JP2933475B2 - Control device for work vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a central control unit and a plurality of terminal control units which are distributed and arranged in each unit of the body are communicably connected via wired communication means. , Input of a detection signal from sensors for control information detection and transmission of the input data to the central control unit, and
The control unit receives the control data from the central control unit and outputs a drive signal to actuators based on the received data, and the central control unit executes the control of each of the terminal control units based on transmission data from the terminal control unit. The present invention relates to a control device for a working vehicle configured to determine the proper drive contents for the actuators and transmit the proper drive contents as the control data.

[0002]

2. Description of the Related Art In a control device for a work vehicle, in controlling a work vehicle such as a combine or the like, a central control unit intensively controls the whole work vehicle while detecting detection data from sensors for detecting control information. Or a plurality of terminal control units that input and output various signals to sensors and actuators to output drive commands to actuators for operating each working unit provided on the aircraft. The terminal control units and the central control unit are connected to each other by a wired communication unit using a standard such as RS485, and various data are transmitted and received via the communication unit. This avoids the complicated and large amount of signal wiring when directly connecting the central control unit to the sensors and actuators. Conventionally, a central processing unit is provided with a control arithmetic processing unit for controlling the entire work vehicle and a communication arithmetic processing unit for performing communication control for each terminal control unit. (For example, Japanese Patent Laid-Open No. 3-240)
802).

[0003]

In the above prior art, it is usually considered that both processing units of the central control unit perform each processing in a synchronized state. However, when operating in a synchronized state, for example, when outputting a drive signal to the actuators, the control arithmetic processing unit transmits drive control data to the communication arithmetic processing unit. It is necessary to wait until the control data is transmitted from the communication processing unit to the terminal control unit and confirmation data that the drive signal is output to the actuators is received, during which the control processing unit is used. Is another process, for example,
Judgment of necessity of driving other actuators based on detection data of sensors, output processing of drive signals to other actuators based on this judgment, or control processing of other work vehicles cannot be performed. Become. Therefore, there is a possibility that the control of the work vehicle cannot be performed appropriately and promptly, for example, a delay occurs in the control of actuators that require quick operation.

The present invention has been made in view of the above circumstances, and has as its object to provide a centralized control mode by transmitting and receiving data between a central control unit and each terminal control unit via a wired communication means. In a control device for a work vehicle that realizes simplification of signal wiring for sensors and actuators, a control arithmetic processing unit and a communication arithmetic processing unit provided in a central control unit can efficiently execute each processing. At the same time, it is an object of the present invention to enable the central control unit as a whole to appropriately and quickly execute control of the work vehicle.

[0005]

According to a first characteristic configuration of the control device for a work vehicle according to the present invention, the central control unit controls the arithmetic processing unit for control and the communication control for each of the terminal control units. A control arithmetic processing unit and a communication arithmetic processing unit that executes in an asynchronous state, wherein the control arithmetic processing unit requests the communication arithmetic processing unit to input a detection data of the sensors and the like. Outputting a command for requesting output of control data for driving the actuators, and calculating the communication
When not performing communication with the processing unit, the terminal control
Determining the proper drive content based on the transmission data from the unit
The communication arithmetic processing unit is configured to execute polling when the input request and the output request are not received from the control arithmetic processing unit.
Executing communication with each terminal control unit using the selecting method
And performing a process of sequentially receiving the detection data of the sensors from each of the terminal control units, and when receiving the input request command from the control arithmetic processing unit, receiving the sensor from each of the terminal control units. And performs a process of passing detection data of the type to the arithmetic processing unit for control, and when receiving the command of the output request from the arithmetic processing unit for control, the actuator drive received from the arithmetic processing unit for control. For transmitting control data to the terminal control units.

In a second characteristic configuration, the control arithmetic processing unit includes a process for receiving detection data of the sensors from the communication arithmetic processing unit, and a control data for driving the actuators. The processing for receiving confirmation data received by each terminal control unit from the arithmetic processing unit for communication is performed by interrupt processing from the arithmetic processing unit for communication.

A third characteristic configuration is that the central control unit and each of the terminal control units are configured to perform multiplex communication via the communication means.

A fourth characteristic configuration is that the central control unit and each terminal control unit are configured to communicate by designating an address for each terminal control unit.

