JP4345871B2 - Control device for agricultural machine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a control device in a farm machine such as a combiner. More specifically, when control data is transferred between a plurality of (three or more) CAN controller units by CAN communication, the data communication, etc. The present invention relates to a configuration for controlling the output external device not to run out of control when an abnormality occurs.
[0002]
[Prior art]
In recent agricultural machines such as combines, a sensor or a setter for transmitting a control amount signal to the control means as a control target, for example, an electronic type as an actuator for controlling the output (load) of the engine of the traveling machine body Governor fuel injection amount detection sensor (rack position detection sensor for adjusting the position of the fuel injection plunger), traveling unit height sensor (vehicle) that detects the relative height of the left and right traveling crawlers of the traveling unit with respect to the traveling machine body High sensor), an auger clutch operation position detection sensor for interrupting the power to the conveyor of the discharge auger for discharging the grains in the grain tank to the outside, the horizontal direction of the horizontal cylinder of the discharge auger And an auger position setter that commands (sets) the height of the grain discharger at the tip of the horizontal cylinder, and a sensor for detecting the operation amount of the controlled object in accordance with the control signal, for example, Input system external devices such as a speed sensor that detects the traveling speed of the work machine, the rotational speed of the working part of the threshing part, the horizontal direction sensor and the height sensor of the horizontal cylinder of the discharge auger, and the electronic governor An electromagnetic solenoid for driving a fuel injection plunger, a hydraulic cylinder for adjusting the height of the left and right traveling crawler, a clutch actuator for driving the auger clutch, a drive motor for rotating the discharge auger to the left and right, and a discharge auger An output system external device comprising various actuators such as a lifting hydraulic cylinder for adjusting the elevation angle of the horizontal cylinder with respect to the horizontal, and the operation of the output system external device can be controlled by a control means such as a microcomputer. Usually done.
[0003]
By the way, when there are many types and numbers of the input system external devices and the output system external devices, there is a limit to the ability to be processed at one time when controlled by a single electronic controller such as a microcomputer type. If priorities are set, it becomes difficult to perform processing in parallel. To prevent this, if independent and parallel control is performed by a plurality of microcomputers, control linkage between external devices to be related cannot be taken. There is an inconvenience.
[0004]
In order to eliminate these disadvantages, Japanese Patent Laid-Open No. 219506/1994 discloses a plurality of sub-microcomputers (slave controllers) for controlling a plurality of input system external devices and output system external devices. In order to enable the master controller to grasp and monitor the control state of a plurality of slave controllers and the sensors connected thereto, a master controller is provided. It has been proposed to connect the slave controller with a serial communication line and to directly input the signals of each sensor to the master controller.
[0005]
However, even with this method, a communication circuit that transfers (transmits) control data from one controller to the other controller often uses a serial interface. When the number increases, the processing load on the master controller increases, and there is a problem that rapid linkage control cannot be performed.
[0006]
Even in a recent LAN environment, there is a problem in that one controller cannot control the other controller when there is a communication line failure or another controller failure.
[0007]
Recently, data communication using a CAN (controller area network) protocol has been proposed as a new development of the LAN environment. This CAN-based network uses distributed real-time control and multiplexing using a differential two-wire bus line with a common return (an instruction to return a program that has moved to a subroutine, interrupt processing routine, etc. to the main routine). and multi-plexing).
[0008]
This CAN communication is applied to, for example, communication between various body body controller controllers, robot control, a factory control system, and the like.
[0009]
Each CAN controller unit has a CAN controller unit (communication control using a CAN protocol) in addition to a CPU, a ROM (read only memory), a RAM (a read / write memory as needed, including a reception slot) that perform normal control. The controller unit) and the CAN controller unit for transmitting and receiving control data (signals for input external devices such as sensors and signals for operation to be sent to output external devices such as actuators) to the CAN communication bus. CAN driver.
[0010]
In CAN communication, an ID code (identifier number or identifier code) of the CAN controller unit to be transmitted is attached to the control data to be transmitted and stored in the reception slot in each CAN controller unit. It was.
[0011]
That is, when control data with an ID code is sent out from a certain CAN controller unit to the CAN communication bus, the control data with the ID code is also stored in the reception slot in the other CAN controller unit. The CAN controller unit also receives the transmitted control data with the ID code from the CAN communication bus at a predetermined timing and stores it in the reception slot.
