JPH07162962A - Controller for truck - Google Patents

Abstract

PURPOSE:To improve safety by preventing a truck from being erroneously operated by stopping the operation of a communication part by commanding reset to the communication part until the operation of an arithmetic processing part for control reaches a proper operating state after a power source is turned on. CONSTITUTION:After the lapse a prescribed time from a time when a main switch is turned on and the power source is turned on by a PS 1, the RESET terminal of the PS 1 is changed from LOW to HIGH first, the reset state of a CPU 1 is canceled, and control is started. Then, the communication with respective terminal control parts LU1-LU5 is stopped maintaining a CPU 2 in the reset state (in which an output Port 3 of the CPU 1 is HIGH) untill a time (250ms, for example,) required for stabilizing the operations of all the terminal control parts LU1-LU5 elapses after the main switch is turned on. Thus, since the malfunction of actuators caused by the instable data of the arithmetic processing part for control can be prevented, the malfunction of the truck can be prevented, and safety can be improved.

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 transmitting a drive signal to actuators based on the received data, the central control unit, based on the transmission data from the terminal control unit, A control arithmetic processing unit that determines the appropriate drive content for the actuators of each terminal control unit and outputs the appropriate drive content as the control data, and between the control arithmetic processing unit and the communication unit. The present invention relates to a control device for a work vehicle that includes a communication unit that relays data exchange.

[0002]

2. Description of the Related Art In a control device for such a work vehicle, conventionally,
Each of the control arithmetic processing unit and the communication unit is configured to start operating as power is supplied to each unit of the work vehicle. That is, when power is supplied to itself, the communication unit receives the input data from the sensors sent from the terminal control unit via the communication unit and transmits the input data to the control arithmetic processing unit. , Starts receiving the control data sent from the control arithmetic processing unit and transmitting the control data to the communication means, and when the control arithmetic processing unit is supplied with power, the control arithmetic processing unit outputs the input data to the input data. Based on this, it is configured to start the determination of the proper drive content for the actuators and the transmission of the drive content (control data) to the communication unit.

[0003]

However, the control arithmetic processing unit outputs indefinite data to the communication unit until its own operation reaches the proper operation state after power is supplied. There is a risk that it will end up. For this reason, the communication unit that has received the indefinite data outputs the indefinite data to the communication unit as control data if its own operation reaches the proper operation state at the time of the reception.
Therefore, the terminal control unit drives the actuators based on the control data output by the indefinite data, which causes a problem that the actuators are erroneously driven.

The present invention has been made in view of the above circumstances, and an object thereof is to prevent malfunction of a work vehicle and improve safety.

[0005]

In the control device for a work vehicle according to the present invention, a central control unit and a plurality of terminal control units dispersedly arranged in various parts of the machine body can communicate with each other via wired communication means. Connected to the terminal control unit, the detection signal from the sensors for control information detection and the input data is transmitted to the central control unit, and the reception of control data from the central control unit and the It is configured to execute transmission of a drive signal to the actuators based on the received data, and the central control unit, based on the transmission data from the terminal control unit, the appropriate drive content for the actuators of each terminal control unit. A control arithmetic processing unit that determines and outputs the appropriate drive content as the control data;
A communication unit that relays data exchange between the control arithmetic processing unit and the communication unit is provided, and a first characteristic configuration of the communication unit is that the communication unit performs self-operation in response to a reset command. The operation unit for control is configured to stop, and the communication processing unit until the operation of the control arithmetic processing unit reaches a proper operating state after the power is turned on by the connecting / disconnecting means for connecting / disconnecting power to each part of the work vehicle. It is configured so as to instruct a reset to. In a second characteristic configuration, the communication unit relays data exchange with the communication unit, and a data exchange between the control arithmetic processing unit and the communication IC. A communication arithmetic processing unit that executes communication control for the terminal control unit is configured, and each of the communication IC and the communication arithmetic processing unit is configured to stop its own operation by a reset command. The control arithmetic processing unit is configured to instruct the communication arithmetic processing unit to reset until its own operation reaches an appropriate operating state after power is turned on by the disconnecting means. The processing unit is configured to issue a reset command to the communication IC until its operation reaches a proper operating state after the reset command from the control arithmetic processing unit is released. That. A third characteristic configuration is that the central control unit and each terminal control unit are configured to perform multiplex communication via the communication unit. According to a fourth characteristic configuration, the control arithmetic processing unit determines the appropriate display content based on the received data, and operates the display device based on the determination content. It is configured to be switchable to a check display mode to be operated, and after the power is turned on by the connecting / disconnecting means, the check display mode is executed for a set time period and the normal display mode is executed after the set time period has elapsed. It is configured to do so.

