JPH07131864A - Controller for working vehicle - Google Patents

Abstract

PURPOSE:To operate actuators with the shortest possible time delay while simplifying the signal wiring to sensors or the like in the centralized control form where a central control part controls the whole. CONSTITUTION:A central control part CU and plural terminal control parts LU1 to LU5 distributedly arranged in respective parts of a machine body are connected by a wired communication means so that detection signals from sensors SW and various data such as driving signals to actuators M, L, and B can be communicated, and the central control part CU executes transmission of control data for driving of actuators M, L, and B to terminal control parts LU1 to LU5 in preference to reception of detection data of sensors SW from terminal control parts LU1 to LU5; and if a transmission request of control data for driving of actuators M, L, and B occurs during reception of detection data of sensors SW, transmission of this control data for driving of actuators M, L, and B is executed after the end of reception of detection data of sensors SW.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a central control unit and a plurality of terminal control units dispersedly arranged in various parts of a machine body, which are communicatively connected to each other via wired communication means. Inputting detection signals from sensors for detecting control information and transmitting the input data to the central control unit, and
Receiving control data from the central control unit and outputting a drive signal to actuators based on the received data, the central control unit based on transmission data from the terminal control unit, each terminal control unit The present invention relates to a control device for a work vehicle configured to determine the appropriate drive content for the actuators and transmit the appropriate drive content as the control data.

[0002]

2. Description of the Related Art In a control device for a work vehicle described above, in controlling a work vehicle such as a combine, a central control unit centrally controls the entire work vehicle while detecting data from sensors for detecting control information. Multiple terminal control units that input and output various signals to sensors and actuators in order to input or output drive commands to actuators for operating each work unit are dispersed in each unit of the machine By arranging them, the plurality of terminal control units and the central control unit are connected to each other by a wired communication means using a standard such as RS485, and various data are transmitted and received through the communication means. When the control unit is directly connected to the sensors and the actuators, the signal wiring is prevented from becoming complicated and large (for example, JP-A-3-240).
802).

[0003]

However, in the above-mentioned conventional technique, in order to drive the actuators based on the drive command from the central control unit, first, the control data for driving is transmitted from the central control unit to the terminal control unit. However, since it is necessary to relay the terminal control unit without fail so that the terminal control unit outputs a drive signal to the actuators based on the transmitted data, the central control unit directly issues a drive command to the actuators. As compared with the case of outputting, the drive command is output to the actuators with a delay of at least the relay processing time in the terminal control unit, which hinders the operation of the actuators that require promptness. There was a fear.

The present invention has been made in view of the above circumstances, and an object thereof is to provide sensors in a centralized control mode by transmitting and receiving data between a central control unit and each terminal control unit via a wired communication means. Another object is to realize simplification of signal wiring for the actuators and to drive the actuators without delay as much as possible when a drive request is made.

[0005]

According to a first characteristic configuration of a control device for a work vehicle according to the present invention, the central control unit transmits the control data for driving the actuators to the detection data of the sensors. It is configured to be executed with priority over reception.

A second characteristic configuration is such that the central control unit and each terminal control unit perform multiplex communication by designating an address for each terminal control unit, and the central control unit, When a transmission request of the control data for driving the actuators to the terminal control unit is generated while receiving the detection data of the sensors from the terminal control unit, the control data for driving the actuators is The point is that the transmission is executed after the reception of the detection data of the sensors being received is completed.

A third characteristic configuration is that the central control unit is configured to execute communication with each of the terminal control units by a polling selecting method.

[0008]

According to the first characteristic configuration of the present invention, the central control unit determines the appropriate drive content for the actuators based on the transmission data from the terminal control unit, that is, the detection data of the sensors, and drives the actuators. When the generation of the request is confirmed, the central control unit gives priority to the reception of the detection data of the sensors even when the detection data of the sensors is received (for example, the reception of the detection data of the above-mentioned sensors is given priority). (For example, by temporarily suspending), the proper drive content for the actuators for which the drive request is generated, that is, control data for driving is transmitted to the terminal control unit of the actuators, and the terminal control unit that receives the control data receives the control data. A drive signal is output to the actuators based on the data.