[0012]
[Problems to be solved by the invention]
However, in the conventional CAN system, since the communication line is only the CAN communication bus, when the communication becomes impossible or when the communication line (harness or the like) on which the CAN communication bus is mounted is disconnected, There was a problem that the control data could not be transferred between each other and the system was down.
[0013]
As a result, for example, the CAN communication line is disconnected after an operation command is issued from the operation command system CAN controller unit and the operation control system CAN controller unit connected to the output system external device receives the operation command signal. Then, there is a risk that the output system external device will continue to operate due to the operation command signal and runaway.
[0014]
The present invention has been made in order to solve such problems in conventional CAN communication. Even when CAN communication becomes impossible, the present invention is for minimum control between a plurality of CAN controller units. It is an object of the present invention to provide a control device in a farm machine that ensures transmission and reception of data and can reliably use the communication result for control.
[0015]
[Means for Solving the Problems]
In order to achieve the above object, a control device for an agricultural machine according to the first aspect of the present invention includes an input system external device such as a sensor and a setting device provided in a traveling unit, a working unit, an operation unit, etc., and an actuator. Between each CAN controller unit and three or more CAN controller units that receive and control a control signal between the output system external devices and the like, and either one or both of the input system external devices or the output system external devices. A control device in an agricultural machine having a CAN communication bus to be connected and transferring control data between CAN controller units to execute control, wherein the CAN communication bus is connected between the CAN controller units. Are connected by a communication line of a different system, and communication means different from CAN communication are provided in parallel, and each CAN controller unit is connected to each CAN controller unit. , A transmission error counter by CAN communication, and a reception error counter, and when the transmission error counter value exceeds a predetermined value and at least CAN communication is disabled, via the communication means and communication line of another system, Control is performed between each CAN controller unit so as to execute communication information indicating that the CAN communication is impossible and transmission / reception of control data necessary for minimum farm work.
[0016]
The invention according to claim 2 is the control device for the agricultural machine according to claim 1, in which normal control is executed by CAN communication, and the communication means of another system does not affect the load on the CPU. Is used to check the communication status.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
Next, an embodiment of the present invention will be described. FIG. 1 is a left side view of the combine, FIG. 2 is a plan view of the combine, FIG. 3 is a right side view of the combine, FIG. 4 is a front view, and FIG. FIG. 9 is an overall functional block diagram of the control device, and FIG. 10 is a functional block diagram inside the CAN controller unit.
[0018]
The traveling machine body 1 in the combine of the present invention is configured to be able to move up and down via a traveling unit lifting / lowering driving means described later with respect to a pair of left and right traveling crawlers 2a. A threshing device 3 as a working unit is mounted on the left side in the traveling direction of the traveling machine body 1, and a pre-cutting processing device 4 as a working part disposed at the front part of the traveling machine body 1 is provided via a lifting frame 14. It is supported by the traveling machine body 1 so as to be able to move up and down and up and down, and can be moved up and down by a single-action cutting part lifting hydraulic cylinder 9 as a cutting part lifting actuator mounted between the lifting frame 14 and the traveling machine body 1. It is configured.
[0019]
A clipper-type cutting blade device 5 is arranged on the lower side of the lower frame of the pre-cutting processing device 4, and a cereal groin raising device 6 for six strips is arranged on the front side. Between the two, a cereal haul conveying device 8 is arranged, and a weed body 10 protrudes in front of the lower portion of the cereal haul raising device 6. A cab 11 is arranged at the front right side of the traveling machine body 1, and a grain tank 12 is arranged on the rear side thereof.
[0020]
As shown in FIG. 5, a part of the power from the engine 15 provided in the lower rear part of the operator cab 11 is longitudinally moved in the bottom screw conveyor 17 in the grain tank 12 and in the discharge auger 20 via the auger clutch 16. While being transmitted to the screw conveyors 18a and 18b, the handling cylinder 3a of the threshing portion 3 of the hydraulic pump / hydraulic motor type (HTS type) traveling drive unit 24 of the traveling unit 2 and the tang 21 The receiving screw conveyor 22a, the second receiving screw conveyor 22b, the feed chain 7, the cerealing screw conveyor 23 to the grain tank 12, and the like are driven to rotate. Power transmission to the cutting pretreatment device 4 is executed via the output shaft 26 from the traveling drive unit 24 when the traveling speed is synchronized, and by the branching power from the power branching mission 19 and the clutch 25 when not synchronized. Driven.
