JP7229143B2 - Work equipment communication system - Google Patents

Description

TECHNICAL FIELD The present invention relates to a work machine communication system that enables wireless communication of various types of information between a vehicle-side control section provided in a work vehicle and a work machine-side control section provided in a work machine coupled to the work vehicle.

In the working machine communication system as described above, the working vehicle is provided with the vehicle-side control section and the vehicle-side wireless communication device, the working machine is provided with the working machine-side control section and the working machine-side wireless communication device, and the vehicle Various types of information can be wirelessly communicated between the vehicle-side control unit and the work implement-side control unit via wireless communication between the vehicle-side wireless communication device and the work implement-side wireless communication device (see, for example, Patent Document 1).

In the system described in Patent Document 1, various types of information can be wirelessly communicated between the vehicle-side control unit and the working machine-side control unit. Various types of information for controlling the operating state of the work machine are commanded, and the work machine side control section controls the operating state of the work machine based on the command information. In this manner, the vehicle-side control unit controls the operating state of the work implement while using wireless communication with the work implement-side control unit.

Japanese Patent Application Laid-Open No. 2019-9600

In order to perform wireless communication between the vehicle-side control unit and the work equipment-side control unit, a pairing process such as mutual authentication is performed in advance between the vehicle-side control unit and the work equipment-side control unit. The pairing state (communication establishment state) is being set. However, if the pairing state is set at a timing unintended by the user, such as while the work vehicle is traveling or the work machine is working, the vehicle-side control unit controls the operating state of the work machine. It becomes possible. Therefore, the user or the like may misunderstand that the pairing state has not been set, and there is a possibility that the working machine may malfunction due to an erroneous operation or the like.

In view of this situation, a main object of the present invention is to provide a work machine communication system that can set a pairing state (communication establishment state) while preventing malfunction of the work machine.

In a first characteristic configuration of the present invention, a work vehicle is provided with a vehicle-side control unit and a vehicle-side wireless communication device, and a work machine connectable to the work vehicle includes a work machine-side control unit and a work machine-side a wireless communication device,
When a pairing state is set between the vehicle-side control unit and the work implement-side control unit, the vehicle-side control unit and the work implement-side control unit are connected to the vehicle-side wireless communication device and the work implement-side control unit. configured to perform wireless communication of information via a work machine-side wireless communication device to control the operating state of the work machine;
When the work vehicle is in a stopped state and the work machine is in a non-working state, setting of the pairing state is permitted, and when the work vehicle is in a running state or when the work machine is in a working state. is provided with a pairing state setting enable/disable unit that prohibits setting of the pairing state.

According to this configuration, when the work vehicle is in the traveling state or the work machine is in the working state, the pairing state setting enable/disable unit prohibits setting of the pairing state. It is possible to prevent the pairing state from being set. When the work vehicle is in a stopped state and the working equipment is in a non-working state, the pairing state setting enable/disable unit permits setting of the pairing state. done.

As a result, when the work vehicle is in the running state or the work machine is in the working state, it is possible to prevent the work machine from malfunctioning by preventing the pairing state from being set. When the work vehicle is in a stopped state and the work equipment is in a non-working state, the pairing state is set, information is wirelessly communicated between the vehicle-side control unit and the work equipment-side control unit, and the work equipment is displayed. can be controlled.

A second characteristic configuration of the present invention is provided with a forward/reverse switching operation unit capable of switching between a forward traveling state, a neutral state, and a reverse traveling state in order to switch the working vehicle among a forward traveling state, a traveling stopped state, and a reverse traveling state. be
The pairing state setting enable/disable unit determines that the work vehicle is in a stopped state when the forward/reverse switching operation unit is in a neutral state.

According to this configuration, the pairing state setting enable/disable unit determines that the work vehicle is in the running stop state based on the switching state of the forward/reverse switching operation unit for operating the running state of the work vehicle. Therefore, with a simple configuration, it is possible to accurately determine whether the work vehicle is stopped.

A third characteristic configuration of the present invention is provided with a PTO shaft that transmits power from the work vehicle to the work machine,
The pairing state setting enable/disable unit determines that the work machine is in a non-working state when the PTO shaft is in a stopped state.

According to this configuration, the pairing state setting enable/disable unit determines that the work implement is in the non-working state based on the state of the PTO shaft for transmitting power from the work vehicle to the work implement. With a simple configuration, it is possible to accurately determine whether the working machine is in the non-working state.

A fourth characteristic configuration of the present invention is provided with a PTO shaft that transmits power from the work vehicle to the work machine,
The working machine is configured to be changeable to a plurality of working postures including an initial working posture,
The pairing state setting enable/disable unit determines that the working machine is in the non-working state when the PTO shaft is in the stopped state and the working machine is in the initial working posture.

According to this configuration, since the work machine can freely change its posture to a plurality of work postures including the initial work posture, it is possible to perform work while changing the work posture according to the work situation and the like, thereby improving work efficiency. can be improved. However, depending on the working posture of the work machine, malfunction of the work machine may cause serious problems such as damage to the work machine. Therefore, when the PTO shaft is in the stopped state and the working machine is in the initial working posture, the pairing state setting enable/disable unit determines that the working machine is in the non-working state, and considers the working posture of the working machine. , the non-working state of the working machine is determined. As a result, the pairing state can be set while appropriately preventing serious problems such as damage to the work machine due to malfunction of the work machine.

