JPH11158935A - Construction machinery equipped with dispersion type controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent the erroneous treatment of a dispersion type controller directly after the closing of power source. SOLUTION: Driving control mechanisms constituting a construction machinery is dispersed into a plurality of parts, controllers 100-300 are connected respectively to the mechanisms, and a plurality of controllers are connected with a transmission line 10 capable of making two-way communications. In that case, the controller 100 for performing operation processing based on data inputted from other controllers 200-300 among the controllers includes a receiving data controlling device, the receiving data controlling device monitors data transmitted from other controllers 200-300 after the closing of power source, and the controller 100 having the receiving data controlling device starts specific processing when all or specific data is transmitted.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a construction machine provided with a distributed control device, and more particularly to a construction machine provided with a distributed control device which avoids arithmetic processing based on erroneous data immediately after power-on.

[0002]

2. Description of the Related Art In recent years, electronic control of construction machines has been advanced, and the amount of operation of a control device for performing various operations for performing electronic control has been increasing.・ The harness is increasing. Further, the amount of calculation is increased and a high-performance microcomputer must be used, so that the cost is also increased.

[0003] In order to solve these problems, control devices for each function, such as a control device for performing input, a control device for performing control calculation, a control device for performing output to an actuator, and the like, are distributed. In addition, a distributed control device that controls these control devices by connecting them via a network is used.

[0004] The decentralization of the control device can reduce the wire harness, and can add or delete the control device for each function, so that the function can be easily changed and the cost can be reduced. Even when the control device fails, there is an advantage that the other whole control device can function to prevent the whole system from being down.

[0005] Japanese Patent Application Laid-Open No. 2-53112 discloses an example of a working machine provided with a distributed control device.

[0006]

However, in a construction machine in which such control devices are distributed, the time from power-on to the start of each control device, or necessary data after the control device starts, is required. There is an individual difference for each control device in the time until transmission of is transmitted to another control device. Therefore, it is conceivable that when a certain control device starts the calculation, the control device which should transmit data to the control device has not yet started transmitting data. In such a case, the control device that performs the calculation may perform the calculation based on incorrect data.

In the case of a control device for outputting data to an actuator, a calculation result based on erroneous data is output to the actuator as an erroneous command value, and an operation contrary to a driver's operation is performed. There is a possibility that it will be.

An object of the present invention is to provide a construction machine provided with a distributed control device which does not malfunction when the power is turned on in order to solve the above problems.

[0009]

The present invention employs the following means in order to solve the above-mentioned problems.

In a construction machine, each drive control mechanism constituting the construction machine is dispersed into a plurality of units, a control device is connected to each of the mechanisms, and the plurality of control units are connected by a transmission line capable of bidirectional communication. A control device that performs arithmetic processing based on data input from another control device among the control devices, includes a reception data management unit, and the reception data management unit receives power from the other control device after power-on. The control device that monitors the transmitted data and includes the received data management means starts a predetermined process when all or predetermined data is transmitted.

[0011] Further, each drive control mechanism constituting the construction machine is dispersed into a plurality of units, a control unit is connected to each of the units, and the plurality of control units are connected by a transmission line capable of bidirectional communication. In the machine, at least one of the control devices is a main control device, and the main control device includes a reception data management unit, and the reception data management unit receives power from the other control device after power-on. The main control device, which monitors the transmitted data and includes the received data management means, starts a predetermined process when all or predetermined data is transmitted.

A working mechanism; a driving section for driving each section of the working mechanism; an operating section for operating the driving section; and a detecting section for detecting an operating position of the operating section and a posture of each section of the working mechanism. Generating predetermined input data based on the detection data detected by the detection unit, transmitting one or more input data and transmitting and receiving other data, and receiving one or more input control devices; receiving the input data; Calculating a control target value based on the input data, transmitting a calculated operation data and transmitting / receiving other data, and a main control device receiving the operation data and transmitting / receiving the other data; And at least one output control device for generating and outputting predetermined output data for driving the drive unit based on the data, and transmission capable of bidirectional communication between the control devices. And a control device for performing arithmetic processing based on data input from another control device among the control devices, wherein the control device includes reception data management means, The data management means monitors data transmitted from the other control device after power-on, and the control device including the reception data management means performs a predetermined process when all or predetermined data is transmitted. It is characterized by starting.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS First, a first embodiment of the present invention will be described with reference to FIGS.

