic configuration of a control device for a work vehicle according to the present invention is an address signal generating means for generating an address signal for each terminal control unit, the sensors, and the actuator. Kind , they are connected
And connected to each of the terminal control units via a connector integrally formed.

A second characteristic configuration is that each of the terminal control units is configured to input an address signal from the address signal generating means as its own address data only when power is turned on.

[0007]

According to the first characteristic configuration of the present invention, each terminal control
Signal generator that generates address signals for the part
The steps, the sensors and the actuators are
They are connected and connected via an integrally formed connector.
Then, it is connected to each terminal control unit. That is,
Just by connecting the integrated connector, the address
Signal generation means, sensors, and actuators
Can be connected to the terminal control unit. These are connected
Then, an address signal from the address signal generating means and a detection signal from sensors for detecting control information are input to each terminal control unit, and a drive signal is output from each terminal control unit to the actuators. Will be able to Each terminal control unit sets its own address based on the input address signal, and when the address specified by the central control unit matches its own address,
The detection data of the input sensors is transmitted to the central control unit, or a drive signal is output to the actuators based on the control data transmitted from the central control unit.

Further, according to the second characteristic configuration, each terminal control section inputs the address signal from the address signal generating means as its own address data only when the power is turned on, and based on this data, its own address. Set.

[0009]

Therefore, according to the first characteristic configuration of the present invention, the input of the address signal and the transmission of the signal to the sensors and actuators can be performed by connecting only one connector to each terminal control unit. Input and output can be performed, simplifying the connector connection work, and for each terminal control unit as in the past ,
For inputting address signals, sensors and actuators
When connecting multiple connectors formed separately for input and output of similar types of signals, troublesome connector connection work,
Defects such as the possibility of forgetting to connect are eliminated.

Further, according to the second characteristic configuration, the address of each terminal control unit is set based on the address input data only when the power is turned on. If the address signal is input during the operation of the work vehicle after the power is turned on, for example, even if a defective contact signal is temporarily input due to vibration or the like and a defective address signal is input, the Without being affected, it is possible to properly transmit and receive communication data to and from the central control unit based on the first set regular address, and to properly control the work vehicle. Suitable means of the feature configuration are obtained.

[0011]

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.

[0012] In the combine, for example, the steering control for steering the aircraft so as to automatically run 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 control of the whole combine is provided.
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.

A microcomputer CPU for the above control
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 as a terminal-side communication IC for relaying data transfer between L and B and the communication means T;
Also, four harnesses A as address signal generating means for generating an address signal for each of the terminal control units LU1 to LU5.
D1 to D4 are provided by combining a low-level voltage harness connected to the ground and a non-connected harness. Then, the harnesses AD1 to AD4 and the sensors S
W, and, actuators M, L, B, they are tangent
It is connected to each of the terminal control units (LU1 to LU5) via a connector (CN) which is connected and integrally formed. Specifically, the harnesses AD1 to AD4 are external connection terminals A0 to A4 for setting the address of the gate array GA2.
A3, the sensors SW and the actuators M, L, B are connected to an input / output port of the gate array GA2 via a signal processing circuit and a drive circuit, respectively. In the figure, 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 constructed 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 central gate array GA1. 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 provided. 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 the 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).

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 operations 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 to 10). After that, the CPU 1
The time required to grasp the state of the entire system by exchanging data with U2 (for example, 1.
When 5 seconds have elapsed, the CPU 1 sets the display on the meter panel to the normal state and starts the entire control process (#
9 to # 11). Note that the CPU 1 operates the watchdog timer routine at regular intervals, and when the control runs out of control, gives a command to the power supply PS1 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 sequentially performed from TASKno = 0, and the value of TASKno is increased by one. The next interrupt is enabled, and the process ends. First TASKn
When o = 0, data is taken in from the input port A of the terminal control unit LU3 at address 0, and when TASKno = 1, data is taken in from the input port B of the terminal control unit LU3 at address 0, and output data to the output port C is taken. Is performed. 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. Transfer processing of output data to port B is performed, and when TASKno = 4, transfer processing of output data to output port C of terminal control unit LU4 at address 1 is performed.

In the same manner, the terminal control units LU1 to LU5 of the remaining addresses sequentially execute command transfer and data input / output processing. When TASKno = n + 1 before the end, a command requesting communication error information for each of the terminal control units LU1 to LU5 is transferred, and when TASKno = n + 1, reading processing of the communication error information is performed. After that, the SBUSend flag is reset (value is set to 0) to indicate that the communication with the CPU 2 is OK. The last TASKno
In the case of = n + 1, the process is terminated in a state where the next interrupt is prohibited, and thereafter, the process for the interrupt from the CPU 2 is not executed until the interrupt is permitted in the bus process shown in FIG.

When the main switch is turned off to stop the operation of the combine, as shown in FIG. 4, first, 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 C
A process of writing error information stored in a memory such as a RAM in the PU1 to the memory MEM is performed for 5 seconds.
After the passage of time, the driving of the solenoid is stopped (# 14 to # 14).
# 17).

