JPH07193869A - Controller for working truck - Google Patents

Abstract

PURPOSE:To simplify the configuration of a terminal control section or the like and to realize a high communication speed by limiting kinds of input output signals between sensors and actuators, that is, communication data between a central control section and each terminal equipment control section to be binary information only. CONSTITUTION:A central control section CU and plural terminal equipment control sections LU1-LU5 are connected to be communicated through a wired communication means T and the terminal equipment control sections LU1-LU5 make the reception of on/off detection signal from sensors SW formed to be switches and transmission of binary information to the central control section. The central control section CU discriminates a proper drive content to actuators M, L, B as an on/off drive signal based on the data from the terminal equipment control sections LU1-LU5 and sends the binary information being the on/off drive signal as control data. The terminal equipment control sections LU1-LU5 output the on/off drive signal to the actuators M, L, B based on the control data sent from the central control section.

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, a central control unit centrally controls the whole work vehicle in controlling a work vehicle such as a combine, while detecting data from sensors for detecting control information. In order to drive the actuators that are available or equipped in the machine, a plurality of terminal control units that input and output various signals to the sensors and actuators are distributed and arranged in each part of the machine. In the case where the central control unit is directly connected to the sensors and actuators by transmitting and receiving various data via a wired communication unit using a standard such as RS485, An attempt has been made to prevent the signal wiring from becoming complicated and large (for example, Japanese Patent Laid-Open No. 3-24).
0802). However, conventionally, not only the binary information which is an on / off signal but also an analog detection signal from, for example, an analog type sensor between the central control unit and each terminal control unit has a predetermined number of bits (for example, 8 bits). Information converted into digital data, that is, multi-valued information (values of 256 steps in the case of 8 bits) is also transmitted and received as communication data.

[0003]

However, if multi-valued information other than binary information is used as communication data as in the above-mentioned prior art, for example, analog / digital for converting the analog detection signal into digital data can be used. A converter is required to complicate the configuration of the terminal control unit, and due to an increase in the amount of communication information (in the case of the above 8 bits, it is binary, that is, 8 times that of the case of 1 bit), for example, one sensor or the like. As a result of a long communication time of the data regarding and the decrease of the communication speed, there is a disadvantage that the processing speed in the centralized control of the entire work vehicle cannot be increased.

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. In the control device for work vehicles that realizes simplification of signal wiring for actuators and actuators, types of signals input to and output from sensors and actuators, that is, communication data transmitted and received between the central controller and each terminal controller. By limiting the types of, it is possible to simplify the configuration of the terminal control unit etc. and improve the communication speed,
It is to eliminate the inconvenience of the above-mentioned conventional technology.

[0005]

According to a first characteristic configuration of a control device for a work vehicle according to the present invention, the central control unit and the respective terminal control units are provided as switches from the above-mentioned sensors. Only binary information which is an on / off detection signal or an on / off drive signal for driving the actuators is transmitted / received as communication data.

A second characteristic configuration is that the central control unit is configured to receive an analog detection signal from an analog type sensor.

[0007]

According to the first characteristic configuration of the present invention, binary information, which is an on / off detection signal from the control information detecting sensors of the switch type, is detected data from the terminal control unit to the central control unit. The central control unit determines the driving contents of the actuators as ON / OFF drive signals based on the transmitted ON / OFF detection data of the sensors, and the binary information that is the ON / OFF drive signal for driving the actuators is The control data is transmitted from the central control unit to the terminal control unit, and the terminal control unit drives the actuators on and off based on the transmitted control data.

According to the second characteristic configuration, the analog detection signals from the analog type sensors are input to the central control unit.

[0009]

Therefore, according to the first characteristic configuration of the present invention, the signals input to and output from the sensors and actuators are limited to binary information which is an on-off signal. A complicated device such as an analog / digital converter that is conventionally required for converting an analog detection signal from the sensors into digital data is not required, and the configuration of the terminal control unit and the like can be simplified. At the same time, since the communication data transmitted and received between the central control unit and each terminal control unit is limited to binary information, when multi-valued information is also used as communication data as in the past, an increase in the amount of communication information The disadvantage of not being able to increase the communication speed has been resolved, and centralized control of the entire work vehicle has become possible at high speed.

According to the second characteristic configuration, the direct central control unit directly inputs the analog detection signal from the analog type sensor having a large amount of information without passing through the communication means, and the analog detection information is received. Based on the above, a higher degree of control can be performed, so that more preferable means can be obtained while maintaining the effect of the first characteristic configuration.

