JP6333559B2 - Farm machine control device - Google Patents

Description

  The present invention relates to an agricultural machine control device that controls an agricultural machine connected to a traveling vehicle.

  Conventionally, the agricultural machine control device for controlling the agricultural machine (broadcaster, etc.) connected to the traveling vehicle (such as a tractor) has a dedicated agricultural machine controller so that the functions of each agricultural machine can be fully demonstrated. The farm equipment control device is installed on the traveling vehicle side, and the driver performs operations such as controlling the farm equipment according to the driving of the traveling vehicle (see Patent Document 1).

JP 2010-130983 A

There are many types of farm work on the field, and the scale of the farm work is also various. Therefore, many farm machines according to the type and scale of the farm work are manufactured. Also, many types of agricultural machine control devices that control the agricultural machines are provided in accordance with each agricultural machine.
For this reason, there is a concern that it may be an obstacle to reducing the cost of the apparatus including the agricultural machine and the agricultural machine control device corresponding to the agricultural machine.

  The present invention has been made in view of such circumstances, and an object thereof is to provide a farm machine control device that can reduce the cost of a farm machine and a farm machine control device corresponding to the farm machine. To do.

The present invention is a control device for a farm machine that connects any one of a plurality of farm machines to a traveling vehicle and controls the farm machine connected to the traveling vehicle, the plurality of farm machines each controlling a plurality of the farm machines common control means only a common portion disposed on the vehicle Yes to a farm machine specific for controlling the specific control object, wherein the agricultural machine connected to the vehicle has the elements common to the control means an individual portion disposed on the vehicle and has only a control unit, wherein provided in the individual section, an operation section having a unique operating element for operating the agricultural machine, the said common unit separate unit And a connection part for connecting the two.
The common unit uses a display for displaying various display information, a power input connector unit for taking in power from outside, and a power source voltage taken in from the power input connector unit inside the apparatus. Power supply voltage conversion means for converting voltage, a signal line for communicating a signal between the farm work machine, and a farm work machine for connecting a power line for supplying the power taken in by the power input connector section to the farm work machine While comprising at least a connector unit and a communication unit for communicating signals between the agricultural machine through the signal line, the individual unit forms a control signal for controlling the operation of the agricultural machine. The control signal is transmitted to the agricultural machine via the communication unit, and the control unit generates display information to be displayed on the display, and the program data to be executed by the control unit. A storage unit that stores data, those with at least.

  As described above, the agricultural machine control device according to the present invention includes a common unit common to a plurality of agricultural machines, and an individual unit corresponding to each agricultural machine is connected to the common unit. Of the control devices for agricultural machines corresponding to the respective agricultural machines, a portion corresponding to the common part only needs to be provided by a plurality of agricultural machines. Therefore, the agricultural machines and the agricultural machines corresponding to the agricultural machines are provided. The cost of the device combined with the control device can be reduced. Details of the effect will be described later.

FIG. 1 is a block diagram showing an example of an agricultural machine system according to an embodiment of the present invention. FIGS. 2A to 2C are schematic block diagrams for explaining a case where the traveling vehicle controller 100 is connected to the work machine controllers 4a, 4b, and 4c of the work machines 3a, 3b, and 3c, respectively. . FIG. 3 is a schematic front view showing an example of a mechanism for connecting the common part and the individual part of the traveling vehicle side controller 100. FIG. 4 is a block diagram showing an example of the configuration of the traveling vehicle side controller 100. FIG. 5 is a block diagram showing another example of the configuration of the traveling vehicle side controller 100. FIG. 6 is a schematic front view showing another example of a mechanism for connecting a common part and an individual part of the traveling vehicle side controller 100.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
〔Example〕
FIG. 1 is a block diagram showing an example of an agricultural machine system according to an embodiment of the present invention.
In FIG. 1, in this embodiment, an agricultural machine system is configured by connecting any one of three work machines (agricultural work machines) 3 a, 3 b, 3 c to a traveling vehicle 1 via a coupler 2. . The work machines 3a, 3b, 3c are provided with mechanisms (broadcasters, etc .; not shown) for realizing the functions (fertilization, sowing, etc.) of the respective work machines 3a, 3b, 3c. The operation of the mechanisms provided in the work machines 3a, 3b, and 3c is controlled by the work machine side controllers 4a, 4b, and 4c corresponding to the machines 3a, 3b, and 3c, so that the respective work machines 3a, 3b, and 3c are controlled. The function control (vehicle speed interlocking control, etc.) is realized.