[0009]

According to the first feature of the present invention, the control arithmetic processing unit issues a command for a request for input of detection data of sensors for detecting control information and a request for output of control data for driving actuators. If not, the communication processing unit is not synchronized with the control processing unit, and polling is performed.
Communication with each terminal control unit is performed by the selecting method.
And sequentially receives the detection data of the sensors from each terminal control unit. In addition, as described above, between the communication arithmetic processing unit
When not performing communication, the arithmetic processing unit for control
The proper drive content based on the transmission data from the
The arithmetic processing for the determination will be executed. When the control arithmetic processing unit issues the input request to the communication arithmetic processing unit, the communication arithmetic processing unit passes the detection data of the sensors received from each terminal control unit to the control arithmetic processing unit, The control arithmetic processing unit determines the proper drive content for the actuators based on the received detection data of the sensors. When the control arithmetic processing unit issues the output request to the communication arithmetic processing unit to transmit the proper drive content as control data, the communication arithmetic processing unit receives the output request from the control arithmetic processing unit. Control data is transmitted to each terminal control unit, and each terminal control unit outputs a drive signal to actuators based on the transmitted control data.

Further, according to the second characteristic configuration, when the control arithmetic processing unit issues a request for input of detection data of sensors to the communication arithmetic processing unit, the communication arithmetic processing unit executes the control arithmetic processing unit. The arithmetic processing unit interrupts the arithmetic processing unit, and the control arithmetic processing unit receives from the communication arithmetic processing unit the detection data of the sensors received from each terminal control unit by the communication arithmetic processing unit in the processing for the interrupt. When the control arithmetic processing unit issues a request to the communication arithmetic processing unit to output control data for driving the actuators, the communication arithmetic processing unit receives the request for driving the actuators received from the control arithmetic processing unit. Is transmitted to each terminal control unit, and in each terminal control unit, a drive signal is output to actuators based on the transmitted control data, and the control data is transmitted to the communication arithmetic processing unit. Confirmation data of the reception is returned. When receiving the confirmation data, the communication processing unit interrupts the control processing unit, and the control processing unit transmits the confirmation data to the communication processing unit in the processing for the interrupt. Receive from

Further, according to the third characteristic configuration, the communication arithmetic processing unit of the central control unit receives the detection data of the sensors from each terminal control unit, and the actuator drive for each terminal control unit. Is transmitted via a wired communication means by a multiplex communication method such as a time division multiplex method.

According to the fourth feature configuration, the communication arithmetic processing unit of the central control unit receives detection data of sensors from each terminal control unit while designating an address for each terminal control unit, and And transmitting control data for driving the actuator to each terminal control unit while designating an address for each terminal control unit. Then, in the terminal control unit in which the transmitted address designation signal and its own address match, the detection data of the sensors is transmitted to the communication arithmetic processing unit of the central control unit, or the terminal control unit of the central control unit. A drive signal is output to the actuators based on the control data transmitted from the communication processing unit.

[0013]

Therefore, according to the first characteristic configuration of the present invention, the control arithmetic processing unit is capable of inputting the detection data of the sensors of each terminal control unit and outputting the control data for driving the actuators. when needed, it can simply put that input and output command to the communication processing unit, the communication processing
When no communication is performed with the
To determine the proper drive content for actuators
As the actual communication processing is performed by the communication processing unit, the control load is reduced, and the control of the entire work vehicle can be performed more appropriately and quickly. On the other hand, the communication arithmetic processing unit also executes communication control for each terminal control unit exclusively in asynchronous with the control arithmetic processing unit, so that the communication control processing can be executed more quickly. In a centralized control mode for controlling the entire vehicle, the signal wiring with sensors and the like is simplified, and the overall central control unit is compared with a case where both the control and communication processing units perform control processing in a synchronized state. As a result, the control of the work vehicle can be performed more appropriately and quickly.

According to the second characteristic configuration, the control arithmetic processing unit receives data from the communication arithmetic processing unit by interrupt processing from the communication arithmetic processing unit. Can centrally execute control of the entire work vehicle, and can smoothly receive data from the communication arithmetic processing unit by interrupt processing, thereby obtaining suitable means of the first characteristic configuration.

According to the third characteristic configuration, the transmission and reception of data between the central control unit and each terminal control unit are performed by a multiplex communication method via a wired communication means. For example, a simple communication means can be configured by providing a single communication path, so that a suitable means of the first or second characteristic configuration can be obtained.

According to the fourth characteristic configuration, data transmission and reception between the central control unit and each terminal control unit is performed by specifying an address for each terminal control unit. Even when communication is performed via communication means provided with one communication path, the central control unit and each terminal control unit can transmit and receive data relating to the target terminal control unit without error, and accordingly, the third characteristic configuration is preferable. Means can be obtained.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings when applied to a combine as a working vehicle.

