JPH07131863A - Communication equipment for working vehicle - Google Patents

Abstract

PURPOSE:To share terminal control parts by eliminating a need of adjusting work of the transmission timing in each terminal control part. CONSTITUTION:A central control part CU and plural terminal control parts LU3 and LU4 distributedly arranged in respective parts of a machine body are communicatably connected through a wired communication means by designation of addresses to terminal control parts LU3 and LU4, and each of terminal control parts LU3 and LU4 sets the transmission timing of return data to the central control part CU at random based on data of a random data generating means, which generates random data, to transmit the return data after receiving communication data from the central control part CU, and the central control part CU judges that the communication with the terminal control part LU3 or LU4 is abnormal if return data from the addressed terminal control part LU3 or LU4 is different from normal data.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a central control unit and a plurality of terminal control units distributed in respective units of an airframe, which specify addresses for the respective terminal control units via wired communication means. Each terminal control unit is connected to enable multiplex communication,
After confirming the reception of communication data from the central control unit,
The present invention relates to a communication device for a work vehicle configured to transmit reply data to the central control unit.

[0002]

2. Description of the Related Art In a work vehicle such as a combine, a communication device for a work vehicle described above includes, for example, a central control unit for centrally controlling the work vehicle, sensors for detecting control information, and actuators for operating each work unit. A plurality of terminal control units for inputting and outputting signals to and from a class identify a target terminal control unit by designating an address for each terminal control unit, for example, a wired type using a standard such as RS485. By transmitting and receiving various data such as sensor detection data and control data for driving actuators via the communication means, a large amount of complicated signal wiring when directly connecting the central control unit to the sensors and actuators It was used for the purpose of avoiding conversion.

Conventionally, when the same address is erroneously set in a plurality of terminal control units due to a wiring mistake or the like, the address is designated and the reply data is simultaneously transmitted from the plurality of terminal control units to the central control unit. In order to be able to detect a communication error even when it is sent, for example, in each terminal control unit, after confirming the reception of the communication data from the central control unit, the timing of transmitting the reply data to the central control unit is controlled by each terminal control unit. When the central control unit receives data from a plurality of terminal control units, the data length becomes longer than the regular data so that a communication error is detected (for example, Japanese Patent Laid-Open No. HEI 3). -110997).

[0004]

However, in the above-mentioned prior art, it is necessary for each terminal control unit to adjust the transmission timing of the reply data to the central control unit so as to be shifted by a predetermined time, and the transmission timing adjustment work is required. In addition to being cumbersome, the timing-adjusted terminal control unit (specifically, the circuit board, etc.) is dedicated to each terminal control unit, so it is necessary to prepare multiple types for manufacturing and maintenance, for example, and storage management is troublesome. There was a problem such as being.

The present invention has been made in view of the above circumstances, and an object thereof is to eliminate the above-mentioned work of adjusting the transmission timing in each terminal control unit in order to solve the problems of the above-mentioned prior art, and to control the terminal. It is to share the department.

[0006]

According to a first characteristic configuration of a communication device for a work vehicle according to the present invention, each of the terminal control units is provided with random data generating means for generating random data, and the random data generating means is provided. Is configured to randomly set the transmission timing of the reply data to the central control unit based on the data of the, the central control unit, when the reply data from the addressed terminal control unit is different from the regular data, It is configured to determine that the communication with the terminal control unit is abnormal.

The second characteristic configuration is that each of the terminal control units inputs a detection signal from sensors for detecting control information and transmits the input data to the central control unit, and
Receiving control data from the central control unit and outputting drive signals to actuators based on the received data, the central control unit, based on the transmission data from the terminal control unit, each terminal control unit It is configured to determine the proper drive content for the actuators and transmit the proper drive content as the control data.

[0008]

According to the first characteristic configuration of the present invention, when the central control unit designates an address to each terminal control unit and transmits communication data, each terminal control unit determines its own address and its own address. After comparing the address and when both addresses match, after confirming the reception of communication data from the central control unit,
The transmission timing of the reply data to the central control unit is randomly set based on the data of the random data generating means, and the reply data is transmitted to the central control unit. Here, when reply data is simultaneously transmitted from the plurality of terminal control units to the central control unit due to an address setting error or the like, the reply data received by the central control unit is a plurality of reply data whose timings are randomly shifted. Since it is different from the regular data, and the reply data from the addressed terminal control unit is different from the regular data, the central control unit determines that the communication with the addressed terminal control unit is abnormal.

