JPH07184262A - Controller for working truck - Google Patents

Abstract

PURPOSE:To realize reduction in man-hours required for setting of addresses to each terminal control section and switching setting for port input output states and prevention of mis-setting by sending/receiving data between a central control section and each terminal control section through a wired communication means while realizing simplified signal wiring to sensors in a central control form. CONSTITUTION:A central control section CU and plural terminal control sections LU1-LU5 are connected by a wired communication means T, the terminal control sections LU1-LU5 implement the reception of a detection signal from sensors SW, the transmission of the signal to the central control section, reception of control data from the central control section and drives actuators M, L, B based on the reception and the central control section CU sends the control data for driving the actuators discriminated based on the transmission data from the terminal control sections. Then input output ports PB, PC of each of the terminal control section LU1-LU5 are switched into an input state of sensor sensing signals or an output state of actuator drive signals based on data from address signal setting means AD1-AD4.

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. The terminal control unit is communicably connected, and the terminal control unit inputs detection signals from sensors for detecting control information, transmits the input data to the central control unit, and receives control data from the central control unit. And output the drive signal to the actuators based on the received data,
The central control unit is configured to determine, based on transmission data from the terminal control unit, appropriate drive content for the actuators of each terminal control unit, and transmit the appropriate drive content as the control data. Control device for a work vehicle.

[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 detection data from sensors for detecting control information. In order to output drive signals to each actuator that is obtained or provided in the aircraft, a plurality of terminals equipped with ports for inputting and outputting various signals to and from the sensors and actuators and distributed in each part of the aircraft By specifying each address to the control unit and accurately identifying the target terminal control unit, various data is transmitted and received via a wired communication means using a standard such as RS485, 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). However, conventionally, the address setting for each terminal control unit and the switching of the port state of the input / output port in the terminal control unit, that is, the detection signal input state from the sensors or the drive signal output state to the actuators are performed. The switching setting of No. 1 is performed by a separate means.

[0003]

Therefore, in the above-mentioned prior art, it takes a lot of time to set the address and switch the input / output state of the port for each terminal control unit. For example, even if the address is set correctly, the port input / output is set. There was a risk of making mistakes such as incorrect setting of status switching. When such an error occurs, the central control unit side cannot directly know that the port I / O state switching setting is incorrect, so the port I / O state switching setting is incorrect. There is an inconvenience of performing unnecessary communication for instructing the terminal control unit to input detection signals from sensors or output drive signals to actuators. Even if such useless communication is performed, normally, the corresponding processing is not performed by the terminal control unit, so that it is not possible to obtain required sensor data or drive actuators, but in some cases, There is a risk of damaging the device due to unnecessary actuation of actuators.

The present invention has been made in view of the above circumstances, and an object of the present invention is to specify an address for each terminal control unit between a central control unit and each terminal control unit via a wired communication means. In a control device for a work vehicle that realizes simplification of signal wiring for sensors and the like by transmitting and receiving data with a centralized control mode, address setting and port input / output state switching setting for each terminal control unit can be performed. It is to eliminate the inconvenience of the above-mentioned conventional technique by performing it by one means.

[0005]

According to a characteristic configuration of a control device for a work vehicle according to the present invention, each terminal control section is provided with address signal setting means for setting an address signal for the terminal control section. Is provided with an input / output port that is switchable between an input port state in which a detection signal is input from the sensors and an output port state in which a drive signal is output to the actuators. It is configured so that the input port state or the output port state can be switched by the address data from the signal setting means.

[0006]

According to the characterizing feature of the present invention, the address for each terminal control unit is set by the address signal set by the address signal setting means, and at the same time, the input / output port provided in each terminal control unit is Depending on the address data from the address signal setting means, it is switched to an input port state in which a detection signal is input from the sensors or an output port state in which a drive signal is output to the actuators.

[0007]

Therefore, according to the characterizing feature of the present invention, the address setting for each terminal control unit and the switching setting of the port input / output state are simultaneously performed by one means. Setting and port I / O status switching setting labor is reduced, and when the port I / O status switching is correct, the address setting is correct, and when the port I / O status switching is incorrect, the address setting is incorrect. Become. As a result, it is possible to immediately know the setting error of the address and port input / output state in the terminal control unit because the communication with the designated terminal control unit is impossible. However, if the wrong port I / O state switching setting is made, the central control unit cannot directly know that the port I / O state switching setting is incorrect. The inconvenience of performing unnecessary communication for instructing the input of detection signals from sensors to the terminal control unit with incorrect settings is solved, and unnecessary communication is unnecessary as described above. To activate the actuators,
The risk of damaging the device is also avoided.