Writing of 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 drops, 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, control operations in the terminal control units LU1 to LU5 will be described with reference to the flowchart shown in FIG. 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, an input request from the switch SW or actuators M, L, B
It is determined whether the request is an output request. 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, actuators M, L, B
In the case of an output request, the received data is output via the output port, and ACK data for reply is created. Next, as shown in FIG. 11, the sensor data or the ACK data created above is transmitted by changing the time t from the end of the reception of the polling signal from the central control unit CU to the start of the transmission at random. Is done. This allows
Even when the plurality of terminal control units LU1 to LU5 respond to the same polling signal by mistake, the return signals from the terminal control units LU1 to LU5 out of timing overlap and the received signal waveform of the central control unit CU overlaps. Becomes abnormal and the central control unit C
The U side can determine a communication error. In addition, the random processing of the return timing is performed by the gate array GA.
2 is performed by the communication control circuit 16 based on a signal from the random signal generation circuit 23 (FIG. 3).

Another Embodiment Next, another embodiment will be described. In the above embodiment, the central control unit CU and each of the terminal control units LU1 to LU5 specify the address to each of the terminal control units LU1 to 5 through the wired communication unit T and perform time division by the polling selecting method. Many
Although communication using the dual method has been described,
Not only the quoting method but also other time division multiplexing methods.
Communication may be performed.

In the above embodiment, the central control unit CU and each terminal
The control units LU1 to LU5 communicate with each other by a time division multiplexing method.
However, instead of such a time division multiplexing method,
Transmission signals of different frequencies for the terminal control units LU1 to LU5
Terminal control units LU1-5 by frequency multiplexing
Multiplex communication by specifying the address for
Good. Also, instead of such multiplex communication, for example,
The control unit CU is provided between each of the terminal control units LU1 to LU5.
Individual (and therefore the same number as the number of terminal control units LU1-5)
The communication may be individually performed via the communication means T.

In the above embodiment, the address signal generating means A
Although D1 to D4 are shown as being composed of a harness connected to the ground and a harness in a non-connected state, other than this, the harness connected to the ground and the harness connected to the power supply may be used. This is necessary when the input terminals A0 to A3 of the gate array GA2 on the LU1 to LU5 side are not pulled up to the power supply side.) Also, the ground or the power supply may use a sensor SW side or the like. What is supplied to the connector from inside the terminal control units LU1 to LU5 can be used.

In the above embodiment, each of the terminal control units LU1 to LU1
Although U5 inputs the address signal from the address signal generating means AD1-4 as its own address data only when the power is turned on, the present invention is not limited to this, and the address signal is always input as the address data after the power is turned on. Alternatively, the address data at the time of power-on and the address signal at a predetermined time after the power-on are compared, and the address signal generating means
Various configurations such as checking the reliability of D1 to D4 are possible.

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 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-described 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 working vehicles.

Incidentally, reference numerals are written in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configuration of the attached drawings by the entry.

[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.

[Explanation of symbols]

 CU Central control unit LU1 to LU5 Terminal control unit T Communication means SW Sensors M, L, B Actuators AD1 to 4 Address signal generation means CN connector

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁶ Identification symbol FI // A01D 41/12 A01D 41/12 C G05D 1/02 G05D 1/02 R (72) Inventor Yasunori Sueyoshi Ishizu, Sakai-shi, Osaka 64 Kitamachi Inside Kubota Sakai Works, Ltd. (72) Inventor Masahiko Shimano 64 64 Ishizukitamachi, Sakai City, Osaka Prefecture Inside Kubota Sakai Works, Ltd. Kubota Sakai Works (72) Inventor Hideaki Tanaka 64 Ishizu-Kitacho, Sakai City, Osaka Prefecture Kubota Sakai Works Co., Ltd. (56) References JP-A-2-16845 (JP, A) JP-A-5-122777 ( JP, A) JP-A-5-195859 (JP, A) JP-A-1-256242 (JP, A) JP-A 1-253393 (JP, A) JP-A 1-155230 (JP, A) JP Hei 4-175950 (J , A) JP flat 4-274942 (JP, A) JP flat 4-274943 (JP, A) (58 ) investigated the field (Int.Cl. ^6, DB name) H04Q 9/00 301 A01B 69/00 303 G05D 1/02

Claims (2)

(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,
Each terminal control unit (L) is connected via a wired communication unit (T).
U1 to LU5) are connected so as to be communicable by designating an address, and the terminal control unit (LU1 to LU5) inputs a detection signal from a control information detection sensor (SW) and the center of the input data. Transmission to the control unit (CU),
And reception of control data from the central control unit (CU) and actuators (M,
L, B), and the central control unit (CU) transmits the drive signals to the terminal control units (LU1 to LU5) based on transmission data from the terminal control units (LU1 to LU5).
To LU5) for a work vehicle configured to determine proper drive contents for actuators (M, L, B) and transmit the proper drive contents as the control data. Address signal generating means (AD1 to 4) for generating address signals for the terminal control units (LU1 to LU5);
The sensors (SW) and the actuators (M, L, B) are connected to the terminal control units (LU1 to LU5) via a connector (CN) integrally connected thereto. Control device for the connected work vehicle. 2. The terminal control units (LU1 to LU5)
2. The control device for a work vehicle according to claim 1, wherein the control device is configured to input an address signal from the address signal generating means (AD1 to 4) as its own address data only when power is turned on.