JPH0250202A - Control device for machine for work - Google Patents

Abstract

PURPOSE:To shorten the wiring distance of a wire harness, to reduce the number of wires and the diameter of the wire harness by multiplexing of a signal by providing a CPU unit to independently control an input and output device with being closed to the input and output device of respective control systems. CONSTITUTION:The plural CPU units, which is provided in the vicinity of the input and output devices of the respective control systems, independently controls the input and output devices of the control systems of vicinity respectively. Then, the CPU units are mutually connected by the signal multiplexing wires. Accordingly, the input and output device of each control system is connected only with the CPU unit to be provided in the vicinity of the input and output device itself. Thus, the wiring distance can be shortened between the input and output device and CPU unit and the signal to be inputted and outputted to each control system is digitized. Then, the wiring quantity of the wire harness is decreased and a control device can be made compact.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Industrial Application Field The present invention relates to a working machine equipped with a plurality of control systems having a single or plural input/output devices, such as an agricultural machine. The present invention relates to a control device for a work machine that controls each input/output device in the work machine.

('b) Conventional technology A combine harvester, which is a machine for agricultural work, has a number of components, such as a culm conveying device that transports the cut culm, a traveling device that drives crawlers, and a threshing device that separates grain from the culm. Devices are distributed at appropriate locations. Each of these multiple devices needs to change its operating state depending on the working conditions. For example, in a shell culm conveying device, the position of holding the shell culm must be changed as the position of the crop's ear changes, and in a traveling device, the traveling speed must be changed depending on the lodging state of the crop to be harvested. .

It is difficult to maintain all of such a large number of devices in a satisfactory state by the operation of a single operator.
There was a problem that the operation work was complicated. Such problems are not limited to combine harvesters, but also occur in other agricultural machines such as tractors and rice transplanters, and other working machines such as construction machines. Therefore, in conventional work machines, a control system is constructed by equipping each of the plurality of caretaker devices with input/output devices such as sensors and motors, and the motors are driven appropriately based on the sensor detection results to control each device. I tried to maintain it in a condition suitable for the working conditions.

fc) Problems to be Solved by the Invention However, conventional work machine control devices centrally control a plurality of devices using one or two CPUs. This CPU is connected to each of the input/output devices provided in each control system through a dedicated wire harness, and signals are input/output individually to each of the input/output devices included in the work machine. was. For this reason, a number of wires equal to the total number of input/output devices is required, which leads to an increase in the diameter of the harness due to the increase in the number of wires, and a large wiring space is required, which is a disadvantage of increasing costs and increasing the size of the device. was there. Further, in the CPU unit, the connector becomes large in order to connect a large number of wires, resulting in an increase in the size of the CPU unit. Furthermore, since analog signals are input and output between the sensors of each device and the CPU, multiplexing is extremely difficult, and even if multiplexing is performed, there is a problem that reliability will deteriorate.

Moreover, since large currents are required to drive motors, etc.
It is necessary to increase the wire diameter, and there is a problem in that the wire harness that connects the CPU and each control system becomes even larger in diameter.

An object of the present invention is to provide a plurality of output units that independently control the input/output devices of each control system in close proximity to the input/output devices of each control system, thereby creating a connection between the input/output devices and the CPU unit. In addition to shortening the wiring distance of the wire harness, reducing the number of wires connected to each CPU unit, connecting each control system using digital signals, and multiplexing signals to reduce the diameter of the wire harness. It is an object of the present invention to provide a control device for a working machine, which can reduce the wiring space, and can also reduce the size of the CPU unit by making the connector smaller.

Another object of the present invention is to provide a control device for a work machine that can handle unmanned work by including a remote control CPU unit that inputs and outputs remote control data to and from an external remote control device.

+d) Means for Solving the Problems The control device for a working machine of the present invention is a working machine comprising a plurality of control systems each having a single or a plurality of input/output devices. A plurality of C
It is characterized by being composed of a PU unit and signal multiplexing wires that connect the CPU units to each other.

