KR0139898B1 - Control device for an agricultural machine - Google Patents

Abstract

(Purpose) In the centralized control form, the central control unit performs the operation of the entire vehicle appropriately and quickly, while simplifying signal wiring to sensors and actuators.

(Configuration) The control unit for which the central control unit (CU) outputs a command for inputting detection data of the sensors (SW) and a control data output request for driving the actuators (M, L, B) to the communication operation processing unit (CPU2). Communication processing unit CPU1 which executes communication control for each terminal control unit LU1 to LU5 of each of the gas units and the communication processing unit CPU2 for performing asynchronous operation with the control processing unit CPU1 for control. CPU2 receives the detection data of the sensors SW sequentially when the command is not received, and transfers the detection data of the sensors SW to the control processing unit CPU1 for control when an input is requested. Transmits control data for driving the actuators M, L, and B received from the control processing unit CPU1 to the terminal control units LU1 to LU5.

Description

Control device for agricultural work vehicle

1 is a block diagram showing the entire control configuration of a combine;

2 is a circuit diagram showing a control configuration of a combine;

3 (a) and 3 (b) are circuit diagrams of a communication IC;

4 is a flowchart showing control operation in the central control unit,

5 is a flowchart showing control operation in the central control unit,

6 is a flowchart showing control operation at the central control unit,

7 is a flow chart showing a control operation in the terminal controller;

8 is an explanatory diagram of the control procedure in the central controller and the terminal controller;

9 is an explanatory diagram of the control procedure in the central controller and the terminal controller;

10 is an explanatory diagram of the control procedure in the central controller and the terminal controller;

11A is a waveform diagram of a polling selecting signal in normal communication control;

11b is a waveform diagram of a polling selecting signal in a test communication;

12 is an example of a data format passed between a control and communication processing unit;

13 is an explanatory diagram of communication error detection by half body data from a plurality of terminal controllers;

FIG. 14 is an explanatory diagram showing the configuration of a lift lift control and steering control;

15 is a schematic plan view of the front of the combine,

16 is a schematic side view of the front of the combine;

[Industrial use]

The present invention relates to a control device comprising a plurality of terminal controllers distributed in each of the body parts of a work vehicle, and a central controller connected to the terminal controller via a wired communication means. In this control apparatus, the terminal control unit inputs a detection signal from a sensor for detecting control information, transmits the input data to the central control unit, receives control data from the central control unit, and based on the received data. Outputting the drive signal to the actuator, the central controller determines the appropriate driving contents for the actuators of the respective terminal controllers based on the transmission data from the terminal controllers, and transmits the determined driving contents as the control data. do.

[Prior art]

In the control apparatus for the work vehicle, in the control of a work vehicle such as a combine, the central control unit intensively controls the whole work vehicle, and acquires the detection data from the sensor for control information detection, In outputting a composition command to the actuator for operating the work unit, a plurality of terminal control units for inputting and outputting various signals to and from the sensors and actuators are distributed to each of the aircraft parts, and the plurality of terminal control units and the central control unit are for example RS485. By connecting with a wired communication means using a standard such as the above, and transmitting and receiving various data through the communication means, it is possible to avoid the complicated mass of signal wiring in the case where the central control unit and the sensor and the actuator are directly connected.

Then, the control unit for controlling the entire work vehicle and the communication unit for communication control for each terminal control unit are conventionally set in the central control unit so that each control process is performed by the two operation units (for example, See Japanese Patent Application Laid-Open No. 3-240802.)

[Problems that the invention tries to solve]

In the above prior art, it is usually possible to consider that both arithmetic processing units of the central control unit perform each processing in a synchronous state.

However, in the case of operating in a synchronous state, for example, when outputting a drive signal to the actuator, the control calculation processing unit transmits the driving control data to the communication processing unit, and the control data is transferred from the communication processing unit to the terminal. It is necessary to wait until the controller receives the confirmation data of the output of the drive signal to the control unit, while the control processing unit for control determines the necessity of other actuators based on other processing, for example, the detection data of the sensor. In addition, the output processing of the drive signal to the other actuators based on this determination, or the control processing of other work vehicles cannot be executed. Therefore, there is a concern that control of the work vehicle cannot be performed appropriately and quickly, for example, a delay occurs in the control of an actuator requiring rapid operation.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and an object thereof is a centralized control by data transmission and reception between a central control unit and a respective terminal control unit via a wired communication means, and a work that realizes simplified signal wiring for sensors and actuators. In the control apparatus of a vehicle, the control calculation processing unit set in the central control unit and the communication operation processing unit can realize each processing efficiently, and the central control unit as a whole can realize the control of the work vehicle appropriately or quickly. have.

[Means for solving the problem]

In order to achieve the above object, in the control apparatus for a work vehicle according to the present invention, a communication operation processor for executing the asynchronous operation of the arithmetic processing unit for control and each terminal control unit in asynchronous state with the arithmetic operation unit for control And the control calculation processor outputs a command for inputting detection data of the sensor and a command for outputting control data for driving the actuator to the communication calculation processor, and the communication calculation processor When the input request and the output request command are not received from the processing unit, a process of sequentially receiving the detection data of the sensor from each terminal control unit is performed, and when the command of the input request is received from the control operation processing unit, Of the sensor received from each terminal controller A process of passing detection data to the control processing unit for processing, and when receiving the output request command from the control processing unit, transmitting the actuator driving control data received from the control processing unit to the respective terminal control units. It is configured to perform.

According to this configuration, the control calculation processing unit issues a request for inputting sensor detection data for detecting control information and a control data output request command for driving an actuator to a communication calculation processing unit operating in an asynchronous state with the control processing processing unit. When not in operation, the communication operation processing unit sequentially receives the detection data of the sensor from each terminal control unit.

When the control processing unit issues the input request to the communication processing unit, the communication processing unit passes the detection data of the sensor received from each terminal control unit to the control processing unit, and the control processing unit receives the detection data of the sensor received. Based on the determination of the proper operation of the actuator.

Then, when the control operation processor sends the output request to the communication operation processor to transmit the appropriate driving contents as control data, the communication operation processor transmits the control data received from the control operation processor to each terminal controller. Each terminal controller outputs a drive signal to the actuator based on the transmitted control data.

