JP3506924B2 - Control device for work vehicle - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention enables a central control unit that centrally executes control of the entire work vehicle and a plurality of terminal control units that are dispersedly arranged in various parts of an aircraft to communicate via a communication line. Control device for a work vehicle connected to the vehicle.

[0002]

2. Description of the Related Art A control device for a work vehicle described above is, for example, in a combine, which is an example of a work vehicle, a plurality of terminals in which a large number of sensors and actuators arranged in various parts of a machine body are distributed and distributed in respective parts of the machine body. Based on the sensor information and other control information obtained by the central control unit through communication with each terminal control unit via the communication line while connecting to the control unit to input and output signals and simplifying wiring. By determining the drive contents for all actuators of each part of the machine and transmitting drive data to the terminal control unit to which the actuators are connected based on the determination, the central control unit controls the entire work vehicle. I was trying to concentrate control properly. Since high-speed communication processing is required to drive the actuators, the central control unit and each terminal control unit are equipped with dedicated ICs for high-speed communication processing (for example, Japanese Patent Laid-Open No. 7- 13186
No. 0 publication). By the way, for example, in a combine, the central control unit is configured to perform various controls such as threshing control, cutting height control, vehicle speed control, etc., but control start information indicating whether or not to execute each control And the information of the control target value, etc. are input by a manually operated switch, volume, etc., and conventionally, those manually operated information input means are, for example, directly connected to the central control unit. Was there.

[0003]

However, in the above-mentioned prior art, when the number of manually operated information input means such as a manual switch becomes large, the wiring for connecting them to the central control section becomes complicated. Therefore, in order to simplify the wiring, a signal from each of the information input means is input to a terminal control unit configured in the same manner as the terminal control unit to which the sensors and actuators are connected, and the central control unit It may be possible to obtain the signal data from each information input unit by communication with the terminal control unit via the communication line, but in this case, it is not always necessary to drive the actuators. There is a problem that an expensive terminal control unit equipped with a dedicated IC for high-speed communication processing is required for signal input from each of the above-mentioned information input means that does not require high-speed communication processing, resulting in unnecessary cost. .

The present invention has been made in view of the above situation, and an object thereof is to communicate information such as sensors required for control by communication with each terminal control section distributed by the central control section in each section of the machine body. In order to centrally control the entire work vehicle by driving all actuators of each part of the machine based on that information, the signals and high-speed communication processing that require high-speed communication processing are acquired. Is communicated with a signal not required by each communication line suitable for each communication, and the central control unit can appropriately control the entire work vehicle while preventing unnecessary costs.

[0005]

According to a first aspect of the present invention, a plurality of actuators for work, sensors for detecting control information, and manually operated information input means are arranged in a distributed manner in each part of the machine body. Connected to any of the terminal control unit, the connected terminal control unit, inputs signals of the sensors and outputs signals to actuators, among the plurality of terminal control units, The actuators and the sensors are connected to input and output signals that require high-speed communication processing for driving the actuators.
The connected terminal control unit is connected to a high-speed communication line for high-speed communication connected to the central control unit and communicatively connected to the central control unit, while a signal that does not require high-speed communication processing is input / output . The terminal control unit to which the information input unit is connected is connected to the low speed communication line for low speed communication connected to the central control unit, and is communicatively connected to the central control unit. Then, the central control unit, which centrally executes the control of the entire work vehicle, appropriately drives all of the actuators based on the input data of the sensors and the information input unit transmitted from each terminal control unit. It judges the contents and sends the appropriate driving contents as control data to the terminal control unit to which the actuators are connected, and the terminal control unit to which the actuators are connected is based on the control data received from the central control unit. Then, a drive signal is output to the actuators.

Therefore, the terminal control unit, which inputs and outputs signals requiring high-speed communication processing for driving the actuators, performs high-speed communication with the central control unit via the high-speed communication line, while The terminal control unit that inputs and outputs signals that are not required to be processed is communicated by a communication line suitable for each signal so that low-speed communication is performed with the central control unit through the low-speed communication line. If the terminal control unit that inputs and outputs signals that do not require high-speed communication processing is also made to communicate via the high-speed communication line, a wasteful cost such as the need for a dedicated IC for high-speed communication processing is generated. The central control unit can centrally and appropriately execute control of the entire work vehicle while reducing costs as much as possible. In addition, a manual switch for setting control information.
Manually operated information input means such as switch and adjustment volume
The signal from is high speed for driving the actuators.
Although communication processing is not required, it is for detecting control information.
Input information from sensors is used to drive actuators.
High-speed communication processing is required for
A judgment is made based on each input data of the information input means.
The control data for driving the actuators is output at high speed.
Actuators respond appropriately to the
Drive control can be executed properly without delay as much as possible.
it can.

According to a second aspect, in the first aspect, the central control unit includes a communication IC provided in the central control unit for relaying data exchange with the high-speed communication line, and the high-speed communication line. Between a communication IC provided in the connected terminal control unit for relaying data exchange with the high-speed communication line, and a terminal control unit connected to the high-speed communication line via the high-speed communication line. Performs high-speed communication processing, and also executes low-speed communication processing directly with the terminal control unit connected to the low-speed communication line via the low-speed communication line. Therefore, the communication I provided in the central control unit and the terminal control unit connected to the high-speed communication line, respectively.
By C, high-speed communication processing is realized by exchanging data at high speed with a high-speed communication line, while, for example, a central control unit and a terminal control unit are each configured by a microcomputer, and a serial function provided as a standard function therein. By utilizing the communication function and the like, the central control unit and the terminal control units connected to the low-speed communication line directly communicate with each other via the low-speed communication line, thereby eliminating the need for using the expensive communication IC as described above. The low-speed communication processing can be realized at the lowest possible cost, and the preferred means of claim 1 can be obtained.

[0008]

According to a third aspect , in the first or second aspect , the display means for displaying information is connected to any one of the terminal control sections, and the terminal control section to which the display means is connected, Connected to the low-speed communication line, the central control unit determines appropriate display content to be displayed on the display unit based on each input data of the sensors and the information input unit transmitted from each terminal control unit. Then, the appropriate display content is transmitted as display data to the terminal control unit to which the display unit is connected, and the terminal control unit to which the display unit is connected receives the display data from the central control unit. Based on, the drive signal is output to the display means. Therefore, the central control is performed while realizing the communication cost reduction by the low-speed communication processing through the low-speed communication line between the terminal control unit and the terminal control unit to which the display unit that does not require the high-speed communication processing for driving the actuators is connected. The section can determine appropriate display information based on the state of the entire work vehicle and display it on the display means, and thus the preferable means according to claim 1 or 2 can be obtained.