According to a fifth characteristic configuration of the present invention, the pairing state can be set by operating a display device provided in the work vehicle.

According to this configuration, the user or the like can set the pairing state only by operating the display device, so that operability can be improved.

A sixth characteristic configuration of the present invention is provided with a mobile communication terminal that is capable of wireless communication between the vehicle-side control section and the work machine-side control section and that can freely specify a pairing target device to be paired. ,
When the work vehicle is in a stopped state and the work machine is in a non-working state, the portable communication terminal has a specific vehicle-side control unit and a specific work machine-side device as pairing target devices to be paired. Specify the control unit,
The point is that the pairing state is set between the specified vehicle-side control unit and the specified work implement-side control unit.

According to this configuration, the mobile communication terminal designates the specific vehicle-side control unit and the specific working machine-side control unit as the pairing target devices to be paired, and the specific control unit designated by the mobile communication terminal Since the pairing state is set between the vehicle-side control unit and the specific work equipment-side control unit, the pairing state is set between the vehicle-side control unit and the work equipment-side control unit that have not been specified by the mobile communication terminal. , the pairing state can be prevented from being set. In this way, the portable communication terminal can specify which vehicle side control unit and which work machine side control unit the pairing state is to be set for, and the timing for setting the pairing state can also be specified. Since it can be specified, it is possible to prevent the pairing state from being set between the vehicle-side control unit and the work implement-side control unit, which is not expected by the user. Setting the pairing state at timing can also be prevented.

Side view of the puddling machine connected to the tractor Plan view of the puddling machine connected to the tractor The figure which looked at the puddling machine from the rear side The figure which looked at the puddling machine from the front side Control block diagram of tractor, display device, puddling machine Diagram showing the display device Diagram showing designation state by mobile communication terminal Flowchart showing operation when setting pairing status Flowchart showing operation when judging a communication error Diagram showing the connection status of the tractor, communication connection kit, and puddling machine

An embodiment of a work machine communication system according to the present invention will be described with reference to the drawings.
[First embodiment]
As shown in FIG. 1, this working machine communication system includes a working vehicle 1 and a working machine 2 connected to the working vehicle 1, and performs wireless communication between the working vehicle 1 and the working machine 2. However, it is for controlling the operation state of the work vehicle 1 and the work machine 2 .

As shown in FIG. 1, a tractor 1 is applied as a working vehicle, but a working vehicle other than a tractor can be applied. As the work vehicle, not only a work vehicle that can be manually operated by a user or the like, but also an automatically operable work vehicle that has an automatic travel control unit that can automatically travel along a target travel route can be applied. Although the puddling machine 2 is connected as a working machine, various working machines other than the puddling machine, such as a rotary tillage device, a mower, a plow, a seeding device, and a spreading device, can be connected.

The tractor 1 includes a traveling body 5 having left and right front wheels 3 functioning as drivable steering wheels and left and right drivable rear wheels 4 . A bonnet 6 is arranged on the front side of the traveling machine body 5, and an electronically controlled diesel engine (hereinafter referred to as an engine) 7 provided with a common rail system is provided in the bonnet 6. A cabin 8 forming a boarding-type operating section is provided on the rear side of the bonnet 6 of the traveling machine body 5 .

Inside the cabin 8, a steering wheel 9 that enables manual steering of the left and right front wheels 3, a driver's seat 10 for passengers, a touch panel display device 11 (sub-monitor device), and various operating tools are provided. It is

A puddling machine 2 is connected to the rear part of the traveling body 5 via a three-point link mechanism 12 so as to be able to move up and down and roll (the tilt in the horizontal direction can be adjusted). The puddling machine 2 has an input shaft 25 connected to a PTO shaft 13 provided at the rear part of the traveling machine body 5 , and is configured so that power can be freely transmitted from the tractor 1 to the puddling machine 2 via the PTO shaft 13 .

The puddling machine 2, as shown in FIGS. The side working portion 22 is configured to be foldable upward with respect to the portion 21 . Incidentally, although FIG. 2 shows a plan view of the puddling machine 2 connected to the tractor 1, only the outer shape of the puddling machine 2 is schematically shown.

The side working part 22 is in a folded state in which the side working part 22 is folded upward with respect to the central working part 21 by operating the rotating mechanism 24 by extending and contracting the electric hydraulic cylinder 23 (see the left side of FIG. 4). , and an unfolded state (see the right side of FIGS. 3 and 4) in which the side working portions 22 are arranged outside of the central working portion 21 . The puddling machine 2 is configured to be able to adjust the working width in the horizontal direction by adjusting whether the side working part 22 is folded or not.

The central working portion 21 and the side working portion 22 are provided with a substitute scraping claw 26 (see FIG. 1), a leveling plate 27 and a rake 28 . A soil pulling unit 34 is provided which can adjust the height of the rake 28 in the vertical direction. The earth pulling unit 34 adjusts the vertical height of the rake 28 via the earth pulling part 35 .

The puddling machine 2, as shown in FIG. 1, has an input shaft 25 connected to the PTO shaft 13 of the tractor 1, and is configured to receive power transmission from the tractor 1 via the PTO shaft 13 and the input shaft 25. It is The puddling machine 2 is configured to rotate the puddling claw 26 by transmission of power from the tractor 1 to perform puddling work.