[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.
While transmitting to U, receiving control data from the central control unit CU, and outputting drive signals to actuators M, L, B based on the received data,
The central control unit CU determines the appropriate drive content for the actuators M, L, B of each terminal control unit LU1-5 based on the transmission data from each terminal control unit LU1-5.
The appropriate drive content is transmitted as control data. The central control unit CU and each of the terminal control units LU1 to LU5 are ON / OFF detection signals from the sensors SW configured in a switch system or ON / OFF drive signals for driving the actuators M, L, B. It is configured to send and receive only the value information as communication data.

That is, the sensors SW are composed of a plurality of switch type sensors SW for detecting various control information as ON or OFF signals, and specifically, from the front of the cutting block 1 in FIG. A pair of left and right ON / OFF type direction sensors S1 and S2 (see FIG. 13) for detecting the position of the planted grain culm to be introduced in the lateral direction of the machine body, and a cutting height manual for manually raising or lowering the cutting unit. Lever 7 (see FIG. 12)
The cutting height manual switch S3 that operates in tandem with and the steering manual switch S4 that operates in tandem with the steering manual lever 8 (see FIG. 12) for manually manipulating the machine body to the left or right. It is shown.

The actuators M, L and B are
It is driven by a drive signal that is an on or off signal, and is composed of an electric motor M, a solenoid L, an alarm buzzer B, and the like. Specifically, FIG. 12 shows a solenoid for driving the reaper lifting / lowering cylinder 5 (see FIGS. 13 and 14) whose operation is controlled by the terminal control unit LU1 arranged in the machine block 4 to the ascending side or the descending side. L (L1, L2) and solenoids L (L3, L4) for operating the pair of left and right steering cylinders 9L, 9R (see FIG. 13) are shown.

As shown in FIG. 2, the central control unit CU
Is a control microcomputer CPU1, a central gate array GA1 that relays data exchange between the microcomputer CPU1 and the communication means T, and data between the microcomputer CPU1 and the gate array GA1. Transfer and each terminal control unit LU1-5
It is configured to include a microcomputer CPU2 for communication that executes communication control for. 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, an analog detection signal from an analog type sensor S that detects continuously changing information such as a potentiometer, or a pulse signal from a pulse type sensor for detecting the number of revolutions passes through a signal processing circuit. Input port Port
Input from 1 and 2. That is, as shown in FIG.
A cutting height setting volume S5 for manually setting a target height when automatically controlling the raising and lowering of the cutting unit, and an ultrasonic sensor S6 (see FIGS. 13 and 14) for detecting the height of the cutting unit with respect to the ground and its A drive circuit 24 that outputs a drive signal and inputs a detection signal to the ultrasonic sensor S6 is provided, and the cutting height setting volume S5 and the ultrasonic sensor S6 correspond to the analog type sensors S.

In the figure, S7 is an automatic cutting height switch for activating automatic cutting height control, S8 is an automatic steering switch for activating automatic steering control, and PS1 is the microcomputers CPU1, CPU2 and gate array. It is a DC voltage source that supplies a power supply voltage and a reset signal when the power is turned on to the GA1 and the like. Further, a non-volatile memory MEM such as an EEPROM is connected to the control microcomputer CPU1, and various error information and the like are stored in this memory MEM.

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

The communication means T is constructed using, for example, the RS485 standard, and as shown in FIG. 2, a two-wire 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 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.

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. 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 provided for each terminal control unit LU.
In communication with 1 to 5, with a probability of a set rate (for example, 2 times for 10 times of communication) or more, or a set number of times (for example, 2 times)
When the communication error occurs continuously as described above, the error control is performed so that the drive signals for the actuators M, L and B of the terminal control units LU1 to LU5 in which the communication error occurs are set to the non-drive state. ing. In particular,
In normal communication control, each of the terminal control units LU1 to LU5 has a predetermined period Tp (for example, 5 ms) from the central control unit CU.
The polling signal is received at, but this predetermined period Tp (5
a predetermined time (for example, 8)
ms), if the next polling signal is not received, the drive signals for the actuators M, L, and B are configured to be in a non-drive state, and the central control unit CU controls the terminal where the communication error occurs. The error control is executed by not transmitting the next polling signal to the units LU1 to LU5 within the predetermined time (8 ms). That is, the central control unit CU has a time interval Tp ′ (for example, 10 ms) longer than the predetermined time (8 ms) for the terminal control units LU1 to LU5 in which the communication error has occurred.
Perform test communication to send polling signal with.