Further, a remote control CPU unit for inputting and outputting remote control data to each of the CPU units can be connected to the signal multiplexing wire.

Te) Effect In the control device for a work machine according to claim 1, the plurality of CPU units provided close to the input/output device of each control system independently control the input/output device of the adjacent control system. do. These plurality of CPU units are connected to each other by signal multiplexing wires. Therefore, the input/output device of each control system is connected only to the CPU unit provided close to itself, and the wiring distance between the input/output device and the CPU unit is shortened. In addition, since each CPU unit inputs and outputs only digital signals when connecting between each CPU unit, the wire diameter of the signal multiplexing wire becomes relatively thin, and since signals are transmitted multiplexed, the number of connections between each CPU unit increases. becomes less. For these reasons, the number of connected wires in each CPU unit is reduced, and the connector is made smaller.

Further, in the control device for a work machine according to claim 2, a plurality of C
As one of the PU units, a remote control CPU unit is connected to the signal multiplex wire like the other CPU units. Therefore, each CPU unit is a remote edge vertical CPU.
Execute data input/output to an external remote control device via the unit.

(f) Example A combine harvester will be described below as an example of a working machine using the control device of the present invention.

FIG. 1 is a schematic plan view showing the configuration of a combine harvester equipped with a control device of the present invention.

The combine 1 harvests the crops in front of it using a reaping section 2 provided at the front. The harvested crops are led to the threshing device 7 by the conveying device 10, and the grains are separated from the husks of the crops and harvested. The combine harvester 1 travels within the farmland by rotation of crawlers 8a and 8b provided on the left and right sides. This crawler 8a, 13
The rotation of the crankshaft of the engine 5 is transmitted to b via the transmission 4. The control panel 3 installed in the front cockpit of the combine 1 has a display 9, switches SWI to S W n, and volumes VR to VR.
n is provided. A display 9 and a switch SW 1 constitute one control system in these cockpits.
” Each input/output device of SW n and volumes VR to VRn is connected to a CPU unit C1 provided near the control panel 3.

Further, the conveying device 10 is provided with a tip sensor Sl, which detects the height of the tip of the harvested culm. A motor Ml is connected to a CPU unit C2 provided in the vicinity of the shell culm transport device IO, together with a tip sensor Sl.

The tip sensor S1 and the motor M1 constitute another control system in the conveying device 10, and the motor M1 constitutes a separate control system in the conveying device 10.
Change the culm clamping position of 0.

Furthermore, the rotation speed of the output shaft of the transmission 4 is detected by a vehicle speed sensor S2, and the rotation speed of the crankshaft of the engine 5 is detected by a rotation speed sensor S3. The vehicle speed sensor S2 and the rotation speed sensor S3 constitute another control system in the traveling device, and together with the motor M2 that changes the reduction ratio of the transmission 4, the CPU provided near the transmission 4 and the engine 5
It is connected to unit C3.

FIG. 2 is a block diagram of the control device for the combine harvester.

The CPU unit (CI) of the control panel 3 is composed of a CPU 21, a ROM 22 and a RAM 23 connected to the CPU 21. ■10 Switches SW1 to SW n, volumes VRI to V via interface 24
Rn and display 9 are connected.

A CPU unit C2 provided near the transport device 10 includes a CPU 25 and a ROM 26 connected to the CPU 25.
and RAM27. A tip sensor S1 and a motor driver 29 are connected to the CPU 25 via an I10 interface 28. A motor M1 is connected to the motor driver 29 for changing the position of the conveying device 10 holding the shell culm.

A CPU unit C3 provided near the traveling device constituted by the transmission 4 and the engine 5,
CPU30. It is composed of a ROM 31 and a RAM 32 connected to this CPU 30. The CPU 30 is connected to an A/D converter 34 .
35 and a motor driver 36 are connected. A/
The detection results of the vehicle speed sensor S2 and the rotation speed sensor S3 are input to each of the D converters 34 and 35. Further, a motor M2 that changes the reduction ratio of the transmission 4 is connected to the motor driver 36.