[0021]
As shown in FIGS. 3 and 8, a vertical pipe 28 b disposed at the rear end of the traveling machine body 1 from a screw conveyor provided in the lower part of the grain tank 12, and a horizontal pipe continuously connected to the upper end of the vertical pipe 28 b so as to be vertically rotatable. 28a, and the grain accumulated in the grain tank 12 can be discharged to a part such as a truck bed via a discharge auger 28 in which a screw conveyor is installed in each pipe. The vertical pipe 28b can be turned around the vertical axis by the drive motor 64b and the gear mechanism 57, and the horizontal pipe 28a is connected to the vertical pipe 28b, and the discharge auger hydraulic cylinder 64a and the link mechanism. 58, the inclination angle can be changed.
[0022]
An angle sensor 85 such as a rotary encoder provided in the drive motor 64b can detect the horizontal turning angle of the vertical pipe 28b and consequently the turning position of the horizontal pipe 28a, and is provided at the link mechanism 58 or the hydraulic cylinder 64a. The angle sensor 86 such as a potentiometer can detect the elevation angle of the horizontal pipe 28a, and hence the height position of the discharge portion at the tip of the horizontal pipe 28a. When the discharge auger 28 is not used, the middle portion of the horizontal pipe 28a is placed on a rest base 87 provided on the upper surface of the grain tank 12 or the like. Further, the rest base 87 is provided with a rest detector 88 such as a contact sensor for detecting whether or not the horizontal pipe 28a is placed.
[0023]
As shown in FIG. 6 (traveling section viewed from the left side), the traveling section 2 includes a driving wheel 51, a driven wheel 52, and a lower halfway of the track frame 50 disposed at the front and rear ends of a pair of left and right track frames 50, 50, respectively. The left and right track frames 50 and 50 and the traveling machine body 1 are composed of left and right lifting control hydraulic cylinders 54a and 54b, and front and rear positions of the traveling crawler 2a wound around the outer periphery of a plurality of rolling wheels 53 disposed in the section. The levers 55a and 55b, which are L-shaped when viewed from the side, and connecting rods 56 and 56 for connecting the front and rear levers 55a and 55b so as to be operated simultaneously, are connected via a traveling unit lifting drive means. The hydraulic cylinders 54 a and 54 b are operated independently of each other, thereby moving the left and right traveling units 2 and 2 up and down independently of the left and right of the traveling machine body 1.
[0024]
Therefore, when the piston rods of the left and right hydraulic control cylinders 54a and 54b are projected at the same time, the traveling machine body 1 is separated upward (raised) with respect to the traveling parts 2 and 2 on the left and right sides. The relative height (vehicle height) with respect to the traveling units 2 and 2 is increased. Conversely, when the piston rods are simultaneously retracted, the traveling machine body 1 moves downward (lowers) with respect to the traveling parts 2 and 2 on both the left and right sides, and the relative height (vehicle height) of the traveling machine body 1 with respect to the traveling part. Becomes lower.
[0025]
When the piston rod of the left hydraulic cylinder 54a is protruded or the piston rod of the right hydraulic cylinder 54b is retracted (or both operations are performed simultaneously), the traveling machine body 1 with respect to the right traveling unit 2 is obtained. The vehicle height of the traveling machine body 1 becomes lower (the vehicle height of the traveling machine body 1 with respect to the left traveling unit 2 becomes higher), and the traveling machine body 1 tilts downward. Conversely, the piston rod of the right hydraulic cylinder 54b is protruded, or the piston rod of the left hydraulic cylinder 54a is retracted (or even if both of these operations are performed simultaneously), the traveling machine body for the left traveling unit 2 The vehicle height of 1 is lowered (the vehicle height of the traveling machine body 1 with respect to the right traveling unit 2 is increased), and the traveling machine body 1 is inclined downwardly to the left.
[0026]
As shown in FIG. 6, the relative height (vehicle height) of the traveling machine body 1 with respect to the left and right traveling portions 2 and 2 is detected by detecting the protruding amount of the piston rod of the left and right hydraulic cylinders 54a and 54b. Vehicle height detection sensors 72a and 72b, such as a rotary encoder type, are configured to be interlocked via a connecting rod 72 and a link mechanism 73 that are connected to the connecting rod 56.