[0006]

According to the first characteristic construction of the present invention, when power is supplied to each part of the work vehicle by the connection / disconnection of the connecting / disconnecting means, the control arithmetic processing unit, after the power is turned on, reaches its proper operation state. During this period, the communication unit is instructed to reset, and the communication unit stops its own operation by the command. And
When the control arithmetic processing unit reaches the proper operating state, the control arithmetic processing unit stops the reset command to the communication unit,
Data exchange with the communication unit is started. Therefore, since the data transfer between the control arithmetic processing unit and the communication unit is started after the control arithmetic processing unit reaches the proper operation state, the communication unit is controlled by the control arithmetic processing unit. Does not output the control data created by the indefinite data output before reaching the proper operating state to the communication means, and thus can prevent the malfunction of the actuators due to the indefinite data of the control arithmetic processing unit. It will be possible.

According to the second characteristic configuration, by providing the communication operation processing unit in the communication unit, the load on the control operation processing unit is reduced, and the speed of data processing in the control operation processing unit is increased. Together with the communication IC dedicated to communication in the communication section
It is possible to increase the speed of communication with the terminal control unit. Moreover, the communication arithmetic processing unit stops its operation until the control arithmetic processing unit reaches the proper operation state, and the communication IC processes the communication arithmetic processing unit to start its own operation and operate properly. Until the state is reached, self (communication I
Since the operation of C) will be stopped, the communication IC
Transfer of data between the control arithmetic processing unit, the communication arithmetic processing unit, and the communication unit after the control arithmetic processing unit reaches the proper operating state and the communication arithmetic processing unit reaches the proper operating state. Will be started. Therefore, according to the second characteristic configuration, malfunctions of actuators due to indefinite data of the control arithmetic processing unit and the communication arithmetic processing unit are achieved while speeding up communication between the central control unit and the terminal control unit. Can be prevented.

According to the third characteristic configuration, the transmission of the sensor detection data from each of the terminal control units to the central control unit and the transmission of the control data for driving the actuator from the central control unit to each of the terminal control units are performed. For example, it is performed via a wired communication unit by a multiplex communication system such as a time division multiplex system.

According to the fourth characteristic configuration, the setting pattern (for example, all-lighting display) is displayed on the display device until the set time elapses after the power is turned on, and the proper display content is displayed after the set time elapses. To be done. Therefore, by observing the setting pattern displayed on the display device until the set time elapses after the power is turned on, the operator can find the defective display portion of the display device.

[0010]

According to the first characteristic configuration of the present invention, since the malfunction of the actuators due to the undefined data of the control arithmetic processing unit can be prevented, the malfunction of the work vehicle can be prevented and the safety can be improved. It has become possible to improve. According to the second characteristic configuration, while accelerating the communication between the central control unit and the terminal control unit, the malfunction of the actuators due to the undefined data of the control arithmetic processing unit and the communication arithmetic processing unit is prevented. Therefore, it is possible to improve the safety of the work vehicle while speeding up the control of each part of the body of the work vehicle. According to the third characteristic configuration, since the data transmission / reception between the central control unit and each terminal control unit is performed by the wired communication means by the multiplex communication method,
The wired communication means can be configured to have, for example, a single communication path to provide a simpler communication means,
Therefore, the suitable means of the first or second characteristic configuration can be obtained. According to the fourth characteristic configuration, it is possible to find a defective display portion of the display device. Therefore, a malfunction caused by the defective display (for example, if the display indicating that the gasoline is exhausted is defective, the worker is in a shortage of gasoline). It has become possible to improve the safety of the work vehicle by preventing problems such as the engine stopping during work without realizing it).

[0011]

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 it automatically travels along the planted culm, and the handling depth of the harvested culm in the handling room are 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 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.

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 a DC power supply for intermittently supplying power to the microcomputers CPU1 and CPU2, the gate array GA1 and the like, and a reset signal (reset command) is supplied until a predetermined time elapses after the power is turned on. It has a RESET terminal for outputting. Further, PS1 is provided with a WDCK terminal for inputting a reset signal from the output port Port4 of the CPU1, and the output port P
The reset signal is output from the RESET terminal based on the reset signal from the ort 4.
The CPU 1 operates the watchdog timer routine at regular intervals, and is configured to output a reset signal from the output port Port 4 to the WDCK terminal of the power supply PS 1 when the control runs out of control.

