JP2001161143A - Remote controlled tea field tending equipment having safety drive-controlling device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a remote controlled tea field tending equipment having a safety drive-controlling device avoiding several dangers mainly caused by absence of a driver. SOLUTION: This remote controlled tea field tending equipment 1 is characterized by having a safety drive-controlling device 5 comprising one or more selected from an obstacle detecting sensor 50, a test signal confirming device avoiding runaway driving in communication stop, a tilting angle detecting sensor 21 preventing turnover at hillside, a tea ridge detecting sensor 52 detecting initial ends and terminal ends of the tea ridges and an emergency stop switch 53 stopping the engine in an emergency.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote-controlled tea garden management apparatus having a safe driving control device for ensuring safe operation in a self-propelled remote-controlled tea garden management apparatus.

[0002]

2. Description of the Related Art Conventionally, a remote-operated wireless or cable-operated tea plant management device that allows a worker to operate the tea plant management device away from the tea plant management device and to pluck tea leaves or prune tea branches has been developed. Exists. Such a remote-controlled tea plantation management device has the following safety concerns compared to a riding-type tea plantation management device in which an operator gets in and performs a tea plantation management operation.

[0003] First, if an obstacle is present in the field and the remote operator overlooks the obstacle and directly moves the remote control type tea garden management device straight, the device collides with the obstacle, and the obstacle or the obstacle is damaged. If the remote-controlled tea garden management device is damaged or if the obstacle is a human, there is a fear that a serious accident may occur.

Second, when the remote control is wireless, the transmission signal of the transmitter may not reach the receiver installed in the remote control tea garden management device due to obstacles or the like. There is also a risk of causing runaway.

Third, when the work is performed on a steep slope, there is a possibility that the remote-controlled tea garden management device may fall over, and the traveling of the remote-controlled tea garden management device may be automatically performed before reaching the falling inclination angle. Is preferably stopped automatically.

Fourth, if the pilot overlooks the arrival at the end of the tea ridge, the operator passes the tea ridge as it is, and there is a risk of falling off from the field, for example. Therefore, automatically stopping at the end of this tea ridge simplifies the pilot's operation and eliminates the stress that is constantly being watched over. Secured. In addition, it is possible to automatically perform, for example, operation of the management machine body and switching to return traveling after reaching the ridge end.

Fifth, it is necessary to stop the operation of the engine in an emergency such as when the control panel breaks down and the remote control tea plant management system goes out of control. In this case, the operation of the engine can be stopped easily. preferable.

[0008]

[Technical Problems Attempted to Be Developed] The present invention has been made in view of such a background, and avoids various dangers caused mainly by the absence of a person in a remote-controlled tea garden management device. This is an attempt to develop a remote-controlled tea garden management system equipped with a safe driving control system.

[0009]

That is, a remote-operated tea garden management device provided with a safe driving control device according to claim 1 comprises:
A traveling machine that runs across a tea ridge, a management machine that is mounted on the traveling machine and performs tea garden management operations such as plucking, pruning, fertilizing, and controlling, a transmitter that remotely controls at hand, and a transmitter In a remote-controlled tea garden management device comprising a remote control device having a receiver for receiving a signal, the traveling body includes an obstacle detection sensor for detecting a front or rear obstacle, and the obstacle detection sensor. And a control device having a control circuit for stopping the traveling of the traveling body in response to the detection signal. According to the present invention, even if an obstacle exists in the traveling direction of the remote-controlled tea garden management device and the remote operator overlooks the obstacle, the obstacle detection sensor detects the obstacle, and the remote-controlled tea garden is detected. The management device is automatically stopped and the danger of a serious accident can be avoided.

According to a second aspect of the present invention, there is provided a remote-operated tea garden management device having a safe driving control device, a traveling machine running over a tea ridge, and pruning, pruning, fertilizing, and controlling the vehicle. A remote control type tea plant management device comprising a management unit for performing tea plantation management work, a transmitter for remotely controlling at hand, and a receiver for receiving a signal from the transmitter. The vehicle is provided with a test signal transmission circuit for automatically transmitting a transmission / reception test signal to a receiver, and a control device provided on the traveling body is provided with a transmission / reception test signal that is not input within a predetermined time by the receiver. In addition, a control circuit for stopping the traveling of the traveling body is provided. According to the present invention, when remote control by the transmitter becomes impossible, the remote control type tea garden management device is automatically stopped, so that danger such as runaway can be avoided.