Therefore, when the control processing unit needs to input the sensor detection data of each terminal control unit and the output of the control data for driving the actuator, the input and output commands are simply issued to the communication processing unit, and the actual communication processing is performed. Since the communication arithmetic processing unit is carried out, the control unit is reduced, so that the control of the whole work can be executed more appropriately and quickly, while the communication arithmetic unit also performs communication control to each terminal control unit asynchronously with the arithmetic processing unit. By executing exclusively, the communication control process can be executed more quickly. This allows the central control unit to control the entire work vehicle, thereby simplifying signal wiring with the sensor and the like, while controlling both the control and communication operations. As a whole, the central control unit Because it can also quickly led to more appropriately perform the control of the car.

In addition, the sensor demonstrated here means various apparatuses and elements which detect the information for control, and are not limited to a specific form. In the same way, the actuator refers to various devices or devices operated by a control signal, and is not limited to a specific form.

In the most suitable embodiment of the present invention, the control calculation processing section receives the detection data of the sensor from the communication calculation processing section and confirms that the control data for driving the actuator has been received by the terminal control section. The processing received from the calculation processing unit is performed by the interrupt processing from the communication calculation processing unit.

According to this configuration, when the control operation processor makes an input request to the communication operation processor, the communication operation processor issues an interrupt to the control operation processor, and the control operation processor handles the interrupt. The detection data of the sensor received by the terminal controller is received from the communication operation processor.

When the control processing processor issues an output request to the communication processing unit, the communication processing unit transmits the actuator drive control data received from the control processing unit to each terminal control, and the terminal control unit transmits the control data to the transmitted control data. On the basis of this, the drive signal for the actuator is output, and the confirmation data indicating that control data has been received in the communication operation processing unit is returned.

When the communication operation processing unit receives the confirmation data, the communication operation processing unit interrupts the control operation processing unit, and the control operation processing unit receives the confirmation data from the communication operation processing unit as the processing for this interrupt. That is, since the control calculation processing section receives data from the communication calculation processing section by an interrupt processing from the communication calculation processing section, when there is no interruption, the control operation processing section can intensively execute the control of the whole work vehicle, Data reception can also be performed smoothly by interrupt processing.

In another embodiment according to the present invention, when the central control unit and each terminal control unit communicate in multiple ways via the communication unit, the communication processing unit for the central control unit receives the detection data of the sensor from each terminal control unit. And transmitting the control data for driving the actuator to each terminal control unit is performed by a multiple communication method such as, for example, a time division multiplexing method, and the wired communication means comprises, for example, a single communication path. It can be a simpler communication means.

Further, in another embodiment according to the present invention, if the central control unit and each terminal control unit communicate by specifying an address for each terminal control unit, for example, even when communicating through a communication unit having a single communication path, In addition, data can be received without error between the central control unit and each terminal control unit.

In another embodiment according to the present invention, if the central control unit communicates with each of the terminal control units in a polling selecting system, that is, confirming a response from each terminal control unit addressed in a predetermined order. Receives the detection data of the sensor sequentially from each terminal control unit, and designates the address to the predetermined terminal control unit to transmit the control data for driving the actuator, and responds to the reception of the control data from the terminal control unit at the predetermined address. If it is confirmed that data is transmitted and received between the central control unit and each terminal control unit within a predetermined time, the error due to the temporal delay of the detection data from each sensor can be suppressed within a predetermined limit. Also, the drive signal can be You can print

Moreover, in another embodiment by this invention, the said central control part is comprised so that the control data transmission for actuator driving may be performed prior to the detection data detection of the said sensor. In this case, when the central controller determines the appropriate driving contents of the actuator based on the transmission data from the terminal controller, that is, the detection data of the sensor, and confirms the occurrence of the driving request of the actuator, the central controller determines whether the sensor Prioritizing the reception of the detection data (for example, by temporarily suspending the reception of the detection data of the sensor), the appropriate drive contents for the actuator in which the driving request is generated, that is, the driving control data, are transmitted to the terminal control unit of the actuator. The terminal control unit that receives the control data outputs a drive signal to the actuator based on the received data.

Therefore, when the drive request for the actuator is generated while realizing the centralized control by the central controller and the simplified signal wiring for the sensor and the actuator by transmitting and receiving data between the central controller and each terminal controller through a wired communication means. Prior to the reception of the detection data of the sensor, the control data for actuator driving is transmitted to drive the actuator with a minimum delay time from the occurrence of the driving request, thereby actively preventing the operation of the actuator requiring rapidity. It was possible to avoid it.

Further, in another embodiment according to the present invention, in response to occurrence of an abnormal state, the emergency stop transmission processing for transmitting control data for stopping the operation of the actuator to the entire terminal control unit is executed first. It is configured to.

In this case, as the abnormal state occurs, the central control unit executes an emergency stop process for transmitting control data for stopping the operation of the actuator to the entire terminal control unit in preference to other processes. Thereby, each terminal control part stops the operation of the actuator which it manages.

Incidentally, when an abnormal condition occurs, the operator performs maintenance and resumes work. Therefore, the operation of the actuator managed by each terminal control unit can be stopped quickly by the emergency stop processing executed first in accordance with the occurrence of the abnormal state, thereby improving stability in occurrence of the abnormal state.

Examples of the abnormal state include a communication failure between a terminal control unit that manages a sensor signal abnormality or a control important sensor and a terminal control unit that manages an actuator important for safety of work.

EXAMPLE

EMBODIMENT OF THE INVENTION Hereinafter, the case where the Example of this invention is applied to the combine as a work vehicle is demonstrated based on drawing.

In combines, for example, steering control to direct the aircraft to run automatically according to the rice paddle, skid depth control to automatically adjust the depth of skid in the chopping chamber of the rice paddle to be cut, rice straw crumbs, etc. Selective control for selective recovery of grains from the mixed skimmed product, operation control of an auger discharged to the outside from the tank for temporarily storing the recovered recovered grain, and horizontal attitude of the gas despite the state of the running surface. Various controls such as posture control to be held in a predetermined posture such as posture are performed.