FIG. 1 is an overall configuration diagram showing an example of a distributed control device arranged in a construction machine (not shown) and distributed and connected on a network.

In FIG. 1, reference numeral 10 denotes a transmission line for transmitting data between the distributed control devices.

Reference numeral 100 denotes a control target value for operating each working mechanism such as a boom, an arm, and a bucket of a hydraulic shovel (not shown) based on input data input from an input control device 200 described later. A main control device that outputs calculation data and has a transmission / reception management function;
110 is a main control unit having an arithmetic processing function and a transmission / reception management function, 1101 is a control processing unit that calculates a control target value based on received input data and outputs calculated data,
A transmission / reception management unit 102 manages transmission / reception of various data according to a transmission / reception management table created based on a predetermined communication protocol, and manages received messages according to a received message management table. Input data between the control devices 200 and 300,
A communication processing unit for transmitting and receiving data such as operation data.

Reference numeral 200 denotes an input control unit for inputting detection data from various sensors provided in each part of the working mechanism of the hydraulic shovel and detection data obtained by detecting the operation state of an operation unit such as an operation lever; 210 is an input / output device (I / O) for inputting detection data from various sensors and operation units,
Reference numeral 220 denotes an input control unit having an input processing function and a transmission / reception management function; 2201, a control processing unit for performing arithmetic processing of detected data into predetermined input data; 2202, predetermined communication of input data obtained as a result of the arithmetic processing; A transmission / reception management unit that manages transmission / reception in accordance with a transmission / reception management table created based on the rules, 230 is a communication processing unit for transmitting / receiving data such as input data via the transmission path 10, and 240 is a boom, arm of a hydraulic shovel An angle sensor 250 is provided in each part of the working mechanism for detecting the rotation angle of each part of the working mechanism. The operation state detecting unit 250 detects the operating state of the operating part such as the operating lever of the hydraulic shovel.

Reference numeral 300 denotes an output control device for inputting operation data transmitted from the main control device 200 and outputting output data to a drive unit such as an actuator such as a hydraulic pump 340 or an electromagnetic proportional valve 350 which will be described later. Road 10
A communication processing unit 320 for transmitting and receiving data such as operation data via an output control unit 320 having an output processing function and a transmission / reception management function; and 3201 for transmitting and receiving operation data created based on a predetermined communication protocol. A transmission / reception management unit 3202 that manages transmission / reception in accordance with the management table is a control processing unit that performs arithmetic processing on operation data into predetermined output data for driving actuators such as the hydraulic pump 340 and the electromagnetic proportional valve 350. Actuators and input / output devices (I / O) for output, 340, 3
Numeral 50 denotes a hydraulic pump and a solenoid proportional valve of a hydraulic shovel.

The control devices 100, 200, 300
Transmission / reception management units 1102, 2 provided for
The transmission / reception management tables provided in 202 and 3201 are common to each control device, and each control device manages transmission / reception according to the transmission / reception management table.

In this embodiment, the communication protocol is as follows:
It uses the CAN (Controller Area Network) protocol, which is a protocol for data communication between control devices, developed by Botsch GmbH, Germany.

As shown in the figure, a distributed control device according to the present embodiment comprises a main control device 100, an input control device 20.
0, an output control device 300, and an angle sensor 2
The detection data detected by the control unit 40 and the operation unit detection unit 250 is processed into predetermined input data by the control processing unit 2201 and transmitted to the main control device 100 according to a predetermined communication protocol. The main control device 100 calculates a control target value in the control processing unit 1101 based on the received input data,
The calculation data is transmitted to the output control device 300 according to a predetermined communication protocol. The output control device 300 processes the received calculation data into predetermined output data in the control processing unit 3202, and outputs a signal for driving the hydraulic pump 340 and the electromagnetic proportional valve 350.

In this embodiment, the input control device 2
00 is configured to transmit input data, and the output control device 300 is configured to receive operation data, but both control devices can receive or transmit other data as needed.