In the test communication, the central control unit CU is an initial code which is a non-command signal which is not accompanied by an input command of a detection signal from the sensors SW and an output command of a drive signal to the actuators M, L and B. Is repeatedly transmitted, and in response to the transmission signal, the terminal control units LU1 to LU5 which are executing the error control continuously or more than a set number of times (for example, 9 times) or a set rate (for example, 9 for 10 times of communication). When a normal reply signal (for example, the same code as the above-mentioned initial code) is obtained with a probability of at least the above, the error control is canceled for the terminal control units LU1 to 5 and normal communication control is executed. Is configured.

Next, when the communication error occurs in the terminal control unit LU1 arranged in the machine block 4, the reaper lifting / lowering cylinder 5 and the pair of left and right steering units whose operation is controlled by the terminal control unit LU1. A configuration in which the drive signal for the solenoid L that operates the use cylinders 9L and 9R is set to the non-drive state will be described. The pair of left and right steering cylinders 9L and 9R are used for the left and right crawler traveling devices 30.
Left and right steering clutch 20 to turn power transmission to and from
The L and 20R are respectively operated (see FIG. 13). As shown in FIG. 12, the reaping lifting cylinder 5 is supplied with pressure oil from a hydraulic cylinder 6 of a three-point control type that is operated by a pair of solenoids L (L1, L2). The drive terminals of the solenoids L (L1, L2) are connected to the emitter terminals of the driving transistors Tr1 and Tr2, respectively, and are grounded in association with the raising or lowering operation of the cutting height manual lever 7. High manual switch S3-2
It is connected to each of the two contacts. Transistor T above
Two AND circuits 25 and 26 are provided on the bases of r1 and Tr2, respectively.
Of the AND circuits 25, 26, one input side of each AND circuit 25, 26 is connected to the port output terminals a, b of the gate array GA2, and the other input side is each AND circuit 25, 26.
The transistors Tr1 and T to which the outputs of 26 are connected
It is connected to the emitter terminals of the transistors Tr2 and Tr1 on the side opposite to r2. The contacts of the cutting height manual switch S3 are connected to the port input terminals a'and b'of the gate array GA2.

As shown in FIG. 12, the pair of left and right steering cylinders 9L and 9R includes a pair of solenoids L (L3, L3).
Pressure oil is supplied from a three-point control hydraulic cylinder 10 operated in L4). Each solenoid L (L3, L
The driving terminals of 4) are transistor Tr for driving, respectively.
3 and 4 are connected to respective emitter terminals of Tr4, and are also connected to two contacts of a steering manual switch S4 which is grounded in association with the operation of the steering manual lever 8 to the left or right. The outputs of the two AND circuits 27 and 28 are connected to the bases of the transistors Tr3 and Tr4, respectively, and one input side of each of the AND circuits 27 and 28 is connected to the port output terminals c and d of the gate array GA2. The other input side is connected to the emitter terminals of the transistors Tr4 and Tr3 on the opposite side of the transistors Tr3 and Tr4 to which the outputs of the AND circuits 27 and 28 are connected. The contacts of the steering manual switch S4 are connected to the port input terminals c'and d'of the gate array GA2.

In the above configuration, the central control unit CU is
When the automatic cutting height switch S7 is turned on, the cutting height is set to the target height based on the cutting target height information input by the cutting height setting volume S6 and the ground height information of the ultrasonic sensor S6. The proper drive content for the reaper lift cylinder 5 for maintaining the above is determined, and the appropriate drive content is transmitted to the terminal control unit LU1 of the reaper lift cylinder 5 as control data. Then, the terminal control unit LU
1, the HIGH signal (corresponding to ON signal) is output from one of the port output terminals a and b of the gate array GA2 and the LOW signal (corresponding to OFF signal) is output from the other in accordance with the received control data, and the solenoid L (L1 , L2) is driven to vertically move the reaping lifting cylinder 5. However, when the communication error occurs in the terminal control unit LU1, the solenoid L (L1,
L2) so that the drive signal for L2) is brought into a non-driving state from both port output terminals a and b of the gate array GA2.
The OW signal is output. Even during the error control and the automatic control, the cutting height can be manually raised and lowered based on the cutting height manual lever 7, and the solenoid L (L1, L2) The ON / OFF detection signal of the cutting height manual switch S3, which indicates the driving state, that is, the raising / lowering operation state of the reaper raising / lowering cylinder 5, is the gate array GA.
It is obtained from the two port input terminals a ′ and b ′.