In the combine, for example, the steering control for steering the aircraft so as to automatically travel along the planted grain culm, or the handling depth of the harvested grain culm in the handling room is within an appropriate range. Handling depth control that automatically adjusts to be maintained, sorting control that sorts and collects kernels from treated products mixed with straw waste,
Various controls, such as the operation control of the auger that discharges the sorted and collected grains to the outside from the tank that temporarily stores the collected grains, and the attitude control that maintains the attitude of the aircraft at a predetermined attitude such as a horizontal attitude regardless of the state of the running ground, etc. Done.

For this purpose, as shown in FIG. 1, a central control unit CU for centrally executing the control of the entire combine.
And a plurality of terminal control units LU1 to LU5 distributed in each part of the machine including the cutting block 1, the threshing block 2, the tank block 3 and the main unit block 4 are multiplexed via a wired communication means T. Connected for communication. Each of the terminal control units LU1 to LU5 receives a detection signal from a control information detection sensor SW and a central control unit C of the input data.
It is configured to execute transmission to the U, reception of control data from the central control unit CU, and output of drive signals to the actuators M, L, B based on the received data. In addition, the central control unit CU controls each terminal control unit L
Based on the transmission data from U1 to U5, each terminal control unit L
The configuration is such that the proper drive contents for the actuators M, L, B of U1 to U5 are determined, and the proper drive contents are transmitted as control data. The sensors S
W includes a plurality of switches SW for detecting various control information as ON / OFF binary information, and the actuators M, L, and B include an electric motor M, a solenoid L, an alarm buzzer B, and the like. .

As shown in FIG. 2, the central control unit CU
A microcomputer CPU1 as an arithmetic processing unit for control, a gate array GA1 as a central communication IC for relaying data exchange between the microcomputer CPU1 and the communication means T, and the microcomputer It is provided with a microcomputer CPU2 as a communication arithmetic processing unit for performing data transmission and reception between the CPU1 and the gate array GA1 and communication control for each of the terminal control units LU1 to LU5. The communication microcomputer CPU2 executes its communication control asynchronously with the control microcomputer CPU1. Both microcomputers CPU1, CPU2
Data transmission and reception between the microcomputer CPU2 and the gate array GA1 are performed via an 8-bit bus line.
FIG. 12 shows a data format when a data input / output is requested to PU2. In this format, A0 to A3 indicate addresses to be described later for the terminal control units LU1 to LU5. When the A, B, and C bits are 1, each of the input / output ports A, B, and C of the terminal control units LU1 to LU5. (Figure 2
And FIG. 3) indicate that when the X bit is 0, a request for data input / output via each input / output port is specified, and when the X bit is 1, a request for error information is specified.

Microcomputer CPU for control
1 inputs an analog signal from an analog sensor for detecting continuously changing information such as a potentiometer, and a pulse signal from a pulse sensor for detecting a rotation speed and the like via input ports Port1 and Port2. The control microcomputer CPU1 has an E ² ROM
And a non-volatile memory MEM such as
Various error information and the like are stored in the EM. In the figure, PS1 is the microcomputer CPU
1, a DC voltage source that supplies a power supply voltage and a reset signal when the power is turned on to the CPU 2, the gate array GA1, and the like.

The control microcomputer CPU
1 outputs a command to the communication microcomputer CPU 2 for a request for inputting detection data of the sensors SW and a request for output of control data for driving the actuators M, L, and B. On the other hand, the microcomputer for communication CPU2 is provided with a microcomputer for control C
When the command for inputting the detection data and the command for outputting the control data is not received from the PU1, the detection data of the sensors SW is sequentially received from each of the terminal control units LU1 to 5 by a polling selecting method described later. When a command for inputting the detection data is received from the control microcomputer CPU1, the detection data of the sensors SW received from each of the terminal control units LU1 to 5 up to that time is received by the control microcomputer CPU1. Computer C
When a command to output the control data is received from the control microcomputer CPU 1, the control microcomputer C 1
It is configured to perform a process of transmitting control data for driving the actuators M, L, and B received from the PU 1 to the terminal control units LU1 to LU5.

The control microcomputer C
PU1 performs a process of receiving the detection data of the sensors SW from the microcomputer CPU2 for communication, and
A process of receiving confirmation data from the communication microcomputer CPU2 that the control data for driving the actuators M, L, and B have been received by the terminal control units LU1 to LU5 is transmitted from the communication microcomputer CPU2. Configured to be performed by interrupt processing , and
Communication with the communication microcomputer CPU2
When not executing, transmission from each terminal control unit LU1-5
For actuators M, L, B based on data
It is configured to execute arithmetic processing for determining the content of normal drive.
Have been.