Further, according to the second characteristic configuration, each terminal control unit, when the address designated by the central control unit and its own address match, the detection data input from the sensors for detecting control information. It transmits to the central control unit or outputs a drive signal to actuators based on control data from the central control unit. On the other hand, the central control unit determines the proper drive content for the actuators based on the transmission data from the addressed terminal control unit, that is, the detection data of the sensors, and the proper drive content is sent to the terminal control unit as control data. Specify the address and send.

[0010]

Therefore, according to the first characteristic configuration of the present invention, the adjustment work of the transmission timing of the reply data to the central control unit, which is conventionally required in each terminal control unit, is unnecessary, and each terminal is not required. Manufacturing work of the control unit is simplified, and one terminal control unit can be used for any of the terminal control units of each part of the machine, and the terminal control unit (specifically, circuit board etc.) can be shared. Therefore, for example, a plurality of types are required for manufacturing and maintenance, and troubles such as troublesome storage management are solved.

Further, according to the second characteristic configuration, in controlling a working vehicle such as a combine, while avoiding a large complication of signal wiring when directly connecting the central control unit to the sensors and actuators, In order for the central control unit to centrally control the entire work vehicle, the sensor detection data from each terminal control unit is specified via the wired communication means while specifying the address to identify the target terminal control unit. When receiving or sending control data for driving actuators to each terminal control unit, it can be surely determined whether communication with each addressed terminal control unit is normal. Therefore, in the work vehicle control that requires high reliability, a communication device suitable for communication of various control data between the control units of each unit of the machine body can be obtained.

[0012]

Embodiments of the present invention will be described below with reference to the drawings when applied to a combine as a work vehicle.

In the combine harvester, for example, steering control for steering the machine so that the machine automatically travels along the planted culm, and the handling depth of the harvested culm in the handling room is within an appropriate range. Handling depth control that automatically adjusts so that it is maintained, sorting control that sorts and collects grains from handling waste mixed with straw waste, etc.
Various controls such as operation control of the auger that discharges the sorted and collected grains from the tank that temporarily stores them to the outside, and posture control that maintains the posture of the aircraft in a predetermined posture such as horizontal posture regardless of the state of the running ground Done.

Therefore, as shown in FIG. 1, a central control unit CU for centrally executing control of the entire combine.
And a plurality of terminal control units LU1 to LU5 dispersedly arranged in respective parts of the machine body including the mowing block 1, the threshing block 2, the tank block 3, the main machine block 4 and the like, via the wired communication means T. Addresses set for the terminal control units LU1 to LU5 are designated and connected so that multiplex communication is possible. Then, the central control unit CU executes communication with each of the terminal control units LU1 to 5 by the polling selecting method,
Each of the terminal control units LU1 to LU5 is configured to transmit reply data to the central control unit CU after confirming reception of communication data (polling signal) from the central control unit CU (see FIG. 11).

Further, each of the terminal control units LU1 to LU5 inputs a detection signal from the sensors SW for detecting control information, transmits the input data to the central control unit CU, and controls from the central control unit CU. The central control unit CU is configured to execute reception of data and output of drive signals to the actuators M, L, B based on the received data, and the central control unit CU, based on the transmission data from each of the terminal control units LU1 to 5, It is configured to determine the proper drive content for the actuators M, L, B of each of the terminal control units LU1 to 5 and to transmit the proper drive content as control data. The sensors SW are composed of a plurality of switches SW which detect various control information as ON / OFF binary information,
The actuators M, L, B include an electric motor M, a solenoid L, an alarm buzzer B and the like.