[0027]
In addition, the inclination detection sensor 74 for detecting the degree of left and right inclination of the traveling machine body 1 is configured by a pendulum type (gravity type) or the like, and is disposed at an arbitrary position of the traveling machine body 1 such as the cab 11. Yes. In addition, as shown in FIG. 4, the ultrasonic sensors 20a and 20b serving as cutting height sensors for detecting the cutting height by detecting the height between the pre-cutting processing device 4 and the field scene are before the cutting. Arranged on brackets (not shown) provided on the back side of the grain raising device 6 at the left and right ends of the processing device 4, transmitter units (horn units) and receivers of the ultrasonic sensors 20 a, 20 b The receiver is placed so as to face the farm scene. When the installation height of each ultrasonic sensor 20a, 20b and the installation height of the cutting blade 5 are different, the cutting height detection value is obtained by predetermined conversion from the detection values of the ultrasonic sensors 20a, 20b. .
[0028]
Further, the lift position sensor 75 for detecting the relative height between the traveling machine body 1 and the pre-cutting processing device 4 is configured to be obtained by detecting the rotation angle of the lift frame 14. .
[0029]
A control panel (not shown) in the driver's cab 11 has a changeover switch 76 for switching between the automatic mode and the manual mode, and travel in the case of vehicle height control regardless of the automatic mode or the manual mode. An operation lever 77 serving as a manual variable operation unit capable of changing and adjusting the height (vehicle height) of the machine body 1 and an inclination setting device 78 for setting the right and left inclination angle of the traveling machine body 1 are disposed.
[0030]
FIG. 7 shows a hydraulic circuit for the elevating hydraulic cylinders 54a, 54b, etc., which branches through a diversion valve 63 that diverts the pressure oil discharged from the hydraulic pump 60, and cuts the reaping from one of the discharge paths. This is sent to the first hydraulic circuit 61 for the hydraulic cylinder 9 as a cutting unit lifting actuator for raising and lowering the pretreatment device 4 and the right (operating cab 11 side) lifting control hydraulic cylinder 54b. From the other discharge path of the diversion valve 63, the discharge auger lifting / lowering hydraulic cylinder 64a for changing the inclination angle of the horizontal pipe 28a of the discharge auger 28 with respect to the vertical pipe 28b and the left / lower lifting control hydraulic cylinder 54a 2 is configured to send to the hydraulic circuit 62, and electromagnetic control valves 65, 66a, 67, 68, check valves, relief valves and the like for the respective hydraulic cylinders 9, 64a, 54a, 54b are connected.
[0031]
FIG. 9 shows a functional block diagram of a control device 70 for controlling the traveling speed, posture and vehicle height of the traveling machine body 1, the discharge position of the discharge auger 28, etc. The control device 70 is an electronic type such as a microcomputer. It is a control device, and comprises a plurality (5 in the embodiment) of CAN controller units C1, C2, C3, C4, and C5, a CAN communication bus 82a connecting them, and a communication line 82b of another system. The CAN communication bus 82a has two lines. One of the CAN bus levels is called “dominant” and the other is called “recessive”. In the CAN convention, the recessive bus level is represented as logical 1, and the dominant bus level is represented as logical 0 (see FIG. 11). The dominant can then override the recessive.
[0032]
As will be described later, a communication line (harness) 82b of a system different from the CAN communication bus 82a is used by a communication means such as a serial interface such as RS232C using a URAT (general purpose asynchronous transmission / reception circuit) or a clock synchronous serial interface 107. The data communication control is executed between the CAN controller units C1, C2, C3, C4, and C5 (see FIG. 10).
[0033]
Therefore, the communication line 82b and the communication means of this different system are so-called emergency lines. As another communication means, if the CAN controller unit 112 has two channels instead of the RS232C, one channel is a normal CAN communication system, and the other channel (basic CAN, the communication speed is slightly slow. ) May be a so-called separate communication means.
[0034]
As shown in FIG. 10, each of the CAN controller units C1, C2, C3, C4, and C5 includes a central processing unit (CPU) 100 for executing various arithmetic processes and controls, and a read-only memory (a control program). ROM) 101, read / write readable memory (RAM) 102 for temporarily storing various detection values, data, etc., system clock generator 103, clock synchronous serial interface 104, timer 105 used for time stamp function, transmission / reception A monitoring timer 106 for measuring the timing of the signal, a UART (general purpose asynchronous transmission / reception circuit) or clock synchronous serial interface 107, a DMAC (direct memory access controller) 108, an A / D (analog / digital) converter 109, a D / A (digital / digital) Analog) strange Comprises a vessel 110, CRC (cyclic code redundancy check) calculator 111, CAN controller unit 112, CAN driver 113 and the like. Here, the CAN controller unit 112 is a part that controls communication by the CAN communication protocol, and the transmission completion flag, the reception completion flag, the transmission flag, and the reception flag are provided in the status register in the CAN controller unit 112. .