For that purpose, as shown in FIG. 1, a gas control unit including a central control unit (CU) and a cutting block (1), a threshing block (3), a main gas block (4), and the like, for intensively controlling the entire combine. The plurality of terminal control units LU1 to 5 distributed in the plurality are connected to each other via a wired communication means T to enable multiple communication.

Each terminal control unit LU1 to 5 inputs a detection signal from the sensor SW for control information detection, transmits the input data to the central control unit CU, and receives control data from the central control unit CU. And outputting drive signals to the actuators M, L, and B based on the received data.

Further, the central control unit CU determines the appropriate driving contents of the actuators M, L, and B of the terminal control units LU1-5 based on the transmission data from each terminal control unit LU1-5. The proper driving content is configured to be transmitted as the control data.

The sensor SW is composed of a plurality of switches SW for detecting various control information as information of two values of ON / OFF, and the actuators M, L, and B are electric motors M. FIG. , Solenoid (L), alarm buzzer (B) and the like.

As shown in FIG. 2, the central control unit CU is a microcomputer CPU1 serving as a control processing unit for control, and a central side for relaying data transfer between the microcomputer CPU1 and the communication means T. As shown in FIG. Gate array GA1 as a communication IC for communication, and a microcomputer as a communication arithmetic processing unit that executes data transfer between the microcomputer CPU1 and the gate array GA1 and communication control for each terminal control unit LU1-5. It is comprised with CPU2).

Further, the communication microcomputer CPU2 executes the communication control asynchronously with the control microcomputer CPU1. The number of data between both microcomputers CPU1 and CPU2 and between the microcomputer CPU2 and the gate array GA1 is performed through an 8-bit bus line, for example, the microcomputer CPU1 requests data input and output to the CPU2. In this case, the data format is shown in FIG.

In this format, addresses to be described later for the respective terminal control units LU1 to 5 are input to A0 to A3, and the input and output force ports A, B, and C of the respective terminal control units LU1 to 5 are input to A, B, and C. A sign, 1 or 0, for selecting (see FIGS. 2 and 3) is input. When 0 is input to X, data input / output through each input / output port is required. When 1 is input, error information is required.

The control microcomputer CPU1 receives an analog signal from an analog sensor that detects continuously changing information such as a potentiometer, and a pulse signal from a pulse sensor that detects a rotational speed or the like. 2) and a nonvolatile memory MEM such as EEPROM (electrically erasable programmable read only memory) is connected to the control microcomputer CPU1, and various error information and the like are connected to the memory MEM. This is supposed to be remembered. In the figure, PS1 is a DC voltage source for supplying a power supply voltage and a reset signal at power-on to the microcomputers CPU1 and CPU2, the gate array GA1, and the like.

The control microcomputer CPU1 sends an input request of detection data of the sensor SW and an output request command of control data for driving the actuators M, L, and B to the communication microcomputer CPU2. Output

On the other hand, when the communication microcomputer CPU2 does not receive the command of the detection data input request and the control data output request from the control microcomputer CPU1, the sensor SW from each terminal controller LU1-5. Is received sequentially by the polling selection method described below, and when the control microcomputer CPU1 receives an instruction request for inputting the detection data, the respective terminal control units LU1 to 5 until then. When the detection data of the sensor SW received from the control unit is transferred to the microcomputer CPU1 for control, and a command of the output request for the control data is received from the microcomputer CPU1 for control, It is configured to perform a process of transmitting control data for driving the actuators M, L, and B received from the microcomputer CPU1 to the respective terminal controllers LU1 to 5. .

In addition, the control microcomputer CPU1 is configured to receive the detection data of the sensor SW from the microcomputer CPU2 for communication, and control data for driving the actuators M, L, and B. It is comprised so that the process which receives the confirmation data of what was received by control part LU1-5 from the microcomputer CPU2 for communication by the interrupt process from the microcomputer CPU2 for communication is carried out.

On the other hand, as shown in FIG. 2, each terminal control unit LU1 to 5 is connected to the sensor shaft and the terminal shaft that relays the data transfer between the actuators M, L, B and the communication means T. A gate array GA2 as a communication IC is provided.

In addition, four harnesses (wire bundles; harnesses AD1 to 4) which generate address signals to the terminal control units LU1 to 5 are connected to a low level voltage harness connected to ground and a harness in a non-connected state. It is set in combination. 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 5 through an integrated connector CN.

Specifically, the harnesses AD1 to 4 are connected to the external terminals 0 to A3 for address setting of the gate array GA2, and the sensor SW and the actuators M, L, and B are respectively a signal processing circuit and It is connected to the input / output port of the gate array GA2 via the drive circuit. In addition, PS2 is a DC voltage source which supplies a power supply voltage to gate array GA2 etc. in the figure.

The communication means T is configured using, for example, a standard of RS485, and as shown in FIG. 2, a two-wire communication line Ln, a centralized control unit CU, and respective terminal control units LU1 to 5; It consists of communication driver DR set at the contact point with communication line Ln in each communication driver DR. Each communication driver DR converts the transmission data received from each gate array GA1, 2 into a signal conforming to the standard such as RS485. It converts and outputs it to the communication line Ln, inputs a signal on the communication line Ln, and operates to output the received data to each gate array GA1,2.

The gate array GA1 on the center side and the gate array GA2 on the terminal side are for communication with the same specification formed with a center side component for use as the center side and a terminal side component for use as the terminal side. It is comprised in the gate array GA which is IC. Hereinafter, it demonstrates concretely based on FIG. 3 A, B. FIG.

As shown in Fig. 3A, when the mode terminal is set at the low level, 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. The gate array GA includes an input / output buffer 11 for holding data input / output through the CPU 2 and a bus line, and a transmission buffer 13 for holding parallel data for transmission from the input / output buffer 11. P / S conversion unit 14 for converting parallel data of the transmission buffer 13 into serial data in parallel and serial data from the P / S conversion unit 14 and CRC (cyclic redundancy). The communication control circuit 16 which sends out the addition of the CRC data for error detection from the generation part 15 as transmission data, the S / P conversion part 18 which serial-converts the received serial data, and receives it. Check the CRC, etc. for one serial data to check for communication errors. An error detection unit 17 for detecting the non-existence, a reception buffer 19 for holding parallel data from the S / P conversion unit 18 and error data from the error detection unit 17 and outputting them to the input / output buffer 11, and a CPU. CPUI / F section for inputting an R / W (lead ride) signal and an STB (data strobe) signal, which are control signals for data input / output from (2), and outputting an interrupt (INT) signal to CPU2. It becomes the structure provided with (12).