FIG. 2 shows the distributed control device shown in FIG.
FIG. 1 is an overall configuration diagram of a distributed controller when applied to a hydraulic excavator more specifically.

The control operation controller 41 includes a main controller 100 as a master controller shown in FIG.
The other eight controllers are control devices 200 and 30 shown in FIG. 1 as slave controllers.
It corresponds to 0.

Here, the control arithmetic controller 41 includes a front lever input controller 410 having a front lever 411, a traveling / system controller 420 having traveling and control levers 421 and 422, a front control input controller 430 having a front operating lever 431, And data from the front sensor input controller 440 including the front sensor 441,
Perform control calculation. The input data is data that needs to be updated to new data at regular time intervals.

The operation result is output to the control valve 452 to drive the boom actuator 451, the boom controller 450 is output to the control valve 462 to drive the arm / boom actuator 461,
Pump controller 470 for driving pump 471 and engine controller 4 for driving engine 481
80 to each actuator. This data is also required for each slave control device to be transmitted from the master control device at regular time intervals.

As shown in this figure, not only the three distributed control devices shown in FIG. 1 but also a large number of controllers can be distributed on a network as needed.

Next, various transmission / reception management tables provided in the transmission / reception management unit shown in FIG. 1 will be described with reference to FIGS. Note that also in the present embodiment, the transmission / reception management table is created according to the CAN protocol.

FIG. 3 is a data definition table, FIG. 4 is a message definition table, FIG. 5 is a transmission cycle management table, and FIG.
Is a received message management table.

In FIG. 3, reference numeral 50 denotes an example of a data definition table created according to the CAN protocol and commonly used by all the control devices 100 to 300, and represents a relationship between a data ID and a variable. For example, 1 of the data ID represents a boom angle.

In FIG. 4, reference numeral 51 denotes a control unit which is also created in accordance with the CAN protocol.
It is an example of a message definition table commonly used between 0. Here, the message is obtained by packetizing a plurality of data. For example, the message number 1 is the data ID of 1, 2, 3, 4 in the data definition table shown in FIG.
Represents one group of data. Data transmission / reception is performed for each message, transmission / reception indicates transmission / reception of each message, and transmission cycle indicates a communication interval of each message.

When it is desired to change the transmission cycle, it is only necessary to change the value of the transmission cycle. Also, if the attributes of transmission / reception are reversed, for example, between the input control device and the main control device, message communication from the main control device to the input control device is performed.

In FIG. 5, reference numeral 52 denotes an example of a transmission cycle management table which is also created in accordance with the CAN protocol and is used in the control devices 100 to 300. For example, the message number 1 has a transmission cycle of 10 ms, and the counter is timed by a timer provided in each control device and the count value is input.

In FIG. 6, reference numeral 53 denotes an example of a received message management table which is created within a predetermined time after the power is turned on and is used in the main control device 100 in accordance with the CAN protocol. When a message is received, the reception flag becomes 1, and when no message is received, the reception flag is 0. For example, the reception flags 1 and 0 for the message numbers 2 and 3 indicate that the message is received after the power is turned on in the case of the message number 2 and is not yet turned on after the power is turned on in the case of the message number 3. Indicates that no message has been received.

According to the present embodiment, in a construction machine such as a hydraulic shovel, when the number of sensors increases or the number of actuators increases, an input control device is added,
Alternatively, it is possible to add an output control device,
At this time, the software is changed in the data processing code table 50 and the message definition table 5 in the communication part.
One need only be changed.

Next, a processing procedure in each of the control devices 100 to 300 will be described with reference to FIGS.

FIGS. 7A to 7C show the input control device 20.
7 is a flowchart showing a processing procedure in the case of the first embodiment.

FIG. 7A shows the control processing section 22 in FIG.
01 represents input processing, and in step 61,
The time is measured by a timer (not shown) in the input control device 200, and at regular intervals by a timer interrupt,
For example, every 1 ms, the sensor 240 and the operation unit detection unit 250
The detection data output from is read, and step 62,
At 63, each input process is performed, and at steps 64 and 65, various input data are obtained.