Further, according to the second characteristic configuration, when the central control unit determines the proper drive content for the actuators based on the detection data of the sensors and confirms the generation of the drive request for the actuators, When the sensor detection data is being received from the terminal control unit that is addressing and communicating, the sensor detection data is continuously received from the terminal control unit and the sensor type is received from the terminal control unit. After the reception of the detection data of 1 is completed, the terminal control unit of the actuator for which the drive request is generated is addressed and the control data for driving the actuators is transmitted. And
The terminal control unit which has received the address-specified control data for driving the actuators outputs a drive signal to the actuators based on the received data.

According to the third characteristic configuration, in the so-called polling / selecting method, the central control unit specifies addresses for the respective terminal control units in a predetermined order, and the respective terminal control units transmit, for example, sensors. When the actuator drive request is issued while the detection data is being received, the sensor control data continues to be received from the terminal control unit with which the central control unit is communicating at that time, and the terminal control unit receives the detection data. After receiving the detection data of the sensors from the controller and before receiving the detection data of the sensors from the next terminal control unit in the polling order, the actuator is requested to the terminal control unit of the actuators for which the drive request is generated. Control data for driving the class is transmitted. Then, after transmitting the control data, reception of sensor detection data from the next terminal control unit in the polling order is started.

[0011]

According to the first characteristic configuration of the present invention, therefore, central control and sensors are performed by the central control unit by transmitting and receiving data between the central control unit and each terminal control unit via the wired communication means. While simplifying the signal wiring for the actuators, when the driving request for the actuators is generated, the control data for driving the actuators is transmitted with priority over the reception of the detection data of the sensors, and the actuators are driven. Can be driven with a minimum delay time from the generation of a drive request, and it has become possible to avoid as much as possible an obstacle to the operation of actuators that require quickness.

According to the second characteristic configuration, the actuators can be driven without delay as much as possible from the generation of the driving request while surely receiving the detection data of the sensors, and thus the first characteristic. A suitable means of construction is obtained.

According to the third characteristic configuration, the so-called polling / selecting method is used to specify the addresses in a predetermined order to reliably receive the detection data of, for example, the sensors from each terminal control unit, while the actuators are operated. The drive can be performed without delay as much as possible after the generation of the drive request, and thus the preferable means of the second characteristic configuration can be obtained.

[0014]

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, the steering control for steering the machine so that it automatically runs along the planted culms, and the handling depth of the harvested culms in the handling room are within the proper 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 5 dispersedly arranged in each part of the machine body including the mowing block 1, the threshing block 2, the tank block 3, the main body block 4 and the like, are multiplexed via the wired communication means T. Connected for communication. Each of the terminal control units LU1 to LU5 inputs a detection signal from the sensors SW for detecting control information and a central control unit C of the input data.
It is configured to execute transmission to U, reception of control data from the central control unit CU, and output of drive signals to the actuators M, L, B based on the received data. Further, the central control unit CU is configured to control each terminal control unit L
Based on the transmission data from U1-5, each terminal control unit L
It is configured to determine the proper drive content for the actuators M, L, B of U1 to 5 and to transmit the proper drive content as control data. The sensors S
W is composed of a plurality of switches SW which detect various control information as ON / OFF binary information, and the actuators M, L and B are composed of 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 gate array GA1 as a central communication IC for relaying data exchange between the microcomputer CPU1 and the communication means T, and the microcomputer. A microcomputer CPU2 is provided as a communication arithmetic processing unit for exchanging data between the CPU1 and the gate array GA1 and for performing communication control for each of the terminal control units LU1 to LU5. 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. For example, the microcomputer CPU1 is a CPU2
FIG. 12 shows a data format for requesting data input / output to the terminal control units LU1 to LU5.
When the B and C bits are 1, the input / output ports A, B and C (see FIGS. 2 and 3) of the terminal control units LU1-5 are connected, and when the X bit is 0, the input / output ports are connected via the input / output ports. When the data input / output request is 1, the error information request is designated.

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,
A gate array GA2 is provided as a communication IC on the terminal side that relays data exchange between L and B and the communication means T. Further, four harnesses AD1 to AD4 for generating address signals to the respective terminal control units LU1 to LU5 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. In particular,
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
The actuators M, L and B are connected to the input / output port of the gate array GA2 via a signal processing circuit and a driving circuit, respectively. 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 type 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. Output to the gate arrays GA1 and GA2.

The gate array GA1 on the center side and the gate array GA2 on the terminal side are formed to have a component part for the center side for use as the center side and a component part for the terminal side for use as the terminal side. It is configured in a gate array GA which is a communication IC having the same specifications. Hereinafter, a specific description will be given with reference to FIG.

