JP6307313B2 - Work vehicle - Google Patents

Description

  This invention relates to the work vehicle provided with the some control unit connected so that communication was possible.

  A vehicle body side control unit that controls the engine and the traveling system of the traveling machine body, a work machine side control unit that controls the operation of the work machine, and an operation side control unit that controls the operation system on the control unit side of the traveling machine body. A work vehicle shown in Patent Document 1 in which a vehicle body side control unit, a work machine side control unit, and an operation side control unit are communicably connected is conventionally known.

JP2013-126929A

  In the above document, the vehicle body side control unit, the work implement side control unit, and the operation side control unit can be connected to each other by connecting with a communication line. If any of the lines is disconnected, the traveling of the traveling aircraft will be stopped by affecting all of the vehicle body side control unit, the work implement side control unit, and the operation side control unit that are connected to each other. There was a risk of doing so.

  The present invention has an effect on other control units even when the communication line of any control unit is disconnected in a work vehicle including a vehicle body side control unit, a work implement side control unit, and an operation side control unit. An object of the present invention is to provide a work vehicle that can prevent the vehicle from reaching.

In order to solve the above problems, first, the vehicle body side control units 18 and 19 that control the engine and the traveling system of the traveling machine body 6, the work machine side control unit 25 that controls the operation of the working machine, and the traveling machine body 6. An operation side control unit 30 that controls an operation system on the control unit 9 side of the vehicle, and a vehicle that connects the vehicle body side control units 18 and 19, the work machine side control unit 25, and the operation side control unit 30 so as to communicate with each other. A concentrator 16 is provided to which a communication line from the vehicle body side control units 18 and 19, a communication line from the work machine side control unit 25, and a communication line from the operation side control unit 30 are connected. 16 communicatively constituting together a body side control unit 19 and the working device control unit 25 and the operation-side control unit 30 via the operator riding the said population ray device 16 Is characterized in that non-steering unit 9 is arranged on the rear side of the cabin 4 disposed.

Secondly, the vehicle body side control unit is composed of an engine control unit 18 that performs drive control of the engine and a vehicle body control unit 19 that performs control on the other side of the traveling machine body, and the engine control unit 18 and the vehicle body control unit. 19 can communicate with each other via the line concentrator 16, and a wireless communication module is built in the line concentrator 16 so that a link is formed between the wireless communication module and the portable terminal of the operator. It is characterized by being composed .

  The communication line from the vehicle body side control unit, the communication line from the work machine side control unit, and the communication line from the operation side control unit are configured to be able to communicate with each other via the line concentrator. Even when the communication line from the unit is disconnected, it is possible to prevent the vehicle body control unit on the traveling machine body from being affected, so that safety is improved. Further, since each control unit communicates with each other by connecting it to the line concentrator, it is not necessary to connect a communication line between the control units, so that the control unit can be easily added.

  The vehicle body side control unit includes an engine control unit that performs drive control of the engine and a vehicle body control unit that performs control on the other side of the traveling machine body. The engine control unit and the vehicle body each include a concentrator. If the communication is enabled via the communication line, the risk when any of the communication lines is disconnected can be further reduced.

It is a side view of the tractor to which the work vehicle of the present invention is applied. (A) is the model figure which showed the connection aspect of the control apparatus, (B) is the figure which showed the outline | summary of the concentrator. It is the block diagram which showed the communication path | route of the control apparatus.

  FIG. 1 is a side view of a tractor to which a work vehicle of the present invention is applied. The tractor includes a body frame 3 supported by a pair of left and right front wheels 1, 1 and rear wheels 2, 2, and a cabin 4 disposed in the rear half of the body frame 3 to form a traveling body 6. A working machine (not shown) such as a rotary tiller and a fertilizer application machine is connected to the rear of the traveling machine body 6 via a lifting link 7 so as to be lifted and lowered.

  A bonnet 8 is provided on the front side of the cabin 4 to cover the upper side of the engine so that the upper side of the engine can be opened and closed. Power generated by the engine is transmitted to the front and rear wheels 1 by a transmission in a transmission case disposed below the cabin 6. 1, 2, 2, and the work machine side are transmitted at a variable speed.

  In the cabin 6, a control unit 9 on which an operator enters is installed. The control unit 9 is provided with a seat 11 on which an operator is seated and a steering handle 12 disposed in front of the seat 11. A floor step 13 serving as a floor surface is formed between the handle 12 and the seat 11, and a brake pedal 14 is provided at a front portion of the floor step 13 and directly below the steering handle 12.

  Further, on the side of the seat 11, a travel shift lever that performs a travel shift operation by a forward / backward swing operation, a sub-shift lever that performs a shift operation, a lift lever that performs a lift operation of the work implement, and an adjustment of the work implement An adjustment operation panel for performing operations is provided, and each is controlled by a control device described later.