On the other hand, as shown in FIG.
U1 to 5 are sensors SW and actuators M,
A gate array GA2 is provided as a terminal-side communication IC for relaying data exchange between L and B and the communication means T. Further, four harnesses AD1 to AD4 for generating an address signal for each of the terminal control units LU1 to LU5 are provided in combination with a low-level voltage harness connected to the ground and a non-connected harness. The harnesses AD1 to AD4, the sensors SW, and the actuators M, L, B are connected to the terminal control units LU1 to LU5 via an integrally formed connector CN. In particular,
The harnesses AD1 to AD4 are connected to address setting external terminals A0 to A3 of the gate array GA2, and the sensors SW
The actuators M, L, and B are connected to an input / output port of the gate array GA2 via a signal processing circuit and a driving circuit, respectively. In the drawing, PS2 is a DC voltage source that supplies a power supply voltage to the gate array GA2 and the like.

The communication means T is constructed using, for example, the RS485 standard, and as shown in FIG. 2, a two-wire communication line Ln, a central control unit CU and each terminal control unit LU.
And communication drivers DR provided at the contact points with the communication line Ln in each of the communication drivers DR.
Converts the transmission data received from each of the gate arrays GA1 and 2 into a signal conforming to the standard such as RS485 and outputs the signal to the communication line Ln, while inputting the signal on the communication line Ln and It operates to output to the gate arrays GA1, GA2.

The gate array GA1 on the center side and the gate array GA2 on the terminal side are formed so as to have a center side component for use as a center side and a terminal side component for use as a terminal side. The gate array GA is a communication IC of the same specification. Hereinafter, a specific description will be given based on FIG.

As shown in FIG. 3A, when the MODE terminal is set to the LOW level, the internal circuit is switched to the master mode in which the internal circuit functions as the gate array GA1 on the center side. The array GA includes an input / output buffer 11 for holding data input / output to / from the CPU 2 via a bus line, a transmission buffer 13 for holding parallel data for transmission from the input / output buffer 11, and a parallel connection of the transmission buffer 13. P / S that converts data into serial data from parallel to serial
A communication control circuit 16 for transmitting the serial data from the P / S converter 14 with CRC data for error detection from a CRC generator 15 as transmission data; S / P converter 18 for serial-to-parallel conversion, error detector 17 for checking the received serial data for CRC and the like to detect the presence or absence of a communication error, and parallel data and error detector from S / P converter 18 A reception buffer 19 for holding the error data from 17 and outputting it to the input / output buffer 11 and an R / W (read / write) signal and an STB (data strobe) signal which are control signals for data input / output from the CPU 2 are input. In addition, a CPU I / F section 12 for outputting an interrupt INT signal to the CPU 2 is provided.

The gate array GA is shown in FIG.
As shown in (2), when the MODE terminal is set to the HIGH level, the internal circuit is switched to the slave mode in which the terminal functions as the gate array GA2 on the terminal side. In this slave mode, the gate array GA includes the switch SW and the actuators M, L, B, an input / output port 21 for inputting / outputting data to / from B, a transmission buffer 13 for holding the detection signal from each switch SW input through the input / output port 21 as parallel data, and a transmission buffer 13
A P / S conversion unit 14 for converting the parallel data of the P / S into serial data into a serial data, and a serial data from the P / S conversion unit 14
A communication control circuit 16 for transmitting the data with the C data added thereto as transmission data; an S / P converter 18 for serially / parallel-converting the received serial data; An error detection unit 17 for detecting the presence or absence of
A reception buffer 19 for holding the parallel data from the / P conversion unit 18 and the error data from the error detection unit 17 and outputting the data to the input / output port 21, and the terminal control units LU1 to LU5
Address setting unit 22 for setting an address for
It becomes the composition provided with.

As described above, the CPU I / F unit 12 corresponds to the central component, the address setting unit 22 corresponds to the terminal component, and gates other than the CPU I / F 12 and the address setting unit 22 are provided. The main part of the array GA is
As shown by the same part number, it is shared by the center side and the terminal side. The input / output port 21 is composed of three ports A, B, and C each having 8 bits. Ports A and B of the terminal control unit LU3 at address 0 are input ports, and port C is an output port. The port A of the terminal control unit LU4 at address 1 is set as an input port, and the ports B and C are set as output ports. The input / output buffer 11 in the master mode is shared with the port B of the input / output ports 21 in the slave mode.