[0008]

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 grain culm, and the handling depth of the harvested grain 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. The terminal control units LU1 to LU5 are communicably connected by designating addresses. Each of the terminal control units LU1 to LU5 inputs a detection signal from the sensors SW for detecting control information and transmits the input data to the central control unit CU, and receives and receives control data from the central control unit CU. Actuators M, L, based on received data
It is configured to perform the output of the drive signal to B. Further, the central control unit CU is configured to control the terminal control units LU1 to LU5.
Based on the transmission data from each of the terminal control units LU1 to LU5
Of the actuators M, L, B is determined, and the appropriate drive content is transmitted as control data. The sensors SW include a plurality of switches SW that detect various control information as ON / OFF binary information, and the actuators M,
L and B are electric motor M, solenoid L, and alarm buzzer B
Etc.

As shown in FIG. 2, the central control unit CU
Is a control microcomputer CPU1, a central gate array GA1 for relaying data exchange between the microcomputer CPU1 and the communication means T, and a microcomputer CPU1 and a gate array GA.
It is configured by including a microcomputer CPU2 for communication that exchanges data with the terminal 1 and executes communication control for each of the terminal control units LU1 to LU5. The communication microcomputer CPU2 executes its communication control in an asynchronous state with the control microcomputer CPU1, and both microcomputers CPU1 and CPU2.
Data transfer 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. Further, the control microcomputer CPU1 is provided with EEPRO.
A nonvolatile memory MEM such as M is connected, and various error information and the like are stored in this memory MEM. In the figure, PS1 is the microcomputer CP
It is a DC voltage source that supplies a power supply voltage and a reset signal when the power is turned on to U1, CPU2, gate array GA1 and the like.

Microcomputer CPU1 for control
To the communication microcomputer CPU2,
It outputs a command for inputting detection data of the sensors SW and an output request for control data for driving the actuators M, L, and B. On the other hand, a microcomputer CPU for communication
2 receives the detection data input request and the control data output request command from the control microcomputer CPU1 and outputs the detection data of the sensors SW from each of the terminal control units LU1 to LU5, which will be described later. When receiving a command for inputting the detection data from the control microcomputer CPU1, the sensors SW received from each of the terminal control units LU1 to LU5 by that time. Processing for passing the detection data of the above to the control microcomputer CPU1, and also for the control microcomputer CPU1.
When a command for requesting output of the control data is received from the CPU, a process for transmitting the control data for driving the actuators M, L, B received from the controlling microcomputer CPU1 to the terminal control units LU1 to LU5 is performed. Is configured.

Further, a microcomputer CPU for control
Reference numeral 1 is a process of receiving the detection data of the sensors SW from the microcomputer CPU2 for communication, and confirmation data that the control data for driving the actuators M, L, B are received by the terminal control units LU1 to LU5. Is received from the communication microcomputer CPU2 by interrupt processing from the communication microcomputer CPU2.

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 that relays data exchange between L and B and the communication means T is provided. 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. Then, the harnesses AD1 to AD4,
Sensors SW and actuators M, L and B are connected to respective terminal control units LU1 to LU1 via a connector CN formed integrally.
Connected to 5. Specifically, the harnesses AD1 to AD4
Is an external terminal A for setting the address of the gate array GA2.
The sensors SW and the actuators M, L, and B are connected to 0 to A3, and are connected to the input / output port 21 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 by utilizing, 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. 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 to have a center-side component for use as the center and a terminal-side component for use as the terminal. 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 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 gated. 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 PA, PB and PC each having 8 bits.
The port PA of the two ports is fixed for input only, but the remaining two ports PB and PC are input port states for inputting detection signals from the sensors SW and the actuators M, L and B. Input / output ports PB and P that can be switched between output port states that output drive signals to
It constitutes C. The input / output buffer 11 in the master mode is shared with the port PB of the input / output port 21 in the slave mode.

Each of the terminal control units LU1 to LU5 inputs the address signals from the harnesses AD1 to AD4 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. Therefore, the harnesses AD1 to AD4 function as address signal setting means for setting address signals to the terminal control units LU1 to LU5. In FIG. 2, the terminal control unit LU3 is set as address 0 with all the external terminals A0 to A3 being at the LOW level, and the terminal control unit LU4 sets only A0 of the external terminals A0 to A3 to be HIGH. At the level, the other terminals A1 to A3 are at the LOW level and are set as the address 1.

Further, the input / output ports PB and PC whose port states are switchable are configured to be switched to the input port state or the output port state by the address data from the harnesses AD1 to AD4. Specifically, as shown in FIG. 3B, after the input signals from the harnesses AD1 to AD4 are decoded by the input / output setting unit 24,
The output from the input / output setting unit 24 determines the signal input / output directions of the ports PB and PC. In the example of FIG. 2, the terminal control unit LU3 is set as the address 0, at the same time, the port PB is set as the input port and the port PC is set as the output port, and the terminal control unit LU4 is set as the address 1 at the same time. , The ports PB and PC are both set as output ports.