When the mode terminal is set at the high level as shown in FIG. 3B, the gate array GA switches to a slave mode in which the internal circuit functions as the gate array GA2 on the terminal side. In the mode, the gate array GA has an input / output port 21 for inputting / outputting data to the male position SW and the actuators M, L, and B, and each switch SW inputted through the input / output port 21. Transmission buffer 13 for holding the detected signal from the parallel data as parallel data, P / S converter 14 for converting parallel data from the transmission buffer 13 into serial data in parallel, and the P / S converter ( Communication control circuit 16 which transmits, as transmission data, that CRC data for error detection from CRC generation unit 15 is added to serial data from 14), and S / P conversion for serial and parallel conversion of received serial data. 18. Types of CRC and address added to the received serial data. Reception buffer 17 which detects the presence or absence of a communication error and holds parallel data from the S / P converter 18 and error data from the error detection unit 17 and outputs them to the input / output port 21. (19) and an address setting section 22 for setting addresses for the respective terminal control sections LU1-5.

The CPUI / F unit 12 and the address setting unit 22 correspond to the central component, the address setting unit 22 corresponds to the terminal component, and the CPUI / F unit 12 corresponds to the terminal component. The main parts of the other gate arrays GA are shared as the center side and the terminal side as indicated by the same member number.

In addition, the input / output port 21 is composed of three ports A, B, and C each consisting of 8 bits. Ports A and B of the terminal control unit LU3 at address 0 are the input ports, and port C is the input port. Port A of the terminal control unit LU4 at the address 1 is set to the input port, and ports B and C are set to the output port, respectively. The input / output buffer 11 in the master mode is shared with the port B in the input / output port 21 in the slave mode.

Each terminal controller LU1 to 5 inputs the address signal from the harness AD1 to 4 connected to the external terminals A0 to A3 to the address setting unit 22 as its address data only when power is turned on. Consists of.

The low level voltage signal is supplied from the harness of the low level voltage, and the high level voltage signal is supplied to the non-connected harness because it is pulled up to the power supply inside the gate array GA2. LU1 to 5 set their own addresses by combining the voltage signals.

In FIG. 2, the terminal control unit LU3 has all of the external terminals A0 to A3 set to address 0 as the low level, and the terminal control unit LU4 has only high level A0 among the external terminals A0 to A3. The other terminals A1 to A3 are set as the low level address 1.

The central control unit (CU) and each terminal control unit (LU1 to 5) are configured to multi-communicate by designating an address set for each of the terminal control units (LU1 to 5), specifically, the central control unit (CU) is polled. It is configured to perform communication as the identification signal with each terminal controllers LU1 to 5 in the selecting manner (see also FIG. 11A).

In addition, the central control unit (CU) continuously performs at least a predetermined rate (e.g., two times for 10 communication) or a predetermined number of times (e.g., two times) in communication with each terminal control unit (LU) (LU1 to 5). When a communication error occurs, it is configured to execute error control in which the drive signal for the actuators ML and B of the terminal control units LUs LU1 to 5 where the communication error has occurred is made non-driven.

Specifically, each terminal control unit LUs LU1 to 5 receive a polling signal from the central control unit CU at a predetermined period Tp (for example, 5 ms) as shown in FIG. 11A in normal communication control. If the next polling signal is not received within a predetermined time (e.g., 8 ms) set to a time longer than 5 ms, the driving signal for the actuators M, L, and B is made non-driven, and the central control unit CU ) Is configured to execute the error control by not transmitting the next polling signal to the terminal controllers LU (LU1 to 5) where the communication error occurs within the predetermined time (8ms).

That is, the central control unit (CU) polls at a time interval Tp '(for example, 10 ms) longer than the predetermined time (8 ms) with respect to the terminal control units (LU) LU1 to 5 where the communication error occurs, as shown in FIG. 11B. Test communication for transmitting a signal is performed.

In the test communication, the central control unit (CU) is an initial code which is an input command of a detection signal from the sensor SW and an uncommand signal that does not involve an output command of a drive signal against the actuators M, L, and B. Is transmitted repeatedly, and at the same time in response to the transmission signal, the terminal control unit LU (LU1 to 5) executing the error control is continuously set at least (e.g., nine times) or at a set rate (e.g., for ten times of communication). When a normal return signal (e.g., the same code as the initial code) is obtained with a probability greater than or equal to 9), the terminal control unit LU (LU1 to 5) is configured to cancel the error control to execute normal communication control. have.

Next, in the case where the communication error occurs in the terminal control unit LU1 arranged in the main gas block 4, the bare lifting / lowering cylinder 5 which is operated and controlled by the single-control unit LU1 (FIGS. 15 and 1). The configuration in which the drive signal for the solenoid L as the actuator for operating the pair of steering cylinders 9L and 9R (see FIG. 15) and the left and right steering cylinders (see FIG. 16) in a non-driven state will be described.

The pair of left and right steering cylinders 9L and 9R operate the left and right steering clutches 20L and 20R which turn on and off the dynamic transmission to the crawler traveling apparatuses 30 on the left and right, respectively ( See Figure 15). As shown in Fig. 14, the pressure-receiving cylinder 5 is supplied with hydraulic oil from a three-point control hydraulic cylinder 6 operated by a pair of solenoids L (L1, L2).

The driving terminal (one end) of each solenoid L (L1, L2) is connected to each of the emitter terminals of the driving transistors Tr1, Tr2, respectively, and the cutting hand manual lever 7 The ground, which is grounded in conjunction with the rising or falling operation of, is connected to each of the two contacts of the height manual switch S3.