  The traveling vehicle 1 is provided with a traveling vehicle-side controller (agricultural work machine control device) 100 for the driver of the traveling vehicle 1 to operate the functions of the work machines 3a, 3b, and 3c. The traveling vehicle side controller 100 is connected to any of the work machine side controllers 4a, 4b, and 4c of the work machines 3a, 3b, and 3c via a signal harness HH (described later), and works in accordance with the operation of the driver. Information necessary for controlling the machine side controllers 4a, 4b, and 4c is exchanged, and power necessary for operation is supplied to the work machine side controllers 4a, 4b, and 4c (described later).

  In this way, the traveling vehicle side controller 100 controls the work machine side controllers 4a, 4b, and 4c in response to the operation of the driver, and the working machine side controllers 4a, 4b, and 4c are received from the traveling vehicle side controller 100. Since the operation of the mechanism provided in the work machines 3a, 3b, and 3c is controlled based on the control signal, the work machines 3a, 3b, and 3c operate according to the operation contents of the driver.

  Here, CAN (Controller Area Network) communication is used for exchanging signals between the traveling vehicle side controller 100 and the work machine side controllers 4a, 4b, and 4c. Therefore, the signal harness HH is used for CAN communication. 2 signal lines of the CAN bus. The signal harness HH directly receives power lines (two) for supplying power from the traveling vehicle controller 100 to the work equipment controllers 4a, 4b, and 4c, and power supplied from an in-vehicle battery (not shown). Also included are two power lines for supplying to the side controllers 4a, 4b, 4c. Therefore, the signal harness HH is configured by bundling at least six signal lines.

  As described above, when the work machine 3a is connected via the coupler 2, the traveling vehicle side controller 100 operates information necessary for controlling the work machine side controller 4a of the work machine 3a. When the work machine 3b is connected via the coupler 2, the work machine side controller 4b of the work machine 3b has a function of communicating with the machine side controller 4a and controlling the work machine side controller 4a. When the work implement 3c is connected via the coupler 2, it has the function of exchanging information necessary for controlling the work implement side controller 4b and controlling the work implement controller 4b. The information necessary for controlling the work machine side controller 4c of the work machine 3c is exchanged with the work machine side controller 4c and the work machine side controller 4c is controlled. In accordance with the type of work machines (3a, 3b, 3c) connected via the coupler 2 so as to have a function, the configuration content related to the control function is changed. The configuration of 100 will be described next.

  FIGS. 2A to 2C are schematic block diagrams for explaining a case where the traveling vehicle side controller 100 is connected to the work machine side controllers 4a, 4b, and 4c of the work machines 3a, 3b, and 3c, respectively. FIG. 3 is a schematic front view showing an example of a mechanism for connecting a common part and an individual part of the traveling vehicle side controller 100, and FIG. 4 is a block diagram showing an example of a configuration of the traveling vehicle side controller 100. FIG. 5 is a block diagram showing another example of the configuration of the traveling vehicle side controller 100.