The CPU1 has a RES terminal for stopping its operation by a reset signal from the RESET terminal of the power supply PS1 (however, this RES is actually an overlined RES as shown in FIG. 2). However, since it is not possible to add an overline in this document, RES will be used as a substitute in the following), and after the power is turned on, until the own operation reaches the proper operation state, CP
Output port Port that outputs a reset signal to U2
3 and 3 are provided. The CPU2 has a RES terminal for stopping its own operation by a reset signal from the output port Port3 of the CPU1 or a reset signal from the RESET terminal of the power supply PS1 and until its own operation reaches an appropriate operation state after the power is turned on. Meanwhile, an output port Port2 that outputs a reset signal to the gate array GA1 is provided. GA1 has an output port P of CPU2
There is provided a RES terminal for stopping its own operation by a reset signal from the ort 3 or a reset signal input to the RES terminal of the CPU 2.

Therefore, for the communication IC (GA1) that relays the exchange of data with the communication means T, and the exchange of data between the CPU1 and the communication IC (GA1) and the terminal control units LU1-5. A communication unit Q is formed by the CPU 2 that executes communication control.

Further, the GA 1 determines the proper display content based on the received data, and the normal panel display as the normal display mode for operating the display device Z based on the determination content, and the display device Z with the setting pattern. It is configured so that it can be switched to an initial panel display as a check display mode for activating, and the initial panel display is executed for a set time after power-on, and the normal panel display is executed after the set time elapses. Is configured to.
Note that the setting pattern is configured so that all the displays on the display device Z are lit up, and the operator can make an initial setting while the set time elapses after the power is turned on by operating the main switch MS (not shown). It is configured so that the lamp can be checked by the panel display (all lights).
Further, the main switch MS is configured to function as a connecting / disconnecting unit that connects and disconnects the power supply by the power supplies PS1 and PS2.

As shown in FIG. 12, the display device Z is divided into a display portion 5 for displaying the remaining fuel amount, the engine speed, etc., and a key input portion 6. The display unit 5 is a liquid crystal display having a dedicated segment for each display, and is configured to display start / stop of each control on the display unit 5a.
In the figure, 5b, 5c, and 5d are vertically stacked bar graphs showing the remaining fuel amount, cooling water temperature, and grain amount, 5e is a numerical display showing the engine speed, and 5f is the engine speed. It is a horizontal stacking bar graph which shows a load state. Further, the bar graph 5f is configured such that the rightward bar becomes longer as the engine load increases, and the appropriate load state corresponds when the bar length is half the maximum value. However,
The displays of 5a to 5f shown in FIG. 12 are for the initial panel display (all lighting).

The key input unit 6 is provided with a plurality of key switches 6a for instructing each control unit to start and stop each automatic control (vehicle speed control, steering control, cutting height control, etc.).
Therefore, by operating each key switch 6a, the automatic control during stop is started, and the automatic control during start is stopped, and each segment of the display unit 5a is turned on in accordance with the operation of each key switch 6a. Or turn it off. still,
Each segment has a key switch 6 as shown in FIG.
They are arranged in a horizontal row in the same arrangement as a.

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 power supply for connecting and disconnecting power supply to the gate array GA2 and the like,
It has a RESET terminal that outputs a reset signal until a predetermined time elapses after the power is turned on.

The communication means T is constructed by using, for example, the RS485 standard, and as shown in FIG. 2, a two-wire type communication line L, a central control unit CU and each terminal control unit LU1.
5 to 5 each include a communication driver DR provided at a contact point with the communication line L, and each communication driver DR converts the transmission data received from each of the gate arrays GA1 and GA2 into R.
Communication line L converted to a signal conforming to the standards such as S485
On the other hand, the signal on the communication line L is input and the received data is 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. 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 that holds data to be input / output to / from the CPU 2 via a bus line, a transmission buffer 13 that holds parallel data for transmission from the input / output buffer 11, and a parallel 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 described. 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. 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 LU1-5 inputs the address signals from the harnesses AD1-4 connected to the external terminals A0-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 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).