The outputs of the two AND circuits 25 and 26 are connected to each base of the transistors Tr1 and Tr2, and one input side of each of the AND circuits 25 and 26 is a port output terminal a of the gate array GA2. b) and the other input side are connected to the output terminals of the transistors Tr2 and Tr1 on the opposite side to the transistors Tr1 and Tr2 to which the outputs of the respective end circuits 25 and 26 are connected.

As a result, the transistors Tr1 and Tr2 are not turned on at the same time, and the solenoids L1 and L2 are driven in response to the output of the port output stages a and b. However, the hydraulic cylinder 6 is pressurized to the center position when neither of the solenoids L1 and L2 is driven and when the cutting height manual switch S3 is not operated.

In addition, each contact of the cutting height manual position S3 is connected to the port input terminals a 'and b' of the gate array GA2.

As shown in FIG. 14, hydraulic pressure is supplied from the three-point hydraulic cylinder 10 operated by a pair of solenoids L (L1, L2) to a pair of steering cylinders 9L and 9R. . The driving terminal (one end) of each solenoid L (L1, L2) is connected to each emitter terminal of the driving transistors Tr3, Tr4, respectively, and is connected to the left or right side of the steering manual lever 8, respectively. It is connected to each of the two contacts of the steering manual switch S4 which is grounded in conjunction with the operation of.

The outputs of the two AND circuits 27 and 28 are connected to the bases of the transistors Tr3 and Tr4, and one input side of each of the AND circuits 27 and 28 is a port output terminal c of the gate array GA2. and the other input side is connected to the emitter terminals of the transistors Tr3 and Tr4 on the opposite side to the transistors Tr3 and Tr4 to which the outputs of the respective end circuits 27 and 28 are connected. have.

As a result, the transistors Tr3 and Tr4 are not turned on at the same time, and the solenoids L3 and L4 are driven to correspond to the output of the port output terminals c and d. However, the hydraulic cylinder 10 is pressurized back to the center position when neither of the solenoids L3 and L4 is being driven, and when the steering manual switch S4 is not operated. Further, each contact of the steering manual switch S4 is connected to the port input terminal c 'd' of the gate array GA2.

In the above configuration, when the cutting height automatic switch S7 is turned on, the central control unit CU cuts the target height information input to the cutting height setting volume S5 and the ground of the ultrasonic sensor S6. Based on the height information, the bearer for maintaining the height to be cut at the target height is discriminated from the appropriate driving contents (suitable driving method) for the lifting cylinder 5, and the appropriate driving contents are described as control data. The bear transmits to the terminal control unit LU1 of the lifting cylinder 5.

In the terminal controller LU1, the gate array GA2 outputs a low signal from one side of the port output terminals a and b to the low signal from the other side in accordance with the received control data, so that the solenoid L is output. Either one of L1 and L2 is driven, and the lift cylinder 5 is lifted and operated. However, when the communication error occurs in the terminal control unit LU1, the port output terminals a and b of the gate array GA2 are configured to make the driving signal for the solenoid L (L1, L2) non-driven. A low signal is output from both sides of (error control).

In the same manner as described above, the central control unit CU has the left and right pair of direction sensors S1 received from the terminal control unit LU3 arranged in the block 1 when the steering automatic switch S8 is turned on. Based on the ON / OFF information of S2), the proper driving contents for the left and right pair of steering cylinders 9L and 9R for running the combine along the rice rows are determined, and the appropriate driving contents are used as control data. It transmits to the terminal control part LU1 of the cylinder 9L, 9R.

In the terminal controller LU1, a high signal is output from one of the port output terminals c and d of the gate array GA2 according to the received control data, and a low signal is output from the other. Either one of L3 and L4 is driven, and one of the pair of steering cylinders 9L and 9R is operated. The gas is steered to the steering cylinders 9L and 9R on the operated side (for example, the left side when the steering cylinder 9L on the left side is operated).

However, when the communication error occurs in the terminal controller LU1, the port output terminal c of the gate array GA2 so as to make the driving signal for the solenoid L (L3, L4) non-driven. The low signal is output from both sides of d) (error control).

Therefore, the transistors Tr1 and Tr2 and the AND circuits 25 and 26 drive the actuators L and L1 and L2 based on the drive signals from the port output terminals a and b of the terminal control unit LU1. And the transistors Tr3 and Tr4 and the end circuits 27 and 28 operate on the actuators L and L3 based on the drive signals from the port output terminals c and d of the terminal control unit LU1. It functions as an actuator driver for driving L4).

The cutting height manual lever 7 and the steering manual lever 8 function as manual command means for instructing a drive signal to the actuator drive unit L (L1, L2, L3, L4) to the actuator drive unit.

In addition, the actuator driver Z has priority to the drive signal from the terminal controller LU1, based on the command from the command means (the height manual lever 7 and the steering manual lever 8). L1, L2, L3, and L4 are configured to be driven.

That is, in the error control or the automatic control, when the command means (the cutting height manual lever 7 and the steering manual lever 8) is operated, the actuator driver is driven from the terminal controller LU1. Whatever the signal is, the instruction from the command means (the height manual lever 7 and the steering manual lever 8) is given priority.

Further, the monitor signal indicating the driving state of the actuator L (L1, L2, L3, L4) when the command means (the cutting height manual lever 7 and the steering manual lever 8) is operated is a port input terminal. It is configured to obtain from (a ', b', c ', d'), and the terminal control unit LU1 receives the information obtained from the port input terminals a ', b', c ', d. I am sending it to).

In addition, when the terminal control unit LU in which the communication error occurs is the specific terminal control unit as described above, the central control unit CU is configured to the actuators M and L (alarm buzzer B) with respect to all of the terminal control units LU. Is configured to preferentially execute the emergency stop processing for transmitting control data for stopping the operation of the "

In addition, the terminal control part LU3 of the block 1 to cut off becomes a specific terminal control part for the following reason. That is, as shown in FIG. 16, the rice dumper (SO) sensor SO which detects the presence or absence of a rice paddle in the conveyance path which conveys the cut rice straw to a threshing apparatus is a terminal as one of the sensors SW. It is connected to the control part LU3.

This aeration sensor (SO) is to detect whether the combine is in the working stroke to cut off or in the cut position in the cut position. Control such as vehicle speed control and soil depth control is executed only during the cutting operation based on the detection information of the rice dumping sensor SO.