[0035]
The CAN driver 113 is for transmitting / receiving the ID code-equipped control data 114 to / from another CAN controller unit via the CAN communication bus 82a, and may be externally attached to the CAN controller unit.
[0036]
The RAM 102 includes a reception slot 102a and a transmission slot 102b. A plurality of receiving slots 102a are provided. In the embodiment, there are five reception slots 102a.
[0037]
The transmission slot 102b has an ID code of its own CAN controller unit, and when transmitting control data 114 with an ID code to be described later at a predetermined timing, it is written and stored in advance. Therefore, the ID code of the CAN controller unit to be transmitted is attached to the control data in the transmission slot 102b. On the other hand, each reception slot 102a stores control data 114 with ID code returned via the CAN communication bus 82a.
[0038]
FIG. 12 shows the structure of the data frame of the control data 114 with ID code. The first 1-bit data frame portion (SOF) 120 is the first bit for synchronization, and the signal falls (change from recessive to dominant, high level “1” to low level “0”). Change).
[0039]
The subsequent 11-bit portion is an ID code portion 121, and an ID code is predetermined for each CAN controller unit that transmits control data. The next 1-bit portion is a bit indicating the end of the RTR 122 (ID code portion 121. The next 6-bit portion is the control unit 123.
[0040]
Following this, the 0-bit to 64-bit length is the control data unit 124 of 0 to 8 bytes, and the control signal of the input external device or the control of the output external device for executing the above-described combine control. This is the part that stores the signal.
[0041]
The next 15-bit portion is a CRC (Cyclic Redundancy Check) arrangement 125, which is used for error checking of transmission data. The following 1-bit long portion is a bit for CRC (Cyclic Redundancy Check) transport 126. Subsequently, the ACK (acknowledge, response signal) slot 127, and subsequently the response signal delate portion 128, are both 1 bit. Finally, an EOF 129 for indicating the end of the frame is obtained.
[0042]
There is an inter-frame space consisting of the ITM 130 and the bus idle 131 between the data frames of the next control data 114 with ID code.
[0043]
Next, a control data transmission / reception mode and processing control when there is a communication error between the CAN controller units C1, C2, C3, C4, and C5 will be described.
[0044]
For example, the CAN controller unit C1 provided in the operation unit (operation column) in the cab 11 is input from an external device related to the operation, for example, a command switch (not shown) in the operation unit 90 disposed in the cab 11. The horizontal rotation angle can be set by a potentiometer-type rotation angle setting device 95 provided in the operation unit 90. In order to set the cutting height by changing the position sensor of the changeover switch 76 and the operating lever 77, the inclination setting device 78 for setting the degree of horizontal inclination of the traveling unit, and the height of the cutting pretreatment device 4 with respect to the traveling machine body. The cutting height setting device 80 and the power switch 96 are also connected to the CAN controller unit C1 (see FIG. 9).
[0045]
Each of the CAN controller units C1, C2, C3, C4, and C5 transfers control data via the CAN communication bus 82a, and in the present embodiment, a sensor, which will be described later, according to a command from the operation unit system CAN controller unit C1. The CAN controller units C2, C3, C4, and C5 of each mechanism section output predetermined output signals in response to signals from the input system external devices such as the setting unit and the output system such as hydraulic cylinders, drive motors, and actuators. Control to drive external equipment.
[0046]
As shown in FIG. 1 and FIG. 9, the CAN controller units C2, C3, C4, and C5 of each mechanism unit are like a traveling unit system in a combine, a cutting pretreatment device in a working unit, a discharge auger unit, an engine unit, and the like. The operation and control parts closely related to each mechanism part of the combine assembly are grouped, and as a guide, they are arranged close to the arrangement place of the output external equipment such as the related actuator. One CAN controller unit is connected with an input external device and an output external device of an operation control system that are closely related as one group.