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 a predetermined time (<250 ms) elapses after the main switch MS is turned on and the power is turned on by PS1, first, RES of PS1 is set.
The ET terminal becomes HIGH from LOW, the reset state of the CPU 1 is released, and 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 stable after the main switch MS is turned on. The CPU 2 is in the reset state (the output Port3 = HI of the CPU 1 shown in FIG. 2) until the time (for example, 250 ms) necessary for conversion is passed.
GH) to stop communication with each of the terminal control units LU1 to LU5, and during this time, the initial panel display of the display device Z (FIG. 12).
Perform lamp check processing by (# 1 to # 5 and # 1
2).

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.
The t3 is set to LOW to release the reset state of the CPU2 and GA1, and the communication between the CPU2 and each of the terminal control units LU1 to 5 is started (# 6). That is, the CPU 2 sequentially calls each of the terminal control units LU1 to LU5 and repeats the operation of receiving the data of each switch SW at a predetermined cycle (for example, 5 ms) (see FIG. 8). By repeating the communication in this predetermined cycle, the CPU 2 causes the data of each switch SW and
Each terminal control unit LU that cannot receive normal reply data
The time when it is determined that the communication error information for 1 to 5 is sufficiently accumulated (for example, 900 m after the main switch MS is turned on)
When (s) elapses, the CPU 1 starts a process of exchanging control data with the CPU 2 through an 8-bit bus line (# 7 to # 8, see FIGS. 9 and 10). After that, when the time required for the CPU 1 to grasp the state of the entire system by exchanging data with the CPU 2 (for example, 1.5 seconds after turning on the main switch MS) has elapsed, CP
U1 sets the display on the meter panel to the normal state and starts the overall control process (# 9 to # 11). The CPU1
The watchdog timer routine is activated at fixed intervals, and when the control goes out of control, the output port Port
4 gives an instruction to the power source PS1 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 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. (# 30 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. 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.
1 starts the entire control process (main switch M
It is not performed for 1.5 seconds after S 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 is receiving the detection data of the sensors SW from the terminal control unit LU4 of the address 1, and after receiving the detection data of the sensors SW, Data is fetched from the input port A and the input port B of the terminal control unit LU3 at address 0, and output data is transferred to the output port C. That is, the terminal control units LU1 to LU5
While receiving the detection data of the sensors SW from
Actuators M for the terminal control units LU1-5,
When a request for transmitting the control data for driving the L and B is generated, the control data for driving the actuators M, L and B is transmitted after the reception of the detection data of the sensor SW which is being received is completed. To be executed. In the above flow, output data may be transferred to the output port C before data is fetched from the input port A and the input port B of the terminal control unit LU3 having the address 0.

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 MS is turned off to stop the operation of the combine, as shown in FIG.
First, the CPU 2 is reset and each terminal control unit LU1-5
The communication with is stopped (# 13). Then, for 5 seconds after the main switch MS is turned off, the solenoid for stopping the engine is driven to cut off the fuel supply to the engine, and the error information is written in the memory MEM. After 5 seconds, the solenoid is driven. 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 the 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. The communication means T may be used for communication.

Further, in the above embodiment, when the central control unit CU and each terminal control unit LU1 to LU5 perform multiplex communication, the address of each terminal control unit LU1 to LU5 is designated to specify which terminal control unit LU1 to LU1. Although the communication is performed by the time division multiplexing method while distinguishing whether the communication is for LU5, the communication is performed not by the time division multiplexing method but by the frequency multiplexing method with the transmission signals of different frequencies to the terminal control units LU1 to LU5. You may allow it. In addition, when the multiplex communication is performed by designating the address, the communication by the polling selecting method is shown, but the invention is not limited to the polling selecting method.

In the above embodiment, the control arithmetic processing unit CPU
1 and the communication unit (CPU2, GA1) are shown, but when the required communication processing speed is not so high, the communication control of the communication arithmetic processing unit CPU2 is also performed by one microcomputer CPU1. It is also possible to achieve simplification of the configuration.

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 binary data of ON / OFF 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 embodiment, the communication IC has the CPU I / F unit 12 for the central side component for use as the central side and the address setting unit 22 for the terminal side component for use as the terminal side. However, the specific configurations of the central component and the terminal component can be changed as appropriate. In the above embodiment, the input / output buffer 11 in the communication IC on the central side is shared with the port B of the three input / output ports in the communication IC on the terminal side. The input / output buffer 11 may be provided independently without being shared. Further, the main circuit portion for data transmission / reception shared by the communication IC on the center side and the communication IC on the terminal side is not limited to the circuit configuration of the transmission buffers 13 to 19 as shown in the embodiment.