Further, a remote-operated tea garden management device provided with a safe driving control device according to a third aspect of the present invention is a traveling machine running over a tea ridge, and a pruning, pruning, fertilizing, and controlling pest mounted on the traveling machine. The remote control type tea plant management device comprises a management machine for performing a tea farm management operation such as a remote control having a transmitter for remotely controlling the transmitter at hand and a receiver for receiving a signal from the transmitter. It is characterized by comprising a tilt angle detection sensor for detecting that the body is tilted by a predetermined angle or more, and a control device having a control circuit for stopping traveling of the traveling body by a detection signal of the tilt angle detection sensor. It consists of. According to the present invention, it is possible to stop running before the remote control type tea garden management device reaches the falling risk angle, and it is possible to prevent the remote control type tea garden management device from falling.

Furthermore, a remote-operated tea garden management device provided with a safe driving control device according to a fourth aspect of the present invention is a traveling machine running over a tea ridge, and a pruning, pruning, fertilizing and fertilizing device mounted on the traveling machine. In a remote-controlled tea plantation management device comprising a management machine for performing tea plantation management work such as control, a transmitter for remotely controlling the device at hand, and a remote control device having a receiver for receiving a signal from the transmitter, It is characterized by comprising a tea ridge detection sensor for detecting the presence of a ridge, and a control device having a control circuit for stopping the traveling body based on a detection signal of the absence of the ridge by the tea ridge detection sensor. is there. According to the present invention, since the remote-controlled tea garden management device automatically stops at the ridge end, the remote-controlled tea garden management device pushes the ridge end as it is while the worker keeps his eyes off. You are released from fear.

According to a fifth aspect of the present invention, there is provided a remote-operated tea garden management device having a safe driving control device according to the fourth aspect of the present invention. The control device further comprises a control circuit for performing a predetermined operation of the management aircraft or the traveling aircraft after stopping the traveling aircraft. According to the present invention, a predetermined next operation is automatically performed after the remote control type tea plantation management device automatically stops at the ridge end, so that the control operation of the remote control operator is extremely simplified.

Further, a remote-operated tea garden management device provided with a safe driving control device according to a sixth aspect of the present invention is a traveling machine running over a tea ridge, and a pruning, pruning, fertilizing and fertilizing device mounted on the traveling machine. In a remote-controlled tea garden management device comprising a management body for performing tea garden management work such as control, and a remote control having a transmitter for remotely controlling at hand and a receiver for receiving a signal of the transmitter, An emergency stop switch for stopping the driving of the engine is provided at several places on the outer peripheral surface of the traveling machine body. According to the present invention, it is possible to prevent an accident in an emergency such as a failure of the control device. Further, since the emergency stop switch is provided at several places on the outer peripheral surface of the traveling machine body, the emergency stop switch can be easily pressed in an emergency. Furthermore, there is no need to know how to stop the engine.

[0015]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Prior to the description of the present invention, "tea garden management" described in this specification will be described. This "tea garden management" refers to a pruning operation for cutting the trunk to trim the tree shape and recover the vigor, a pruning operation for actually picking tea leaves, and spraying fertilizers and chemicals on the tea ridge T. It comprehensively shows so-called tea garden management work such as fertilization and control work. By the way, the pruning work is the so-called pruning work with a sowing machine, the shallow cutting work with a shallow mower, the deep cutting work with a light pruning machine, the medium cutting work with a medium pruning machine, the pruning work with a pruning machine, the hem cutting It is a general term for all the hem cutting work by the machine. Hereinafter, the present invention will be described based on the illustrated embodiments. In the description, a general remote-controlled tea garden management device 1 will be described first, and then a safe driving control device 5 which is a feature of the present invention will be described. As shown in FIG. 1, as an example, a remote-controlled tea garden management device 1 includes a traveling machine 2 that runs across a tea ridge T, and a management machine that is supported by the traveling machine 2 so as to be positioned on the upper surface of the tea ridge T. 3 is provided. As the management machine 3, a pruning machine, a plucking machine, a fertilizer / control machine, and the like are appropriately applied according to the work. Hereinafter, each component will be described.