Similarly to the above, when the steering automatic switch S8 is turned on, the central control unit CU receives the pair of left and right direction sensors S1 received from the terminal control unit LU3 arranged in the mowing block 1. , S2 ON / OF
Based on the F information, a pair of left and right steering cylinders 9L and 9R for causing the combine to travel along the row of planted cereals
The appropriate drive content for the above is determined, and the appropriate drive content is transmitted as control data to the terminal control unit LU1 of the steering cylinders 9L, 9R. Then, the terminal control unit LU1
Then, according to the received control data, the gate array G
A HIGH signal is output from one of the port output terminals c and d of A2 and a LOW signal is output from the other, and the solenoid L (L
One of the pair of steering cylinders 9L, 9R is actuated by driving one of the steering cylinders 9L, 9R. Then, the airframe is steered to the operating steering cylinders 9L and 9R side (for example, the left side when the left steering cylinder 9L operates). However, when the communication error occurs in the terminal control unit LU1, both the port output terminals c and d of the gate array GA2 are set so that the drive signal for the solenoid L (L3, L4) is set to the non-drive state. Outputs a LOW signal. Incidentally, during the error control and the automatic control, it is possible to manually operate the steering lever 8 and the solenoid L (L
3, L4) drive state, that is, the steering cylinders 9L, 9
An on / off detection signal indicating the R operation state, that is, the on / off detection signal of the steering manual switch S4 is obtained from the port input terminals c'and d'of the gate array GA2.

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 the predetermined period T (for example, 5 ms) (see FIG. 8). By repeating the communication in the predetermined cycle T, the CPU 2 cannot receive the data of each switch SW and the normal reply data.
When the time (for example, 900 ms after turning on the main switch) when it is determined that the communication error information for ~ 5 is sufficiently accumulated has elapsed, the CPU 1 starts the process of exchanging control data with the CPU 2 through the 8-bit bus line. (# 7 to # 8, see FIGS. 9 and 10). Then CP
When the time required for U1 to grasp the state of the entire system by exchanging data with the CPU2 (for example, 1.5 seconds after the main switch is turned on), the CPU1 puts the meter panel display in the normal state and controls the entire system. Is started (# 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 a terminal control unit LU1 to 5 in which a communication error has occurred under the above-described probability or number of times, an abnormal output process for displaying an alarm on a meter panel or the like And the error processing such as the error control for setting the drive signals for the actuators M, L and B of the terminal control units LU1 to LU5 to the non-drive state (# 22 to # 23). Specifically, the polling signals for the terminal control units LU1 to LU5 are changed to a time interval Tp '(for example, 10 ms) longer than the transmission cycle Tp (for example, 5 ms) during normal communication control, and the initial code is transmitted. To make a test communication to
The command command is transferred to the CPU 2.

Next, it is determined whether the previous communication with the CPU 2 was OK (OK if the value of the SBUSend flag is 0), and whether the CPU 2 is in the command waiting state waiting for a command from the CPU 1 (# 24 to # 2
5). And the last communication with CPU2 is OK and C
When the PU2 is in the command waiting state, the external interrupt is permitted from the CPU2, the SBUSend flag is set (the value is 1), the TASKno used in the interrupt processing from the CPU2 is reset (the value is 0), and In the first part of the interrupt process, the command for executing the process for the terminal control unit LU3 with address 0 is CP
The process of outputting to U2 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. Do (# 30- # 3
1).

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. First TASKn
When o = 0, data is fetched from the input port A of the terminal control unit LU3 having the address 0, and when TASKno = 1, data is fetched from the input port B of the terminal control unit LU3 having the address 0 and output data to the output port C. Transfer processing. When TASKno = 2, a process for outputting a command for executing the process for the terminal control unit LU4 having the address 1 is performed, and when TASKno = 3, data is fetched from the input port A of the terminal control unit LU4 having the address 1 and output. The output data is transferred to the port B, and when TASKno = 4, the output data is transferred to the output port output port C of the terminal control unit LU4 having the address 1. 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 transfer of output data to the output port is performed by CP
It is not performed until U1 starts the whole processing (for 1.5 seconds after the main switch is turned on).

