KR950016435A - Control device for work car - Google Patents

Control device for work car Download PDF

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Publication number
KR950016435A
KR950016435A KR1019940008660A KR19940008660A KR950016435A KR 950016435 A KR950016435 A KR 950016435A KR 1019940008660 A KR1019940008660 A KR 1019940008660A KR 19940008660 A KR19940008660 A KR 19940008660A KR 950016435 A KR950016435 A KR 950016435A
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South Korea
Prior art keywords
control
processing unit
data
cpu1
terminal
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KR1019940008660A
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Korean (ko)
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KR0139898B1 (en
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가츠야 우스이
시게키 하야시
마사루 가와네
야스노리 스에요시
마사히코 시마노
히로미치 안도
히데아키 다나카
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미츠이 고헤이
가부시키가이샤 구보다
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Priority claimed from JP5277979A external-priority patent/JP2866561B2/en
Priority claimed from JP28458693A external-priority patent/JP2933475B2/en
Priority claimed from JP32638693A external-priority patent/JPH07184264A/en
Application filed by 미츠이 고헤이, 가부시키가이샤 구보다 filed Critical 미츠이 고헤이
Publication of KR950016435A publication Critical patent/KR950016435A/en
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Publication of KR0139898B1 publication Critical patent/KR0139898B1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/23—Pc programming
    • G05B2219/23214—Checksum CRC

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Selective Calling Equipment (AREA)
  • Harvester Elements (AREA)
  • Combines (AREA)

Abstract

(목적) 집중제어형태로 센서류나 액츄에이터류 등과의 신호배선의 간소화를 도모하면서 중앙제어부가 작업차 전체의 제어를 적절 또한 신속하게 실행한다.(Purpose) In the centralized control form, the central control unit executes the control of the whole work properly and promptly while simplifying signal wiring with sensors and actuators.

(구성) 중앙제어부(CU)가 통신용 연산처리부(CPU2)에 대하여 센서류(SW)의 검출데이타의 입력요구 및 액츄에이터(M, L, B) 구동용의 제어데이타 출력요구의 지령을 출력하는 제어용의 연산처리부(CPU1)와, 기체 각부의 각 단말제어부(LU1~LU5)에 대한 통신제어를 제어용의 연산처리부(CPU1)와 비동기상태에서 실행하는 통신용 연산처리부(CPU2)를 구비하고, 통신용 연산처리부(CPU2)는 상기 지령을 받고 있지 않는 때에는 센서류(SW)의 검출데이타를 순차적으로 수신하고, 입력요구시는 센서류(SW)의 검출데이타를 제어용의 연산처리부(CPU1)에 전달하고, 출력요구시는 제어용의 연산처리부(CPU1)으로부터 받아낸 액츄에이터(M, L, B) 구동용의 제어데이타를 각 단말제어부(LU1~LU5)에 송신한다.(Configuration) A control unit for which the central control unit (CU) outputs an input request for the detection data of the sensors (SW) and a command for the control data output request for driving the actuators (M, L, B) to the communication operation processing unit (CPU2). Computation processing unit CPU1 and communication operation processing unit CPU2 for performing communication control to each terminal control unit LU1 to LU5 of each of the aircraft units asynchronously with the control processing unit CPU1 for control, When the command is not received, the CPU2 sequentially receives the detection data of the sensors SW. When the input is requested, the CPU2 transmits the detection data of the sensors SW to the control processing unit CPU1 for control. The control data for driving the actuators M, L, and B received from the control processing unit CPU1 for control is transmitted to the terminal control units LU1 to LU5.

Description

작업차용의 제어장치Control device for work car

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 콤바인의 제어구성의 전체를 도시하는 블록도,1 is a block diagram showing the entire control configuration of a combine;

제2도는 콤바인의 제어구성을 도시하는 회로도,2 is a circuit diagram showing a control configuration of a combine;

제3도(A), (B)는 통신용 IC의 회로구성도.3A and 3B are circuit diagrams of a communication IC.