As shown in FIG. 2 (a), the work machine side controller 4a receives the sensor signals output from the two sensors and controls the operations of the two motors to thereby provide a first mechanism (not shown). To control the operation.
Further, as shown in FIG. 4B, the work machine side controller 4b receives the sensor signal output from one sensor and controls the operation of the electromagnetic valve having four valves, thereby The operation of the mechanism (not shown) is controlled.
Further, as shown in FIG. 5C, the work machine side controller 4c is composed of two work machine side controllers 4ca and 4cb, and one work machine side controller 4ca is 2 in the same manner as the work machine side controller 4a. The sensor signals output from the two sensors are received and the operations of the first motor are controlled by controlling the operations of the two motors. The other work machine side controller 4cb is the same as the work machine side controller 4b. In addition, the operation of the second mechanism is controlled by receiving the sensor signal output from one sensor and controlling the operation of the electromagnetic valve having four valves.

As described above, the work machine side controllers 4a, 4b, and 4c provided in the work machines 3a, 3b, and 3c include a single unit that controls the operation of a specific mechanism (when the work machine has a single function). ) And a plurality of units each controlling the operation of two or more mechanisms (when the work machine has a plurality of functions, or each block in which the work machine control system is divided into a plurality of blocks) In the case of providing a control unit). In any case, communication such as control information between the traveling vehicle controller 100 and the work machine controller is realized by using CAN communication corresponding to the multi-host.
Here, the signal level on the CAN bus is recognized as a differential level, and the CAN communication via the CAN bus is performed by connecting the signal line from each work machine side controller 4a, 4b, 4c to the CAN bus. be able to. About the connection form to this CAN bus, the traveling vehicle side controller 100 is also the same.
In addition, when the work machine side controller is composed of a plurality of units, a power line for supplying power from the traveling vehicle side controller 100 is connected to each unit by branching on the work machine side. You should supply power.

  On the other hand, the traveling vehicle side controller 100 is individually connected to each common unit 110 corresponding to each of the connected work machine controllers 4a, 4b, and 4c, and each of the connected work machine controllers 4a, 4b, and 4c. And individual units 111, 112, and 113 corresponding to.

  A connector CA for connecting to the common part 110 of the traveling vehicle controller 100 is provided at one end of the signal harness HH, and the work machine controller 4a, A connector CB for connecting to any one of 4b and 4c is provided.

  As shown in FIG. 3, the common unit 110 and the individual unit 111 are built in separate housings, and includes a female connector 121 provided in the common unit 110 and a male connector 122 provided in the individual unit 111. By coupling, the common unit 110 and the individual unit 111 are connected in a signal manner and physically coupled. Further, the screwdrivers 131 and 132 provided in the individual part 111 are screwed into screw receivers 133 and 134 provided in the common part 110 so that the female connector 121 and the male connector 122 can be easily coupled. It is not released.

  The female connector 121 and the male connector 122 constitute a set of connectors 120. In addition, knurls for clues are formed on the side surfaces of the heads of the hand screws 131 and 132 so that the common part 110 and the individual part 111 can be easily and manually joined and released. It has become. Further, if the driver's −groove or + groove is formed at the end of the head, the hand screws 131 and 132 can be operated using an appropriate tool.

  In the common part 110, a harness connector CH to which one connector CA of the signal harness HH is connected, a power connector CP to which a power line PP for drawing power from the in-vehicle battery of the traveling vehicle 1 is connected, and the power is turned on / off. Power switch SWp for turning on, power lamp LPp for lighting on / off state of power supply, buzzer BZ for generating various sounds, and screen display for displaying various information (liquid crystal display, etc.) DSP) etc. are provided.

  These harness connector CH, power connector CP, power switch SWp, power lamp LPp, buzzer BZ, and screen display DSP are common when operating and controlling the connected work machine side controllers 4a, 4b, 4c. The common unit 110 is mainly provided with these common device elements.

  The individual unit 111 is provided with a unique operation element for operating the work machine 3a. For example, a toggle switch 111a having a bar-shaped operation unit, a volume 111b for operating an analog amount, push button switches 111c, 111d, and 111e for switching on / off of an operation mode, and the like, and push button switches 111c, 111d, Lamps 111f, 111g, and 111h for displaying the operation status of 111e are provided.