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 C
The error information accumulated in the memory such as the RAM in PU1 is written into the memory MEM for 5 sec.
After a lapse of time, the drive of the solenoid is stopped (# 14-
# 17).

The error information may be written to 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 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 found that it is a polling signal for itself, then it is determined that the polling signal was received within 8 ms from the previous polling signal. Check whether or not. If it is within 8 ms, it is judged whether it is an input request from the switch SW or an output request to the actuators M, L, B. In the case of an input request from the switch SW, the detection signal from the switch SW is passed through the input port. While the sensor data for reply is created based on it, in the case of output request to the actuators M, L, B, the received data is output through the output port and the ACK data for reply is output. create. If it is not the polling signal within 8 ms, if the transmission data is the initial code, the return data for this code is created, while if it is not the initial code, the process is terminated as it is.

Next, the sensor data or AC created above
As shown in FIG. 11, the K data and the return data for the initial code are transmitted by randomly changing the time t to the transmission start point with respect to the end point of the polling signal from the central control unit CU. Specifically, a random data generation circuit 23 that generates random data is provided in the gate array GA2 of each of the terminal control units LU1 to LU5 (see FIG. 3), and based on the random data of the random data generation circuit 23. , The communication control circuit 16
However, it sets the time t from the end point of the polling signal to the transmission start point and transmits the reply data to the central control unit CU.

On the other hand, the central control unit CU designates an address and requests an input from the switch SW and actuators M,
The terminal control unit LU1 that has transmitted the output request for L and B
5 and whether or not the return data from the terminal control units LU1 to 5 that are executing the error control and transmitted the initial code are regular data. When ACK data is returned from one of the two terminal control units LU1 to LU5 to one polling signal due to, for example, an error in the address setting, the two signals returned at a certain time difference overlap each other, and Since the code, the ACK data and the CRC code are no longer normal and the data length is longer than the normal data length, it is detected that the reply data is different from the normal data, and the terminal control units LU1 to LU5 It is determined that a communication error has occurred in communication. In the test communication, the occurrence of a communication error is determined depending on whether or not the reply data is regular data, in the same manner as above except that the ACK data is the initial code.

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. You may make it communicate individually via the communication means T.

In the above embodiment, the central control unit CU and each of the terminal control units LU1 to LU5 specify any address to each of the terminal control units LU1 to LU5 by the polling selecting method, for example. LU1 to LU
Although the communication by the time division multiplexing method is shown while distinguishing whether the communication is for 5 terminals, the terminal control units LU1 to LU5 are made to communicate with transmission signals of different frequencies by the frequency multiplexing method instead of the time division multiplexing method. You may do it. Further, also in the case of performing multiplex communication by the time division multiplexing method, a method other than the polling selecting method is possible.

In the above embodiment, as the switch type sensor SW, a pair of left and right ON / OFF type direction sensors S1 and S2, a cutting height manual switch S3, and a steering manual switch S4 have a specific structure. Although shown, other switch-type sensors SW are similarly configured. Further, as a specific example of the actuators M, L, B driven by the on / off drive signal which is binary information, the case of the hydraulic circuit controlling solenoid L for raising and lowering and steering of the reaper is shown. However, other electric motors M, solenoids L, alarm buzzers B, etc. are similarly driven by the on / off drive signals.

In the above embodiment, the cutting height setting volume S5 and the cutting height detecting ultrasonic sensor S6 are shown as the analog type sensors S provided in the central control unit CU. An analog type sensor S may be provided.

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 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 a waveform diagram of a polling selecting signal in communication control.

FIG. 12 is an explanatory diagram showing a configuration of reaping lifting control and steering control.

FIG. 13 is a schematic plan view of the front side of the combine.

FIG. 14 is a schematic side view of the front side of the combine.

[Explanation of symbols]

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

 ─────────────────────────────────────────────────── ─── 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 (2)

[Claims] 1. A central control unit (CU) and a plurality of terminal control units (LU1 to LU5) dispersedly arranged in each part of the body,
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. Unit (CU) and each terminal control unit (LU1 to
LU5) transmits / receives only binary information, which is an on / off detection signal from the sensors (SW) configured in a switch system or an on / off drive signal for driving the actuators (M, L, B), as communication data. A control device for a work vehicle configured to do. 2. The control device for a work vehicle according to claim 1, wherein an analog detection signal from an analog type sensor (S) is inputted to the central control unit (CU).