Therefore, when the communication with the terminal control unit LU3 of the block 1 to be cut off becomes impossible, an abnormal state occurs in which the control operation is executed during the cutting operation, and the control operation is stopped during the uncut operation. The central control unit CU determines the occurrence of this abnormal state and executes the emergency stop process.

In order to perform this emergency stop processing quickly, each terminal controller LU is assigned with its own address and the common address common to all the terminal controllers LU as described above. It is configured to receive the control data. The central control unit CU is configured to execute the emergency stop processing by designating the common address.

Incidentally, the abnormal state may also be the following, and the emergency stop processing is executed even when such an abnormal state occurs.

As the first of the other abnormal states, as the detection signal from the sensor SW deviates from the proper state, the central control unit CU determines that the abnormal state occurs.

For example, although the rice dumping sensor S0 detects the conveying straw, even if the direction sensors S1 and S2 do not detect the rice paddle for the set time, or the direction sensors S1 and S2 detect the rice straw. Nevertheless, in the case where the rice dumping sensor SO does not detect the setting time conveying straw, it is possible to determine the abnormality of the sensor SW.

When a plurality of the plurality of terminal control units LU become incapable of communication at the same time as the second of the other abnormal states, it can be determined that an abnormal state has occurred.

In addition, as a third of other abnormal states, an emergency stop switch is provided in the control unit, and an emergency stop switch is operated by an operator to generate an abnormal condition to the central control unit CU. It can be determined by the occurrence of.

Next, the control operation in the central control unit CU will be described based on the flowcharts 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 supplied, the reset state of CPU1 is first released and control is started. After the initialization process, the input signal of the analog signal from the analog sensor and the pulse signal from the pulse sensor is processed, and the time required for stabilizing the operation of all the terminal controllers LU1 to 5 after the main switch is turned ON ( For example, the CPU 2 is held in the reset state (output port 3 of the CPU 1 = high) shown in FIG. 2 until 250ms) has elapsed, and communication with each terminal control unit LU1 to 5 is stopped. Ramp check processing is performed (# 1 to # 5 and # 12).

Regarding the lamp checking process in more detail, a meter panel (not shown) is provided for separately displaying the starting and stopping of each automatic control (for example, vehicle speed control, steering control, and cutting height control). Lamps (not shown) are provided, each lamp having a set pattern (e.g. all lamp lights) until the main switch is turned on and the time (e.g. 250ms) has elapsed. In the meantime, it means the process of checking whether there is no display defect in the lamp of the meter panel (not shown) (# 12).

After the time has elapsed, each lamp turns on or off in response to the operating state of the corresponding control.

When the time for which the operations of all the terminal controllers LU1 to 5 are stabilized elapses, the CPU1 releases the reset state of the CPU2 by setting the output port 3 to low and starts communication between the CPU2 and the terminal controllers LU1 to 5. (# 6). In other words, the CPU2 repeatedly calls the terminal control units LU1 to 5 to receive the data of each switch SW at a predetermined period (for example, 5 ms) (see Fig. 8).

By the repetition of the communication in this predetermined period, the time judged that CPU2 has sufficiently accumulated communication error information for each terminal control unit LU1 to 5, such as the data of each switch SW and the normal return data not being received ( For example, after 900 ms of turning on the main switch, CPU1 starts a process of carrying control data by an 8-bit bus line with CPU2 (see # 7 to # 8, 9 and 10). .

After that, when the time required for the CPU1 to grasp the state of the entire system by passing the data with the CPU2 (for example, 1.5 sec after the main switch is turned ON), the CPU1 returns the meter panel to the normal state and controls the entire control. Start (# 9 to # 11).

In addition, the CPU1 operates the monitoring timer routine at a constant cycle. When the control is congested, the CPU1 commands the power supply PS1 from the output port 4 to output a reset signal (see FIG. 2).

In bus communication performed by CPU1 with CPU2, as shown in FIG. 5, each switch received by a plurality of times (for example, four times) bus communication from CPU2 in order to remove the effect of chattering of the switch operation. Only when the data of (SW) are the same, the filtering process is performed to make the regular data, and the data is stored (# 21).

Next, if communication error information for each terminal control unit LU1 to 5 is input and there are terminal control units LU1 to 5 in an error state, abnormal output processing for displaying an alarm on a meter panel or the like is performed, and the terminal control unit in that error state is performed. Error processing, such as stopping the communication of the drive command to the actuators M, L, and B of the LU1 to the predetermined period of time, is performed (# 22 to # 23).

Next, a determination is made as to whether or not the previous communication with the CPU 2 is OK (OK when the value of the SBUSend flag is 0), and whether the CPU 2 is in a command waiting state waiting for a command from the CPU 1 (# 24 to # 25).

When the communication with the previous CPU 2 is OK and the CPU 2 is in the instruction standby state, the TASKno used in the interrupt processing from the CPU 2 is allowed when the external interrupt from the CPU 2 is allowed, the SBUSend flag is set (the value is 1). In the first part of the reset (value is 0) and the intervening process, a process of outputting a command to the CPU2 to execute a process for the terminal control unit LU3 at address 0 is performed.

On the other hand, even if the communication with the previous CPU 2 is not OK or the communication with the previous CPU 2 is OK, when the CPU 2 is not in the instruction standby state, the CPU 2 is reset to the abnormal state for a predetermined time and an alarm display is output. # 31).

In the processing routine for interrupts from CPU2, as shown in FIG. 6, after interruption is prohibited, processing is performed according to each TASKno value sequentially from TASKno = 0, and then the value of TASKno is increased by 1, and then next. Allow interrupt to finish processing. Processing in each TASKno is performed by receiving data from the input port A of the terminal control unit LU3 at address 0 at the first TASKno = 0, as shown in FIGS. 9 and 10, and at TASKno = 1, Acceptance of data from the input port B of the terminal control unit LU3 of 0 and transmission of output data to the output port C are performed.