First, the traveling body 2 will be described. As an example, as shown in FIGS. 1 to 4, as shown in FIGS. 1 to 4, a frame portion 11 formed substantially in a gate shape so as to straddle a tea ridge T is used as a skeleton member, and a crawler 12 is provided below the frame portion 11. The management body 3 is attached above the crawler 12. The management body 3 is attached to a slider 13 that moves up and down the frame portion 11,
It is configured to be able to move up and down freely. The upper space of the frame portion 11 is an upper deck 14, and an engine unit 15 for driving the crawler 12, the slider 13, and the like is provided here.
Also, a control device 16 for performing control is mounted. The control device 16 includes, in addition to a control circuit for controlling the traveling vehicle 2 and the management vehicle 3 by the remote control device 17, etc., the traveling vehicle 2 and the management vehicle 3 based on detection signals of various sensors of the safe driving control device 5 described later. 3 is incorporated in the control circuit.

Although the illustrated remote-controlled tea garden management device 1 is not provided with a driver seat or an operation handle on the upper deck 14, this is mainly used when operating the remote-controlled tea garden management device 1. This is because the remote control is performed by the device 17. However, if the operator wants to be able to appropriately select a form in which the operator directly mounts and operates the remote control type tea garden management device 1 and a form in which the operator remotely operates the tea garden management apparatus 1 in accordance with the work content and the situation of the tea garden, etc. It is also possible to provide a work sheet, an operation handle and the like on the upper deck 14.

Next, the management machine 3 will be described. As described above, a pruning machine, a plucking machine, a fertilizer / control machine, and the like are applied as described above, and various tea garden management operations are substantially performed. The tea plant is supported by the slider 13 so as to be able to move up and down. Here, the pruning machine 3 which is an example of the management machine 3
0 will be described. The pruning machine 30 is shown in FIG.
As shown in FIG. 5, the tea tree is substantially cut by a pair of cutting blades 32 provided substantially along the arc on the upper surface of the tea ridge T with respect to the pruning machine frame 31, and the further cut tea tree is removed. It comprises a blower fan 33 for blowing off, a pruning engine 34 for driving the cutting blade 32 and the blower fan 33 together. When the plucking operation is performed, a plucking machine body 35 is applied as the management machine body 3 as shown in FIG. 2, and at that time, a housing unit 4 for accommodating plucked tea leaves is provided behind the plucking machine body 35. The accommodation section 4 will be described below.

The accommodating section 4 is a section for accommodating the plucked tea leaves, and is formed, for example, in a curved shape substantially along the upper surface of the tea ridge T, and a leaf bag or the like is placed thereon. Since the housing portion 4 is normally used at the time of the plucking operation, the rear portion thereof is configured to be rotatable by expansion and contraction of a hydraulic cylinder provided from the slider 13, and the entire housing portion 4 is It is configured to be detachable from the slider 13 so that management work other than plucking work can be performed more efficiently. In addition to the above-described configuration, the storage unit 4 may be configured to rotatably mount a storage basket in which a leaf bag is set, or may be configured to mount a container. It is also possible to provide a relay transfer device or the like for transferring the plucked tea leaves from the rear of the plucking machine to the upper part of the storage unit 4 as necessary so as not to damage the plucked tea leaves. It is preferable that 1 is used as a plucking machine.

Next, the remote control 17 will be described. The remote control device 17 is for remotely controlling the remote control type tea plantation management device 1 by radio, and is a transmitter 18 that emits a signal.
And a receiver 19 for receiving the emitted signal. As a wireless communication medium, specifically, a radio wave such as a radio control, various electromagnetic waves such as an infrared ray, or a sound wave can be applied. The signal received by the receiver 19 is sent to the control device 16, and each member such as the crawler 12, the slider 13, and the management body 3 is controlled.