[0047]
In the present embodiment, for example, the CAN controller unit C2 relating to the traveling unit disposed in the vicinity of the traveling unit, which is the traveling unit 1, operates the traveling unit that controls the relative height and inclination of the traveling crawlers 2a and 2b with respect to the traveling unit 1. The output system external devices connected to the CAN controller unit C2 in the control system group include left and right lifting control hydraulic cylinders 54a and 54b and electromagnetic control valves 67 and 68 corresponding to the right and left lifting hydraulic cylinders 54a and 54b, respectively. On the other hand, as an input system external device connected to the CAN controller unit C2, the left and right traveling units 2, 2 of the traveling machine body 1 corresponding to the protruding amount of the piston rod of the left / right lifting control hydraulic cylinders 54a, 54b are used. There are vehicle height detection sensors 72a and 72b such as a rotary encoder type for detecting the relative height (vehicle height), and an inclination sensor 74.
[0048]
The CAN controller unit C3 arranged at the location of the pre-cutting processing device 4 is a group of control systems for the pre-cutting processing device, and the input system external devices connected thereto include a cutting unit lifting position sensor 75 and a cutting height. There are ultrasonic sensors 20a, 20b, etc. provided at both left and right ends of the cutting pretreatment device 4 as a height sensor, and as an output system external device, there are a cutting portion hydraulic cylinder 9 and an electromagnetic control valve 65 for driving it.
[0049]
The CAN controller unit C4 arranged in the threshing unit is a group for controlling the operation of the threshing unit and the discharge auger. As an input system external device for operating the discharge auger connected thereto, the horizontal auger tube 28a is used. A command switch (not shown) in a tip operation portion 91 provided beside the discharge portion at the tip of the head, an angle sensor 85 such as a rotary encoder for detecting a horizontal turning angle of the discharge auger 28, and a lateral auger tube 28a of the discharge auger 28. There are an angle sensor 86 for detecting the elevation angle of the elevation and a rest base detector 87. As an output system external device, there is a hydraulic cylinder 64a for raising and lowering the discharge auger for changing the inclination angle of the horizontal pipe 28a with respect to the vertical pipe 28b. The discharge auger turning drive motor 64b for turning the electromagnetic control valve 66a and the vertical pipe 28b to the left and right and its drive. There is a circuit 66b. In addition, description is abbreviate | omitted about the input system external apparatus and output system external apparatus regarding a threshing operation part.
[0050]
The CAN controller unit C5 disposed in the cab 11 near the position where the engine 15 is disposed is an output operation control system group of the engine 16, and an input system external device connected thereto includes a vehicle speed sensor 94, There is a rack position sensor 93 for detecting a plunger position for feedback control of the electronic governor 92. As an output system external device, a fuel injection pump for the electronic governor 92 as an actuator for controlling the fuel supply amount to the engine 16 There is a plunger driving means for adjusting the fuel injection amount.
[0051]
In the CAN communication bus 82a, the transmission / reception speed is a maximum of 1 Mbps.
[0052]
Next, determination of the presence / absence of a communication error and processing in the event of an error will be described with reference to the flowchart of FIG. 13. Following the control start, for example, control data for the operation system from the CAN controller unit C1. , The ID code of the CAN controller unit C1, for example, # 1 (data of the ID code portion 121 in the data frame of the control data with ID code 114 shown in FIG. 12) is written and stored in advance in the transmission slot 102b ( Next, for example, the horizontal turning angle data (control data portion 124) set by the potentiometer-type turning angle setting device 95 provided in the operation unit 90 is written in the buffer memory portion in the transmission slot 102b (S2). ). Next, when these are communicated via the CAN communication bus 82a according to the CAN communication protocol (S3), for example, the control data 114 given # 1 is provided in the other CAN controller units C2, C3, C4, and C5. Is written to the receiving slot 102a. Each CAN controller unit monitors the reception flag (S4).
[0053]
Next, it is determined whether or not a specified time has elapsed by a timer related to transmission (S5). In this case, each CAN controller unit stores the transmission timings of itself and other CAN controller units C1, C2, C3, C4, and C5 in advance.
[0054]
If the specified time has elapsed (S5: yes), it is determined whether or not the return reception is completed (S6). Normally, the transmission data is returned at a predetermined timing, and is also received by the transmitted CAN controller unit, here, the reception slot 102a in C1.
[0055]
When the return reception is completed (S6: yes), the written and transmitted CAN controller unit C1 compares the written data in the transmission slot 102b and the reception slot 102a (S7).