According to a fourth aspect, in any one of the first to third aspects, the terminal control unit to which the information input unit is connected processes the input data from the information input unit, The processed data is transmitted to the central control unit. Therefore, for example, a signal such as a switch that includes noise during operation is subjected to noise removal processing and transmitted to reduce the load of data processing in the central control unit, or the volume control is performed. It is more appropriate than transmitting the input data from the information input means as it is to the central control unit without processing it, such as compressing and transmitting a signal with a large amount of information to reduce the communication time. Communication processing can be performed, and the suitable means according to any one of claims 1 to 4 can be obtained.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION A case in which an embodiment of the present invention is applied to a combine as a work vehicle will be described below with reference to the drawings. As shown in FIGS. 1 to 3, the combine has a body V including a pair of left and right crawler traveling devices 30.
The reaper 1 is attached to the front part of the reaper by the reaper lift cylinder 5 so as to be vertically swingable around the horizontal axis X, and behind the reaper 1, the manipulator 31 and the culm are threshed and sorted. The threshing unit 2, the tank 3 for storing the grains supplied from the threshing unit 2, the unloader 32 for discharging the grains in the tank 3, and the like are mounted.

As shown in FIG. 2, the mowing section 1 has a weeding tool 33 attached to the tip, a grain culm raising device 34, a mowing blade 35 for cutting the root of the culm, and a mowing unit. Auxiliary transport device 3 that collects and gathers grain culms and transports them backward
7. A vertical transport device 36 and the like for receiving the cut culm on the tip side and transferring it to the feed chain 52 of the threshing unit 2 are provided. Further, there are provided an ultrasonic sensor S6 for detecting the height of the mowing unit 1 with respect to the ground, and a stock source sensor S2 for detecting that the grain stem touches and is turned on to detect that the mowing operation is being performed. Then, based on the information from the ultrasonic sensor S6, the cutting height control for controlling the operation of the cutting lifting cylinder 5 is executed so that the ground height of the cutting unit 1 is maintained at the target set height.

The vertical transfer device 36 (in FIG. 2, there is a part that is partially different from FIG. 1 in order to explain the function of the vertical transfer device 36) is used for the grain culm side. It is composed of a stock-source transport device 36a for nipping and transporting, a spike-tip transport device 36b for locking and transporting the tip side of grain culms, and a tip guide plate 36c, and is swingable around the same axis as the swing axis X of the cutting unit 1. It is supported and is provided so as to be swingable and adjustable by the handling depth motor M1, whereby the pinching point of the grain culm received from the auxiliary transport device 37 is changed in the culm length direction, and the handling depth in the threshing unit 2 is adjusted. It is configured to be able to. Further, in the transfer route of the cut grain culms, they are juxtaposed at intervals in the culm length direction on the lower side in the transport direction than the position where the handling depth is adjusted by the handling depth motor M1, and swing when the grain culms come into contact. Switch type pair of tip sensors S8a, S8
b is provided. Then, the pair of tip sensors S
8a, S8b, the state in which the tip of the grain culm is located (the state where the plant-side sensor S8b is on and the tip-side sensor S8a is off) is set as the appropriate handling depth state and is maintained in that appropriate handling depth state. Thus, the handling depth control for controlling the operation of the handling depth motor M1 is executed.

As shown in FIG. 3, in the second weeding tool 33 from the left toward the front of the machine body, the lateral direction of the machine body V of the machine body V with respect to the grain culm row introduced between the plurality of weeding tools 33. A pair of left and right direction sensors S1 having a detection bar that abuts on the culm and swings toward the rear side of the machine body is provided to detect the position at. Then, based on the information from the pair of direction sensors S1, the left and right steering devices for turning the power transmission to and from the left and right crawler traveling devices 30 so that the traveling machine body V automatically travels along the planted culm. Directional control is executed to control the operation of the steering cylinders 9L and 9R (see FIG. 19) that operate the clutches 20L and 20R, respectively. That is,
Of the left and right crawler traveling devices 30, the machine body V turns to the side where the power transmission is cut off. Therefore, when the machine body V is displaced from the proper position, the crawler traveling device 30 on the opposite side of the displacement is transferred. The steering cylinders 9L and 9R are operated so as to cut off the power transmission to correct the traveling direction.

Each of the left and right crawler traveling devices 30 has a left and right track frame 30d having a drive sprocket 30a, a tension roller 30b, and a plurality of driven wheels 30c.
And the left and right track frames 30d
A rolling cylinder 30e is provided for vertically moving the machine body V, and the machine body V is provided with a rolling sensor S4 for detecting the inclination of the machine body with respect to the horizontal plane. Then, based on the information of the rolling sensor S4, horizontal control for controlling the operation of the left and right rolling cylinders 30e is executed so as to maintain the body posture in a predetermined posture such as a horizontal posture regardless of the state of the ground. .

The unloader 32 is provided with a discharge port 32a in a downward posture at its tip end, is supported by a support part 32b in a state in which the base end side is vertically swingable around a horizontal axis Z, and
An unloader hydraulic cylinder 62 for swinging up and down is provided, and the support portion 32b is pivotally supported on the machine body V in a state in which the support portion 32b can be swiveled around the vertical axis Y, and swiveling for swiveling drive. A motor M3 for use is provided. or,
An unloader position sensor S3 including a potentiometer is provided to detect the turning position of the support portion 32b. It should be noted that FIG. 3 shows a state in which the unloader 32 is operated to the home position for storage during the mowing work or the like. Then, based on information such as the unloader position sensor S3 and a limit switch (not shown) for detecting the limit position of the raising operation and the turning operation in the left-right direction,
Unloader control for controlling the operation of the unloader 32 is executed.

As shown in FIG. 4, the threshing unit 2 includes a handling cylinder 51.
A handling room A for storing a feed chain, a feed chain 52 for conveying grain culms supplied from the reaping section 1, a toumi 53 and a swing selection plate 5
4, a sorting device B consisting of 4 and a grain collecting port 55 for collecting grain, and a collecting port 56 for collecting a mixture of grain and straw waste.
And so on. Then, among the processed products threshed in the handling room A, the single-grained products leak to the sorting device B from the receiving net 57 provided in the lower part of the handling room A, and the other processed products are received by the receiving net 57. It falls on the sorting apparatus B from the rear end.

As shown in FIG. 2, a nipping rail 52a is arranged opposite to the feed chain 52 in a state of being pressed and urged toward the feed chain 52 side, and the feed chain 52 and the nipping rail 52a are rotatably driven. Is configured to hold and convey the root portion of the grain culm. However, the sandwiching rail portion located on the front side of the handling chamber A is configured to be movable to an upper position separated from the feed chain 52 by the rail lifting motor M2 and the like. As a result, in addition to the normal state in which threshing processing is performed while sandwiching and transporting the harvested grain culms laterally of the handling room A, when the culm length of the harvested grain culm is extremely short, all the culms of the grain culm are transferred to the handling room A. It is configured so that rail control for driving the rail raising motor M2 and the like to be turned on can be executed.