Each of the terminal control units LU1 to LU5 inputs address signals from the harnesses AD1 to AD4 connected to the external terminals A0 to A3 to the address setting unit 22 as its own address data only when the power is turned on. It is configured. That is, a LOW level voltage signal is supplied from the LOW level voltage harness, and a HIGH level voltage signal is supplied to the unconnected harness because the harness is pulled up to the power supply side inside the gate array GA2,
Each of the terminal control units LU1 to LU5 sets its own address according to the combination of the voltage signals. In FIG. 2, the terminal control unit LU3 sets the external terminals A0 to A3 at the LOW level and sets the address as 0, and sets the terminal control unit LU3.
U4 is high only in A0 of the external terminals A0 to A3.
At the level, the other terminals A1 to A3 are at the LOW level and set as address 1.

The central control unit CU and each terminal control unit L
U1 to U5 are configured to perform multiplex communication by designating addresses set for the terminal control units LU1 to LU5. Specifically, the central control unit CU uses a polling selecting method. The communication with the terminal control units LU1 to LU5 is performed using the above address as an identification signal (see FIG. 11).

Next, a control operation in the central control unit CU will be described with reference to flowcharts shown in FIGS. 4 to 6 and FIGS.

As shown in FIG. 4, when the main switch is turned on and the power is turned on, first, the reset state of the CPU 1 is released and the control is started. Then, after performing the initialization processing, the input processing of the analog signal from the analog sensor and the pulse signal from the pulse sensor is performed, and the operation of all the terminal control units LU1 to LU5 is stabilized after the main switch is turned on. The CPU 2 is kept in the reset state (the output Port3 of the CPU 1 shown in FIG. 2 = HIGH) until the time required for the communication (e.g., 250 ms) elapses, and the communication with each of the terminal control units LU1 to 5 is stopped.
During this time, lamp check processing of a meter panel (not shown) is performed (# 1 to # 5 and # 12).

When the time for stabilizing the operations of all the terminal control units LU1 to LU5 elapses, the CPU 1 sets the output port
Set t3 to LOW to release the reset state of CPU2,
The communication between the CPU 2 and each of the terminal control units LU1 to LU5 is started (# 6). That is, the CPU 2 controls the terminal control units LU1 to LU5.
Are sequentially called, and the operation of receiving the data of each switch SW is repeatedly performed at a predetermined cycle (for example, 5 ms) (see FIG. 8). By repeating the communication in this predetermined cycle,
A time period (for example, 900 ms after the main switch is turned on) in which the CPU 2 determines that the communication error information for each of the terminal control units LU1 to 5 such that the data of each switch SW and the normal reply data cannot be received is sufficiently accumulated. Then, the CPU 1 starts a process of transmitting and receiving control data to and from the CPU 2 via an 8-bit bus line (# 7).
# 8, see FIGS. 9 and 10). After that, the CPU 1
After a lapse of time (for example, 1.5 seconds after the main switch is turned on) required for grasping the state of the entire system by exchanging data with the PU2, the CPU 1 sets the display on the meter panel to a normal state and starts the entire control processing. (# 9 to # 11). Note that the CPU 1 operates the watchdog timer routine at regular intervals, and when the control goes out of control, the power supply PS1 is output from the output port Port4.
To output a reset signal (see FIG. 2).

In the bus communication performed by the CPU 1 with the CPU 2, as shown in FIG. 5, first, in order to eliminate the influence of the chattering of the switch operation, the data is received from the CPU 2 by a plurality of (for example, four) bus communication. Each switch SW
Is filtered only when the data is the same, and then the data is stored (# 2).
1). Next, communication error information is input to each of the terminal control units LU1 to LU5, and if there is any terminal control unit LU1 to LU5 in an error state, an abnormal output process for displaying an alarm on a meter panel or the like is performed and the terminal in the error state Control units LU1-5
Error processing such as stopping the communication of the drive command to the actuators M, L, and B for a predetermined period (# 22 to # 2)
3). Next, it is determined whether or not the previous communication with the CPU 2 was OK (if the value of the SBUSend flag is 0, it is determined that
K), and determines whether or not the CPU 2 is in a command waiting state of waiting for a command from the CPU 1 (# 24 to # 25). When the previous communication with the CPU 2 is OK and the CPU 2 is in the command waiting state, the external interrupt from the CPU 2 is permitted, the SBUSend flag is set (the value is set to 1), and the TA used in the interrupt processing from the CPU 2 is set.
The SKno is reset (to a value of 0), and a process for outputting a command for executing a process for the terminal control unit LU3 at the address 0 to the CPU 2 in the first part of the interrupt process is performed. On the other hand, if the previous communication with the CPU 2 is not OK, or if the previous communication with the CPU 2 is OK but the CPU 2 is not in the command waiting state, the CPU 2 is reset to the abnormal state for a predetermined time, and the alarm display output is performed. (# 30 to # 31).