As shown in FIGS. 3 and 4 , an extension rake 31 is provided outside the side working portion 22 in the left-right direction via a control bar 29 and a wire 30 . The extension rake 31 is vertically rotatable around a rotation shaft 32, and a rake opening/closing device 33 opens and closes the extension rake 31 between a use state and a non-use state by turning around the rotation shaft 32. is provided.

As shown in FIG. 5, the working machine communication system is configured to control the operating state of the puddling machine 2 while wirelessly communicating various kinds of information between the tractor 1 and the puddling machine 2 . A display device 11 (sub-monitor device) that can be freely mounted at a predetermined location in the cabin 8 is used to issue various commands for controlling the operating state of the puddling machine 2 . The display device 11 can also be removed from a predetermined location in the cabin 8 and used.

The tractor 1 is provided with a vehicle-side wireless communication device 41 , a machine-side control section 42 that controls the operating state of the tractor 1 , and a vehicle-side detection section 43 that detects the state of the tractor 1 . The machine-side control unit 42 includes a lifting operation control unit 42a that controls the lifting operation of the puddling machine 2 by moving the three-point link mechanism 12 up and down, and a rolling operation of the three-point link mechanism 12 (adjusts the inclination in the horizontal direction). A rolling operation control section 42b for controlling the rolling operation of the puddling machine 2 and a PTO control section 42c for switching the PTO shaft 13 between an operating state and a stopped state are provided.

As the vehicle-side detection unit 43, a lifting height sensor 43a for detecting the lifting height of the puddling machine 2 by the three-point link mechanism 12, and a vehicle-side sensor for detecting the inclination of the puddling machine 2 in the left-right direction by the three-point link mechanism 12. A left/right tilt sensor 43b, a PTO shaft sensor 43c for detecting whether the PTO shaft 13 is in an operating state or a stopped state, and a three-point link mechanism 12 are connected to a working machine such as the puddling machine 2 to operate the working machine. A traction sensor 43d for detecting the towing state of towing, and a reverser lever ( A reverser lever sensor 43e that detects the operating position of the subtransmission (not shown), and a subtransmission sensor 43f that detects whether the shift stage of the subtransmission (not shown) is in a high speed state, a low speed state, or a neutral state. are provided.

The puddling machine 2 includes a working machine-side wireless communication device 51, a working machine-side control unit 52 that controls the operating state of the puddling machine 2 (working machine), and a working machine that detects the state of the puddling machine 2 (working machine). A side detector 53 is provided. The working machine side control section 52 operates the electric hydraulic cylinder 23 to expand and contract the side working section control section 52a to switch the left and right side working sections 22 between the folded state and the unfolded state, and operates the soil pulling unit 34 to operate the rake. A rake height control unit 52b for controlling the vertical height of 28 and an extension rake control unit 52c for operating the rake opening/closing device 33 to switch the extension rake 31 between the use state and the non-use state are provided. there is

As the work machine side detection unit 53, a work machine side front-rear tilt sensor 53a that detects the tilt of the puddling machine 2 in the front-rear direction, a work machine-side left-right tilt sensor 53b that detects the tilt of the puddling machine 2 in the left-right direction, By receiving power transmission from the tractor 1 via the PTO shaft 13, the rotation state (transmission state or non-transmission state) of a rotatable power transmission rotating body (for example, a rotating shaft in a power transmission mechanism) is determined. ), a traction rotation sensor 53d that detects the rotation state of a traction rotating body (for example, a wheel that can freely rotate) that is rotatable by being towed by the tractor 1, and left and right side working units 22. A side opening/closing sensor 53e for detecting whether each of the is in a folded state (closed state) or an unfolded state (open state), and a use state (open state) or a non-use state for each of the left and right extension rakes 31. An extension rake opening/closing sensor 53f is provided to detect whether the state (closed state) is present.

The display device 11 is configured to be capable of communicating various types of information with the device-side control section 42 by wire or wirelessly, and includes the device-side control section 42 and a display control section 61 as the vehicle-side control section 44 . ing. The display device 11 includes a display control section 61 that controls the display device 11, a display section 62 that can display various information, and an operation section 63 (operation switches) that performs various operations.

As shown in FIG. 6 , the display device 11 is provided with a touch panel type display section 62 , and a plurality of operation sections 63 are arranged inside and above the display section 62 . An operation unit 63 in the display unit 62 is an operation switch displayed on the screen of the display unit 62 .

The display unit 62 displays various kinds of information about the working machine such as the state of the puddling machine 2 . In FIG. 6, the left side shows the state of the depth of the puddling machine 2, the upper center shows the open/closed state of the side working part 22 and the open/closed state of the extension rake 31, and the lower center shows the puddling The state of inclination of the machine 2 in the horizontal direction is shown. Incidentally, in FIG. 6, the open/closed state of the side working portion 22 and the open/closed state of the extension rake 31 are the both-side open state in which the left and right side work portions 22 are deployed and the both-side open state in which the left and right extension rakes 31 are used. It shows that An operation switch for selecting either the puddling work or the shoveling work and the work state indicating which work is selected are shown in the upper right part. The first operation switch 63a on the left side is for adjusting the depth of the puddling machine 2, and the second operation switch 63b at the bottom center is for adjusting the inclination of the puddling machine 2 in the horizontal direction. be.