As shown in FIG. 2, the central control unit CU
Is a microcomputer CPU1 as an arithmetic processing unit for control, a central gate array GA1 for relaying data exchange between the microcomputer CPU1 and the communication means T, and the microcomputer CP.
It comprises a microcomputer CPU2 as a communication arithmetic processing unit for exchanging data between U1 and the gate array GA1 and performing communication control for each terminal control unit LU1-5. Data transmission / reception between the two microcomputers CPU1 and CPU2 and between the microcomputer CPU2 and the gate array GA1 is performed via an 8-bit bus line.

Microcomputer CPU for controlling the above
1 inputs an analog signal from an analog type sensor that detects continuously changing information such as a potentiometer or a pulse signal from a pulse type sensor that detects the number of revolutions, etc. through input ports Port1 and Port2. In addition, the control microcomputer CPU1 has an E ² ROM.
Is connected to a non-volatile memory MEM such as
Various error information and the like are stored in the EM. In the figure, PS1 is the microcomputer CPU
1, a DC voltage source that supplies a power supply voltage and a reset signal when the power is turned on to the CPU 2, the gate array GA1, and the like.

On the other hand, as shown in FIG. 2, each terminal control unit L
U1 to 5 are sensors SW and actuators M,
The terminal side gate array GA2 for relaying data exchange between L and B and the communication means T is provided, and each terminal control unit L
Four harnesses AD1 to AD4 as address signal generating means for generating address signals to U1 to 5 are provided by combining a harness of a LOW level voltage connected to the ground and a harness in a non-connection state. The harnesses AD1 to 4, the sensors SW, and the actuators M, L, and B are connected to the respective terminal control units LU1 to LU5 via the integrally formed connector CN. Specifically, the harnesses AD1 to 4 are connected to the external terminals A0 to A3 for address setting of the gate array GA2, and the sensors SW and the actuators M, L, and B respectively include a signal processing circuit and a driving circuit. After that, it is connected to the input / output port of the gate array GA2. In the figure, PS2 is a DC voltage source that supplies a power supply voltage to the gate array GA2 and the like.

The communication means T is constructed using, for example, the RS485 standard, and as shown in FIG. 2, a two-wire communication line Ln, a central control unit CU, and each terminal control unit LU.
1 to 5 and a communication driver DR provided at a contact point with the communication line Ln.
Converts the transmission data received from each of the gate arrays GA1 and GA2 into a signal conforming to the standard such as RS485 and outputs the signal to the communication line Ln, while inputting the signal on the communication line Ln and receiving the received data. It operates so as to output to the gate arrays GA1 and GA2.

The center-side gate array GA1 and the terminal-side gate array GA2 are formed so as to include a center-side constituent part for use as the center side and a terminal-side constituent part for use as the terminal side. The same gate array GA of the same specifications is configured. Hereinafter, a specific description will be given with reference to FIG.

As shown in FIG. 3A, the gate array GA is switched to a master mode in which the internal circuit functions as the gate array GA1 on the center side when the MODE terminal is set to the LOW level. The array GA includes an input / output buffer 11 for holding data to be input / output to / from the CPU 2 via a bus line, a transmission buffer 13 for holding parallel data for transmission from the input / output buffer 11, and a parallel of the transmission buffer 13. P / S that converts data into serial data in parallel / serial
The conversion unit 14, the communication control circuit 16 for transmitting the serial data from the P / S conversion unit 14 to which the CRC data for error detection from the CRC generation unit 15 is added as transmission data, and the received serial data S / P converter 18 for serial / parallel conversion, error detector 17 for checking the received serial data such as CRC to detect the presence / absence of communication error, and parallel data / error detector from S / P converter 18 The receiving buffer 19 which holds the error data from 17 and outputs it to the input / output buffer 11, and the R / W (read / write) signal and STB (data strobe) signal which are control signals at the time of data input / output from the CPU 2 are input. In addition, the CPU I / F unit 12 that outputs an interrupt INT signal to the CPU 2 is provided.