Each of the CPU units 01 to C3 is connected by a signal multiplexing wire 11. The CPU unit C1 of the control panel 3 sends data and control targets to the CPU unit C2 of the transport device 10 or the CPU unit C3 of the traveling device, depending on the states of the switches 81 to SWn and the volumes VRI to VRn, to prompt the start of a control operation. Output data such as values. In addition, the CPU unit C of the transport device 10
2 and the CPU 30 of the CPU unit C3 of the traveling device output detection data and the like to the CPU unit C1 of the control panel 3 via the signal multiplex wire 11.

The CPU 21 inputs data from the CPU unit (C2) of the transport device 10, the CPU unit C3 of the traveling device, and the CPU unit of another control system (not shown) on the display 9.
to be displayed.

3(A) and 3(B) are both flowcharts showing a part of the control device of the combine harvester, and FIG.
) shows the processing procedure of the control device of the conveyance device, and (B) in the same figure
1 shows the processing procedure of the control device of the traveling device.

When the switch for selecting automatic handling depth control is operated on the control panel 3, and data prompting the start of vehicle speed control is input from the CPU CI of the control panel 3 to the CPU unit C2 of the transport device 10, the CPU unit C2 The CPU 25 that constitutes the first reads out the state of the tip sensor S1 (nl).

Tip sensors S1 are formed at two locations, upper and lower, and when the upper sensor is on, the motor M1 is reversed to shorten the length from the culm clamping position to the tip (n2→n3). If the upper sensor is off, the lower sensor is turned on/off.
Check the off state (n4), and if the lower sensor is off, rotate the motor M1 forward to increase the length from the culm clamping position to the tip (n4-n5'). If the upper sensor is off and the lower sensor is on, it is determined that the tip length is normal and the process returns to nl. In this way, the CPU 25 drives the motor M1 to change the culm clamping position of the conveying device 10 so that the tip of the culm is located between the upper sensor and the lower sensor in the automatic handling depth control.

When a switch for setting vehicle speed control is operated on the control panel 3, data is input from the CPU unit C1 of the control panel 3 to the CPU unit C3 of the traveling device to prompt the start of vehicle speed control. The CPU 30 constituting the CPU unit C3 first reads the detection output of the rotation speed sensor S3 (nil) when data prompting the start of vehicle speed control is input manually. Next, the detection output of the rotation speed sensor S3 is compared with a preset reference value (n12). When the current rotation speed of the engine 5 detected by the rotation speed sensor S3 matches the reference value K, the value returns to nil. If the output of the rotation speed sensor S3 does not match the reference value K, compare the output of the rotation speed sensor S3 with the reference value n13);
When the current rotation speed detected by the rotation speed sensor S3 exceeds the reference value K, the motor M2 is reversely rotated to reduce the traveling speed (n13-n17). If the current rotation speed is lower than the reference value K, read out the detected value of the vehicle speed sensor S2.
14), the vehicle speed is compared with the reference vehicle speed V set by the volume on the control panel 3 (n15). If the current vehicle speed detected by the vehicle speed sensor S2 is lower than the reference vehicle speed (2), the motor M2 is rotated forward to change the reduction ratio of the transmission 4 to the speed increasing side (n15-n16). If the current vehicle speed detected by the vehicle speed sensor S2 exceeds the reference vehicle speed V, the motor M2 is reversely rotated to change the reduction ratio of the transmission to the reduction side (n15-"n17).

In this way, during vehicle speed control, the CPU 30 determines whether the current vehicle speed and engine rotation speed detected by the vehicle speed sensor S2 and the rotation speed 83 are the reference vehicle speed ■ and the reference value K.
The reduction ratio of the transmission 4 is changed so that the speed does not exceed .