[0056]
If the data in the ID code portion 121 and the data in the control data section 124 are exactly the same in the transmission slot 102b and the reception slot 102a (S7: yes), it is determined that there is no reception error. In this case, the discharge auger turning drive according to the control data (here, the data of the horizontal turning angle set by the setting device 95) stored in the receiving slot in the CAN controller unit C4 which is the discharge auger operation control system. When the motor 64b is driven and the horizontal turning angle of the angle sensor 85 reaches a predetermined value, the motor 64b is stopped.
[0057]
Conversely, if either the data in the ID code portion 121 or the data in the control data portion 124 is different between the transmission slot 102b and the reception slot 102a (S7: no), it is determined that a reception error has occurred. This communication error may be caused by, for example, picking up an external disturbance signal from the CAN communication bus 82a or changing the communication signal due to a connection failure between the CAN communication bus 82a and the CAN controller unit. Or the data in the control data section 124 may change (be garbled). In addition, when two or more CAN controller units of the same type are connected at the time of factory shipment or repair, although the CAN controller units to be connected should be different types, the timing specific to each CAN controller unit In this case, the data of the ID code portion 121 associated with the control data portion 124, which is different from each other, is also interpreted as a kind of reception error.
[0058]
In order to determine whether or not there has been a transmission from another CAN controller unit within the specified time, in other words, in order to determine whether or not the communication has been interrupted, every time control data is transmitted from the transmitted CAN controller unit. , Send the sent time. On the other hand, the CAN controller unit on the receiving side stores the previously transmitted time and the next transmitted time, and if the difference between the two times is an error within a specified time, the transmission is performed. Is normal (S5: yes, and S6: yes). If return reception is not completed within the specified time (S6: no), it is assumed that there is a transmission error.
[0059]
In addition, time stamp data is added to control data to be transmitted, and whether or not the time stamp has changed is determined by the CAN controller unit on the receiving side to determine whether or not transmission is being performed. You may do it.
[0060]
When it is determined that there is a reception error (S7: no), and when the return reception is not completed (assuming that there is a transmission error) (S6: no), CAN is determined for each determination. The reception error counter value is incremented (added) by 1 to the status register unit (reception error counter) provided in the controller unit 112 (S8).
[0061]
Depending on the magnitude of the error counter value, each CAN controller unit 112 determines, for example, three error states (error states) based on the value of the transmission error counter per unit time and the value of the reception error counter (S9). . For example, when the transmission error counter value is smaller than 127 or the reception error counter value is smaller than 127, it is determined that the error is active (normal state). When the transmission error counter value is greater than 127 or the reception error counter value is greater than 127, it is determined that the error is in the passive state (intermediate state). Then, when each counter value exceeds or decreases the value (127), it is possible to transition to an error active state and an error passive state. In these states, CAN communication is executed. Further, when the transmission error counter value becomes larger than 255, an error bus off state is entered, and CAN communication becomes impossible. Normally, in the error bus off state, CAN communication cannot be resumed without resetting.
[0062]
When the error active state (normal state) is determined in step S9, the control data is transferred by normal CAN communication, and the other CAN controller unit executes operation control, and another system communication means (for example, RS232C). ) And another system of communication line 82b, idle communication is performed to transmit / receive data that does not impose a burden on the CPU of the CAN controller unit (S10).
[0063]
By this idling communication, the communication state between all the CAN controller units is checked.
[0064]
On the other hand, if it is determined in the step S9 that the state is an error passive state (intermediate state) or an error bus off state (CAN communication disabled state), the communication means (for example, RS232C) of another system and the communication line 82b of another system are used. The error information (CAN communication disabled information) is transferred to other CAN controller units as status information, and transmission / reception with the minimum control necessary for farm work is performed using the communication means (for example, RS232C) of the separate system and the communication of the separate system. It is executed via the line 82b.
[0065]
If the error active state (normal state) is restored by reset or the like, the CAN communication is restored.
[0066]
In this way, by arranging the communication means and the communication line of another system in addition to the CAN communication system, even if the CAN communication system goes down or the CAN communication line is cut, the entire controller system can be down. In particular, it is possible to reliably prevent runaway of the output external device.
[0067]
Needless to say, the present invention can be applied not only to a combine but also to a traveling agricultural machine such as a tractor or a rice transplanter.