As shown in FIG. 6, the upper portion of the display section 62 is provided with third to seventh operation switches 63c to 63g. The third operation switch 63c is for selecting which side of the puddling machine 2 should be operated. The fourth operation switch 63d is for performing preparatory operations for operating the puddling machine 2, such as opening and closing a valve. The fifth operation switch 63e is for deploying the side working portion 22. As shown in FIG. The sixth operation switch 63f is for folding the side working portion 22. As shown in FIG. The seventh operation switch 63g is for operating the display screen of the display section 62, such as returning the screen of the display section 62 to the previous screen.

When controlling the operating state of the puddling machine 2, as shown in FIG. An operation command corresponding to the operation of the operation unit 63 is issued to the work machine side control unit 52 via wireless communication with the work machine side wireless communication device 51 . The work machine side control section 52 controls the operating state of the puddling machine 2 based on the operation command.

For example, when the operation unit 63 is operated to set the side working unit 22 to the unfolded state (open state), the display control unit 61 instructs the work machine control unit 52 to put the side working unit 22 into the unfolded state. Issue an operation command to bring it into (open state). The side working portion control portion 52a of the working machine side control portion 52 operates the electric hydraulic cylinder 23 to switch the side working portion 22 from the folded state (opened state) to the unfolded state (opened state).

In this manner, the vehicle-side control unit 44 ( The operating state of the puddling machine 2 is controlled while wirelessly communicating between the display control section 61 and the machine side control section 42 ) and the working machine side control section 52 .

Before performing wireless communication between the vehicle-side control unit 44 and the work implement-side control unit 52, the vehicle-side control unit 44 (the display control unit 61 and the main machine-side control unit 42) and the work implement-side control unit It is necessary to perform pairing processing such as mutual authentication with 52 and set the pairing state (communication establishment state). However, if the pairing state is set at a timing not intended by the user, such as while the tractor 1 is running or while the puddling machine 2 is working, the puddling machine 2 may malfunction due to an erroneous operation or the like. have a nature.

Therefore, as shown in FIG. 5, when the tractor 1 is in the stopped state and the puddling machine 2 (working machine) is in the non-working state, setting of the pairing state is permitted, and the tractor 1 is in the traveling state. A pairing state setting enable/disable unit 71 is provided for prohibiting setting of the pairing state when the puddling machine 2 (working machine) is in the working state.

Determination of whether the tractor 1 is in the running stop state or the running state will be described.
When the reverser lever sensor 43e detects that the reverser lever (corresponding to the forward/reverse switching operation section) is in the neutral state, the pairing state setting enable/disable section 71 determines that the tractor 1 is in the stopped state. . The pairing state setting enable/disable unit 71 can also determine that the tractor 1 is in the stop state by detecting that the gear position of the sub transmission is in the neutral state with the sub transmission sensor 43f. Therefore, the pairing state setting permission/prohibition section 71 can determine that the tractor 1 is in the stop state using at least one of the detection result of the reverse lever sensor 43e and the detection result of the auxiliary transmission sensor 43f. When both the detection result of the reverser lever sensor 43e and the detection result of the sub-transmission sensor 43f are used, the reverser lever sensor 43e detects that the reverser lever is in the neutral state, and the shift of the subtransmission is performed. By detecting that the gear is in the neutral state by the auxiliary transmission sensor 43f, the pairing state setting enable/disable unit 71 can determine that the tractor 1 is in the travel stop state.

Determination of whether the puddling machine 2 is in the non-working state or in the working state will be described.
The pairing state setting enable/disable unit 71 determines that the puddling machine 2 (working machine) is in the non-working state by detecting that the PTO shaft 13 is in the stopped state with the PTO shaft sensor 43c.

The puddling machine 2 is configured so that the left and right side working portions 22 and the left and right extension rakes 31 can be opened and closed. An initial working posture in which the extension rakes 31 are closed (unused state), and left and right opening is performed in which the left and right side working portions 22 are opened (deployed state) and the left and right extension rakes 31 are closed (unused state). The working posture can be freely changed to a plurality of working postures, such as a fully open working posture in which the left and right side working parts 22 are in an open state (deployed state) and the left and right extension rakes 31 are in an open state (used state). .

Therefore, in addition to detecting that the PTO shaft 13 is in the stopped state with the PTO shaft sensor 43c, the pairing state setting enable/disable unit 71 detects that the puddling machine 2 is in the initial working posture. It is also possible to determine that the puddling machine 2 (working machine) is in a non-working state by detecting it with the extension rake open/close sensor 53f. Incidentally, regarding the detection results of the side opening/closing sensor 53e and the extension rake opening/closing sensor 53f, the display control unit 61 and the vehicle-side control unit 44 of the machine-side control unit 42 inquire of the working machine-side control unit 52, The control unit 52 responds to the inquiry so that the pairing state setting enable/disable unit 71 can acquire the detection results of the side opening/closing sensor 53e and the extended rake opening/closing sensor 53f.

By providing the pairing state setting enable/disable unit 71 in this way, setting of the pairing state is permitted only when the tractor 1 is in a stopped state and the puddling machine 2 (working machine) is in a non-working state. . Therefore, it is possible to prevent the pairing state from being set at a timing not intended by the user or the like.