At TASKno = 2, a process of outputting a command for executing a process to the terminal control unit LU4 at address 1 is performed. At TASKno = 3, a process from the input port A of the terminal control unit LU4 at address 1 is performed. Data storage and transfer processing of the output data to the output port B are performed. When TASKno = 4, transfer processing of the output data to the output port C of the terminal control unit LU4 at the address 1 is performed.

In the same manner, the command transfer and the data input / output processing are sequentially executed to the terminal control units LU1 to 5 of the remaining addresses. In the above procedure, transmission of output data to the output port is not performed until CPU1 starts the entire control process (after 1.5 sec of main switch ON).

According to the above procedure (Fig. 9), when the request instruction is transmitted to the terminal control unit LU3 at address 0, the CPU2 receives the detection data of the sensor SW from the terminal control unit LU4 at the address (1). After the reception of the detection data of this sensor SW is finished, the data reception from the input port A and the input port B of the terminal control unit LU3 at address 0 and the output port C The transmission process of the output data is performed.

That is, when the detection data of the sensor SW is received from the terminal controllers LU1 to 5, a transmission request for the control data for driving the actuators M, L, and B occurs to the terminal controllers LU1 to 5. In this case, the transmission of the control data for driving the actuators M, L, and B is executed after the reception of the detection data of the sensor SW being received ends.

In the above procedure, the transfer data of the output data to the output port C may be performed before the data is received from the input port A and the input port B of the terminal control unit LU3 at the address 0. FIG.

In the last TASKno = n, a command for requesting communication error information for each terminal control unit LU1-5 is transmitted. Then, a process of resetting the SBUSend flag (setting the value to 0) is performed to indicate that communication with CPU2 was OK.

At the last TASKno = n + 1, the processing ends with the next interrupted state. Therefore, the processing for the interrupt from the CPU 2 is not executed until the interrupt is allowed in the bus processing shown in FIG.

When the main switch is turned off to stop the combine operation, as shown in FIG. 4, CPU2 is first reset to stop communication with each terminal control unit LU1 to # 5 (# 13).

Then, for 5 seconds after the main switch is turned OFF, the solenoid for stopping the engine is driven to cut off the fuel supply to the engine, and the write processing of the error information to the memory MEM is performed. After 5 seconds, the solenoid is stopped. (# 14-17).

The error information may be recorded in the memory MEM every predetermined time except when the engine is stopped. However, since the error data may be recorded when the power supply voltage decreases, such as when the engine starts, the power supply voltage (for example, 12V) may be recorded. Is monitored so that no processing is performed when the voltage is reduced.

In addition, the error information recorded in the memory MEM is read by a checker or the like, and a failure analysis is performed based on the error information. However, since the error history is recorded, it is possible to analyze an error that makes it difficult to cause a momentary disconnection or the like. This has the advantage.

Next, the control operation in each of the terminal control units LU1 to 5 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 self is received based on the address in the reception data, and when it is a polling signal for self, it is an input request from the switch SW or an output to the actuators M, L, and B. Determine if it is a request. In the case of an input request from the switch SW, a detection signal from the switch SW is input through an input port, and based on it, sensor data for reply is generated.

On the other hand, in the case of the output request to the actuators M, L, and B, the received data is output through the output port, and ACK data for reply is prepared. Next, as shown in FIG. 11, the generated sensor data or ACK data is transmitted by randomly changing the time t from the central control unit CU to the transmission start point with respect to the end point of the polling signal.

As a result, when the plurality of terminal controllers LU1 to 5 respond to the same polling signal due to an error in address setting for each terminal controllers LU1 to 5, the signal waveforms of which timing of each half-band signal is misaligned with each other. The data is received by the central control unit (CU) side and judged as abnormal data different from the normal data, and can be detected as a communication error. The half-time timing random processing is performed by the communication control circuit 16 based on a signal from the random signal generation circuit 23 (see also FIG. 3B) in the gate error GA2.

Other Examples

The following describes another embodiment.

In the above embodiment, the central control unit (CU) and each terminal control unit (LU1 ~ 5) has been illustrated that the multi-communication through a wired communication means (T), but is not multi-communication, for example, the central control unit (CU) is each terminal You may make it communicate through the separate communication means T set between control parts LU1-5.

In the above embodiment, in the case where the central control unit CU and each terminal control unit LU1 to LU5 communicate with each other, an address of each terminal control unit LU1 to LU5 is designated to which terminal control unit LU1 to LU5. (Eg, the central control unit (CU) sequentially receives the detection data of the sensor SW from each terminal controller (LU1 to 5) in a polling selection method) while distinguishing whether the communication is to be performed. Although not shown, the time division multiplexing method may be used to communicate the transmission signals of different frequencies to the terminal control units LU1 to LU5 by the frequency multiplexing method. In addition, even in the case of multi-communication by designating an address, the polling selection method is not limited.

In the above embodiment, a communication arithmetic processing unit having a central control unit (CU) is illustrated as being composed of a microcomputer (CPU2), but it is not necessarily a microcomputer, for example, even if a dedicated IC consisting of a main part of a hardware circuit such as a gate array It's okay. Moreover, the specific structure can also be changed suitably, for example, not only one microcomputer but a some microcomputer also for a control arithmetic processing part.

In the above embodiment, the communication processing unit (microcomputer CPU2) in the central control unit CU outputs the control data for driving the actuators M, L, and B from the control processing unit (microcomputer CPU1) for control. When the request command was received, the control data was transmitted to the terminal control units LU1 to LU5 after reception of the detection data of the sensor SW from the terminal control units LU1 to LU5 being received at that time. Without this, the reception of the detection data of the sensor SW is temporarily suspended, and transmission of the control data for driving the actuators M, L, and B is performed first, followed by reception of the detection data of the stopped sensor SW. Thus, the actuators M, L, and B can be driven more quickly.

In the above embodiment, the control processing unit CPU1 receives the detection data of the sensor SW from the communication processing unit CPU2, and the control data for driving the actuators M, L, and B are each terminal. Since the communication operation processing unit CPU2 operates asynchronously with the control operation processing unit CPU1, the processing for receiving the confirmation data received from the control units LU1 to the communication processing unit CPU2 is asynchronous. Although shown to be performed by interrupt processing from the arithmetic processing unit CPU2, it is not limited to interrupt processing.