[0068]
【The invention's effect】
As described above, the control device in the agricultural machine according to the first aspect of the present invention includes an input system external device such as a sensor and a setting device provided in a traveling unit, a working unit, and an operation unit in the agricultural machine, and an actuator. Between each CAN controller unit and three or more CAN controller units that receive and control a control signal between the output system external devices and the like, and either one or both of the input system external devices or the output system external devices. A control device in an agricultural machine having a CAN communication bus to be connected and transferring control data between CAN controller units to execute control, wherein the CAN communication bus is connected between the CAN controller units. Are connected by a communication line of a different system, and communication means different from CAN communication are provided in parallel, and each CAN controller unit has A transmission error counter by CAN communication and a reception error counter are provided, and when the transmission error counter value becomes a predetermined value or more and at least CAN communication is disabled, each communication means and communication line are used to Control is performed between the CAN controller units so as to execute communication information indicating that the CAN communication is impossible and transmission / reception of control data necessary for minimum farm work.
[0069]
In this way, in the present invention, in addition to the CAN communication system, another system of communication means and a communication line are provided in parallel, so that even if the CAN communication system goes down or the CAN communication line is disconnected, each CAN controller Since the communication information indicating that the CAN communication is not possible is transferred between the units, and the control data necessary for the minimum farm work is transmitted / received, the controller system as a whole does not go down. The runaway of external equipment can be reliably prevented.
[0070]
The invention according to claim 2 is the control device for the agricultural machine according to claim 1, in which normal control is executed by CAN communication, and the communication means of another system does not affect the load on the CPU. Is used to check the communication status. With this configuration, in addition to the effect of the invention according to the first aspect, in a normal communication state, the CPU of each CAN controller unit is not burdened even if the communication means of another system is operated, and high-speed CAN communication. There is an effect that can be secured.
[Brief description of the drawings]
FIG. 1 is a left side view of a combine.
FIG. 2 is a plan view of the combine.
FIG. 3 is a right side view of the combine.
FIG. 4 is a front view of the combine.
FIG. 5 is a skeleton diagram of a power transmission system.
FIG. 6 is a side view of the lift drive means of the traveling unit.
FIG. 7 is a hydraulic circuit diagram.
FIG. 8 is an explanatory view of means for raising and lowering the discharge auger and horizontal turning.
FIG. 9 is an overall functional block diagram of a control device.
FIG. 10 is a functional block diagram in the controller unit.
FIG. 11 is an explanatory diagram showing bus levels of a CAN communication bus.
FIG. 12 is a diagram illustrating a structure of a data frame.
FIG. 13 is a flowchart of control.
[Explanation of symbols]
C1, C2, C3, C4, C5 CAN controller unit
1 Traveling aircraft
2,2 Crawler type traveling part
4 Cutting pre-treatment device
9 Lifting hydraulic cylinder
20a, 20b Ultrasonic sensor
54a, 54b Hydraulic cylinder
64a Hydraulic cylinder for raising and lowering discharge auger
64b Discharge auger turning drive motor
65, 66a, 67, 68 Electromagnetic control valve
70 Controller
74 Tilt sensor
77 Control lever
78 Inclination setting device
82a CAN communication bus
95 Horizontal turning angle setting device
100 CPU
102a Receive slot
102b transmission slot
103 Receive driver
112 CAN controller
121 ID code
124 Control data part

Claims (2)

Input system external devices such as sensors and setting devices provided in the traveling unit, working unit, operation unit, etc. in agricultural machines
Output system external devices such as actuators,
Three or more CAN controller units that exchange and control a control signal with either or both of the input system external devices and the output system external devices;
Including CAN communication buses connecting the CAN controller units,
In a control device in a farm work machine that performs control by transferring control data between CAN controller units,
The CAN controller units are connected to each other by a communication line different from the CAN communication bus, and communication means different from CAN communication are provided in parallel.
Each CAN controller unit includes a transmission error counter by CAN communication and a reception error counter. When the transmission error counter value exceeds a predetermined value and becomes at least CAN communication disabled state, Control is performed so as to execute communication information indicating that the CAN communication is impossible and transmission / reception of control data necessary for minimum farm work between the CAN controller units via a communication line. Control device for agricultural machines. The control in an agricultural machine according to claim 1, wherein normal control is executed by CAN communication, and communication means of another system transmits and receives data that does not affect the load on the CPU and checks the communication state. apparatus.

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