The gate array GA is shown in FIG.
As shown in FIG. 7, when the MODE terminal is set to the HIGH level, the internal circuit is switched to the slave mode in which it functions as the gate array GA2 on the terminal side. In this slave mode, the gate array GA has the switch SW and the actuators M, L, An input / output port 21 for inputting / outputting data to / from B, a transmission buffer 13 for holding the detection signal from each switch SW input through the input / output port 21 as parallel data, and the transmission buffer 13
P / S converter 14 for parallel-serial converting the parallel data of the above into serial data, and an error detection CR from the CRC generator 15 for the serial data from this P / S converter 14.
The communication control circuit 16 which sends out the data to which the C data is added as the transmission data, the S / P converter 18 which converts the received serial data into serial / parallel, and the CRC and the address of the received serial data are checked to make a communication error. Error detection unit 17 for detecting the presence or absence of
A reception buffer 19 that holds the parallel data from the / P conversion unit 18 and the error data from the error detection unit 17 and outputs the data to the input / output port 21, and the terminal control units LU1 to LU5.
Address setting unit 22 for setting an address for
It becomes the composition provided with.

From the above, the CPU I / F unit 12 corresponds to the central component and the address setting unit 22 corresponds to the terminal component, and the gates other than the CPU I / F unit 12 and the address setting unit 22 are provided. The main part of array GA is
It is shared as the center side and the terminal side as shown by the same part number. The input / output port 21 is composed of three ports A, B and C each having 8 bits, and the ports A and B of the terminal control unit LU3 having the address 0 are input ports and the port C is an output port. The port A of the terminal control unit LU4 having the address 1 is set as the input port, and the ports B and C are set as the output ports. The input / output buffer 11 in the master mode is shared with the port B of the input / output ports 21 in the slave mode.

Each of the terminal control units LU1 to LU5 inputs the address signals from the harnesses AD1 to A4 connected to the external terminals A0 to A3 to the address setting unit 22 as its own address data only when the power is turned on. It is configured. That is, the LOW level voltage signal is supplied from the LOW level voltage harness, and the HIGH level voltage signal is supplied to the unconnected harness because it is pulled up to the power supply side inside the gate array GA2.
Each terminal control unit LU1-5 sets its own address by the combination of the voltage signals. In FIG. 2, in the terminal control unit LU3, all of the external terminals A0 to A3 are set to LOW level and set as address 0, and the terminal control unit L3
U4 has only A0 of the external terminals A0 to A3 being HIGH.
At the level, the other terminals A1 to A3 are at the LOW level and are set as the address 1.

The terminal control units LU1 to LU5 are
As shown in FIG. 3B, a random data generating circuit 23 as a random data generating means for generating random data is provided in the gate array GA2, and based on the data of the random data generating circuit 23, it is sent to the central control unit CU. It is configured to randomly set the transmission timing of the reply data of. Specifically, the random data generating circuit 23 is composed of, for example, a 4-bit counter or the like,
The communication control circuit 16 is, for example, a central control unit C.
The time t from the end point of the polling signal from U to the transmission start point is set to the random data of the random data generating circuit 23 (0 to 15 in the example of the 4-bit counter).
(One of the 16-step values of 1) is multiplied by 1 bit time of the transmission data, and the reply data is transmitted to the central control unit CU.

On the other hand, the central control unit CU judges that the communication with the terminal control units LU1 to LU5 is abnormal when the reply data from the addressed terminal control units LU1 to LU5 is different from the regular data. It is configured. Specifically, the central control unit CU determines whether the request data for the input from the switch SW or the reply data from the terminal control units LU1 to LU5 that has transmitted the output request to the actuators M, L, and B is different from the regular data. For example, in FIG. 12, AC is output in response to output requests to actuators M, L, and B.
In order to exemplify the case where K data is returned, a specified address code, ACK data, CRC code, and
When abnormal data is detected by checking the data length or the like, it is determined that communication with the terminal control units LU1 to LU5 is abnormal. That is, FIG. 12 shows two terminal control units L
When reply data is simultaneously transmitted from U1 to LU5 with a time difference t1, the above two reply data overlap and the address code, ACK data, and CRC code become non-regular, and the data length d ′ is also regular data. The state is longer than the length d.

Next, the control operation in the central control unit CU will be described with reference to the flow charts shown in FIGS. 4 to 6 and 8 to 10.