As an example, the receiver 19 has a magnet sheet M attached to the rear side so that the receiver 19 can be installed at an arbitrary place of the remote control type tea garden management device 1. This is due to the fact that the material constituting the remote control type tea garden management device 1 is substantially iron. And since the attachment to the remote control type tea garden management device 1 utilizes magnetic force,
The installation posture of the receiver 19 is not particularly restricted,
It can be installed even if there is some deviation in the vertical and horizontal directions. On the other hand, the transmitter 18 also has a magnet sheet M attached to the back side, and is stored at an appropriate position such as the traveling body 2. Also in this case, similarly to the receiver 19, the transmitter 18
Is attracted by a magnetic force, the storage posture, that is, the suction posture is not particularly restricted.
8 can be adsorbed even if it is horizontal.

[0022] Further, some tea farmers may wish to operate a wired remote control as in the past, and in such a case, the operator does not use the transmitter 18 but exclusively takes the receiver 19 directly. It is used for remote control. that time,
It is preferable that the cable connecting the receiver 19 and the control device 16 uses an adjustment reel or the like so that the feeding length can be adjusted appropriately.

Next, the safe driving control device 5 which is a feature of the present invention will be described. The safe driving control device 5 includes various sensors and switches for confirming an external situation in order to perform safe driving, and a control device 16 having a control circuit for performing control based on output signals from the various sensors and switches.

Hereinafter, various sensors and switches will be described. First, the obstacle detection sensor 50 will be described.
The obstacle detection sensor 50 is a non-contact type sensor that detects an obstacle H in the traveling direction of the remote-controlled tea garden management device 1,
As an example, four units are provided on the front, rear, left and right of the upper part of the traveling body 2. The obstacle detection sensor 50 is wired and connected to the control device 16, and is controlled so as to stop traveling of the traveling machine body 2 by an obstacle detection signal of the obstacle detection sensor 50.
As the obstacle detection sensor 50, specifically, a reflection type ultrasonic sensor or an infrared sensor can be applied.

Next, a test signal confirmation device will be described. The transmitter 18 of the remote controller 17 is provided with a test signal transmitting circuit for constantly transmitting a transmission / reception test signal to the receiver 19, while the transmission / reception test signal is transmitted to the controller 16 by the receiver 19. A control circuit is provided for stopping the traveling of the traveling body 2 when the signal is not received within a predetermined time. By providing the test signal confirmation device in this way, when the control of the remote controller 17 by the transmitter 18 is lost, the remote control tea plant management device 1
Runaway can be prevented. The transmission / reception test signal of the receiver 19 is always transmitted from the transmitter 18 as described above, and may be transmitted at appropriate intervals such as every 5 seconds or every 10 seconds. It is.

Next, the tilt angle detection sensor 51 will be described. The tilt angle detection sensor 51 is a sensor that detects, when the remote control type tea garden management device 1 is tilted to the maximum tilt angle at which there is no danger of overturning, and stops the traveling of the traveling machine body 2. One is provided on the upper part of the upper part 11. As the inclination angle detection sensor 51, various types such as a potentiometer type, a torque balance type, and a capacitance type can be applied.

Next, the tea ridge detection sensor 52 will be described. The tea ridge detection sensor 52 is a non-contact type sensor that detects that the tea ridge T is no longer present, and is provided, for example, before and after the support members of the left and right crawlers 12. Specifically, the tea ridge detection sensor 52 uses a transmission type infrared sensor. For example, a light projector 52A is installed on the left crawler 12 and a light receiver 52B is installed on the right crawler 12 as an example. When the infrared light from the projector 52A is blocked by the tea ridge T, it is determined that there is a tea ridge T. When the infrared ray is received by the light receiver 52B, the tea ridge T does not exist. Is determined to have reached the end or start end of. Then, when the end of the tea ridge T is reached, the traveling of the traveling machine 2 is stopped, and the management work such as shearing of the management machine 3 is interrupted. The control device 16 automatically controls the vehicle to return. When reaching the beginning of the tea ridge T, the control device 16 automatically controls the traveling machine 2 to stop traveling. As other examples of the tea ridge detection sensor 52, besides infrared rays, a transmission type photoelectric tube switch or an ultrasonic sensor may be used.
May be provided, and the right crawler 12 may be provided with a reflection plate or a reflection seal. Further, an embodiment may be adopted in which an ultrasonic wave or an infrared light is brought into contact with the tea ridge T and a reflected wave or reflected light is detected by using a reflection type ultrasonic sensor or an infrared sensor.