Claims (9)

작업차의 기체 각부에 분산배치되는 복수개의 단말제어부(LU1~LU5), 및 이 단말제어부(LU1~LU5)와 유선식의 통신수단(T)을 통하여 통신가능하게 접속되는 중앙제어부(CU)로 구성된 작업차용의 제어장치로서, 상기 단말제어부(LU1~LU5)가 제어정보 검출용의 센서(SW)로부터의 검출신호의 입력, 그 입력데이타의 상기 중앙제어부(CU)에 송신, 상기 중앙제어부(CU)로부터의 제어 데이타 수신, 및 그 수신데이타에 의거한 액츄에이터(M, L, B)에 대한 구동신호의 출력을 실행하고, 상기 중앙제어부(CU)가 상기 단말제어부(LU1~LU5)의 액츄에이터(M, L, B)에 대한 적정구동내용을 판정하고, 그 적정구동내용을 상기 제어데이타로서 송신하도록 구성되고, 상기 중앙제어부(CU)가 제어용의 연산처리부(CPU1), 및 상기 각 단말제어부(LU1~LU5)에 대한 통신제어를 상기 제어용의 연산처리부(CPU1)와 비동기상태에서 실행하는 통신용 연산처리부(CPU2)를 구비하고, 상기 제어용의 연산처리부(CPU1)는, 상기 통신용 연산처리부(CPU2)에 대하여 상기 센서(SW)의 검출데이타의 입력요구 및 상기 액츄에이터(M, L, B) 구동용의 제어데이타의 출력요구 지령을 출력하고, 상기 통신용 연산처리부(CPU2)는 상기 제어용의 연산처리부(CPU1)로부터 상기 입력요구 및 출력요구 지령을 받고 있지 않을 때는 상기 각 단말제어부(LU1~LU5)로부터 상기 센서(SW)의 검출데이타를 순차적으로 수신하는 처리를 행하고, 또한 상기 통신용 연산처리부(CPU2)는 상기 제어용의 연산처리부(CPU1)로부터 상기 입력요구지령을 받았을 때, 상기 각 단말제어부(LU1~LU5)로부터 수신한 상기 센서(SW)의 검출데이타를 상기 제어용의 연산처리부(CPU1)에 전달하는 처리를 행하고, 또한 상기 통신용 연산처리부(CPU2)는 상기 제어용의 연산처리부(CPU1)로부터 상기 출력 요구의 지령을 받았을 때 상기 제어용의 연산처리부(CPU1)로부터 받은 상기 액츄에이터(M, L, B)구동용의 제어데이타를 상기 각 단말제어부(LU1~LU5)에 송신하는 처리를 행하는 것을 특징으로 하는 작업차용의 제어장치.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 the detection signal from the sensor SW for control information detection, and transmit the input data to the central control unit CU of the input data, and the central control unit ( Receiving control data from the CU) and outputting a drive signal to the actuators M, L, and B based on the received data, and the central control unit CU executes the actuators of the terminal controllers LU1 to LU5. Determine appropriate driving contents for (M, L, B), and transmit the appropriate driving contents as the control data, wherein the central control unit CU controls the operation processing unit CPU1 for control, and the respective terminal control units. Arithmetic processing unit for controlling the communication for (LU1 to LU5) And a communication arithmetic processing unit CPU2 executing asynchronously with (CPU1), wherein the control arithmetic processing unit CPU1 sends an input request of detection data of the sensor SW to the communication arithmetic processing unit CPU2, and An output request command for control data for driving the actuators M, L, and B is output, and the communication operation processing unit CPU2 does not receive the input request and output request command from the control operation processing unit CPU1. In this case, a process of sequentially receiving detection data of the sensor SW from each of the terminal controllers LU1 to LU5 is performed, and the communication operation processing unit CPU2 further receives the input request command from the control operation processing unit CPU1. Is received, a process of transferring the detection data of the sensor SW received from each of the terminal control units LU1 to LU5 to the control processing unit CPU1 for control, and further, the communication connection. The processing unit CPU2 receives the control data for driving the actuators M, L, and B received from the control processing unit CPU1 when receiving the command of the output request from the control processing unit CPU1. A control device for a work vehicle characterized by performing a process of transmitting to the control units (LU1 to LU5). 