FIG. 7B shows the transmission / reception management unit 22 shown in FIG.
02 represents a process of creating a transmission cycle management table in 02.
After initialization in step 66, a transmission cycle management table as shown in FIG. 5 is created in the input control device 200 in step 67.

FIG. 7C shows the transmission / reception management unit 22 shown in FIG.
The transmission / reception management process in step S02 is performed. In step 68, the timer is measured by a timer (not shown) in the input control device 200, and a timer interrupt is performed at regular intervals. In step 69, the value is added to the counter of the transmission cycle management table 52 created in step 67 of FIG. In step 70, the transmission cycle is compared with the counter value. When they are equal, a message according to the message definition table 51 shown in FIG. 4 is transmitted to the main control device 100 in step 71, and when they are not equal, the process returns to another process in step 72.

FIGS. 8A to 8C and FIG.
5 is a flowchart showing a processing procedure in the main control device 100.

FIG. 8A shows the control processing unit 11 shown in FIG.
In step 81, input data which is timed by a timer (not shown) in the main control device 100 and is already obtained at regular intervals by a timer interrupt is read. Check whether the reception flags of all the messages in the reception message management table shown in FIG. 6 are turned on. If all the reception flags are not turned on, the next processing is performed until all the reception flags are turned on. Does not transition to When all the reception flags are turned on, the target value is calculated in step 85, and various calculation data is obtained in step 86. Also, when input data is received, a reception interrupt is performed in step 82, and as in step 83, it is checked in step 84 whether all reception flags are on.
At 5, the target value is calculated based on the newly obtained input data.

As described above, in the main control device 100, new input data is always transmitted from the input control device 200 at fixed time intervals, so that old data is not used for target value calculation.

FIG. 8B shows the transmission / reception management unit 11 shown in FIG.
5 shows the process of creating the transmission cycle management table and the received message management table in step S02, after initial setting in step 87, creates the transmission cycle management table 52 shown in FIG. Create a management table.

FIG. 8C shows the transmission / reception management unit 11 shown in FIG.
02, the transmission / reception management process is performed. Each time a timer interrupt is executed in step 90, the count is added to the counter of the transmission cycle management table 52 created in step 88 of FIG. go. In step 92, the transmission cycle is compared with the counter value. If they are equal, a message according to the message definition table 51 shown in FIG. 4 is transmitted to the output control device 300 in step 93, and if not, the process returns to step 94 in step 94.

FIG. 9 shows a received message management process in the transmission / reception management unit 1102 shown in FIG. 1. When the power of the main control device 100 is turned on in step 95, the main control device 100 confirms the reception of the message in step 96. In step 97, it is confirmed whether the reception flag of the ID of the received message is on or not.
When the reception flag is off, step 98
Then, the reception flag of the received message management table 53 created in step 89 is turned on. In step 99, it is determined whether or not the reception flags of all the messages are turned on.
6 are repeated, and when turned on, it is determined that the transmission management unit of the other control device has started the operation normally, and the process is terminated.

FIG. 10 shows an output control device 300.
6 is a flowchart showing a processing procedure in.

FIG. 10 shows the control processing unit 320 in FIG.
2 shows the output process, and in step 101,
The timer is measured by a timer (not shown) in the output control device 300, and a timer interrupt is executed at regular intervals. In steps 103 and 104, the control processing unit 3202 shown in FIG. Output processing is performed based on the
To obtain output data. On the other hand, when the calculation data is received, a reception interruption is performed in step 102, and an output process is performed in steps 103 and 104 based on the newly obtained calculation data. In the output control device 300 of the present embodiment, the transmission / reception management unit 3
The case where the processing in 201 is not performed is shown.

In the above embodiment, the time is counted by using the timer interrupt.
You may comprise so that it may count using the execution cycle time of twice.

As described above, according to the present embodiment, it is possible to easily manage the presence / absence of received data after power-on only by creating a table describing the information of the first message.

Until data is normally transmitted from another control device, arithmetic control based on erroneous data or output to the actuator is not performed.

Next, a second embodiment of the present invention will be described with reference to FIG.