As shown in FIG. 4, when the main switch is turned on and the power is turned on, first, the reset state of the CPU 1 is released and the control is started. Then, after performing the initialization processing, the input processing of the analog signal from the analog type sensor and the pulse signal from the pulse type sensor is performed, and the operations of all the terminal control units LU1 to LU5 are stabilized after the main switch is turned on. The CPU 2 is kept in the reset state (the output Port3 = HIGH of the CPU 1 shown in FIG. 2) until the time required to do so (for example, 250 ms) elapses, and the communication with each terminal control unit LU1-5 is stopped,
During this time, a lamp check process of a meter panel (not shown) is performed (# 1 to # 5 and # 12).

When the time for stabilizing the operations of all the terminal control units LU1 to LU5 has passed, the CPU 1 outputs the output Por.
Set t3 to LOW to release the reset state of CPU2,
Communication between the CPU 2 and each of the terminal control units LU1 to LU5 is started (# 6). That is, the CPU 2 has the terminal control units LU1 to LU5.
Are sequentially called, and the operation of receiving the data of each switch SW is repeated at a predetermined cycle (for example, 5 ms) (see FIG. 8). By repeating the communication in this predetermined cycle,
The time (for example, 900 ms after the main switch is turned on) that the CPU 2 judges that the data of each switch SW and the communication error information for the respective terminal control units LU1 to LU5 such as normal reception of data cannot be received has elapsed. Then, the CPU 1 starts a process of exchanging control data with the CPU 2 through an 8-bit bus line (# 7).
~ # 8, see FIGS. 9 and 10). After that, CPU1
When the time required to grasp the state of the entire system by exchanging data with the PU2 (for example, 1.5 seconds after turning on the main switch) has elapsed, the CPU 1 sets the display on the meter panel to the normal state and starts the entire control process. (# 9 to # 11). Incidentally, the CPU 1 operates the watchdog timer routine at a constant cycle, and when the control goes out of control, the power source PS1 is supplied from the output port Port4.
To output a reset signal (see FIG. 2).

In the bus communication performed by the CPU1 with the CPU2, as shown in FIG. 5, first, in order to eliminate the influence of the chattering of the switch operation, the bus communication is received from the CPU2 a plurality of times (for example, four times). Each switch SW
Data is stored only after the filtering process to make it regular data only when the same data is stored (# 2
1). Next, the communication error information for each of the terminal control units LU1 to 5 is input, and if there is an error in the terminal control units LU1 to LU5, an abnormal output process of displaying an alarm on the meter panel or the like is performed, and the terminal in the error state is also processed. Control units LU1-5
Error processing such as stopping the communication of the drive command to the actuators M, L, and B of the device for a predetermined period (# 22 to # 2).
3). Next, it is judged whether or not the previous communication with the CPU 2 was OK (if the value of the SBUSend flag is 0, then
K), it is determined whether the CPU 2 is in a command waiting state waiting for a command from the CPU 1 (# 24 to # 25). When the previous communication with the CPU 2 is OK and the CPU 2 is in the command waiting state, the external interrupt is permitted from the CPU 2, the SBUSend flag is set (the value is set to 1), and the TA used in the interrupt processing from the CPU 2 is executed.
The process of resetting SKno (setting the value to 0) and outputting a command for executing the process for the terminal control unit LU3 of address 0 to the CPU 2 in the first part of the interrupt process is performed. On the other hand, if the previous communication with the CPU 2 is not OK, or if the previous communication with the CPU 2 is OK but the CPU 2 is not in the command waiting state, the CPU 2 is set to an abnormal state and the CPU 2 is reset for a certain period of time and an alarm display output is issued. (# 26 to # 31).

In the processing routine for the interruption from the CPU 2, as shown in FIG. 6, after the re-interruption is prohibited, the processing according to the value of each TASKno is sequentially performed from TASKno = 0, and the value of TASKno is incremented by 1. The next interrupt is enabled and the process ends. First TASKn
When o = 0, data is fetched from the input port A of the terminal control unit LU3 having the address 0, and when TASKno = 1, data is fetched from the input port B of the terminal control unit LU3 having the address 0 and output data to the output port C. Transfer processing. When TASKno = 2, a process for outputting a command for executing the process for the terminal control unit LU4 having the address 1 is performed, and when TASKno = 3, data is fetched from the input port A of the terminal control unit LU4 having the address 1 and output. The output data is transferred to the port B, and when TASKno = 4, the output data is transferred to the output port C of the terminal control unit LU4 having the address 1.