The swinging sorting plate 54 of the sorting apparatus B is used for the
3 includes a Glen pan 58 located above, a chaff sheave 59 located behind it, a Glen sheave 61 located below it, and the like. The chaff sheave 59 is composed of a plurality of strip plate members arranged side by side in the process product transfer direction, and the interval (chuff opening) between the adjacent strip plate members is changed by the chaff opening adjusting motor M4. Has been done. In addition, S10 is a sheave sensor that detects the layer thickness of the processed material on the swing selection plate 54. The toumi 53 is for blowing off the straw chips on the swing selection plate 54, and the fan case cover 53a on the rear side is attached to the toumi wind force adjusting motor M.
The wind force (Toumi wind force) exerted on the processed object on the swing selection plate 54 is changed by opening and closing at 5. That is, the larger the opening of the cover, the smaller the wind force toward the front side, and the smaller the Tumi wind force.

Then, in order that the sorting process in the sorting device B is properly performed, according to the amount of the leaked substance from the handling room A,
Chaf opening adjustment motor M4 and Toumi wind force adjustment motor M
Threshing control for controlling the operation of No. 5 is executed. Here, when the traveling speed is high, the amount of harvested culm culms supplied to the handling room A is large, and the amount of processed material leaked from the handling room A is large.
The larger the amount of grain culm supplied to the handling room A, which is determined based on the information of the vehicle speed sensor S7 described later, is, the larger the chaff opening and the toumi wind force are controlled.

Next, the power transmission system is shown in FIG. The output of the engine E mounted on the machine body V is transmitted to the threshing unit 2 via the threshing clutch 37 and the traveling clutch 38.
And transmitted to the mission unit 40 of the crawler traveling device 30 via the continuously variable transmission 39. The output transmitted to the mission unit 40 is transmitted to the crawler traveling device 30 via an auxiliary transmission device (not shown) provided in the mission unit 40, and is also transmitted to the mowing unit 1 via the mowing clutch 47. S9 is a threshing switch for detecting the on / off state of the threshing clutch 37, S7 is a vehicle speed sensor for detecting the traveling speed based on the input rotation speed to the mission unit 40, and S5 is an electromagnetic pickup engine. It is a rotation speed sensor. Further, a shift motor M6 for shifting the continuously variable transmission 39 and a hydraulic clutch (not shown) for shifting the auxiliary transmission are provided. Here, since the engine speed decreases as the load on the engine E increases, the load on the engine E is determined by the amount of decrease in the engine speed from the engine speed (reference speed) when there is no load. Then, in order to utilize the capacity of the engine E as effectively as possible, the vehicle speed sensor S7
In order that the engine load determined based on the information of the engine speed sensor S5 may be maintained in an appropriate range under the condition that the traveling speed detected by the above does not exceed the set upper limit speed,
Vehicle speed control for controlling the operation of the speed change motor M6 is executed.

Next, in order to execute start commands for the above-mentioned various controls (cutting height control, cutting depth control, direction control, horizontal control, unloader control, rail control, threshing control, etc.) and control of control target values and the like. An information input means for manually inputting necessary information and a display unit for displaying various information will be described. 6 and 7
As shown in FIG. 7, a basic switch module MU1 provided with a start switch for each of the above controls, an adjusting volume, and the like on the left side of the seat 31A of the control unit 31 in order from the side closer to the seat.
(See FIG. 8) and a horizontal control switch module MU3 including a horizontal control start switch, a manual operation switch, and the like.
(See FIG. 10), and a manual gearshift lever 7 for gearshifting the traveling speed is provided in a state where the grip portion 7A is located above the basic switch module MU1. The shift motor M6 is driven according to the operation of the manual shift lever 7. Meanwhile, seat 3
An unloader switch module MU including a switch for operating the unloader 32 is provided at a front right side of the seat 1A, and a rear right position of the seat.
2 (see FIG. 9) are arranged.

On the right front side of the control section 31, the mowing section 1 is provided.
There is provided a cross-operated cutting height steering lever 8 configured to serve both as a reaper raising and lowering lever for manually raising and lowering and a steering lever for manually turning the traveling machine body V left and right. In other words, when the cutting height steering lever 8 is swung rearward, the mowing section 1 is raised, while when it is swung forward, the cutting section 1 is lowered and the cutting height steering lever 8 is swung left. When operated, the aircraft turns left, while when swinging to the right, the aircraft turns right. Incidentally, in order to detect the swing operation amounts of the cutting height steering lever 8 in each of the mowing up and down and steering operations, a mowing up and down detection sensor S12 and a steering operation detection sensor S13 each constituted by a potentiometer. Is provided. A display module MU4 (see FIG. 11) for displaying various kinds of information is provided on the panel on the left front side of the control unit 31.

The basic switch module MU1 includes
As shown in FIG. 8, an operation unit section 41 for threshing and depth control, a vehicle speed control operation unit section 42, a direction control operation unit section 43, a cutting height control operation unit section 44, a rail control operation unit section. 45 and a spare operation unit section 46 are provided. The spare operation unit section 46 is used as an operation unit section when a control other than the above is added.

For the threshing and handling depth control operation unit 41, one crop condition is selected from a handling depth control start switch 41a constituted by an illuminated push button switch, wheat, rice and wetness. Crop switching volume 41b,
A chaff volume 41c for adjusting the chaff opening,
And Tumi volume 4 for adjusting Tumi wind power
1d is integrally formed. Here, in the above-mentioned one crop condition, as the chaff volume 41c is turned to the open side, the control state of the chaff opening with respect to the grain culm supply amount is changed and adjusted to the open side as a whole, and the toumi volume 41 is adjusted.
As d is turned to the stronger side, the control state of the Tumi wind force for the grain culm supply amount is changed and adjusted to the stronger side as a whole. or,
Depending on the selection of crop conditions, the control state of the chaff opening is changed and adjusted to the open side as a whole in the order of wheat, rice, wetness,
The control state of Toumi wind power is changed and adjusted to the strong side as a whole.

The vehicle speed control operation unit 42 is integrally formed with a vehicle speed control start switch 42a formed of an illuminated push button switch and a vehicle speed limiting volume 42b for setting an upper limit vehicle speed. The direction control operation unit section 43 is integrally formed with a direction control start switch 43a formed of an illuminated push button switch and a turning force switching volume 43b for adjusting the turning force. Here, when the turning force switching volume 43b is turned to the large side, the duty-driving steering cylinder 9 is driven.
The ratio of the on time to the off time of L and 9R (the duty ratio) is changed to the large side to increase the turning force, and when turned to the small side, the duty ratio is changed to the small side and the turning force is decreased. The cutting height control operation unit 44 is integrally formed with a cutting height control start switch 44a configured as an illuminated push button switch and a cutting height adjustment volume 44b for setting a target cutting height. ing. The rail control operation unit portion 45 is integrally formed with a start switch 45a for rail control and a rail control lamp 45b for displaying an on / off state of rail control. Note that FIG.
(A) shows that the chaff volume 41c, the toumi volume 41d, the vehicle speed limiting volume 42b, the turning force switching volume 43b, and the cutting height adjusting volume 44b can be set in seven stages (with a click).
And (b) illustrates one in which the switching adjustment can be set steplessly.