FIG. 11 is an overall configuration diagram showing an example of a distributed control device arranged in a construction machine and connected in a distributed manner on a network.

The distributed control device according to the present embodiment is obtained by distributing control devices having functions different from those of the control device according to the first embodiment in different forms on a network in a construction machine.

In the figure, reference numeral 10 denotes a transmission line for transmitting data between the distributed control devices.
, A control device; 501, an operation lever; 502, an actuator; 503, a hydraulic pump 506 and an actuator 50;
Control valves 504, 5 connected between the control valves 2 and 3 for controlling the flow rate of the pressure oil supplied to the actuator 502;
05 is a solenoid valve, 506 is a tank, and the control valve 503 adjusts the opening by adjusting the set pressure of the solenoid valves 504 and 505 by a signal from the control device 500 based on the operation signal X1 of the operation lever 501. Then, the direction and the flow rate of the pressure oil to the actuator 502 or the tank 506 are controlled.

Reference numeral 600 denotes a control device, 601 denotes a hydraulic pump, 602 denotes a swash plate position adjusting unit, 603 denotes a tank,
Reference numeral 4 denotes a pressure detector, 605 denotes a swash plate position detector, and 606 denotes a swash plate. The hydraulic pump 601 detects the discharge pressure Pd1 and the swash plate 6 by the pressure detector 604 and the swash plate position detector 605.
The swash plate angle θ1 of 05 is detected, and the pressure signal Pd1 and the swash plate angle signal θ1 are input to the control device 600. The control device 600 adjusts the position of the swash plate 606 of the hydraulic pump 601 via the swash plate position adjusting unit 602 based on these signals, and controls the displacement of the hydraulic pump 601, that is, the discharge flow rate.

Further, 700 is a control device, 701 is a hydraulic excavator, 702 is a boom, 703 is an arm, 704 is an angle detector for detecting the rotation angle β of the boom, and 705 is an angle for detecting the rotation angle α of the arm. It is a detector.

Here, the control device 700 sends the boom 702 from the angle detectors 704 and 705 of the excavator 701.
And a rotation angle signal of the arm 703 are input, and front posture calculation or the like is performed using information transmitted from the control device 500 or 600 via the transmission path 10.

The control device 500 includes a control device 600
From the pressure signal Pd1, the swash plate angle θ1, or the attitude calculation information from the control device 700 at regular intervals, and the solenoid valve 50 based on the operation signal X1 of the operation lever 501 is obtained.
Used to adjust the set pressure of 4,505.

Control device 600 includes control device 500
The information of the operation signal X1 is obtained at predetermined time intervals from the computer and used for controlling the swash plate 606 of the hydraulic pump 601 and the like.

Further, in the present embodiment, a display device 800 having a display unit 801 and a display switching operation unit 802 is connected to the transmission line 10 to which the above control devices are connected.

The display device 800 displays the result of the front attitude calculation transmitted from the control device 700 on the display unit 801.
On the display switching operation unit 80.
2 to display the content displayed on the display unit 801, for example,
The depth and height of the front end can be switched and displayed.

The control devices 500, 600, 7
The 00 is provided with a means for detecting a failure of a sensor or an actuator based on input information from various sensors, a means for recording a history of the failure information, and the like.
As a result, at the time of maintenance and inspection, for example, the control device 600
When the user wants to view the failure information, the user can operate the display switching operation unit 802 of the display device 800 to display information such as failure content, history, and internal data on the display unit 801 according to the request. At this time, information to be displayed on the display device 800 is transmitted from the control device 500 at regular intervals.
Is sending to.

Furthermore, in the present embodiment, similarly to the first embodiment, each of the control devices 500, 600, and 700 includes a transmission / reception management unit, thereby enabling the transmission of data transmitted between the control devices. A control device that manages transmission and reception and performs arithmetic processing based on data input from another control device among the control devices has a reception data management function.

For this reason, by the reception data management function, the control device can be operated after a certain period of time after the power is turned on.
Since the arithmetic processing is not performed until all or predetermined data is transmitted from another control device, the arithmetic processing is not performed based on erroneous data.