In the processing routine for the interruption from the CPU 2, as shown in FIG. 6, after the re-interruption is prohibited, the processing according to the value of each TASKno is sequentially performed from TASKno = 0, and the value of TASKno is increased by one. The next interrupt is enabled, and the process ends. As shown in FIGS. 9 and 10, the processing in each TASKno is performed in the first TASKno.
When SKno = 0, data is taken in from the input port A of the terminal control unit LU3 at address 0, and TASKno is read.
= 1, input port B of terminal control unit LU3 at address 0
And the process of transferring the output data to the output port C. When TASKno = 2, a process for outputting a command for executing a process for the terminal control unit LU4 at address 1 is performed, and when TASKno = 3, data is taken in from the input port A of the terminal control unit LU4 at address 1 and output. The output data is transferred to the port B. When TASKno = 4, the address 1
Transfer processing of output data to the output port C of the terminal control unit LU4. Hereinafter, similarly, the terminal control units LU1 to LU5 of the remaining addresses sequentially execute command transfer and data input / output processing. In the above flow, the transfer of the output data to the output port is performed by the CPU.
1 is not performed until 1.5 starts the entire control process (1.5 seconds after the main switch is turned on).

According to the above flow (FIG. 9), address 0
When the request command is transferred to the terminal control unit LU3 of the above, the CPU 2 is receiving the detection data of the sensors SW from the terminal control unit LU4 of the address 1, and after the reception of the detection data of the sensors SW is completed, The input port A and the input port B of the terminal control unit LU3 at the address 0 take in data and transfer the output data to the output port C. That is, the terminal control units LU1 to LU5
While receiving the detection data of the sensors SW from
Actuators M for the terminal control units LU1 to LU5,
When a request for transmission of control data for L and B driving is generated, transmission of the control data for driving the actuators M, L and B is performed after the reception of the detection data of the sensors SW being received is completed. Be executed. In the above flow, the transfer processing of the output data to the output port C may be performed before the data is taken in from the input port A and the input port B of the terminal control unit LU3 at the address 0.

Then, TASKno which is one before the last =
n, a command requesting communication error information for each of the terminal control units LU1 to LU5 is transferred, and the last TASKno
When = n + 1, the communication error information is read, and then the SBUSend flag is reset (value is set to 0) to indicate that the communication with the CPU 2 is OK. In the last TASKno = n + 1,
Since the processing is ended in a state where the next interrupt is prohibited, the processing for the interrupt from the CPU 2 is not executed thereafter until the interrupt is permitted in the bus processing shown in FIG.

When the main switch is turned off in order to stop the operation of the combine, as shown in FIG. 4, first, the CPU 2 is reset to stop the communication with the terminal control units LU1 to LU5 (# 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 error information is written to the memory MEM.
After the elapse of 5 seconds, the driving of the solenoid is stopped (# 14 to # 17).

The writing of the error information to the memory MEM may be performed at predetermined time intervals other than when the engine is stopped. However, when the power supply voltage is lowered such as when the engine starter is started, erroneous data may be written. Therefore, the power supply voltage (for example, 12 V) is monitored, and the processing is not performed when the voltage is reduced. Note that the memory M
The error information written in the EM is read by a checker or the like, and failure analysis is performed based on the error information.
Since the error history is recorded, there is an advantage that it is possible to analyze an error in which it is difficult to reproduce, for example, an instantaneous disconnection.

Next, control operations in the terminal control units LU1 to LU5 will be described based on flowcharts shown in FIG. 7 and FIGS. First, it is determined whether or not a polling signal for itself is received based on an address in the received data. If the polling signal is for itself, it is determined whether the request is an input request from the switch SW or an output request for the actuators M, L, and B. I do. In the case of an input request from the switch SW, a detection signal from the switch SW is input via an input port, and sensor data for reply is created based on the input signal. On the other hand, in the case of an output request to the actuators M, L, B, the received data is output via the output port, and ACK data for reply is created. Next, as shown in FIG. 11, the centralized control unit CU
The transmission time t until the transmission start point with respect to the end time point of the polling signal from is changed at random.