As shown in FIG. 9, the unloader switch module MU2 includes an automatic switch 50a for automatically operating the unloader 32, a stop switch 50b for stopping the unloader 32, and an unloader 32 formed by a cross-shaped operation key. Manual operation switch 50c for manually operating ascending / descending / turning to the right / turning to the left, fir discharge switch 50 configured as an illuminated push-button switch
d, tank opening switch 50e, tank closing switch 50
f and the target stop position of the unloader 32 on the left side of the machine,
A stop position selection volume 50g that is selected from the rear side of the machine body and the right side of the machine body is integrally formed.

The horizontal control switch module MU3 includes
As shown in FIG. 10, a horizontal control start-up automatic switch 60a formed of an illuminated push-button switch, and a raising reference mode switch 60b formed of an illuminated push-button switch for switching the horizontal control mode to a raising reference. ,
A backward-moving body raising switch 60c configured as an illuminated push button switch, a manual operation switch 60d configured to be a cross-shaped operation key for manually operating the body posture to right up / down right / left up / left down states, Further, a horizontal adjustment volume 60e is integrally formed to set a target tilt state when the horizontal control is activated (automatic mode).

In the display module MU4, as shown in FIG. 11, a pointer-type fuel meter 70a, a pointer-type tachometer 70b, a water temperature meter 70c, a fir LCD 70d for displaying the amount of fir in the tank 3, Further, a main LCD 70e for displaying various messages and graphs is provided, and further, left and right turn signal lamps 70f, various warning lamps 70g for charging, charging, braking, oil, and checking, and the auxiliary transmission device. Switching state is high speed,
An auxiliary gear shift lamp 70h is provided to indicate which of the standard, fallen, and neutral states the vehicle is in. In the figure, on the main LCD 70e, a bar graph showing the load level of the engine is shown on the upper side, and a bar graph showing the amount of processed substances on the swing selection plate 54 of the threshing unit 2 detected by the sheave sensor S10 is shown. The displayed items are illustrated on the lower side.

Then, as shown in FIGS. 12 and 13,
Central control unit C for centrally executing control of the entire combine
U, a mowing unit 1, a threshing unit 2, a tank unit (consisting of the tank 3 and the unloader 32), and a plurality of terminal control units LU (LU1) that are distributed and arranged in various parts of the machine body such as the main body unit 4 and the like.
To LU5) and MU (MU1 to MU4) are communication lines T
1, T2 are communicatively connected. Further, the working actuators AK, the control information detecting sensors SW, the manually operated information input means JN, and the information display means HS include the plurality of terminal control units LU, M.
It is configured to be connected to any one of U and input / output signals to / from the connected terminal control units LU and MU.

Here, the actuators AK are composed of the hydraulic cylinders and electric motors for operating the working devices provided in various parts of the machine body, and the sensors SW are
The switch is configured to detect various control information as ON / OFF binary information. Specifically, as illustrated in FIG. 12, from the terminal control unit LU3 arranged in the reaping unit 1,
A drive signal for the handling depth motor M1 is output, and the direction sensor S1, the stock sensor S2, and the tip sensors S8a, S8b are output to the terminal control unit LU3.
The detection signal of is input. Further, from the terminal control unit LU4 arranged in the threshing unit 2, the rail lifting motor M2,
Drive signals are output to the chaff opening adjustment motor M4 and the toumi wind force adjustment motor M5.

Of the two terminal control units LU1 and LU2 arranged in the main unit 4, one terminal control unit LU2
A drive signal for the shift motor M6 is output, and signals for the threshing switch S9 and an auxiliary shift switch (not shown) for switching the shift state of the auxiliary transmission are input to the terminal control unit LU2. The terminal control unit LU1 of is configured as a terminal control unit dedicated to hydraulic output, and from the terminal control unit LU1, the harvesting lifting cylinder 5, the steering cylinders 9L and 9R, the rolling cylinder 30e, and Each drive signal is output to each solenoid for driving the unloader hydraulic cylinder 62. Further, a drive signal for the turning motor M3 is output from the terminal control unit LU5 arranged in the tank unit, and the amount of grains stored in the tank 3 is detected by the terminal control unit LU5. The detection signal of the fir sensor S11 for is input.

Further, each of the switch modules MU1 to MU3
A manual switch, an adjusting volume and the like provided in the switch correspond to the information input means JN, and each switch module MU1
To 3 for display lamps and display module M
The meter, LCD display, and lamps provided in U4 correspond to the display means HS.

The central control unit CU is connected to the communication line T1,
A high-speed communication line T1 for high-speed communication and a low-speed communication line T2 for low-speed communication are connected as T2, and a high-speed communication process for driving the actuators AK among the plurality of terminal control units LU and MU is performed. A terminal control unit (hereinafter, referred to as a high-speed terminal unit) LU1 to LU5 for inputting and outputting a signal required for is connected to the high-speed communication line T1, and a terminal control unit inputting and outputting a signal for which high-speed communication processing is not required The MU1 to MU4 (that is, the switch modules MU1 to MU3 and the display module MU4) are connected to the low-speed communication line T2.
That is, the output of the drive signal to the actuators AK and the input of the detection information from the sensors SW require high-speed processing in order to execute the control of each part of the aircraft,
The high-speed terminal units LU1 to LU5 to which the actuators AK and the sensors SW are connected are connected to the high-speed communication line T1. On the other hand, high-speed processing is required to execute control of each part of the machine for signal input from a manual switch and an adjusting volume provided in the information input means JN and output of a drive signal for display to the display means HS. Since it is not one, the information input means JN and the display means H
The switch modules MU1 to MU3 and the display module MU4 to which S is connected are connected to the low speed communication line T2.

As shown in FIG. 13, the central control unit CU is provided with a microcomputer CPU for control processing, and the microcomputer CPU and the high-speed communication line T1.
There is provided a gate array GA1 as a communication IC on the center side for relaying data exchange between and. here,
The microcomputer CPU and the gate array GA1
Data is exchanged with and via the 8-bit bus line. On the other hand, each of the high speed terminal units LU1 to LU5 connected to the high speed communication line T1 is a gate as a communication IC on the terminal side that relays data exchange between the high speed communication line T1 and the sensors SW and actuators AK. The array GA2 is provided.