Next, the emergency stop switch 53 will be described. The emergency stop switch 53 activates the engine unit when the control device 16 fails, the remote-controlled tea garden management device 1 falls down, the remote control 17 loses its controllability, or in an emergency such as engine trouble. Fifteen
The push-button switches for stopping the engine are provided, for example, four switches are provided at the front, rear, left and right of the upper part of the traveling body 2. The emergency stop switch 53 is connected to the engine unit 15 by wiring. Of course, in addition to the engine of the engine unit 15, it is also possible to configure so that the pruning engine 34 is stopped at the same time by pressing the emergency stop switch 53.

The remote-controlled tea garden management device 1 having the safe driving control device 5 of the present invention has the above-described specific form, and the operation of the safe driving control device 5 will be described below. . (1) Operation Mode of Obstacle Detection Sensor First, the operation mode of the obstacle detection sensor 50 will be described. When the two obstacle detection sensors 50 on the traveling direction side of the remote-controlled tea garden management device 1 do not detect anything during traveling, the obstacle detection sensor 50 causes the transmitter 18 to travel as it is under the control of the transmitter 18 without interruption. When any one of the detection sensors 50 detects the obstacle H,
The control device 16 stops the traveling of the traveling body 2. At this time, the running may be stopped, and a buzzer or a lamp for notifying that the obstacle H exists may be provided in the remote-controlled tea garden management device 1 or the transmitter 18.
When the traveling of the traveling machine body 2 is stopped by the obstacle H, the operator removes the obstacle H and starts the remote control type tea garden management device 1 again or bypasses the obstacle H.

(2) Operation of Test Signal Confirmation Apparatus Next, the test signal confirmation apparatus will be described with reference to the schematic flowchart of FIG. The transmission / reception test signal is transmitted from the transmitter 18 to the receiver 19 at all times, for example. When the operation of the test signal confirmation device is started, the control device 16 proceeds from the start step S1 to step S2, and waits for a transmission / reception test signal (for example, 3 seconds).
Second) has timed out. If the waiting time has not elapsed, the process loops back to step S2. If the waiting time has elapsed, the process proceeds to step S3 to determine whether a transmission confirmation signal has been received. If the transmission confirmation signal has been received, the process loops back to step S2. On the other hand, if the transmission confirmation signal cannot be received, it is determined that communication is impossible, and the traveling of the traveling body 2 is forcibly stopped. As described above, when the communication by the transmitter 18 becomes impossible, the remote control type tea plantation management device 1 is immediately stopped, and there is no danger of loss of control and runaway.

(3) Operation mode of the inclination angle detection sensor Next, the operation mode of the inclination angle detection sensor 51 will be described. When the remote-controlled tea garden management device 1 runs on a slope or the like and is tilted to the maximum tilt angle at which there is no risk of falling, the tilt angle detection sensor 51 transmits a detection signal to the control device 16.
The control device 16 stops the traveling of the traveling machine body 2 and avoids the danger of the remote-controlled tea garden management device 1 falling over.

(4) Operation mode of the tea ridge detection sensor Next, the operation mode of the tea ridge detection sensor 52 will be described.
When the remote-controlled tea garden management device 1 is traveling on the tea ridge T, the infrared rays of the front and rear projectors 52A are blocked by the tea ridge T. When reaching the end or the beginning of the tea ridge T, infrared rays emitted from the front or rear light projector 52A are received by the light receiver 52B. At this time,
The detection signal of the absence of the tea ridge T is transmitted to the control device 16, and the control device 16 controls the traveling of the traveling body 2 to stop. When the end of the tea ridge T is reached, for example, in order to automatically return and travel, the traveling of the traveling machine body 2 is stopped, and management operations such as shearing of the management machine body 3 are interrupted. It is automatically controlled by the control device 16 so as to be raised and returned to the tea ridge T starting end side.

(5) Operation of Emergency Stop Switch When the control device 16 fails, when the remote-controlled tea plantation management device 1 falls down, when the control of the remote-control device 17 is lost, or when an engine trouble occurs. In an emergency such as, the operator presses the emergency stop switch 53. When the emergency stop switch 53 is pressed, the engine of the engine unit 15 is stopped.