  In FIG. 3, the individual unit 111 corresponding to the work machine side controller 4a has been described. However, the individual units 112 and 113 corresponding to the work machine side controllers 4b and 4c also have the same configuration. For example, the individual parts 112 and 113 are built in a separate housing from the common part 110. Also, for the male connector 122 of the connector 120 and the hand screws 131 and 132, the individual parts 112 and 113 are individually provided. The same as the unit 111 is provided.

  As shown in FIG. 4, in the common unit 110, two signal lines for supplying a signal for driving the buzzer BZ and five signal lines for supplying display data to the screen display DSP are respectively female. It is connected to a corresponding terminal of the mold connector 121.

  The + side of the connector CP to which the power line PP is connected is connected to the corresponding terminal of the connector CH, the + input terminal of the power lamp LPp, and the + side terminal of the DC-DC converter DDC via the power switch SWp. It has been added. Further, the negative side (ground side) of the connector CP is added to the corresponding terminal of the connector CH, the negative side input terminal of the power lamp LPp, and the negative side terminal of the DC-DC converter DDC. Furthermore, the two input ends of the connector CP are directly connected to the two output ends of the connector CH, so that a DC power supplied from the in-vehicle battery is directly applied to the signal harness HH.

  In this way, the DC power supplied from the in-vehicle battery is supplied to the traveling vehicle controller 100 and also to the work machine controller 4a via the signal harness HH.

  The reverse connection protection diode D1 is used when the on-vehicle battery side electrode is reversely connected to the power line PP and the polarity of the voltage supplied via the connector CP is reversed. And it is for protecting the inside of the apparatus of the work machine side controller 4a, 4b, 4c.

  Here, the power supplied directly from the in-vehicle battery to the work machine side controllers 4a, 4b, and 4c is supplied to a driving target that requires a large amount of current or a large amount of power when starting up, such as a motor or an actuator. Is done. When the power supplied through the power switch SWp is applied to such a drive target, there is a risk that problems such as fusing and welding of the contact of the power switch SWp may occur due to a large current flowing at the time of startup or the like. Therefore, in the above-described embodiment, power is directly supplied from the in-vehicle battery to the drive target that requires such a large current without using the power switch SWp.

  In this embodiment, the voltage of the in-vehicle battery is + 12V, and the power supply voltage required inside the traveling vehicle side controller 100 is + 5V. Therefore, the DC-DC converter DDC uses + 12V supplied from the in-vehicle battery, Convert to + 5V of power supply voltage. The output of the DC-DC converter DDC is supplied to each unit as an internal power source of the common unit 110, and the individual unit 111 as an internal power source of the individual unit 111 via two corresponding terminals of the female connector 121. Has also been supplied.

  Here, the power supply voltage required inside the traveling vehicle side controller 100 may be + 3V instead of + 5V, and the DC power supply voltage supplied from the vehicle-mounted battery may be + 24V or + 48V instead of + 12V. In any case, the DC-DC converter DDC only needs to have a function of converting the voltage of the direct-current power supplied from the vehicle-mounted battery into a power supply voltage required inside the traveling vehicle side controller 100.

  The CAN transceiver device TR converts a transmission signal sent from the microcomputer device (described later) MP of the individual unit 111 to the work machine side controller 4a into a signal on the CAN bus, and the work machine side controller 4a receives the individual unit 111. Which recognizes a signal on the CAN bus sent to the microcomputer device MP of the computer, converts it into a received signal, and sends the received signal to the microcomputer device MP. The CAN transceiver device TR and the microcomputer device MP Transmission / reception of signals to / from is performed via the connector 120. The signal line of the CAN bus is connected to the signal harness HH via the corresponding terminal of the connector CH.