As described above, according to this embodiment, the CPU unit CI provided near the control panel 3 is connected to the switches SW1-SWn% volume VRI to VRn provided on the control panel 3 and the display 9. , a tip sensor Sl and a motor M1 are connected to a CPU unit C2 provided near the transport device 10, and a vehicle speed sensor S2, a rotation speed sensor S3, and a motor M2 are connected to a CPU unit C3 provided near a transmission 4 and an engine 5. can be connected. This is a combine l
Automatic direction control for operating the steering mechanism based on the detection result of the direction sensor can also be configured in the same way. As a result, the input/output devices of each control system need only be connected to the CPU unit provided in the vicinity thereof, and the wiring distance of the wire harness between the input/output devices and the CPU unit can be shortened. This simplifies the wiring work and eliminates the need to wire a heavy wire harness over a long distance inside the combine to drive the motor etc., making the wiring work easier and simplifying its protection. In addition, since the number of wire harnesses connected to each CPU unit can be reduced, the connectors in each CPU unit can be made smaller, and the device can be made more compact.Furthermore, each CPU unit can be connected by a common signal multiplexing wire. Because they are connected, it is possible to easily add more CPU units due to an increase in the number of control systems.

FIG. 4 is a block diagram showing the configuration of a control device according to the invention set forth in claim 2.

In the configuration shown in FIG. 2, the signal multiplexing wire 11 connecting each CPU unit includes a CPU 37;
A remote control CPU (UNIS) C4 configured by a ROM 38 and a RAM 39 is connected.

CPU 37 that constitutes this remote control CPU unit 4
A transmitter 41 and a receiver 42 are connected to the I10 ink face 40. This allows CPU3
7 can input and output control data related to each CPU unit 01 to C3 to an external remote control device 51, and can handle unmanned operation of the combine harvester 1.

(g) Effects of the Invention According to this invention, the input/output devices each of a plurality of control systems distributed at appropriate locations of a working machine,
Control can be performed by a CPU unit provided near the input/output device of each control system. This makes it possible to shorten the wiring distance between the input/output device and the CPU unit, and also digitizes the input/output signals of each control system to prevent thick drive wires from being routed over long distances. By reducing the amount of wiring in the wiring harness, it is possible to reduce the size of the device by reducing weight and saving space. Further, the number of wires connected in one CPU unit can be reduced, and the connector can be made smaller, thereby making it possible to downsize the device. moreover,
By connecting each CPU unit with the same signal multiplexing wire, it is possible to easily add more CPU units to add other control systems. This added C
By connecting a remote control CPLt unit as a PU unit to the signal multiplex wire, control data can be input and output between the external remote control device and each CPU unit installed in the work machine, and the work Able to handle unattended operation of industrial machinery

[Brief explanation of the drawing]

FIG. 1 is a schematic plan view showing the configuration of a combine harvester equipped with a control device for a working machine which is an embodiment of the invention as set forth in claim 1, and FIG. 2 is a block diagram showing the configuration of the control device of the combine harvester. 3(A) and 3(B) are flowcharts showing the processing procedure of the main parts of the control device, and FIG. 3(A)
1 shows the processing procedure of the CPU unit provided in the transport device, and FIG. 2B shows the processing procedure of the CPU unit provided in the traveling device. Further, FIG. 4 is a block diagram showing the configuration of a control device according to the invention described in claim 2. S W 1 to S W n -switch, VR1 to VRn
-Volume, 31-Spear tip sensor, S2-Vehicle speed sensor, S3-Rotation speed sensor, Ml, M2-Motor, C1-C3-CPU unit.

Claims (2)

[Claims] (1) In a work machine equipped with multiple control systems having single or multiple input/output devices, the input/output devices of each control system are installed close to the input/output devices, and the input/output devices of each control system are independent. 1. A control device for a work machine, comprising: a plurality of CPU units that control each CPU unit; and a signal multiplexing wire that connects the CPU units to each other. (2) The control device for a work machine according to claim 1, wherein a remote control CPU unit that inputs and outputs remote control data to and from each of the CPU units is connected to the signal multiplex wire.