Also, the setting of the pairing state is restricted using the mobile communication terminal 80 . The mobile communication terminal 80 is wirelessly communicable with the vehicle-side control unit 44 (the display control unit 61 and the main unit-side control unit 42) and the working machine-side control unit 52, and is a pairing target device that is in a pairing state. can be freely specified.

When there are a plurality of tractors 1 and a plurality of puddling machines 2 (work machines), the mobile communication terminal 80 selects a specific vehicle-side control unit 44 in a specific tractor 1 as a pairing target device to be paired. And, the specific working machine side control section 52 in the specific puddling machine 2 is designated. When the tractor 1 is in the stopped state and the puddling machine 2 (working machine) is in the non-working state, the mobile communication terminal 80 is in the vehicle-side control unit 44 and the non-working state of the tractor 1 in the stopped state. The work implement side control section 52 in the puddling machine 2 is specified as the specific vehicle side control section 44 and the specific work implement side control section 52 . As a result, the mobile communication terminal 80 can specify between which vehicle-side control unit 44 and which working machine-side control unit 52 the pairing state is set, and at what timing the pairing state is set. can also be specified.

As shown in FIG. 7, even if there are a plurality of work vehicles A to C and a plurality of work machines a to c within the communicable range of wireless communication, pairing to establish a pairing state among them As target devices, the mobile communication terminal 80 designates the vehicle-side control unit 44 of the specific work vehicle A and the working machine-side control unit 52 of the specific working machine a. FIG. 7 shows a case where work vehicle A and work machine a are designated as pairing target devices. When the mobile communication terminal 80 is paired with the vehicle-side control unit 44 of the specific work vehicle A and the work implement-side control unit 52 of the specific work implement a, which work vehicle and which work implement are to be paired. A specific vehicle-side control unit 44 and a specific work implement-side control unit 52 are specified by the mobile communication terminal 80 by communicating specification information including device-specific information for recognizing whether or not.

The operation for setting the pairing state will be described based on the flowchart of FIG.
First, the portable communication terminal 80 selects a specific display control unit 61 or The vehicle-side control section 44 of the machine-side control section 42 and the specific work implement-side control section 52 are specified (step #1).

The vehicle-side control unit 44 (the display control unit 61 and the device-side control unit 42) confirms whether or not the mobile communication terminal 80 has received an instruction as a device to be paired (step #2). When the vehicle-side control unit 44 receives a command to set the pairing target device at the mobile communication terminal 80, the vehicle-side control unit 44 confirms whether the pairing state setting permission/prohibition unit 71 permits setting of the pairing state ( If yes in step #2, step #3).

If the pairing state setting enable/disable unit 71 permits setting of the pairing state, the vehicle-side control unit 44 sets the pairing state (if Yes in step #3, step #4). As for setting the pairing state, as shown in FIG. Pairing processing such as mutual authentication is performed with the pairing setting unit 52d of the work machine side control unit 52, and the pairing state (communication establishment state) is set.

When the pairing state is set, the display device 11 indicates which vehicle side control section 44 of which tractor 1 and which work implement side control section 52 of which puddling machine 2 the pairing state is being set. It can be displayed on the display unit 62 . At this time, if another tractor 1 (working vehicle) or another puddling machine 2 (working machine) exists within the wireless communication range, the vehicle-side control unit 44 and the working machine-side control unit 44 waiting for setting of the pairing state A list of the parts 52 and the like can also be displayed.

When setting the pairing state, the operations of steps #1 to #4 described above are performed. Even when the puddling machine 2 to be used is changed to another puddling machine 2, the above-described steps #1 to #4 are performed. In this way, even when the work machine connected to the work vehicle is replaced with another work machine, it is possible to prevent the pairing state from being set at a timing not intended by the user or the like. be able to.

When the operating state of the puddling machine 2 is controlled, if there is a communication abnormality in wireless communication, the operating state of the puddling machine 2 cannot be controlled appropriately. Therefore, as shown in FIG. 5, when controlling the operation state of the puddling machine 2, a communication abnormality determination section 73 is provided for determining a communication abnormality in wireless communication.

When controlling the operating state of the puddling machine 2, if the puddling machine 2 is operated, the operating conditions such as the position and attitude of the puddling machine 2 change according to the operating operation. Therefore, the operating state of the puddling machine 2 detected by the vehicle-side detection unit 43 and the operating state of the puddling machine 2 detected by the working machine-side detection unit 53 and obtained by wireless communication change similarly.

However, for example, when the puddling machine 2 is replaced, the puddling machine 2 that is actually connected to the tractor 1 and the puddling machine 2 that is actually connected to the tractor 1 forget to set the pairing state again. 2, there is a case where the pairing state is not set between the puddling machine 2 connected to the tractor 1 and a communication error occurs. In this case, even if the user or the like attempts to operate the puddling machine 2 connected to the tractor 1, the puddling machine 2 for which the pairing state has been set will be operated. Therefore, the movement (operating state) of the puddling machine 2 connected to the tractor 1 and the movement (operating state) of the puddling machine 2 whose pairing state is set are different, and are detected by the vehicle side detection unit 43. The operating state of the puddling machine 2 and the operating state of the puddling machine 2 detected by the working machine side detection unit 53 and acquired by wireless communication are different.