[0034]

Other Embodiments The present invention is based on the above, but can be variously modified. For example, when the driving of the traveling body 2 is stopped by the safe driving control device 5,
It is also preferable to stop once after slow running.
This is to prevent the remote control type tea garden management device 1 from leaning forward strongly due to inertia and causing a fall or a device failure. In addition, as for the obstacle detection sensor 50, if a sufficient detection distance can be secured, the vehicle may be stopped from the slow running as described above. It is configured to stop without running.

Regarding the control of the traveling machine body 2 by the inclination angle detection sensor 51, before the vehicle is stopped at the maximum inclination allowable angle at which the vehicle does not fall, drive control is performed so as to slow down the vehicle at an appropriate inclination angle smaller than the maximum inclination allowable angle. You may.

[0036]

According to the remote-controlled tea garden management device provided with the safe driving control device according to the first aspect, the traveling body 2 includes:
An obstacle detection sensor 50 for detecting an obstacle H ahead or behind, and a detection signal of the obstacle detection sensor 50,
And a control device 16 having a control circuit for stopping the traveling of the traveling machine body 2.
Obstacle H exists in the traveling direction of the vehicle, and even if the remote operator overlooks the obstacle H, the obstacle detection sensor 50 detects the obstacle H, so that the remote control tea plant management device 1 is automatically stopped, The danger of a serious accident can be avoided.

Further, according to the remote-controlled tea garden management device having the safe driving control device according to the second aspect, the transmitter 18 is provided with a test signal transmission circuit for automatically transmitting a transmission / reception test signal to the receiver 19. In addition, the control device 16 provided in the traveling body 2 includes a control circuit for stopping traveling of the traveling body 2 when the transmission / reception test signal is not input by the receiver 19 within a predetermined time. When remote control by the transmitter 18 becomes impossible, the remote control type tea garden management device 1 is automatically stopped, so that danger such as runaway can be avoided.

Further, according to the remote-operated tea garden management device having the safe driving control device according to the third aspect, an inclination angle detection sensor 51 for detecting that the traveling body 2 is inclined at a predetermined angle or more, Since the control device 16 includes a control device 16 having a control circuit for stopping the traveling of the traveling body 2 based on the detection signal of the inclination angle detection sensor 51, the traveling is stopped before the remote control type tea garden management device 1 reaches the overturning danger angle. It is possible to prevent the remote-controlled tea garden management device 1 from falling over.

Further, according to the remote-operated tea garden management device provided with the safe driving control device according to the fourth aspect, the tea ridge detection sensor 52 for detecting the presence of the tea ridge T, and the tea by the tea ridge detection sensor 52 Since the control device 16 includes a control device 16 having a control circuit for stopping the traveling machine body 2 based on the detection signal of the absence of the ridge T, the remote-controlled tea garden management device 1 automatically stops at the ridge end. For this reason, the worker is relieved of the fear that the remote-controlled tea garden management device 1 may push the ridge end as it is while the user is looking away.

Furthermore, according to the remote-operated tea garden management device having the safe driving control device according to the fifth aspect, the traveling machine body 2 is stopped based on the detection signal of the absence of the ridge T by the ridge detection sensor 52. After that, since the control device 16 is provided with a control circuit for causing the management machine 3 or the traveling machine 2 to perform a predetermined operation, the remote control type tea garden management device 1 automatically stops at the ridge end, and then a predetermined next time. Is automatically performed, so that the operation of the remote operator is greatly simplified.

Further, according to the remote-controlled tea garden management device provided with the safe driving control device according to claim 6, the traveling body 2
The emergency stop switch 53 for stopping the operation of the engine is provided at several places on the outer peripheral surface of the control device, thereby preventing an accident in the event of an emergency such as a failure of the control device 16. Further, since the emergency stop switch 53 is provided at several places on the outer peripheral surface of the traveling machine body 2, the emergency stop switch 53 is easily pressed in an emergency. Furthermore, there is no need to know how to stop the engine.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an example of a remote-controlled tea garden management device including a safe driving control device of the present invention to which a pruning machine is applied as a management machine.