  In the individual unit 111, the microcomputer MP performs communication with the work machine side controller 4a based on data stored in a ROM (read only memory) MPr provided therein, or the work machine side. A switch group (switch group specific to the work implement) SWa (toggle switch 111a and push button type switches 111c, 111d, used for generating a control signal to be output to the controller 4a or operating the work implement 3a, 111e), the lighting control of the lamp group (lamp group specific to the working machine) LPa (lamps 111f, 111g, 111h) corresponding to the work machine 3a, and the ringing of the buzzer BZ are controlled. Various control processes for controlling the display contents of the screen display DSP are performed.

  The signal for controlling the ringing of the buzzer BZ is output to the buzzer BZ of the common unit 110 via the corresponding terminal of the connector 120, and the signal for controlling the display content of the screen display DSP of the screen display unit DSP is And output to the screen display DSP of the common unit 110 via the corresponding terminal of the connector 120.

  Thus, the traveling vehicle side controller 100 according to the present embodiment includes the common unit 110 that is commonly used for the work machines 3a, 3b, and 3c, and the individual units 111 and 112 corresponding to the work machines 3a, 3b, and 3c, respectively. , 113, and when the work machine 3a is connected to the traveling vehicle 1, the traveling unit side controller 100 corresponding to the work unit side controller 4a is configured by connecting the individual unit 111 to the common unit 110 and traveling. When the work machine 3 b is connected to the vehicle 1, the individual unit 112 is connected to the common unit 110 to configure the traveling vehicle controller 100 corresponding to the work machine controller 4 b, and the working machine 3 c is connected to the traveling vehicle 1. In that case, the individual unit 113 is connected to the common unit 110 to configure the traveling vehicle controller 100 corresponding to the work machine controller 4c.

  Thereby, for example, when purchasing the working machines 3b and 3c after purchasing the working machine 3a, the purchaser has the common unit 110 at the time of purchasing the working machine 3a. When purchasing the work machines 3b and 3c, it is only necessary to purchase only the individual units 112 and 113. Therefore, the total cost (equipment cost) for purchasing the work machines 3b and 3c is reduced. be able to.

  By the way, in the traveling vehicle side controller 100 shown in FIG. 4, the microcomputer device MP provided in the individual unit 111 also controls the sounding of the buzzer BZ provided in the common unit 110 and the display content of the screen display DSP. However, another microcomputer device that controls the sounding of the buzzer BZ and the display content of the screen display DSP may be provided in the common unit 110.

  An example of the configuration of the traveling vehicle side controller 100 in that case is shown in FIG. In FIG. 5, the same parts as those in FIG.

  The common unit 110 is provided with a microcomputer device MPa that controls the sounding of the buzzer BZ and the display content of the screen display DSP. This microcomputer apparatus MPa performs various control processes for controlling the ringing of the buzzer BZ and controlling the display content of the screen display DSP based on data stored in an internal ROM (indicated by the symbol MPar). Do.

  The microcomputer device MPa communicates with the microcomputer device MP via the serial bus SB. Then, the microcomputer MP sends the buzzer BZ ringing control timing and its contents, and information on the display contents to be displayed on the screen display DSP, to the microcomputer MPa via the serial bus SB. I am doing so.

  In this way, by causing the microcomputer device MPa to control the sounding of the buzzer BZ and the display content of the screen display DSP, a part of the control calculation executed by the microcomputer device MP is transferred to the microcomputer device MPa. Since it is shared (load distribution), the processing load on the microcomputer device MP can be reduced.

In the embodiment shown in FIG. 5, a serial bus is used as data communication means for exchanging data between the microcomputer device MP provided in the individual unit 111 and the microcomputer device MPa provided in the common unit 110. However, as the data communication means between the microcomputer device MP and the microcomputer device MPa, an appropriate data communication means other than the serial bus, for example, I ² C or a parallel bus can be used.

  FIG. 6 is a schematic front view illustrating another example of a mechanism for connecting the common unit 110 and the individual unit 111 of the traveling vehicle side controller 100. In addition, the description about the part which overlaps with the traveling vehicle side controller 100 shown in FIG. 3 is abbreviate | omitted by attaching | subjecting a same sign.