Therefore, the communication abnormality determination unit 73 determines the change in the operating state of the puddling machine 2 detected by the vehicle-side detecting unit 43 and the operating state of the puddling machine 2 detected by the working machine-side detecting unit 53 and obtained by wireless communication. When the change in the operating state is different, it is determined that there is a communication abnormality. The communication abnormality determination unit 73 detects a pair whose pairing state is not set between the vehicle-side control unit 44 of the tractor 1 and the working machine-side control unit 52 of the puddling machine 2 connected to the tractor 1 as a communication abnormality. It is determined that the ring state is not set.

As a case where the operating state changes are different, for example, while the vehicle-side detection unit 43 detects that the puddling machine 2 has moved forward, the working machine-side detection unit 53 detects that the puddling machine 2 has moved forward. In some cases, the moving direction of the puddling machine 2 is different, such as detecting that the puddling machine 2 has moved rearward. Further, even if the moving direction of the puddling machine 2 is the same, the amount of movement of the puddling machine 2 detected by the vehicle side detection unit 43 and the movement amount of the puddling machine 2 detected by the working machine side detection unit 53 may differ greatly. be.

Since the vehicle-side detection unit 43 is provided with a plurality of sensors, and the working machine-side detection unit 53 is provided with a plurality of sensors, the communication abnormality determination unit 73 can determine Detection information of corresponding sensors in the vehicle-side detection unit 43 and the working machine-side detection unit 53 are compared to determine whether or not there is a communication abnormality.

For example, when the elevation operation control section 42a operates the three-point link mechanism 12 to raise and lower the puddling machine 2, the inclination of the puddling machine 2 in the front-rear direction changes. Therefore, the lifting height sensor 43a and the working machine side front-rear inclination sensor 53a are sensors corresponding to the movement of the puddling machine 2 accompanying the lifting operation. Therefore, when the elevation height sensor 43a of the vehicle side detection section 43 detects a change in the elevation height of the puddling machine 2, the communication abnormality determination section 73 detects the elevation height sensor 43a of the vehicle side detection section 43. The change in elevation height is compared with the change in tilt in the longitudinal direction detected by the work machine side longitudinal tilt sensor 53a of the work machine side detection unit 53 and acquired by wireless communication, and whether or not there is a communication abnormality is determined. It is determined whether When the lifting height detected by the lifting height sensor 43a changes, the communication abnormality determination unit 73 determines that the tilt in the front-rear direction detected by the work machine side front-rear tilt sensor 53a corresponds to the amount of change in the lifting height. If there is no change by the amount of the time, it is determined that there is a communication error (pairing status is not set).

Further, when the rolling operation control section 42b causes the three-point link mechanism 12 to roll and the puddling machine 2 is tilted in the horizontal direction, the tilting of the puddling machine 2 in the horizontal direction changes. Therefore, the vehicle-side left-right tilt sensor 43b and the work implement-side left-right tilt sensor 53b are sensors that correspond to the movement associated with the rolling operation (horizontal direction tilt adjustment operation) of the puddling machine 2 . Therefore, the communication abnormality determination unit 73 detects a change in tilt in the left-right direction detected by the vehicle-side left-right tilt sensor 43b of the vehicle-side detection unit 43, and Whether or not there is a communication abnormality is determined by comparing the detected change in tilt in the horizontal direction. When the lateral tilt detected by the vehicle-side lateral tilt sensor 43b changes, the communication abnormality determination unit 73 detects the amount of change in the lateral tilt detected by the working equipment-side lateral tilt sensor 53b. If it does not correspond to the amount of change in the left/right tilt sensor 43b, it is determined that there is a communication error (pairing status is not set).

The puddling machine 2 receives power transmitted from the tractor 1 via the PTO shaft 13. Therefore, if the PTO shaft 13 is in an operating state, the power transmission rotating body (for example, the rotating shaft of the power transmission mechanism) in the puddling machine 2 etc.) are also in a rotating state. Therefore, the PTO shaft sensor 43c and the power transmission rotation sensor 53c are sensors corresponding to the power transmission of the puddling machine 2. FIG. Therefore, when the PTO shaft sensor 43c of the vehicle-side detection unit 43 detects that the PTO shaft 13 has changed from the stopped state to the operating state, the communication abnormality determination unit 73 detects the PTO shaft sensor 43c of the vehicle-side detection unit 43. The state is compared with the detection state of the power transmission rotation sensor 53c of the working machine side detection unit 53 to determine whether or not there is a communication abnormality. If the PTO shaft sensor 43c detects the operation state of the PTO shaft 13 and the power transmission rotation sensor 53c does not detect the rotation state, the communication abnormality determination unit 73 detects a communication abnormality (pairing state). not set).

When working with the puddling machine 2, the puddling machine 2 is connected to the three-point link mechanism 12 at the rear of the tractor 1, and the puddling machine 2 is towed by the tractor 1. - 特許庁Therefore, the traction sensor 43d and the traction rotation sensor 53d are sensors corresponding to the traction of the puddling machine 2. FIG. Therefore, when the traction sensor 43d detects that the traction sensor 43d has changed from the non-towing state to the towing state, the communication abnormality determination unit 73 Whether or not there is a communication abnormality is determined by comparing the detection state of the sensor 53d. When the traction sensor 43d detects the traction state and the traction rotation sensor 53d does not detect the rotation state, the communication abnormality determination unit 73 determines that there is a communication abnormality (pairing state is not set). ing.