As shown in FIG. 3A, the gate array GA is switched to the 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 section 12 corresponds to the central side constituent section and the address setting section 22 corresponds to the terminal side constituent section respectively, and gates other than the CPU I / F section 12 and the address setting section 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.

The terminal control units LU1 to LU5 input the address signals from the harnesses AD1 to AD4 connected to the external terminals A0 to A3 to the address setting unit 22 as their 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 central control unit CU and each terminal control unit L
U1 to 5 are configured to perform multiplex communication by designating an address set for each of the terminal control units LU1 to LU5. Specifically, the central control unit CU uses a polling selecting method. It is configured to communicate with each of the terminal control units LU1 to LU5 (see FIG. 11).

Further, the central control unit CU is configured to execute the transmission of the control data for driving the actuators M, L, B with priority over the reception of the detection data of the sensors SW. However, the central control unit CU controls each terminal control unit L
When a request for transmitting control data for driving the actuators M, L, and B to the terminal control units LU1 to LU5 is received while receiving the detection data of the sensors SW from U1 to LU5, the actuators M, The transmission of the control data for driving the L and B is executed after the reception of the detection data of the sensors SW being received is completed.

Next, the control operation in the central control unit CU will be described based on 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 elapsed, 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 chattering of the switch operation, the CPU1 receives the bus communication 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. (# 30 to # 31).

In the processing routine for the interrupt from the CPU 2, as shown in FIG. 6, after the re-interruption is prohibited, the processing corresponding 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. As shown in FIGS. 9 and 10, the processing in each TASKno is the first TA.
When SKno = 0, data is fetched from the input port A of the terminal control unit LU3 of address 0, and TASKno
= 1, the input port B of the terminal control unit LU3 at address 0
From the input port and transfer of output data to the output port C. 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 port B, and address 1 is set when TASKno = 4.
The transfer processing of the output data to the output port C of the terminal control unit LU4 is performed. Thereafter, in the same manner, the command transfer and the data input / output processes are sequentially executed for the terminal control units LU1 to LU5 of the remaining addresses. In the above flow, the output data is transferred to the output port by the CPU.
It is not performed until 1 starts the entire control process (for 1.5 seconds after the main switch is turned on).

According to the above flow (FIG. 9), address 0
When the request command is transferred to the terminal control unit LU3 of the CPU 2, the CPU 2 is receiving the data of the sensors SW from the terminal control unit LU4 of the address 1, and the sensors SW
After the reception of the data has been completed, the output data transfer process for outputting the drive signal from the output port C of the terminal control unit LU3 having the address 0 to the actuators is performed. That is, when a request for transmitting control data for driving the actuators M, L, and B to the terminal control units LU1 to LU5 occurs while receiving the detection data of the sensors SW, the actuators M, L, and B are transmitted. The transmission of the control data for driving is executed after the reception of the detection data of the sensors SW being received is completed. In the above flow, the transfer processing of the output data to the output port C of the terminal control unit LU3 having the address 0 is performed after the data acquisition from the input port A and the input port B. The transfer process may be performed first.

Then, TASKno = one before the last
In n, a command requesting communication error information for each of the terminal control units LU1 to 5 is transferred, and the last TASKno is transmitted.
In the case of = n + 1, the communication error information is read, and then the SBUSend flag is reset (the value is set to 0) to indicate that the communication with the CPU 2 is OK. At the last TASKno = n + 1,
Since the processing is ended in the state where the next interrupt is prohibited, 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 in order to stop the operation of the combine, first, as shown in FIG. 4, the CPU 2 is reset to stop the communication with the respective 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 the error information is written into the memory MEM.
After 5 seconds, the driving of the solenoid is stopped (# 14 to # 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 drops, 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 based on the flow charts shown in FIGS. 7 and 8 to 10. First, it is determined whether or not a polling signal for itself is received according to the address in the received data, and if it is a polling signal for itself, it is determined whether it is an input request from the switch SW or an output request to the actuators M, L, B. To do. 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, in the case of an output request to the actuators M, L, B, the received data is output via the output port and ACK data for reply is created. Next, as shown in FIG. 11, the sensor data or the ACK data created above is converted into the central control unit CU.
The time t to the transmission start point is changed at random with respect to the end time point of the polling signal from (4).