Further, the microcomputer C for controlling the above
The PU receives an analog input signal from an analog sensor that detects continuously changing information such as a potentiometer, or a pulse input signal from a pulse sensor that detects the number of revolutions, etc., via a signal processing circuit. Input port Po
A drive signal to the engine stop solenoid SOLe for cutting off the fuel supply to the engine E and stopping the engine is output from the output port Port4 while being input to rt1 and rt2. Here, the unloader position sensor S is used as the analog input signal.
3, the rolling sensor S4, the ultrasonic sensor S
6, the detection signals from the sheave sensor S10, the mowing lift detection sensor S12, and the steering operation detection sensor S13 are input, and the detection signal from the vehicle speed sensor S7 is input as the pulse input signal, and the power is turned on. The signal of the main switch MW for is input.

Further, the microcomputer C for controlling the above
A non-volatile memory MEM such as an E2 ROM is connected to the PU, and various error information and the like are stored in the memory MEM. In the figure, PS1 is a DC voltage source that supplies a power supply voltage and a reset signal when the power is turned on to the microcomputer CPU, the gate array GA1, and the like.

As shown in FIG. 13, each high-speed terminal unit L
Four harnesses AD1 to 4 for generating address signals for U1 to 5 are provided by combining a harness of a LOW level voltage connected to ground and a harness in a non-connected state. The harnesses AD1 to 4 and sensors SW And the actuators AK are integrally formed with the connector CN
Is connected to each of the high-speed terminal units LU1 to LU5 via. Then, the harnesses AD1 to 4 are connected to the external terminals A0 to A3 for address setting of the gate array GA2, and LO
A LOW-level voltage signal is supplied from the W-level voltage harness, and a HIGH-level voltage signal pulled up to the power supply side inside the gate array GA2 is supplied to the unconnected harness. Each address is set. In the example of FIG. 13, in the high-speed terminal unit LU3, all the external terminals A0 to A3 are LO.
It is at the W level and is set as address 0. The sensors SW and the actuators AK are connected to the input / output port of the gate array GA2 via a signal processing circuit and a driving 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 high-speed communication line T1 is, for example, RS485.
As shown in FIG. 13, each gate array GA1 is connected to the contact point between the two-wire communication line Ln and the communication line Ln in the central control unit CU and each high-speed terminal unit LU1 to LU5. , The transmission data received from
Communication line Ln converted to a signal conforming to the standard such as 485
While inputting the signal on the communication line Ln,
A communication driver DR that outputs the received data to each of the gate arrays GA1 and GA2 is provided.

The gate array GA1 on the center side and the gate array GA2 on the terminal side are formed to have a component part for the center side for use as the center side and a component part for the terminal side for use as the terminal side. It is configured in a gate array GA which is a communication IC having the same specifications. Hereinafter, a specific description will be given with reference to FIG.

As shown in FIG. 14A, the gate array GA is switched to the master mode in which the internal circuit functions as the gate array GA1 on the center side when the MODE terminal is set to the LOW level. In this master mode,
The gate array GA includes an input / output buffer 11 for holding data input / output to / from the CPU via a bus line, a transmission buffer 13 for holding parallel data for transmission from the input / output buffer 11, and a transmission buffer 13 P / S to convert parallel data into serial data
The conversion unit 14, the communication control circuit 16 for transmitting the serial data from the P / S conversion unit 14 to which the CRC data for error detection from the CRC generation unit 15 is added as transmission data, and the received serial data S / P converter 18 for serial / parallel conversion, error detector 17 for checking the received serial data such as CRC to detect the presence / absence of communication error, and parallel data / error detector from S / P converter 18 The receiving buffer 19 which holds the error data from 17 and outputs it to the input / output buffer 11, and the CPU inputs the R / W (read / write) signal and STB (data strobe) signal which are control signals at the time of data input / output. Interrupt IN for CPU
The configuration includes a CPU I / F unit 12 that outputs a T signal.

The gate array GA is shown in FIG.
As shown in (b), when the MODE terminal is set to the HIGH level, the internal circuit is switched to the slave mode in which it functions as the gate array GA2 on the terminal side. In this slave mode, the gate array GA detects the sensors SW and the actuators AK. An input / output port 21 for inputting / outputting data to / from, a transmission buffer 13 for holding detection signals from the respective sensors SW inputted via the input / output port 21 as parallel data, and parallel data of the transmission buffer 13. To convert serial to parallel data
The S conversion unit 14, a communication control circuit 16 for transmitting the serial data from the P / S conversion unit 14 to which CRC data for error detection from the CRC generation unit 15 is added as transmission data, and the received serial data S / P conversion unit 18 for converting the serial data into parallel data, an error detection unit 17 for checking the CRC and address of the received serial data and detecting the presence / absence of a communication error, and an S / P
Parallel data from converter 18 and error detector 17
The reception buffer 19 holds error data from the I / O port 21 and outputs the error data to the input / output port 21, and the address setting unit 22 for setting an address for each of the high speed terminal units LU1 to LU5.

From the above, the CPU I / F unit 12 corresponds to the central component and the address setting unit 22 corresponds to the terminal component, and the gates other than the CPU I / F unit 12 and the address setting unit 22 are gated. The main part of array GA is
It is shared as the center side and the terminal side as shown by the same part number. The input / output port 21 is composed of three ports PA, PB and PC each having 8 bits. For example, the ports PA and P of the high-speed terminal unit LU3 with address 0 are provided.
B is set as an input port and port PC is set as an output port. Input / output buffer 1 in master mode
1 is port PB of input / output port 21 in slave mode
It is shared with.

Then, the central control unit CU connects each high-speed terminal unit LU connected to the high-speed communication line T1 through the communication ICs (gate arrays GA1 and GA2) and the high-speed communication line T1.
It is configured to perform high-speed communication processing with 1 to 5. Specifically, as shown in FIG. 15, the central control unit CU designates the address set for each of the high speed terminal units LU1 to 5, and uses the polling selecting method to set each of the high speed terminal units LU1 to LU5. Configured to multiplex with. That is, the microcomputer CPU of the central control unit CU requests the high-speed terminal units LU1 to 5 to the gate array GA1 by the transmission interrupt processing at the set time intervals (data input of each sensor SW or each actuator AK). Output request), and reception interrupt processing activated by an interrupt signal from the gate array GA1 that receives reply signals (input data or ACK data of each sensor SW) from each high-speed terminal unit LU1-5, Receives reply signals from the high speed terminal units LU1 to LU5. Then, at the set polling cycle Tp (for example, 5 ms), all high-speed terminal units LU1
The above set time intervals are set so that communication with 5 to 5 can be executed.