As shown in FIG. 5, a control prohibition unit 74 is provided to prohibit the control of the operating state of the puddling machine 2 when the communication abnormality determination unit 73 determines that there is a communication abnormality. As a result, when a communication abnormality occurs, wireless communication between the vehicle-side control unit 44 and the work implement-side control unit 52 is stopped thereafter, and the operation state of the puddling machine 2 can be controlled. Since it is prohibited, it is possible to prevent the puddling machine 2 from malfunctioning due to the occurrence of communication abnormality.

In addition to providing a control prohibition unit 74 for prohibiting the operation state of the puddling machine 2 from then on when a communication abnormality occurs, as shown in FIG. 75 are provided. For example, as shown in FIG. 6, the notification unit 75 displays "communication abnormality" in the message column 64 of the display unit 62 of the display device 11 to notify the abnormality of the communication state. In addition to displaying the communication abnormality on the display unit 62, the notification unit 75 can also notify the abnormality of the communication state by activating an alarm device or activating a voice device. The notification of the communication abnormality enables the user or the like to recognize the communication abnormality and take measures to restore the communication abnormality.

The operation for judging a communication abnormality will be described below with reference to the flowchart of FIG.
When the vehicle-side detection unit 43 detects a change in the operating state of the puddling machine 2, the communication abnormality determination unit 73 detects the operating state of the puddling machine 2 detected by the vehicle-side detection unit 43 and the working machine-side detection unit 53. Then, it is determined whether or not there is a communication abnormality, different from the operating state of the puddling machine 2 obtained by wireless communication (if Yes in step #11, step #12).

For example, when the elevation height sensor 43a of the vehicle-side detection unit 43 detects a change in the elevation height of the puddling machine 2, the communication abnormality determination unit 73 detects the elevation height sensor 43a of the vehicle-side detection unit 43. The change in the lifting height is compared with the change in the tilt in the front-rear direction detected by the work machine side front-rear tilt sensor 53a of the work machine side detection unit 53 and acquired by wireless communication, and the lifting height of the puddling machine 2 is determined. Whether or not there is a communication abnormality is determined based on whether or not there is a difference in the operational states related to the degree.

As described above, whether or not the operation state of the puddling machine 2 is different is determined by the vehicle-side left-right tilt sensor 43b and the working machine-side left-right tilt sensor 53b. Whether the operating state of the puddler 2 related to power transmission by the shaft sensor 43c and the power transmission rotation sensor 53c and the operating state of the puddler 2 related to traction by the traction sensor 43d and the traction rotation sensor 53d are different. It is possible to determine whether

When the communication abnormality determining unit 73 determines that the operating state of the puddling machine 2 is different and that the communication is abnormal, the control prohibiting unit 74 prohibits the control of the operating state of the puddling machine 2 thereafter. (If Yes in step #12, step #13).

[Second embodiment]
In the second embodiment, a communication connection kit 91 is added to the first embodiment, as shown in FIG. It enables wireless communication with the side control unit 52 . Hereinafter, the communication connection kit 91 will be mainly described, and the description of other configurations will be omitted by using the same reference numerals as in the first embodiment.

The communication connection kit 91 includes a vehicle side power connection portion 92 that can be connected by wire to the power connection portion 14 on the tractor 1 side, and a work machine side power connection portion 93 that can be connected by wire to the power connection portion 36 on the puddling machine 2 side. , a communication connection unit 94 that can be connected by wire to the communication connection unit 15 on the tractor 1 side, and a communication conversion unit 95 that can wirelessly communicate with the work machine side wireless communication device 51 on the puddling machine 2 side. ing.

Although illustration is omitted, the display control unit 61 and the vehicle-side control unit 44 of the main unit-side control unit 42 are configured to freely communicate various information via the communication connection unit 15 on the tractor 1 side. The work machine side control section 52 is configured to be able to freely communicate various information via the work machine side wireless communication device 51 .

The communication connection kit 91 can receive power supply from the tractor 1 by connecting the power supply connection part 14 on the tractor 1 side and the vehicle side power supply connection part 92 , and the received power is transferred to the communication conversion part 95 . It is used as operating power for operation. The communication connection kit 91 connects the power supply connection portion 36 on the puddling machine 2 side and the work machine side power supply connection portion 93 in a state in which the power supply connection portion 14 on the tractor 1 side and the vehicle side power supply connection portion 92 are connected. , the electric power received from the tractor 1 can be supplied to the puddling machine 2.

The communication conversion unit 95 is capable of wireless communication with the working machine side wireless communication device 51 on the puddling machine 2 side, but is not configured to be wirelessly communicable with the tractor 1 side. The communication conversion unit 95 connects the communication connection unit 15 on the tractor 1 side and the communication connection unit 94 with a wire so that the vehicle-side control unit 44 on the tractor 1 side (the display control unit 61 and the main unit-side control unit 42 ) is configured to perform wired communication of information. Thus, information is communicated between the tractor 1 side and the communication connection kit 91 by wire, and information is communicated between the communication connection kit 91 and the puddling machine 2 side by radio. When transmitting information from the tractor 1 side to the puddling machine 2 side, the communication conversion unit 95 wirelessly transmits the wired communication information received by the wired communication between the tractor 1 side and the communication connection kit 91. and wirelessly transmits the converted wireless communication information to the work machine side wireless communication device 51 . Conversely, when transmitting information from the puddling machine 2 side to the tractor 1 side, the wireless communication information received by wireless communication between the working machine side wireless communication device 51 and the communication connection kit 91 is transmitted to the tractor 1 side. It converts it into the communication information for a wire, and transmits the converted communication information for a wire to the communication connection part 15 by the side of the tractor 1 via the communication connection part 94 by wire.