제1항에 있어서, 상기 제어용의 연산처리부(CPU1)는 상기 센서(SW)의 검출데이타를 상기 통신용 연산처리부(CPU2)로부터 받아내는 처리 및, 상기 액츄에이터(M, L, B)구동용의 제어데이탁 상기 각 단말제어부(LU1~LU5)에서 수신된 것의 확인데이타를 상기 통신용 연산처리부(CPU2)로부터 받아내는 처리를 상기 통신용 연산처리부(CPU2)로부터의 인터럽트 처리에 의해 행하는 것을 특징으로 하는 작업차용의 제어장치.The control processor CPU1 according to claim 1, wherein the control processor CPU1 receives the detection data of the sensor SW from the communication processor CPU2, and controls the actuators M, L, and B. Daytax For work vehicles characterized in that the processing for receiving confirmation data received from each of the terminal control units LU1 to LU5 from the communication operation processing unit CPU2 is performed by an interrupt process from the communication operation processing unit CPU2. Control device. 제1항 또는 제2항에 있어서, 상기 중앙제어부(CU)와 상기 각 단말제어(LU1~LU5)가 상기 통신수단(T)을 통하여 다중통신하는 것을 특징으로 하는 작업차용의 제어장치.The control apparatus for a work vehicle according to claim 1 or 2, wherein the central control unit (CU) and the respective terminal controls (LU1 to LU5) carry out multiple communication via the communication means (T). 제3항에 있어서, 상기 중앙제어부(CU)와 상기 각 단말제어부(LU1~LU5)가 상기 각 단말제어부(LU1~LU5)에 대한 어드레스를 지정하여 통신하는 것을 특징으로 하는 작업차용의 제어장치.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). 제4항에 있어서, 상기 중앙제어부(CU)가 폴링셀렉팅 방식으로 상기 각 단말제어부(LU1~LU5)와 통신을 실행하는 것을 특징으로 하는 작업차용의 제어장치.5. The control apparatus for a work vehicle according to claim 4, wherein the central control unit (CU) communicates with the terminal control units (LU1 to LU5) in a polling selecting manner. 제1항에 있어서, 상기 중앙제어부(CU)는 상기 액츄에이터(M, L, B) 구동용의 제어 데이타의 송신을 상기 센서(SW)의 검출데이타의 수신보다도 우선시켜서 실행하는 것을 특징으로 하는 작업차용의 제어장치.The job according to claim 1, wherein the central control unit (CU) prioritizes transmission of control data for driving the actuators (M, L, and B) prior to reception of detection data of the sensor (SW). Car control unit. 제1항에 있어서, 상기 중앙제어부(CU)가 이상상태 발생에 따라 상기 단말제어부(LU)의 전부에 대하여 상기 액츄에이터(L)의 작동을 정지시키기 위한 제어데이타를 송신하는 비상정지용 송신처리를 우선하여 실행하는 것을 특징으로 하는 작업차용의 제어장치.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. 제7항에 있어서, 상기 중앙제어부(CU)는 상기 제어정보 검출용의 센서(SW)로부터의 검출신호가 적정상태로부터 벗어남에 따라 상기 이상상태 발생을 판단하는 것을 특징으로 하는 작업차용의 제어장치.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. . 제7항 또는 제8항에 있어서, 상기 중앙제어부(CU)는 상기 복수개의 단말제어부(LU)중의 특정한 단말제어부(LU)와의 통신이 불능하게 됨에 따라, 상기 이상상태 발생으로 판단하는 것을 특징으로 하는 작업차용의 제어장치.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. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019940008660A 1993-11-08 1994-04-23 Control device for an agricultural machine KR0139898B1 (en)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP5277979A JP2866561B2 (en) 1993-11-08 1993-11-08 Control device for work vehicle
JP93-277979 1993-11-08
JP28458693A JP2933475B2 (en) 1993-11-15 1993-11-15 Control device for work vehicle
JP93-284586 1993-11-15
JP32638693A JPH07184264A (en) 1993-12-24 1993-12-24 Controller for working truck
JP93-326386 1993-12-24

Publications (2)

Publication Number Publication Date
KR950016435A true KR950016435A (en) 1995-06-17
KR0139898B1 KR0139898B1 (en) 1998-08-17

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KR1019940008660A KR0139898B1 (en) 1993-11-08 1994-04-23 Control device for an agricultural machine

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112019000216T5 (en) * 2018-03-06 2020-08-06 Hitachi Automotive Systems, Ltd. Vehicle-based system
KR102550903B1 (en) * 2022-11-04 2023-07-03 이동휘 CHATTERING PREVENTING SWITCH FOR SMART FARM, and CONTROL METHOD THEREOF

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB8701496D0 (en) * 1987-01-23 1987-02-25 Salplex Ltd Information handling & control systems
JP3082282B2 (en) * 1990-05-21 2000-08-28 株式会社デンソー In-vehicle communication device

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CN1102928A (en) 1995-05-24
CN1061207C (en) 2001-01-24
KR0139898B1 (en) 1998-08-17

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