Further, the microcomputer CPU of the central control unit CU has a serial communication interface function as a standard function, while, as shown in FIGS. 17 and 18, each switch and display module MU1-4.
The input / output signal processing controller 29 provided in
Similarly, it is configured by a one-chip microcomputer having a serial communication interface function as a standard function.
Then, the low-speed communication line T2 is configured by using, for example, the RS485 standard in the same manner as the high-speed communication line T1, and as shown in FIG. 13, a two-wire type communication line Ln ′ is provided and at the center thereof. CPU of control unit CU, controller 29 in each module MU1-4 and communication line L
At each contact point with n ′, the transmission data received from the CPU of the central control unit CU and each controller 29 is converted into a signal conforming to the standard such as RS485 and output to the communication line Ln ′, while on the communication line Ln ′. There is provided a communication driver DR ′ which inputs the signal of (1) and outputs the received data to the CPU of the central control unit CU and each controller 29.

The microcomputer C on the center side
By using both serial communication interface functions provided in the PU and the controller 29 on each module side, the central control unit CU directly performs low-speed communication processing with each module MU1 to 4 via the low-speed communication line T2. Is configured to run. Specifically, as shown in FIG. 16, the central control unit CU is configured so that each preset module M
Data from each module MU1 to 4 (data of each manual switch and adjustment volume) by polling selecting method while sequentially specifying the addresses of U1 to 4
And output of data to each module MU1 to 4 (display data of each lamp and display unit). In other words, the microcomputer CPU of the central control unit CU
The request interrupt signal is transmitted to each of the modules MU1 to 4 by the transmission interrupt processing at the set time interval,
The reception interrupt is activated in response to the reception of the reply signal from each of the terminal control units LU1 to LU5, and the reply signal from each of the modules MU1 to 4 is received by the reception interrupt processing.
When the communication processing by the low speed communication line T2 and the communication processing by the high speed communication line T2 are performed at the same time, the communication processing by the high speed communication line T2 is preferentially executed. Here, it takes about 15 ms for the process of transmitting the request signal to one module MU1 to 4 and the process of receiving the response signal from the module MU1 to 4, and communication for all four modules MU1 to 4 is performed. The set time interval is set so as to be executed within a predetermined time (60 ms at maximum).

As shown in FIG. 17, in each of the switch modules MU1 to MU3, the controller 2 of each module is
Reference numeral 9 inputs the state of each manual switch as a binary (ON / OFF) digital signal, the operation state of each adjustment volume as an analog signal, and performs AD conversion processing into 8-bit digital data. On the other hand, the controller 29 outputs a drive signal to each lamp based on the display data transmitted from the central control unit CU to operate the display.

Further, as shown in FIG. 18, in the display module MU4, the controller 29 is provided with the detection signals from the fuel (fuel) sensor, the water temperature sensor, the engine speed sensor S5, and the oil switch, and the alternator. The output voltage is input, and the controller 29
Based on these input signals and the display data transmitted from the central control unit CU, the fuel meter 70a, the tachometer 70b, the water temperature meter 70c, the fir LCD 70d, the main LC.
D70e, auxiliary shift lamp 70h, and alarm lamp 70
Turn on the check lamp of g. The controller 29 transmits the detection information of the engine speed sensor S5, the fuel sensor, the water temperature sensor, etc. in response to a transmission request from the central control unit CU. On the other hand, the left and right turn signal lamps 70f are turned on by turning on and off the respective turn signal switches, the charge lamp of the alarm lamp 70g is turned off by the output voltage from the alternator, and the brake lamp is turned on by turning on the brake switch. The oil lamp lights up when the oil switch is turned on.

Then, the central control unit CU controls each of the sensors SW and the information input means JN transmitted from the terminal control units LU and MU (high speed terminal units LU1 to LU5 and modules MU1 to 4). Based on the input data, the proper drive content for all of the actuators AK is determined, and the proper drive content is used as control data for the high-speed terminal unit LU to which the actuators AK are connected.
1 to 5, while the high-speed terminal units LU1 to LU5 to which the actuators AK are connected, drive signals to the actuators AK based on the control data received from the central control unit CU. Is configured to output.

Next, as a specific example of drive control of the actuators AK, the high-speed terminal unit LU1 arranged in the main unit unit 4
The drive configuration for the reaping lifting cylinder 5 driven by the above and the pair of left and right steering cylinders 9L and 9R will be described. As shown in FIG. 20, the mowing lifting cylinder 5
Is supplied with pressure oil from a three-position switching hydraulic control valve 6 operated by a pair of solenoids L1 and L2. The drive terminals (one end) of the solenoids L1 and L2 are connected to the collector terminals of the drive transistors Tr1 and Tr2, respectively. The outputs of the two AND circuits 25 and 26 are connected to the respective bases of the transistors Tr1 and Tr2, and one input side of each of the AND circuits 25 and 26 is connected to the port output terminals a and b of the gate array GA2. The other input side is connected to the collector terminals of the transistors Tr2 and Tr1 on the side opposite to the transistors Tr1 and Tr2 to which the outputs of the AND circuits 25 and 26 are connected. Thereby, the transistors Tr1 and Tr
Make sure that solenoids L1 and L
Either one of the two is driven so as to correspond to the output of the port output terminals a and b. However, the hydraulic control valve 6
Is urged to return to the center position when neither of the solenoids L1 and L2 is driven.

On the other hand, as shown in FIG. 20, each of the left and right steering cylinders 9L and 9R includes a pair of solenoids L3 and L4.
Pressure oil is supplied from a three-position switching type hydraulic control valve 10 which is operated by, and the drive terminals (one end) of the solenoids L3 and L4 are connected to the collector terminals of the drive transistors Tr3 and Tr4, respectively. There is. Two AND circuits 27 and 2 are provided on the bases of the transistors Tr3 and Tr4, respectively.
8 are connected to each other, one input side of each AND circuit 27, 28 is connected to the port output terminals c, d of the gate array GA2, and the other input side is each AND circuit 2
Transistor Tr to which the outputs of 7, 28 are connected
Transistors Tr4 and Tr3 on the side opposite to Tr3 and Tr4
It is connected to the collector terminal of. As a result, the transistors Tr3 and Tr4 are prevented from being turned on at the same time, and either one of the solenoids L3 and L4 is driven corresponding to the output of the port output terminals c and d. However, the hydraulic control valve 10 is biased to return to the central position when neither of the solenoids L3 and L4 is driven.

In the above structure, the central control unit CU is
By communication with the basic switch module MU1,
When it is determined that the cutting height control activation switch 44a provided in the cutting height control operation unit section 44 is turned on, the target height information input by the cutting height adjustment volume 44b and the ultrasonic sensor S6. Based on the height-to-ground information, the proper drive content for the reaper lift cylinder 5 for maintaining the reaper height at the target height is determined, and the reaper lift cylinder 5 is connected using the appropriate drive content as control data. It is transmitted to the high-speed terminal unit LU1. The high speed terminal unit LU1 receives HI from one of the port output terminals a and b of the gate array GA2 according to the received control data.
A GH signal and a LOW signal are output from the other to drive one of the solenoids L1 and L2 to move the reaping / lowering cylinder 5 up and down.