Thus, when a plurality of terminal control units LU1-5 respond to the same polling signal due to an error in the address setting for each terminal control unit LU1-5, the timing of each return signal is shifted. The overlapped waveforms are received by the central control unit CU, are determined to be abnormal data different from normal data, and can be detected as a communication error. Note that the communication control circuit 16 performs the random processing of the return timing based on a signal from the random signal generation circuit 23 (see FIG. 3) in the gate array GA2.

Another Embodiment Next, another embodiment will be described. In the above-described embodiment, the arithmetic processing unit for communication provided in the central control unit CU has been described as being constituted by the microcomputer CPU2. However, the communication arithmetic processing unit is not necessarily required to be a microcomputer. May be used. Also, the specific configuration of the arithmetic processing unit for control can be changed as appropriate, such as using a plurality of microcomputers instead of one microcomputer.

In the above embodiment, the central processing unit CU has a communication arithmetic processing unit (microcomputer CPU).
2) is an arithmetic processing unit for control (microcomputer CP
When a command to output control data for driving the actuators M, L, and B is received from U1), after the reception of the detection data of the sensors SW from the terminal control units LU1 to LU5 currently being received is completed. Although the control data is transmitted to the terminal control units LU1 to LU5, the reception of the detection data of the sensors SW is temporarily interrupted, and the driving of the actuators M, L, and B is performed first. , The actuators M, L, B can be driven more quickly by receiving the interrupted detection data of the sensors SW.

In the above embodiment, the control arithmetic processing unit CPU1 receives the detection data of the sensors SW from the communication arithmetic processing unit CPU2, and the control data for driving the actuators M, L, B. Is the terminal control unit LU1
The processing for receiving the confirmation data received by the communication processing unit CPU2 from the communication processing unit CPU2
Since the PU2 operates in an asynchronous state with the control arithmetic processing unit CPU1, the processing is performed by interrupt processing from the communication arithmetic processing unit CPU2. However, the present invention is not limited to the interrupt processing. For example, the control arithmetic processing unit CPU1 is provided with a data register in which the detection data and confirmation data can be written at any time from the communication arithmetic processing unit CPU2, and the control arithmetic processing unit CPU1 side stores the detection data and confirmation data in the data register. You may make it confirm whether data was written, and receive it.

In the above embodiment, the wired communication means T is
Although the one constructed using the RS485 standard is shown,
Wired communication means of various other standards can be used.

In the above embodiment, the switch SW for detecting the sensors as ON / OFF binary data of the control information is used.
However, it is also possible to include a sensor for detecting an analog signal or a pulse signal other than binary signals. Further, the actuators may include those other than the electric motor M, the solenoid L, and the alarm buzzer B.

In the above embodiment, the communication IC uses the CPU-side I / F section 12 for the center-side component for use as the center side and the address setting section 22 for the terminal-side component for use as the terminal side. However, the specific configuration of the center-side component and the terminal-side component can be changed as appropriate. In the above embodiment, the input / output buffer 11 of the communication IC on the center side is shared with the port B of the three input / output ports of the communication IC on the terminal side. The input / output buffer 11 may be provided independently without being shared. Further, the main circuit portion for data exchange shared by the communication IC on the center side and the communication IC on the terminal side is not limited to the circuit configuration of the transmission buffers 13 to 19 as shown in the embodiment.

In the above embodiment, in order to eliminate the influence of the chattering operation of each switch SW as a sensor, the detection signal from each switch SW is directly used by the central control unit CU.
And the final control microcomputer CP
At the time of processing by U1, filtering processing for making normal data is performed only when received data of a plurality of times (for example, four times) is the same. Although the configuration that can realize the simplification and generalization of the configuration has been described, the configuration of the filtering process performed by the CPU 1 is not limited to this. Note that, of course, the filtering process can be performed not by the CPU 1 but by the gate arrays GA1 and GA2 and the CPU 2 on the way.

In the above embodiment, the present invention is applied to a combine. However, the present invention can be applied to various other automatic or manual traveling type work vehicles.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an overall control configuration of a combine;

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

FIG. 3 is a circuit configuration diagram of a communication IC.

FIG. 4 is a flowchart showing a control operation in a central control unit.

FIG. 5 is a flowchart showing a control operation in a central control unit.

FIG. 6 is a flowchart showing a control operation in a central control unit.

FIG. 7 is a flowchart showing a control operation in a terminal control unit.