  Next, based on FIG.2 and FIG.3, the control apparatus of this tractor is demonstrated. 2A is a model diagram showing a connection mode of the control device, FIG. 2B is a diagram showing an outline of the line concentrator, and FIG. 3 shows a communication path of the control device. FIG. From the example shown in the figure, the control device controls the vehicle body side control system 10 that controls the traveling system by the engine output and the like, the work machine side control system 15 that controls the output and the like on the work machine side, and the operation system on the control unit side. And a control system 20 for controlling the vehicle.

  The vehicle body side control system 10 includes an engine control unit 18 that controls the driving force of the engine and a vehicle body control unit 19 that controls a travel system other than the engine and the vehicle body system. Is for controlling the hydraulic transmission disposed in the vehicle body by the traveling speed change of the traveling machine body 6, the output of the driving force to the working machine side, and the driving force, and is disposed in the vehicle body. A specific configuration example will be described later.

  The operation-side control system 20 is an operation-side control unit that controls the travel system and the work system based on the operation by the operation panel added to the control unit 9 in the cabin 4 and external information acquired by a wireless module or the like. 30. Details will be described later.

  The work machine side control system 15 controls a work machine such as a fertilizer work machine or a rotary tiller connected to the rear part of the traveling machine body 6 by a work machine side control unit 25 provided on the work machine side, and FIG. As shown, it is constituted by a group of microcomputers connected in parallel. Communication data to be input / output is connected to the cabin 4 in which the control side control unit 30 is arranged by CAN.

  The vehicle body side control system 10, work implement side control system 15, and control side control system 20 are each a concentrator provided on the rear side in the cabin 4 via a communication line such as a control area network (CAN). 16 is communicably connected. That is, the vehicle body side control system 10, the work implement side control system 15, and the control side control system 20 can communicate with each other via a line concentrator (CANBUS hub) 16 that functions as a hub for switching communication paths. By configuring, it is not necessary to connect all of the devices to be communicated by CAN.

  As shown in the figure, the concentrator 16 has a CAN connected from the vehicle body side control system 10, the work implement side control system 15, and the control side control system 20 via a CAN transceiver 18 provided in the line concentrator 16. The controller 17 is connected to a microcomputer 17 or the like. By appropriately switching the information to be communicated by the control unit 17, the control units 18, 19, 25, 30 can communicate with each other.

  That is, by connecting the control units 18, 19, 25, and 30 through the line concentrator 16, a communication line from the work machine side control system 15 that is installed outside the cabin 4 and that is relatively easily disconnected is provided. Even when disconnected, the vehicle body side control system 10 and the operation side control system 15 are not affected, so that safety is improved and it is also efficient that there is an abnormality in the communication line from the work machine side control system 15. Can be detected. The same effect is exhibited even for the abnormality of the CAN on the vehicle body side.

  Further, since the line concentrator 16 is attached to the rear side in the cabin 4, it is possible to efficiently prevent the CAN between the control units 18, 19, 25, and 30 from being short-circuited due to an external factor.

  Note that a wireless communication module may be built in the line concentrator 16. Form a link between the wireless communication module and the portable terminal of the operator, body information and work machine information transmitted from the data sensor through the portable terminal, specifically, fertilization amount in the fertilizer work machine, Data such as tillage depth in a rotary tiller can be acquired. According to this configuration, since the operator can acquire information necessary for work in real time, the efficiency of farm work can be improved.

  Next, a block diagram of each control system will be described with reference to FIG. The engine control unit 18 and the vehicle body control unit 19 are each connected to the concentrator 16 by CAN, and are configured to be able to communicate with each other via the concentrator 16. A configuration example controlled by the engine control unit 18 and the vehicle body control unit 19 will be described later. The engine control unit 18 and the vehicle body control unit 19 may be configured to be directly connected by CAN without using the concentrator 16.

  On the input side of the engine control unit 18, an engine rotation sensor 21 that detects the number of revolutions of the engine, a common rail pressure sensor 22 that detects the pressure in the common rail that stores high-pressure fuel, and the discharge of fuel from the supply pump to the common rail The opening control means (SCV) 23 of the suction control valve for determining the amount, the EGR sensor 24 for detecting the opening of the exhaust gas recirculation (EGR) valve, the intake pressure detection sensor 26 for detecting the intake pressure, the gasoline, etc. A fuel temperature sensor 27 for detecting the temperature of the fuel and a water temperature sensor 28 for detecting the temperature of the engine cooling water are connected.

  On the output side of the engine control unit 18, the exhaust gas is recirculated, a part of the exhaust gas after combustion is taken out, and the EGR valve 31 that performs EGR output that is sent again to the intake side, and optimized for high-pressure fuel in the common rail An injection pump (output) 32 capable of injecting into each cylinder at the injection timing / injection amount is connected.