Similarly to the above, when the central control unit CU determines through communication with the basic switch module MU1 that the direction control start switch 43a provided in the direction control operation unit unit 43 is turned on. , While adjusting the turning force set by the turning force switching volume 43b based on the ON / OFF information of the direction sensors S1, S2 received from the high-speed terminal unit LU3 arranged in the mowing unit 1, The proper driving contents for the pair of left and right steering cylinders 9L and 9R for traveling along the planted culm row are determined, and the proper driving contents are used as control data for high speed operation of the steering cylinders 9L and 9R. It is transmitted to the terminal unit LU1. Then, the high-speed terminal unit LU1
Is the gate array GA according to the received control data.
HIGH signal from one of the two port output terminals c and d,
The LOW signal is output from the other to output the solenoids L3, L
One of the steering cylinders 9L and 9R is operated by driving one of the four. As a result, the machine body is steered to the operating steering cylinders 9L and 9R side (for example, the left side when the left steering cylinder 9L operates).

Further, the central control unit CU controls each of the sensors SW and the information input means JN transmitted from the terminal control units LU, MU (each high speed terminal unit LU1-5 and each module MU1-4). Based on the input data, the appropriate display content to be displayed on the display means HS is determined, and the appropriate display content is transmitted as display data to the terminal control units MU1 to MU4 to which the display means HS is connected. , The terminal control units MU1 to 4 to which the display means HS is connected
Is configured to output a drive signal to the display means HS based on the display data received from the central control unit CU.

The case of the cutting height control will be described in detail. When the central control unit CU confirms the ON state of the cutting height control start switch 44a based on the data received from the basic switch module MU1, the basic switch module Command data for turning on the activation switch 44a, which is an illuminated switch, is transmitted to the MU1, and the main L is supplied to the display module MU4.
A display command for displaying a start message for cutting height control is transmitted to the CD 70e. And the basic switch module MU
1 turns on the start switch 44a for the cutting height control according to the lighting command data received from the central control unit CU, and the display module MU4 causes the main LCD 70e to display the main LCD 70e according to the display command received from the central control unit CU. A message of "Automatic cutting height [ON]" is displayed for a predetermined time (for example, 5
Display for 2 seconds. When the cutting height control start switch 44a is turned off, a message "cutting height automatic [OFF]" is displayed on the main LCD 70e for a predetermined time (for example, 5 seconds).
Also, when the cutting height adjustment volume 44b is operated to change the target height information, the central controller C
Based on the communication between U and the display module MU4, the target cutting height value changed by the cutting height adjustment volume 44b is displayed in a bar graph on the main LCD 70e.

Similarly to the above, in the case of direction control,
The central control unit CU includes the basic switch module MU1.
Direction control start switch 4 depending on the received data from
When the ON state of 3a is confirmed, command data for turning on the activation switch 43a configured as an illuminated switch is transmitted to the basic switch module MU1, and the main LCD 70 is transmitted to the display module MU4.
A display command for displaying a direction control start message is transmitted to e. Then, the basic switch module MU1 turns on the activation switch 43a for the direction control according to the lighting command data received from the central control unit CU, and the display module MU4 follows the display command data received from the central control unit CU. On the main LCD 70e, a message "direction automatic [ON]" is displayed for a predetermined time (for example, 5 seconds). Incidentally, when the direction control start switch 43a is turned off, a message "direction automatic [OFF]" is displayed on the main LCD 70e for a predetermined time (for example, 5 seconds).
The central control unit C is also displayed when the turning force switching volume 43b is operated to change the turning force information.
Based on the communication between U and the display module MU4, the value of the turning force changed by the turning force switching volume 43b is displayed on the main LCD 70e as numerical information.

Next, the control operation of the central control unit CU will be described with reference to the flow charts shown in FIGS. When the main switch MW is turned on, the power is turned on, and power is supplied to the central control unit CU (at this time, power is also supplied to the high-speed terminal units LU1-5 and modules MU1-4). ), First, CP
The reset state of U is released and control is started. After performing the initialization process, the set time interval (5
(ms), the analog signal from the analog type sensor and the pulse signal from the pulse type sensor are input, and after the main switch is turned on, the operation of all the high-speed terminal units LU1 to 5 and modules MU1 to 4 is stabilized. Until a time (for example, 250 ms) necessary for the lapse of time elapses, the low-speed communication process with each module MU1 to 4 is stopped, and the gate array GA1 is held in the reset state to communicate with each high-speed terminal unit LU1 to LU5. The high-speed communication process between them is stopped (# 1 to # 6).

When the time required for stabilizing the operations of all the high-speed terminal units LU1-5 and modules MU1-4 has elapsed, the CPU starts low-speed communication processing with each module MU1-4. Together with the gate array GA
The reset of 1 is released and the high-speed communication processing with each of the high-speed terminal units LU1-5 is started (# 7- # 8). Here, the low-speed communication processing and the high-speed communication processing are performed by the interrupt processing as described above, and in the transmission interrupt processing, as shown in FIG. 22, an input or output request signal to each high-speed terminal unit LU and module MU. 23 is performed, and in the reception interrupt process, as shown in FIG. 23, a reception process of receiving a reply signal from each high-speed terminal unit LU and module MU is performed.

By the low speed communication processing and the high speed communication processing, the CPU sufficiently accumulates the input data from the sensors SW, the manual switch, the adjusting volume, etc., and when the start of the system is confirmed, the CPU stores the data in the above respective data. Based on the drive contents of actuators AK and display means H
Arithmetic processing for determining the display content of S is performed (# 5,
# 9). The drive data and display data obtained by this calculation are transmitted to each high-speed terminal unit LU and module MU in the low-speed communication process and the high-speed communication process.

When the main switch MW is turned off to stop the operation of the combine, the CPU stops the low speed communication process and resets the gate array GA1 to stop the high speed communication process (# 4). # 10- #
11). And for 5 seconds after turning off the main switch,
The solenoid for stopping the engine is driven to cut off the fuel supply to the engine, and the detection data of each sensor in each terminal control unit LU, MU accumulated in the memory such as the RAM in the CPU, the manual switch and the adjustment. Data such as volume (control target and control state information) is collectively written in the memory MEM, and the drive of the solenoid is stopped after 5 seconds (# 12 to # 1).
5). The information on the control target and the control state written in the memory MEM is used as reference data at the start of the next control.