  In this embodiment, the common unit 110 and the individual unit 111 can be installed separately from each other, and the common unit 110 and the individual unit 111 are connected in a signal manner by a cable 123.

  Specifically, the cable 123 includes a male connector 122 ′ connected to the female connector 121 disposed in the common portion 110 and a female connector connected to the male connector 122 disposed in the individual portion 111. 121 ′, the male connector 122 ′ is connected to the female connector 121, and the female connector 121 ′ is connected to the male connector 122, thereby separating the common portion 110 and the individual portion 111 from each other. The signal is connected in a state.

  According to such a connection mechanism, since the common unit 110 and the individual unit 111 are connected by the cable 123, the individual unit 111 can be installed at a location separated from the common unit 110, and the common unit 110 and the individual unit 111 can be individually installed. The selection range of the installation location of the unit 111 can be expanded, whereby the common unit 110 and the individual unit 111 can be installed in a place where the operator can most easily see and operate.

  As a mechanism for connecting the common unit 110 and the individual unit 111 so as to be separated from each other, in addition to the mechanism for connecting by the cable 123 illustrated, the common unit 110 and the individual unit 111 can transmit and receive signals wirelessly. It is good also as a mechanism (not shown) which connects the common part 110 and the separate part 111 in signal by arranging the transmitter / receiver which performs.

  The transceiver may be built in the common unit 110 and the individual unit 111, or the transceiver including the connectors connected to the female connector 121 and the male connector 122 shown in FIG. You may make it connect with the side connector 122. FIG.

  Note that various components of the common unit 110 may be incorporated in an operation unit including an image display or the like provided in a traveling vehicle (not shown). In this case, as a connection mechanism between the common unit 110 and the individual unit 111, any of a connection mechanism between the female connector 121 and the male connector 122, a connection by the cable 123, and a connection by wireless can be used.

  It should be noted that the configurations and modifications of the embodiments described above can be applied in appropriate combinations within a consistent range.

  The present invention can be applied to any device as long as it is a control device for agricultural machinery that controls an agricultural machinery connected to a traveling vehicle.

DESCRIPTION OF SYMBOLS 1 Traveling vehicle 3a, 3b, 3c Work machine 4a, 4b, 4c Work machine side controller 100 Traveling vehicle side controller 110 Common part 111,112,113 Individual part 120, CA, CH, CP connector 121 Female connector 122 Male connector 123 cable 121 'female connector 122' male connector HH signal harness MP, MPa microcomputer device

Claims (2)

A farm work machine control device for connecting any of a plurality of farm work machines to a traveling vehicle and controlling the farm work machine connected to the traveling vehicle,
A common unit arranged on the vehicle and has only a common control means composed of elements that are common to the control means for each controlling the plurality of agricultural machines,
An individual portion disposed on the vehicle and has only the agricultural machine-specific control means for controlling the specific control subject with said agricultural machine connected to the vehicle,
An operation unit provided in the individual unit and having a unique operation element for operating the agricultural machine;
A control device for agricultural machinery, comprising a connecting portion for connecting the common portion and the individual portion. The common part is
A display for displaying various display information;
A power input connector for taking in power from outside,
Power supply voltage conversion means for converting the voltage of the power supply taken from the power input connector portion into a voltage used inside the apparatus;
A signal line for communicating signals with the farm work machine, and a farm work machine connector part for connecting a power line for supplying power taken by the power input connector part to the farm work machine;
While comprising at least a communication unit for communicating signals with the agricultural machine via the signal line,
The individual unit is
Forming a control signal for controlling the operation of the agricultural machine, transmitting the control signal to the agricultural machine via the communication unit, and generating display information to be displayed on the display;
A storage unit storing program data to be executed by the control unit ;
The agricultural machine control device according to claim 1, comprising at least

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