FIG. 2 is a side view showing an example of a remote-operated tea garden management device including a safe driving control device of the present invention to which a plucking machine is applied as a management machine.

FIG. 3 is a front view showing an example of a remote-controlled tea garden management device including the safe driving control device of the present invention to which a pruning machine is applied as a management machine.

FIG. 4 is a plan view of the same.

FIG. 5 is a flowchart schematically showing an operation mode of the test signal confirmation device.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 remote control type tea garden management device 2 running machine 3 management machine 4 accommodation unit 5 safe driving control device 11 frame unit 12 crawler 13 slider 14 upper deck 15 engine unit 16 control device 17 remote control device 18 transmitter 19 receiver 30 pruning Airframe 31 Pruning machine frame 32 Cutting blade 33 Blower fan 34 Pruning machine engine 35 Pruning machine body 50 Obstacle detection sensor 51 Inclination angle detection sensor 52 Tea ridge detection sensor 52A Projector 52B Receiver 53 Emergency stop switch H Obstacle M Magnet sheet T Chaune

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2B043 AA10 AB19 BA07 BB20 DA17 DC01 EA37 ED11 2B075 AA10 HA09 HD10 5H301 AA03 AA10 BB01 CC06 DD06 DD17 GG08 GG10 KK03 KK19 LL01 LL08 LL11

Claims (6)

[Claims] 1. A traveling machine that runs across a tea ridge, a managing machine that is mounted on the traveling machine and performs tea garden management operations such as plucking, pruning, fertilizing, and controlling, and a transmitter that remotely controls at hand. And in a remote-controlled tea garden management device comprising a remote control having a receiver to receive the signal of this transmitter, the traveling body, the obstacle detection sensor for detecting an obstacle in front or behind, And a control device having a control circuit for stopping the traveling of the traveling body based on the detection signal of the obstacle detection sensor. 2. A traveling machine running across a tea ridge, a managing machine mounted on the traveling machine to perform tea garden management operations such as plucking, pruning, fertilizing and controlling, and a transmitter for remote control at hand. And a remote control having a receiver for receiving the signal of the transmitter, a test signal transmitting circuit for automatically transmitting a transmission / reception test signal to the receiver. Is provided, and the control device provided in the traveling body includes a control circuit for stopping traveling of the traveling body when the transmission / reception test signal is not input by a receiver within a predetermined time. Remote-controlled tea garden management system with a safe driving control system. 3. A traveling machine that runs across a tea ridge, a managing machine mounted on the traveling machine to perform tea garden management operations such as plucking, pruning, fertilizing, and controlling, and a transmitter that remotely controls at hand. And a remote control type tea garden management device comprising a remote control having a receiver for receiving the signal of the transmitter, and a tilt angle detection sensor for detecting that the traveling body is tilted by a predetermined angle or more. And a control device having a control circuit for stopping the travel of the traveling body based on the detection signal of the inclination angle detection sensor. A remote-controlled tea garden management device including a safe driving control device. 4. A traveling machine that runs across a tea ridge, a management machine mounted on the traveling machine to perform tea garden management operations such as plucking, pruning, fertilizing, and controlling, and a transmitter that remotely controls the machine at hand. And in a remote control tea plantation management device comprising a remote control having a receiver to receive the signal of this transmitter, a tea ridge detection sensor to detect the presence of a tea ridge,
And a control device having a control circuit for stopping the running machine based on the detection signal of the absence of a tea ridge by the tea ridge detection sensor. 5. The control device according to claim 1, further comprising a control circuit configured to stop the traveling machine based on a detection signal of the absence of the tea ridge by the tea ridge detection sensor and then perform a predetermined operation of the management machine or the traveling machine. A remote-controlled tea plantation management device comprising the safe driving control device according to claim 4. 6. A traveling machine that runs across a tea ridge, a management machine mounted on the traveling machine to perform pruning, pruning, fertilizing, and controlling pest management, and a transmitter that performs remote control at hand. And a remote control having a remote control having a receiver for receiving the signal of the transmitter, an emergency stop switch for stopping driving of the engine is provided at several places on the outer peripheral surface of the traveling body. A remote-controlled tea garden management device comprising a safe driving control device.