For example, a data register capable of frequently recording the detection data and the confirmation data from the communication operation processor CPU2 is set in the control operation processor CPU1 for control, and the detection is performed in the data register on the control operation processor CPU1 side. It is also possible to confirm whether or not data and confirmation data have been recorded.

Although the above embodiment shows that the wired communication means T is configured using the standard of RS485, wired communication means of various standards other than this are used. In the above embodiment, the switch SW is configured to detect the control information of the sensor as data of two values of ON / OFF, but a sensor for detecting analog or pulse signals other than the two values is also included. It may be. The actuator may also include other than the electric motor (M), the solenoid (L), and the alarm buzzer (B).

In the above embodiment, the CPUI / F unit 12 has a central side component for use as the center side and the terminal side component portion for use as the terminal side in the address setting unit 22. The specific configurations of the side components and the terminal side components can be changed as appropriate.

In the above embodiment, the input / output buffer 11 in the communication IC on the center side is shared with the port B of the three input / output ports in the communication IC on the terminal side. The input / output buffer 11 may be provided independently. In addition, the main circuit part for data reception shared by the communication IC of the center side is not limited to the circuit configurations of 13-19 etc., such as a transmission buffer as illustrated in an Example.

In the above embodiment, in order to remove the influence of the chattering operation of each switch SW as a sensor, the detection signal from each switch SW is directly communicated to the central control unit CU, whereby the final control microcomputer CPU1 Is configured to perform filtering processing to use regular data only when a plurality of times (e.g. 4 times) of received data are the same at the time of processing. Although the present invention can be realized, the configuration of the filtering processing performed by the CPU1 is not limited to this. It is of course possible to perform the filtering process not by the CPU1 but by the gate arrays GA1 and 2 in the middle, the CPU2 and the like.

In the above embodiment, the central control unit CU does not transmit the next polling signal within a predetermined time period, so that the test communication is performed between the terminal control units LU1 to LU5 executing the error control. The communication conditions such as the transmission period T'p (10 ms in the embodiment) of the polling signal at the time are not limited to the conditions of the embodiment.

In addition, the specific condition (setting rate or setting frequency) of the normal return signal serving as a criterion of whether or not to perform normal communication control to the terminal control units LU1 to LU5 during the error control is appropriately determined according to the occurrence of communication error. You can change it.

In the above embodiment, the present invention is applied to the combine, but can be applied to various work vehicles of automatic or manual driving type other than this.

In addition, although the code | symbol is written in the term of a claim for convenience of contrast with drawing, by this writing, this invention is not limited to the structure of an accompanying drawing.

Claims (9)

A plurality of terminal control units LU1 to LU5 distributed to each of the body parts of the work vehicle, and a central control unit CU that is communicatively connected to the terminal control units LU1 to LU5 via a wired communication means T. A control device for a work vehicle configured as described above, wherein the terminal control units LU1 to LU5 input a detection signal from a sensor SW for control information detection, transmit the input data to the central control unit CU, and the central control unit ( Receives control data from the CU) and outputs drive signals for the actuators M, L, and B according to the received data, and the central control unit CU outputs from the terminal controllers LU1 to LU5. And determining the appropriate driving contents for the actuators M, L, and B of the terminal control units LU1 to LU5 based on the transmission data, and transmitting the appropriate driving contents as the control data. CU) controls arithmetic processing unit CPU1, and each of the terminals A communication operation processing unit CPU2 which executes communication control for the fishers LU1 to LU5 asynchronously with the control operation processing unit CPU1, and the control operation processing unit CPU1 includes the communication operation processing unit ( The CPU2) outputs an input request of detection data of the sensor SW and an output request command of control data for driving the actuators M, L, and B, and the communication operation processor CPU2 calculates the calculation for control. When the input request and the output request instruction are not received from the processing unit CPU1, a process of sequentially receiving the detection data of the sensor SW from each of the terminal control units LU1 to LU5 is performed, and the communication operation processing unit ( When the CPU2 receives the input request command from the control processing unit CPU1, the CPU2) calculates the detection data of the sensor SW received from the terminal control units LU1 to LU5 for the control processing. The communication processing unit CPU2 performs the processing to be transmitted to the unit CPU1, and when the command of the output request is received from the control processing unit CPU1, the actuator received from the control processing unit CPU1. A control apparatus for a work vehicle characterized by performing a process of transmitting control data for driving M, L, and B to the terminal control units (LU1 to LU5). The control processor CPU1 according to claim 1, wherein the control processor CPU1 receives a detection data of the sensor SW from the communication processor CPU2, and controls the actuators M, L, and B. For a work vehicle, processing for receiving confirmation data of the data received from each of the terminal control units LU1 to LU5 from the communication arithmetic processing unit CPU2 is performed by an interrupt process from the communication arithmetic processing unit CPU2. Control device. The control apparatus for a work vehicle according to claim 1 or 2, wherein the central control unit (CU) and the terminal control units (LU1 to LU5) communicate with each other via the communication means (T). 4. The control apparatus for a work vehicle according to claim 3, wherein the central control unit (CU) and the terminal control units (LU1 to LU5) communicate by designating addresses for the terminal control units (LU1 to LU5). The control apparatus for a work vehicle according to claim 4, wherein the central control unit (CU) communicates with each of the terminal control units (LU1 to LU5) in a polling manner and a selecting manner. The work controller according to claim 1, wherein the central control unit (CU) prioritizes transmission of control data for driving the actuators (ML, B) over reception of detection data of the sensor (SW). Control unit. The emergency stop transmission processing according to claim 1, wherein the central control unit (CU) transmits control data for stopping the operation of the actuator (L) to all of the terminal control units (LU) in response to occurrence of an abnormal state. Control device for a work vehicle, characterized in that for execution. The control apparatus for a work vehicle according to claim 7, wherein the central control unit (CU) determines occurrence of the abnormal state as the detection signal from the sensor (SW) for detecting the control information deviates from an appropriate state. . The method of claim 7 or 8, wherein the central control unit (CU) determines that the abnormal state occurs as communication with a specific terminal control unit (LU) of the plurality of terminal control unit (LU) is disabled. Control device for work vehicle to do.