As a result, when a plurality of terminal control units LU1 to 5 respond to the same polling signal due to an error in address setting for each terminal control unit LU1 to 5 or the like, the signals of the respective reply signals are shifted in timing. The overlapping waveforms are received by the central control unit CU side, are judged as abnormal data different from the normal data, and can be detected as a communication error. The communication control circuit 16 performs the random processing of the reply timing based on the signal from the random signal generation circuit 23 (see FIG. 3) in the gate array GA2.

Another Embodiment Next, another embodiment will be described.
In the above embodiment, the central control unit CU and each terminal control unit LU1
~ LU5 has been shown to perform multiplex communication via the wired communication means T, but not multiplex communication, for example, an individual unit provided between the central control unit CU and each terminal control unit LU1 to LU5. Alternatively, individual communication may be performed via the communication means T (the same number as the number of the terminal control units LU1 to LU5).

Further, in the above embodiment, when the central control unit CU and each of the terminal control units LU1 to LU5 carry out multiplex communication, the address of each of the terminal control units LU1 to LU5 is designated by the time division multiplexing method. Which terminal control unit LU
Although the communication is performed with respect to 1 to LU5, the terminal control units LU1 to LU5 may be made to communicate with transmission signals of different frequencies by the frequency multiplexing method instead of the time division multiplexing method. Further, also in the case of designating an address and performing multiplex communication, a communication method other than the polling selecting method is possible.

In the above embodiment, the central control unit CU is
As a specific configuration in which the transmission of the control data for driving the actuators M, L, B is executed with priority over the reception of the detection data of the sensors SW, the detection data of the sensors SW from each of the terminal control units LU1 to LU5 When a request for transmitting control data for driving the actuators M, L, B is made to each of the terminal control units LU1 to LU5 during reception, the control data for driving the actuators M, L, B is transmitted as described above. Although what is executed after the reception of the detection data of the sensors SW being received is shown, without doing this,
For example, the reception of the detection data of the sensors SW is temporarily interrupted, the control data for driving the actuators M, L, and B is transmitted first, and then the interrupted detection data of the sensors SW is received. It is also possible to drive the actuators M, L, B more quickly.

In the above embodiment, the central control unit CU has 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 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 switch SW for detecting the sensors as ON / OFF binary data 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 added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations 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: Example of data format exchanged between CPUs

[Explanation of symbols]

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

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification number Office reference number FI technical display location // A01D 41/12 C 8303-2B G05D 1/02 R 9323-3H (72) Inventor Yasunori Sueyoshi 64, Ishizukita-machi, Sakai-shi, Osaka Prefecture Kubota Sakai Plant Co., Ltd. (72) Masahiko Shimano 64, Ishizu-kitamachi, Sakai-shi, Osaka Prefecture Kubota Sakai Plant Co., Ltd. (72) Kanto Ando Ishizu, Sakai-shi, Osaka Prefecture 64 Kitamachi, Kubota Sakai Factory (72) Inventor Hideaki Tanaka 64, Ishizukitamachi, Sakai City, Osaka Prefecture Kubota Sakai Factory, Ltd.

Claims (3)

[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,
It is communicably connected via a wired communication means (T),
The terminal control unit (LU1 to LU5) inputs detection signals from sensors (SW) for detecting control information, transmits the input data to the central control unit (CU), and the central control unit (LU). CU) to receive control data and output drive signals to actuators (M, L, B) based on the received data, and to execute the central control unit (C).
U), based on the transmission data from the terminal control units (LU1 to LU5), the terminal control units (LU1 to LU5).
5) A control device for a work vehicle configured to determine the appropriate drive content for the actuators (M, L, B) of 5) and transmit the appropriate drive content as the control data. The unit (CU) is configured to execute the transmission of the control data for driving the actuators (M, L, B) with priority over the reception of the detection data of the sensors (SW). Control device. 2. The central control unit (CU) and each of the terminal control units (LU1 to LU5) are connected to each of the terminal control units (LU).
1 to LU5) and multiplex communication is performed by designating an address, and the central control unit (CU) is configured to control the terminal control units (LU1).
To LU5) while receiving the detection data of the sensors (SW) from the sensors (SW), a request for transmitting control data for driving the actuators (M, L, B) to the terminal control units (LU1 to LU5) is generated. In this case, the control data for driving the actuators (M, L, B) is transmitted after the reception of the detection data of the sensors (SW) being received is completed. The control device for the work vehicle according to 1. 3. The central control unit (CU) uses the polling selection method to control the terminal control units (LU1 to L).
U5) configured to perform communication with
Control device for the described work vehicle.