In the same manner, command transfer and data input / output processes are sequentially executed for the terminal control units LU1 to LU5 having the remaining addresses. Then, at TASKno = n, which is one before the last, a command requesting communication error information for each terminal control unit LU1-5 is transferred, and at the last TASKno = n + 1, the above-mentioned communication error information read processing is performed. Then, the processing of resetting the SBUSend flag (setting the value to 0) is performed to indicate that the communication with the CPU 2 was OK. The last TASKno
In the case of = n + 1, the processing is terminated in the state where the next interrupt is prohibited, and thereafter, the processing for the interrupt from the CPU 2 is not executed until the interrupt is permitted in the bus processing shown in FIG.

When the main switch is turned off to stop the operation of the combine, first, as shown in FIG. 4, the CPU 2 is reset to stop the communication with each of the terminal control units LU1 to LU5 (# 13). Then, for 5 seconds after the main switch is turned off, the engine stop solenoid is driven to cut off the fuel supply to the engine, and C
The error information accumulated in the memory such as the RAM in PU1 is written into the memory MEM for 5 sec.
After a lapse of time, the drive of the solenoid is stopped (# 14-
# 17).

The error information may be written in the memory MEM every predetermined time other than when the engine is stopped, but erroneous data may be written when the power supply voltage is lowered such as when the engine starter is started. Therefore, the power supply voltage (for example, 12 V) is monitored, and the process is not performed when the voltage drops. The memory M
The error information written in the EM will be read by a checker or the like, and failure analysis will be performed based on it.
Since the error history is recorded, there is an advantage that it becomes possible to analyze an error that is difficult to reproduce, such as a momentary disconnection.

Next, the control operation in each of the terminal control units LU1 to LU5 will be described with reference to the flow chart shown in FIG. First, it is determined whether or not a polling signal for itself is received according to the address in the received data. If the polling signal is for itself, an input request from the switch SW or actuators M, L, B
Output request is determined. In the case of an input request from the switch SW, the detection signal from the switch SW is input through the input port, and based on this, sensor data for reply is created. On the other hand, actuators M, L, B
In the case of an output request to the device, the received data is output via the output port and ACK data for reply is created. Next, as shown in FIG. 9, the sensor data or ACK data created as described above is randomly set as described above at the transmission timing of the reply data to the central control unit CU, and is transmitted.

Another Embodiment Next, another embodiment will be described.
In the above embodiment, the central control unit CU controls each terminal control unit LU.
1 to LU5, the detection data is obtained from the sensors SW, and the driving data is output to the actuators M, L, and B to centrally control the work vehicle. Rather than control, for example, each terminal control unit LU
1 to LU5 communicate management data and the like with the central control unit CU while controlling each part of the machine body so as to directly control the drive of the actuators M, L, B based on the information of the sensors SW. It can also be configured as follows.

In the above-mentioned embodiment, when the central control unit CU and the respective terminal control units LU1 to LU5 specify the addresses of the respective terminal control units LU1 to LU5 via the wired communication means T and perform multiplex communication. , The polling selecting method is shown, but it is not limited to the polling selecting method.

In the above embodiment, the wired communication means T is
I have shown what was configured using the RS485 standard,
Wired communication means of various standards other than this can be used.

In the above embodiment, the central control unit CU is the microcomputer CPU1 as the arithmetic processing unit for control.
And a microcomputer C as an arithmetic processing unit for communication
The one provided with two CPUs including the PU2 is shown, but when the required communication processing speed is not so fast, etc., the overall control and the communication control are performed by one microcomputer CPU1 to simplify the configuration. It is also possible to achieve this.

In the above embodiment, the random data generating means 23 is composed of the random data generating circuit 23 including, for example, a 4-bit counter. However, various other generating means such as a random number generating circuit are used. it can.