  On the input side of the vehicle body controller 19, a main transmission lever operation position detecting means (main transmission grip switch) 36 for detecting the operation position of the main transmission lever, and a sub transmission switch 37 for detecting the operation position of the sub transmission lever, The brake pedal (brake) 14, the PTO switch 38 for detecting the intermittent operation of the power to the work implement side, and the raising operation detecting means (the raising position adjustment dial) 39 for detecting the raising adjustment operation of the height position of the working implement. Are connected to a lowering operation detection means (lowering position adjustment dial) 41 for detecting a lowering adjustment operation of the height of the work implement at the work position, and a lift arm sensor 42 for detecting the elevation height of the work implement. ing.

  On the output side of the vehicle body control unit 19, there are brake operating means (brake output) 43 for operating the braking force on the front and rear wheels 1 and 2, and PTO output means for intermittently operating a work clutch for intermittently supplying power to the work implement side. (PTO output) 44, lift cylinder (lift arm output) 46 for raising and lowering the work implement, lift rod cylinder (lift rod output) 47 for actuating the work implement left and right, and shifting according to the operation position of the main shift lever A main transmission means (main transmission output) 48 to be operated and a sub transmission means (sub transmission output) 49 to change the speed according to the operation position of the sub transmission lever are connected.

  For example, when the work machine is a fertilizer work machine, on the input side of the work machine control unit 25, setting operation means (operation input) for setting the fertilization amount in the fertilization work by the fertilizer work machine, the fertilization width for performing the fertilization work, and the like 51 and a measurement sensor 52 that measures various values such as the remaining amount of fertilizer in the fertilizer application machine and the amount of fertilizer applied are connected to the output side of the work machine control unit 25. A spraying means (motor output) 53 such as a drive motor for performing spraying is connected.

  The work machine may be a dozer or a rotary tillage work machine, and the work machine control unit on the work machine side is connected to the line concentrator by CAN as described above.

  On the input side of the operation side control unit 30, a wireless communication module that acquires external information acquired from the outside of the work machine, for example, position information by GPS, information on the state of the field, the state of the soil, and the weather An external information sensor 56, etc., and an operation detection means (switch operation input) 57 for detecting an operation on an operation panel or the like disposed in the cabin 4 and particularly connected to the rear portion of the traveling machine body 6; A sensor (sensor-related) 58 including the remaining amount of batteries connected to the control unit 9 side, the capacity of the storage device, and the like is connected.

  On the output side of the operation side control unit 30, a display panel (display output) 59 disposed in the cabin 4 for displaying the operation state of the work implement, information acquired from the external information sensor 56, and the like, and operation detection means An operation execution means (operation output) 61 for executing an operation corresponding to the operation detected by the automatic control means (automatic control means for automatically operating based on information from the external information sensor 56 or information obtained directly from the sensor) Automatic control output) 62 is connected.

  The automatic control means drives, for example, a drive motor that steers the steering handle 12 based on position information acquired from the GPS or image data acquired by a camera or the like set in the cabin (operation output). Thus, the present invention can be applied to automatic steering control for automatically steering operation, and automatic fertilization amount control for automatically switching the fertilization amount by the fertilizer work machine from the state of the field where the work is performed and the weather conditions.

  That is, the operation side control unit 30 is for adding functions other than the speed change operation and steering operation of the traveling machine body 6 controlled by the engine control 18 and the vehicle body control unit 19 and the lifting operation of the lifting link 7 to the tractor. It controls the unit. For this reason, according to this configuration, even when a new control configuration is added to the tractor, it is controlled by the operation side control unit 30 and connected to the traveling system or the work machine system via the line concentrator 16. As a result, functions can be easily added and wiring can be simplified.

6 traveling machine body 16 concentrator 18 engine control part (vehicle body side control unit)
19 Traveling control unit (vehicle body side control unit)
25 Work implement side control unit (work implement side control unit)
30 Operation side control unit (operation side control unit)

Claims (2)

A vehicle body side control unit (18, 19) for controlling the engine and the traveling system of the traveling machine body (6), a work machine side control unit (25) for controlling the operation of the work machine, and a control unit of the traveling machine body (6). And an operation side control unit (30) for controlling the operation system on the (9) side, and communicates the vehicle body side control unit (18, 19), the work implement side control unit (25), and the operation side control unit (30). In a work vehicle connected in a possible manner, a communication line from the vehicle body side control unit (18, 19), a communication line from the work machine side control unit (25), and a communication line from the operation side control unit (30) Is connected, and the vehicle body side control unit (18, 19), the work implement side control unit (25), and the operation side control unit (30) are connected to each other via the line concentrator (16). be able to communicate structure And work vehicle which is disposed at the rear side of the cabin steering unit to board said population ray apparatus (16) the operator (9) is installed (4). The vehicle body side control unit includes an engine control unit (18) that performs drive control of the engine, and a vehicle body control unit (19) that performs control on the other side of the traveling machine body. The engine control unit (18) and the vehicle body The control unit (19) can communicate with each other via the line concentrator (16), and a radio communication module is built in the line concentrator (16). The radio communication module is connected to the portable terminal of the operator. The work vehicle according to claim 1, wherein the work vehicle is configured to be formed with a link .

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