FIG. 8 is an explanatory diagram of a control procedure in a central control unit and a terminal control unit.

FIG. 9 is an explanatory diagram of a control procedure in a central control unit and a terminal control unit.

FIG. 10 is an explanatory diagram of a control procedure in a central control unit and a terminal control unit.

FIG. 11 is an explanatory diagram of a signal waveform in the polling selecting method.

FIG. 12 shows an example of a data format exchanged between the control and communication arithmetic processing units.

[Description of Signs] CU Central Control Unit LU1 to LU5 Terminal Control Unit T Communication Means SW Sensors M, L, B Actuators CPU1 Operation Processing Unit CPU2 Communication Operation Processing Unit

──────────────────────────────────────────────────の Continued on front page (72) Inventor Yasunori Sueyoshi 64 Ishizukita-cho, Sakai City, Osaka Prefecture Inside Kubota Sakai Plant (72) Inventor Masahiko Shimano 64 Ishizukita-cho, Sakai City, Osaka Prefecture Kubota Sakai Manufacturing Co., Ltd. Office (72) Inventor Hiromichi Ando 64 Ishizukita-cho, Sakai City, Osaka Prefecture Inside Kubota Sakai Works Co., Ltd. (72) Inventor Hideaki Tanaka 64 Ishizukita-machi Sakai City, Osaka Prefecture Kubota Sakai Works Co., Ltd. (56) Reference Document JP-A-3-240802 (JP, A) JP-A-3-81862 (JP, A) JP-A-5-235962 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) H04Q 9/00 301 G05D 1/00 A01B 69/00 302

Claims (4)

(57) [Claims] 1. A central control unit (CU) and a plurality of terminal control units (LU1 to LU5) distributed and arranged in each unit of the body,
Each terminal control unit (L) is connected via a wired communication unit (T).
U1 to LU5) are connected so as to be communicable by designating an address, and the terminal control unit (LU1 to LU5) inputs a detection signal from a control information detection sensor (SW) and the center of the input data. Transmission to the control unit (CU),
And reception of control data from the central control unit (CU) and actuators (M,
L, B), and the central control unit (CU) transmits the drive signals to the terminal control units (LU1 to LU5) based on transmission data from the terminal control units (LU1 to LU5).
To LU5), the control device for a work vehicle configured to determine the proper drive content for the actuators (M, L, B) and transmit the proper drive content as the control data. The control unit (CU) controls the arithmetic processing unit (CP
U1), and a communication processing unit (CPU2) that executes communication control for each of the terminal control units (LU1 to LU5) in an asynchronous state with the control processing unit (CPU1). The arithmetic processing unit (CPU1) is provided with the sensors (SW) for the communication arithmetic processing unit (CPU2).
And a command to output control data for driving the actuators (M, L, B) .
When no communication is performed between the terminals, the terminal control unit (LU1)
To the LU 5) based on the transmission data
Configured to perform a determining operation processing, the communication arithmetic processing unit (CPU 2), when the arithmetic processing unit for the control (CPU 1) does not receive an instruction of said input request and the output request, Pauline
The terminal control units (LU1 to LU1)
LU5), and communicates with each of the terminal control units (LU1 to LU1).
LU5) to perform a process of sequentially receiving the detection data of the sensors (SW), and when receiving the input request command from the control arithmetic processing unit (CPU1), the terminal control units (LU1 to LU1).
The detection data of the sensors (SW) received from the LU 5) is passed to the control processing unit (CPU1), and the output request command is received from the control processing unit (CPU1). Sometimes, the arithmetic processing unit for control (C
PU1), the actuators (M,
L, B) control data for driving is transmitted to each terminal control unit (LU).
1 to a LU 5). 2. The arithmetic processing unit for control (CPU1).
Is a process for receiving the detection data of the sensors (SW) from the communication arithmetic processing unit (CPU2), and the control data for driving the actuators (M, L, B) is transmitted to the terminal control unit (LU1). To LU5), a process of receiving confirmation data received from the communication operation processing unit (CPU2) from the communication operation processing unit (CPU2) by interrupt processing from the communication operation processing unit (CPU2). A control device for a working vehicle as described. 3. The central control unit (CU) and each of the terminal control units (LU1 to LU5) are configured to perform multiplex communication via the communication means (T).
A control device for a working vehicle as described. 4. The terminal control unit (LU), wherein the central control unit (CU) and each of the terminal control units (LU1 to LU5)
4. The control device for a work vehicle according to claim 3, wherein the control device is configured to perform communication by designating an address for the first to LU5).