[0066]

As described above, according to the present invention, a control device for performing arithmetic processing on input data from another control device dispersedly arranged on a transmission line is provided after a certain period of time has elapsed after power-on. Since no arithmetic processing is performed until all or predetermined data is transmitted from the computer, the arithmetic processing is not performed based on the incorrect data, and the construction machine is not controlled based on the incorrect data. Can be prevented from malfunctioning.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram illustrating an example of a distributed control device according to a first embodiment of the present invention, which is distributed and arranged on a network in a hydraulic excavator.

FIG. 2 is an overall configuration diagram illustrating an example of a distributed controller that is distributed and arranged on a network in the hydraulic shovel according to the first embodiment.

FIG. 3 is a diagram illustrating each of the control devices 100 to 3 according to the first embodiment.
00 is a data definition table provided in 00.

FIG. 4 is a diagram illustrating each of the control devices 100 to 3 according to the first embodiment.
00 is a message definition table provided in 00.

FIG. 5 is a diagram illustrating control devices 100 and 20 according to the first embodiment.
0 is a transmission cycle management table provided.

FIG. 6 is a main controller 100 according to the first embodiment;
5 is a received message management table included in the first embodiment.

FIG. 7 is an input control device 200 according to the first embodiment.
3 is a flowchart showing various processing procedures in the first embodiment.

FIG. 8 is a main control device 100 according to the first embodiment.
3 is a flowchart showing various processing procedures in the first embodiment.

FIG. 9 is a main controller 100 according to the first embodiment.
6 is a flowchart showing a processing procedure in.

FIG. 10 is an output control device 30 according to the first embodiment.
7 is a flowchart showing a processing procedure in the case of the first embodiment.

FIG. 11 is an overall configuration diagram showing an example of a distributed control device distributed and arranged on a network in a hydraulic shovel according to a second embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Transmission path 100 Main control unit 110 Main control unit 1101, 2201 and 3202 Control processing unit 1102, 2202, 3201 Transmission / reception management unit 240 Angle sensor 250 Operation unit detection unit 200 Input control unit 220 Input control unit 300 Output control unit 320 Output control unit 50 Data definition table 51 Message definition table 52 Transmission cycle management table 53 Received message management table 500, 600, 700 Control device 800 Display device

Claims (3)

[Claims] 1. A drive control mechanism constituting a construction machine is divided into a plurality of drive control mechanisms, and a control device is connected to each of the drive control mechanisms.
In a construction machine in which the plurality of control devices are connected by a transmission line capable of bidirectional communication, a control device that performs arithmetic processing based on data input from another control device among the control devices includes a reception data management device. The reception data management means monitors data transmitted from the other control device after power-on, and the control device including the reception data management means transmits all or predetermined data. A construction machine provided with a distributed control device, which starts a predetermined process. 2. A drive control mechanism constituting a construction machine is divided into a plurality of drive control mechanisms, and a control device is connected to each of the drive control mechanisms.
In a construction machine in which the plurality of control devices are connected by a transmission path capable of bidirectional communication, at least one of the control devices is a main control device, and the main control device includes a reception data management unit. The received data management means monitors data transmitted from the other control device after power-on, and the main control device including the received data management means, when all or predetermined data is transmitted. A construction machine comprising a distributed control device for starting a predetermined process. 3. A work mechanism, a drive section for driving each section of the work mechanism, an operation section for operating the drive section, and a detection section for detecting an operation position of the operation section and a posture of each section of the work mechanism. Generating predetermined input data based on the detection data detected by the detection unit, transmitting one or more input data and transmitting and receiving other data, and one or more input control devices; receiving the input data; A main control device that calculates a control target value based on the input data, transmits the calculated calculation data, and transmits / receives other data; and receives the calculation data and transmits / receives other data. One or more output control devices for generating and outputting predetermined output data for driving the driving unit based on the control unit; and transmission enabling bidirectional communication between the control devices. And a control device for performing arithmetic processing on the basis of data input from another control device among the control devices, wherein the control device includes a reception data management unit; The data management means monitors data transmitted from the other control device after power-on, and the control device including the reception data management means performs a predetermined process when all or predetermined data is transmitted. A construction machine comprising a decentralized control device, characterized by starting.