The central control unit CU and each terminal control unit LU1
Are configured to perform multiplex communication by designating addresses set for the respective terminal control units LU1 to LU5,
Specifically, the central control unit CU is configured to execute communication with each of the terminal control units LU1 to LU5 by using the address as an identification signal by the polling selecting method (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 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 sec after the main switch is turned on), 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 CPU 1 gives a command from the output port Port 4 to the power supply PS 1 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 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 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, It takes in data from the input ports PA and PB of the terminal control unit LU3 of address 0 and transfers output data to the output port PC. That is, while receiving the detection data of the sensors SW from the terminal control units LU1 to LU5, a request for transmitting control data for driving the actuators M, L, and B is issued to the terminal control units LU1 to LU5. In this case, the transmission of the control data for driving the actuators M, L, B is executed after the reception of the detection data of the sensors SW being received is completed. In the above flow, output data may be transferred to the output port PC before the data is fetched from the input ports PA and PB 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 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 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 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 at predetermined intervals other than when the engine is stopped, but there is a risk that erroneous data will 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 flowcharts 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.

[Other Embodiment] In the above embodiment, two port PB, among the three input / output ports PA, PB, and PC, each of which has 8 bits and is provided in each of the terminal control units LU1 to LU5,
Although the case where the PC is an input / output port whose port states are switchable is shown, for example, all three ports PA, PB, and PC may be input / output ports whose port states are switchable. The specific configuration such as the number of ports and the number of bits thereof can be changed variously.

In the above embodiment, the address signal setting means is connected to the terminal control units LU1 to LU4 via the connectors by the four harnesses AD1 to AD4 (LO connected to the ground).
A combination of a harness of a W level voltage and a harness in a non-connected state is shown, but other than this, for example, a 4-bit DIP switch provided on the circuit board of the terminal control units LU1 to LU5 is used. Address signal setting means to set the state of each bit of this DIP switch to L
The predetermined address signal may be set by switching to the OW voltage or the HIGH voltage.

In the above embodiment, 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 by the time division multiplexing method. I showed you multiplex communication,
Instead of multiple communication, for example, the central control unit CU provides individual communication means T provided between each of the terminal control units LU1 to LU5.
You may make it communicate via. Also, in the case of multiplex communication, the terminal control units LU1 to LU5 may be made to communicate with transmission signals of different frequencies by the frequency multiplex method instead of the time division multiplex method, and the address may be designated. The multiplex communication is not limited to the polling selecting method.

In the above embodiment, the wired communication means T is
Although the RS485 standard is used for the configuration, wired communication means of various standards other than the standard can be used.

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 embodiment, the present invention is applied to the combine, but the present invention can be applied to various other work vehicles of automatic or manual traveling type.

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 gate array.

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.

[Explanation of symbols]

 CU Central control unit LU1 to LU5 Terminal control unit T Communication means SW Sensors M, L, B Actuators PB, PC Input / output ports AD1 to 4 Address signal setting means

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yasunori Sueyoshi 64 Ishizukitamachi, Sakai City, Osaka Prefecture Kubota Sakai Factory Co., Ltd. (72) Masahiko Shimano 64, Ishizukitamachi, Sakai City, Osaka Prefecture Kubota Sakai Manufacturing Co., Ltd. In-house (72) Kanto Ando 64 Ishizukita-machi, Sakai-shi, Osaka Prefecture Kubota Sakai Manufacturing Co., Ltd. (72) Inventor Hideaki Tanaka, 64 Ishizu-kita-machi, Sakai City, Osaka Kubota Sakai Manufacturing Co., Ltd.

Claims (1)

[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 communicably connected by designating an address, and the terminal control unit (LU1 to LU5) inputs the detection signal from the sensors (SW) for detecting control information and the center of the input data. Transmission to control unit (CU),
In addition, reception of control data from the central control unit (CU) and actuators (M,
The central control unit (CU) outputs the drive signal to the terminal control units (LU1 and L5) based on the transmission data from the terminal control units (LU1 to LU5).
~ LU5) actuators (M, L, B) to determine the appropriate drive content, and transmits the appropriate drive content as the control data, the control device for a work vehicle, comprising: Address signal setting means (AD1) for setting address signals for the terminal control units (LU1 to LU5)
To 4) are provided, the input port state for inputting a detection signal from the sensors (SW) to each of the terminal control units (LU1 to LU5) and the actuators (M, L, B) are driven. An input / output port (PB, PC) that is switchable to an output port state for outputting a signal is provided, and the input / output port (PB, PC) is set by the address data from the address signal setting means (AD1-4). A control device for a work vehicle configured to be switched to the input port state or the output port state.