The communication conversion unit 95 is not configured to be able to communicate wirelessly only with the work machine side wireless communication device 51 of one puddling machine 2, and can communicate with the work machine side wireless communication device 51 of another puddling machine 2 (working machine). Wireless communication with the communication device 51 is disabled. That is, when wireless communication is performed between the puddling machine 2 (working machine) and the communication connection kit 91, the working machine side wireless communication device 51 of the puddling machine 2 and the communication connection kit 91 correspond one-to-one. There is one communication connection kit 91 capable of wireless communication with the puddling machine 2 (working machine). Accordingly, when there are a plurality of puddling machines 2 (work machines), the same number of communication connection kits 91 as the number of puddling machines 2 are provided.

In this way, by connecting the communication connection kit 91 between the tractor 1 side and the puddling machine 2 side, various kinds of information are wirelessly communicated between the puddling machine 2 side and the communication connection kit 91, and the tractor 1 side and the communication connection kit 91 can communicate various information by wire, and the operating state of the puddling machine 2 can be controlled on the tractor 1 side.

[Another embodiment]
Another embodiment of the present invention will be described. It should be noted that the configuration of each embodiment described below is not limited to being applied alone, and can be applied in combination with the configurations of other embodiments.

(1) In the above embodiment, the display control unit 61 of the display device 11 includes the pairing state setting enable/disable unit 71, the pairing setting unit 72, the communication abnormality determination unit 73, the control prohibition unit 74, and the notification unit 75. Although shown, for example, the machine-side control unit 42 of the tractor 1 may include a pairing state setting enable/disable unit 71, a pairing setting unit 72, a communication abnormality determination unit 73, a control prohibition unit 74, and a notification unit 75. can.

(2) In the above embodiment, as shown in FIG. 1, the tractor 1 is used as a work vehicle. can.

For example, when a combine harvester is used, a working machine such as a reaping unit is provided on the front side of the combine harvester so as to be freely connectable. In this case, the pairing state setting enable/disable unit detects that the threshing/reaping clutch is in the OFF state, thereby detecting that the PTO shaft that transmits power to the working machine such as the reaping unit is in a stopped state. can do.

For example, when a rice transplanter is applied, a work machine such as a planting unit is provided on the rear side of the rice transplanter so as to be freely connectable. In this case, the pairing state setting enable/disable unit detects that the planting clutch is in the OFF state, thereby detecting that the PTO shaft that transmits power to the working machine such as the reaping unit is in a stopped state. be able to.

1 tractor (work vehicle)
2. Scraper (working machine)
11 Display device 13 PTO shaft 41 Vehicle-side wireless communication device 44 Vehicle-side control unit 51 Working machine-side wireless communication device 52 Working machine-side control unit 71 Pairing state setting enable/disable unit 80 Mobile communication terminal

Claims (6)

The working vehicle is provided with a vehicle-side control unit and a vehicle-side wireless communication device, and the working machine connectable to the working vehicle is provided with a working-equipment-side control unit and a working-equipment-side wireless communication device,
When a pairing state is set between the vehicle-side control unit and the work implement-side control unit, the vehicle-side control unit and the work implement-side control unit are connected to the vehicle-side wireless communication device and the work implement-side control unit. configured to perform wireless communication of information via a work machine-side wireless communication device to control the operating state of the work machine;
When the work vehicle is in a stopped state and the work machine is in a non-working state, setting of the pairing state is permitted, and when the work vehicle is in a running state or when the work machine is in a working state. is provided with a pairing state setting enable/disable unit that prohibits setting of the pairing state. a forward/reverse switching operation unit capable of switching between a forward state, a neutral state, and a reverse state in order to switch the work vehicle among a forward traveling state, a stopped traveling state, and a reverse traveling state;
2. The work machine communication system according to claim 1, wherein the pairing state setting enable/disable unit determines that the work vehicle is in a stop state when the forward/reverse switching operation unit is in a neutral state. a PTO shaft that transmits power from the work vehicle to the work machine;
3. The working machine communication system according to claim 1, wherein the pairing state setting enable/disable unit determines that the working machine is in a non-working state when the PTO shaft is in a stopped state. a PTO shaft that transmits power from the work vehicle to the work machine;
The working machine is configured to be changeable to a plurality of working postures including an initial working posture,
4. The pairing state setting enable/disable unit determines that the working machine is in the non-working state when the PTO shaft is in the stopped state and the working machine is in the initial working posture. 1. The work machine communication system according to claim 1. The work machine communication system according to any one of claims 1 to 4, wherein a pairing state can be set by operating a display device provided in the work vehicle. a mobile communication terminal capable of wirelessly communicating with the vehicle-side control unit and the work machine-side control unit and capable of freely designating a pairing target device to be paired,
When the work vehicle is in a stopped state and the work machine is in a non-working state, the portable communication terminal has a specific vehicle-side control unit and a specific work machine-side device as pairing target devices to be paired. Specify the control unit,
The working machine communication system according to any one of claims 1 to 5, wherein a pairing state is set between the designated vehicle-side control section and the working machine-side control section.

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