Further, in the above embodiment, the transmission timing of the reply data to the central control unit CU is set at random,
The time t from the end point of the polling signal from the central control unit CU to the transmission start point of the reply data is obtained by multiplying the data of the random data generating means 23 by 1 bit time of the transmission data. This need not always be the case, and various settings are possible.

Further, in the above embodiment, the central control unit CU is
Shows that the specified address code, ACK data, CRC code, data length, etc. are checked to determine whether or not the reply data from the addressed terminal control units LU1 to LU5 is regular data. However, rather than doing all these checks, some of the code in it (eg address code and ACK data)
The control may be simplified by performing only the check.

In the above embodiment, the switch SW for detecting the sensors as binary data of ON / OFF of the control information.
However, it is also possible to include a sensor for detecting analog signals or pulse signals other than binary signals. In addition, the actuators may include those other than the electric motor M, the solenoid L, and the alarm buzzer B.

In the above embodiments, the present invention is applied to a combine, but it can be applied to various automatic or manual traveling type work vehicles other than this.

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a block diagram showing an overall control configuration of a combine.

FIG. 2 is a circuit diagram showing a control configuration of a combine.

FIG. 3 is a circuit configuration diagram of a communication IC.

FIG. 4 is a flowchart showing a control operation in a central control unit.

FIG. 5 is a flowchart showing a control operation in a central control unit.

FIG. 6 is a flowchart showing a control operation in a central control unit.

FIG. 7 is a flowchart showing a control operation in the terminal control unit.

FIG. 8 is an explanatory diagram of control procedures in a central control unit and a terminal control unit.

FIG. 9 is an explanatory diagram of control procedures in a central control unit and a terminal control unit.

FIG. 10 is an explanatory diagram of a control procedure in the central control unit and the terminal control unit.

FIG. 11 is an explanatory diagram of a signal waveform in the polling selecting method.

FIG. 12 is a diagram for explaining an abnormality of reply data from the terminal control unit.

[Explanation of symbols]

 CU Central control unit LU1 to LU5 Terminal control unit T Communication means 23 Random data generating means SW Sensors M, L, B Actuators

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁶ Identification number Internal reference number FI technical display location // G05D 1/02 R 9323-3H (72) Inventor Yasunori Sueyoshi 64 Ishizukitamachi, Sakai City, Osaka Prefecture Kubota Sakai Factory (72) Inventor Masahiko Shimano 64 Ishizukita-machi, Sakai City, Osaka Prefecture Kubota Sakai Factory (72) Inventor Kanto 64, Ishizukita-machi, Sakai City, Osaka Kubota Sakai Co., Ltd. (72) Inventor Hideaki Tanaka 64, Ishizukita-machi, Sakai City, Osaka Prefecture Kubota Sakai Factory

Claims (2)

[Claims] 1. A central control unit (CU) and a plurality of terminal control units (LU1 to LU5) dispersedly arranged in each part of the body,
Each terminal control unit (L) is connected via a wired communication unit (T).
(U1 to LU5) are connected to each terminal control unit (LU1 to LU5) so that multiple communication is possible by designating an address.
Is a communication device for a work vehicle configured to transmit reply data to the central control unit (CU) after confirming reception of communication data from the central control unit (CU). The terminal control unit (LU1 to LU5) includes a random data generating means (23) for generating random data,
Based on the data of the random data generating means (23), the transmission timing of the reply data to the central control unit (CU) is randomly set, and the central control unit (CU) is configured to address the terminal. A communication device for a work vehicle configured to determine that communication with the terminal control unit (LU1 to LU5) is abnormal when reply data from the control unit (LU1 to LU5) is different from normal data. 2. Each of the terminal control units (LU1 to LU5)
Are input of detection signals from sensors (SW) for detecting control information, transmission of the input data to the central control unit (CU), and reception of control data from the central control unit (CU). The drive signals are output to the actuators (M, L, B) based on the received data, and the central control unit (CU) controls the terminal control units (LU1 to L).
Actuators (M, L, B) of each of the terminal control units (LU1 to LU5) based on the transmission data from U5).
The communication device for a work vehicle according to claim 1, wherein the communication device is configured to determine an appropriate drive content for the control data and transmit the appropriate drive content as the control data.