Next, the control operation in each of the high speed terminal units LU1 to LU5 will be described based on the flowchart shown in FIG. First, it is determined by the address in the received data whether or not it is a polling signal for itself, and if it is found that it is a polling signal for itself, it is determined whether it is a request for input data from the sensors SW or an output request for actuators AK. , In case of input request, sensors S
While inputting the detection signal from W and creating the reply sensor data based on it, in the case of an output request, the received data is output as a drive signal for the actuators AK and the reply ACK data is created. To do. Then, the created sensor data or ACK data is transmitted to the central control unit CU.

Next, the control operation in each of the modules MU1 to 4 will be described based on the flowchart shown in FIG. First, it is determined whether the polling signal is for itself by the address in the received data, and if it is found that it is the polling signal for itself, it is a request for input data from a manual switch, adjusting volume, etc., or a display lamp, meter or LCD. If it is an output request to the display unit, if it is an input request, input a detection signal from a manual switch, an adjustment volume, etc. and create reply data based on it, while in the case of an output request, A drive signal is output to a display lamp, a meter, or an LCD display based on the received data, and ACK data for reply is created. Then, the created reply data is transmitted to the central control unit CU.

Another Embodiment Next, another embodiment will be described. In the above-described embodiment, the terminal control unit (each switch module MU1 to 3) receives the input data (binary data) from each manual switch, which is the information input means JN, or the input data (8-bit data) from the adjusting volume. To
Although it is configured to transmit to the central control unit CU as it is,
The input data may be processed, and the processed data may be transmitted to the central control unit CU.
For example, the 8-bit data from the adjusting volume is data-compressed into 4-bit data, and the data is compressed by the central control unit CU.
Then, the central control unit CU decompresses the received data into the original 8-bit data and transmits it.

In the above embodiment, the communication lines T1 and T2 and the communication drivers DR and DR 'are constructed using the RS485 standard, but other communication standards can be used.

In the above embodiment, the sensors SW are composed of switches which detect the control information as ON / OFF binary data, but they are also composed of sensors which detect analog signals or pulse signals other than binary. You can also Further, the actuators AK may include those other than the electric motor and the solenoid.

In the above embodiment, the present invention is applied to a combine as a work vehicle, but it can be applied to various work vehicles other than this.

[Brief description of drawings]

1] Overall side view of combine

FIG. 2 is a front side view of the combine.

FIG. 3 is a schematic plan view of the combine.

FIG. 4 is a vertical side view of the threshing section.

FIG. 5 is a power transmission diagram of the combine.

FIG. 6 is a plan view of the control unit.

[Fig. 7] Rear view of the control unit

FIG. 8 is a front view of a basic switch module.

FIG. 9 is a front view of the unloader switch module.

FIG. 10 is a front view of a horizontal control switch module.

FIG. 11 is a front view of a display module.

FIG. 12 is a block diagram showing an overall control configuration of a combine.

FIG. 13 is a circuit block diagram showing a main part of a combine control configuration.

FIG. 14 is a circuit configuration diagram of a communication IC.

FIG. 15 is a waveform diagram of a polling selecting signal in high-speed communication processing.

FIG. 16 is a waveform diagram of a polling selecting signal in low-speed communication processing.

FIG. 17 is a block diagram showing a control configuration of a switch module.

FIG. 18 is a block diagram showing a control configuration of a display module.

FIG. 19 is a schematic plan view of the front side of the combine.

FIG. 20 is a circuit diagram showing a drive configuration for raising and lowering a mowing and steering operation.

FIG. 21 is a flowchart showing the control operation in the central control unit.

FIG. 22 is a flowchart showing control operation in the central control unit.

FIG. 23 is a flowchart showing the control operation in the central control unit.

FIG. 24 is a flowchart showing a control operation in the terminal control unit.

FIG. 25 is a flowchart showing a control operation in the terminal control unit.

[Explanation of symbols]

AK actuators CU central control unit GA1 communication IC GA2 communication IC HS display means JN information input means LU, MU terminal control unit SW sensors T1 high-speed communication line T2 low speed communication line

Continuation of front page (56) Reference JP-A-7-131860 (JP, A) JP-A-9-23733 (JP, A) JP-A-9-327208 (JP, A) JP-A-63-246952 (JP , A) JP-A-5-101125 (JP, A) JP-A-7-129491 (JP, A) JP-A-7-310587 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB) Name) A01D 41/00-41/16 A01D 69/00 302

Claims (4)

(57) [Claims] 1. A work vehicle in which a central control unit that centrally executes control of the entire work vehicle and a plurality of terminal control units that are dispersedly arranged in various parts of the machine body are communicably connected via a communication line. A control device for work, wherein actuators for work, sensors for detecting control information, and manually operated information input means are connected to one of the plurality of terminal control units, and the connection thereof is made. Configured to input and output signals to and from the terminal control unit, the high-speed communication line for high-speed communication and the low-speed communication line for low-speed communication are connected to the central control unit as the communication line, Among the plurality of terminal control units , the actuators and the sensors, to which signals that require high-speed communication processing for driving the actuators are input and output, are connected.
The terminal control unit is connected to the high-speed communication line,
The above-mentioned information that signals that do not require high-speed communication are input and output
A terminal control unit to which a report input unit is connected is connected to the low-speed communication line, and the central control unit is based on the input data of the sensors and the information input unit transmitted from the terminal control units. , Determining proper drive contents for all of the actuators and transmitting the proper drive contents as control data to the terminal control unit to which the actuators are connected, and the terminal control unit to which the actuators are connected, ,
A control device for a work vehicle configured to output a drive signal to the actuators based on the control data received from the central control unit. 2. The central control unit includes a communication IC for relaying data exchange with the high-speed communication line, and
A terminal control unit connected to the high-speed communication line includes a communication IC that relays data exchange with the high-speed communication line, and the central control unit includes the communication ICs and the high-speed communication line. A high-speed communication process with a terminal control unit connected to the high-speed communication line, and the central control unit is directly connected to the low-speed communication line via the low-speed communication line. The control device for a work vehicle according to claim 1, wherein the control device is configured to perform low-speed communication processing with the terminal control unit. 3. A display means for displaying information is the terminal control.
Connected to one of the
The connected terminal control unit is connected to the low-speed communication line, and the central control unit transmits the signal from each of the terminal control units.
Based on each input data of the sensors and the information input means
The appropriate display content to be displayed on the display means.
The appropriate display contents as the display data.
The terminal control unit to which the display means is connected transmits to the terminal control unit to which the stage is connected ,
Based on the display data received from the control unit,
Configured to output a drive signal to the display means
The control device for the work vehicle according to claim 1 or 2. 4. A terminal control to which the information input means is connected.
Part processes the input data from the information input means.
And send the processed data to the central control unit.
The method according to any one of claims 1 to 3, which is configured to
Control device for the described work vehicle.