In the above embodiment, in order to eliminate the influence of the chattering operation of each switch SW as a sensor, the detection signal from each switch SW is directly applied to the central control unit CU.
To control the final control microcomputer CP
At the time of processing by U1, it is configured to perform a filtering process for making the regular data only when the received data is received a plurality of times (for example, four times), and the CPU2 is dedicated for communication. Although it has been shown that the configuration can be simplified and generalized, the configuration of the filtering process performed by the CPU 1 is not limited to this. Note that it is of course possible to perform the filtering process not by the CPU 1 but by the gate arrays GA1 and GA2, the CPU 2, etc. on the way.

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

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 configuration 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 an explanatory diagram showing a configuration of a display device.

[Explanation of Codes] CPU1 arithmetic processing unit CPU2 communication arithmetic processing unit CU central control unit GA1 communication IC LU1 to LU5 terminal control unit M, L, B actuators MS interrupting means SW sensors T communication means Q communication section Z display apparatus

Front page continued (72) Inventor Yasunori Sueyoshi 64 Ishizukitamachi, Sakai City, Osaka Prefecture Kubota Sakai Factory Co., Ltd. (72) Inventor Masahiko Shimano 64, Ishizukitamachi, Sakai City Osaka Prefecture Kubota Sakai Factory Co., Ltd. (72) ) Inventor Hiromichi 64, Ishizukita-machi, Sakai-shi, Osaka Prefecture Kubota Sakai Plant Co., Ltd. (72) Hideaki Tanaka, 64, Ishizukita-machi, Sakai-shi, Osaka Prefecture Kubota Sakai Plant Co., Ltd.

Claims (4)

[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,
The terminal control unit (LU1 to LU5) is communicably connected via a wired communication unit (T), and the terminal control unit (LU1 to LU5) inputs a detection signal from a control information detection sensor (SW) and the input data thereof. To execute transmission to the central control unit (CU), reception of control data from the central control unit (CU), and transmission of drive signals to actuators (M, L, B) based on the received data. The central control unit (CU) is configured by the terminal control unit (LU1 to LU1).
Based on the transmission data from LU5), the actuators (M, L,
B), a control arithmetic processing unit (CPU1) for determining the appropriate drive content and outputting the appropriate drive content as the control data, and a control arithmetic processing unit (CPU).
1) A control device for a work vehicle, comprising a communication unit (Q) for relaying data exchange between the communication unit (T) and the communication unit (T), wherein the communication unit (Q) is reset. The operation processing unit for control (CPU1) is configured to stop its own operation in response to a command, and its own operation is appropriate after the power is turned on by the connection / disconnection means (MS) for connecting and disconnecting the power supply to each part of the work vehicle. A control device for a work vehicle configured to instruct the communication unit (Q) to perform a reset until it reaches. 2. The communication IC (G) for relaying data exchange between the communication section (Q) and the communication means (T).
A1), and an arithmetic processing unit for communication that executes data exchange between the arithmetic processing unit for control (CPU1) and the communication IC (GA1) and communication control for the terminal control units (LU1 to LU5). (CPU2), and each of the communication IC (GA1) and the communication arithmetic processing unit (CPU2) is configured to stop its own operation by a reset command. The processing unit (CPU1) is configured to instruct the communication arithmetic processing unit (CPU2) to perform resetting until its own operation reaches an appropriate operating state after the power is turned on by the connecting / disconnecting unit (MS). The communication arithmetic processing unit (CPU2) continues to operate until the operation of the communication arithmetic processing unit (CPU2) reaches a proper operating state after the reset command from the control arithmetic processing unit (CPU1) is released. Use IC (GA1) to the control device for a work vehicle of claim 1, wherein is configured to command a reset. 3. The central control unit (CU) and each of the terminal control units (LU1 to LU5) are configured to perform multiplex communication via the communication means (T).
Control device for the described work vehicle. 4. The control arithmetic processing unit (CPU1) determines a proper display content based on the received data, and operates a display device (Z) based on the determination content, and a setting pattern. And a check display mode for operating the display device (Z) can be freely switched. After the power is turned on by the connecting / disconnecting means (MS), the check display mode is executed for a set time, and 4. The control device for a work vehicle according to claim 1, wherein the normal display mode is executed after a set time has elapsed.