JP2004250118A - Operation device for working vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a remote operation means which does not perform the operation not intended by an operator in a changeover operation. <P>SOLUTION: The operation device for the working vehicle is equipped with a main operation means (14) fixed to an vehicle, the remote operation means (13A, 13B) remote-operating the vehicle, and a controller (12) determining which operation means is effective based on a change-over switch (15). When the effective operation means is changed over from the remote operation means (13A, 13B) to the main operation means (14), the controller (12) compares the signal outputted from the main operation means (14) with the signal outputted from the remote operation means (13A, 13B) for predetermined signals, and takes precedence of the signal outputted from the remote operation means (13A, 13B) in case there is discrepancy between them. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a remote control device for a work vehicle.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, there has been known a work vehicle that can be operated by a plurality of operation means including a main operation means fixed to a driver's seat and a remote operation means such as a radio control transmitter (for example, Patent Document 1). As shown in Table 1 of Patent Literature 1, the remote control means has a travel mode and a work mode similarly to the main control means, and both can run and work.
[0003]
In such a work vehicle, when the work vehicle is started for the first time, the main operation means in the driver's seat is effective. When performing a remote operation, a worker can operate a changeover switch fixed to a driver's seat, for example, to switch an effective operation means from the main operation means to the remote operation means.
[0004]
[Patent Document 1]
JP-A-2000-296985 (Table 1)
[0005]
[Problems to be solved by the invention]
However, the conventional technique has the following problems.
For example, a worker who has been operating with the transmitter may get on the driver's seat, switch the switch again, and operate from the main operating means in the driver's seat.
[0006]
Alternatively, in a case where a worker is in the driver's seat and another worker is running the work vehicle by the transmitter, the worker in the driver's seat may operate the changeover switch to take over the operation. is there.
[0007]
However, there is a case where the setting of the remote operation device operated by the worker immediately before is different from the setting of the main operation device used before. In such a case as well, in the related art, the effective operation means is immediately switched from the remote operation means to the main operation means based on the instruction of the changeover switch, and the setting changes suddenly.
[0008]
For example, in the case where the radio control transmitter side is a two-wheel steering and the main operation means side is a four-wheel steering, if the main operation means side is enabled, the steering mode changes rapidly from two wheels to four wheels. Will be. As a result, the crane vehicle may move unexpectedly.
As described above, when the operating means is rapidly switched, the work vehicle causes an unintended operation of the worker, and thus there is a problem that work is hindered or efficiency is reduced.
[0009]
The present invention has been made in view of the above problem, and has as its object to provide a remote control unit that does not cause an unintended operation by a worker at the time of switching.
[0010]
Means for Solving the Problems, Functions and Effects
In order to achieve the above object, an operating device for a work vehicle according to the present invention includes:
Main operating means fixed to the vehicle,
Remote control means for remotely controlling the vehicle;
A controller that determines which operation means is effective based on the changeover switch,
When the effective operation means is switched from the remote operation means to the main operation means,
The controller compares a signal output from the main operation unit with a signal output from the remote operation unit for a predetermined signal,
If they do not match, the signal output from the remote control means has priority.
Thus, when the operation is switched from the remote operation unit to the main operation unit, the setting signal does not change and the work vehicle does not move unintentionally.
[0011]
Further, the operating device of the work vehicle according to the present invention,
When the effective operation means is switched from the remote operation means to the main operation means,
The controller always gives priority to the signal output from the main operation unit after the signal output from the main operation unit matches the signal output from the remote operation unit.
Thus, subsequent operations can always be performed only by the main operation means, and it is not necessary to worry about the setting of the remote operation means, and the work can be concentrated.
[0012]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an embodiment according to the present invention will be described by taking a crane vehicle as an example.
FIG. 1 schematically shows a system chart of an operating device 11 of a crane vehicle according to the embodiment. As shown in FIG. 1, the operating device 11 includes a main operating unit 14 fixed to a crane vehicle 17, and a radio control transmitter 13A for traveling and a radio control transmitter 13B for work as remote control means.
[0013]
The main operation means 14 is electrically connected to the controller 12. Signals from radio control transmitters 13A and 13B are transmitted to controller 12 by receivers 18A and 18B, respectively.
The controller 12 determines which of the radio control transmitters 13A and 13B and the main operation means 14 is to be activated, based on the instruction of the changeover switch 15. The controller 12 is electrically connected to the actuator 16 of the crane vehicle 17 and controls the actuator 16 based on the instructions of the valid operation means 13 and 14.
[0014]
2 and 3 show the layout of levers and switches of the radio control transmitters 13A and 13B for operating the crane vehicle 17. FIG. FIG. 2 shows a radio control transmitter 13A for traveling, and FIG. 3 shows a radio control transmitter 13B for work.
[0015]
First, the operation of the traveling radio control transmitter 13A during traveling will be described with reference to FIG.
In the upper stage, the stick 21A is a stick that performs a brake operation by being tilted backward from the neutral position. By pressing the knob switch of the stick 21A, a camera for displaying an image on a monitor (not shown) can be selected from the main winch, the auxiliary winch, and the cameras installed in the room. .
[0016]
When the stick 22A is tilted forward (upward in FIG. 2) from the neutral position, the suspension of the crane vehicle 17 is lifted. When the knob switch of the stick 22A is pressed, the horn sounds.
[0017]
The stick 23A moves forward when it is tilted forward from the neutral position, and retreats when it is tilted backward. When tilted to the left, the steering is turned to the left, and when tilted to the right, the steering is turned to the right.
By pressing the knob switch of the stick 23A, the lighting can be operated, and the light can be switched off, the work lamp + small lamp, the headlight, and the small lamp.
[0018]
In the middle stage, the switch 32A is a momentary switch that automatically extends the outrigger. When the switch 32A is tilted forward, the outrigger automatically extends and stops at a predetermined length.
[0019]
In the lower stage, the lever 41A extends the outrigger jack when tilted forward, and retracts when tilted rearward.
[0020]
The switch 42A is used to select a steering mode during traveling, and selects one of two-wheel steering, four-wheel steering, and crab-shaped steering.
[0021]
The switch 43A selects ON / OFF of the parking brake.
The switch 44A is an emergency stop switch in an emergency.
[0022]
The switch 45A is a switch for determining the amount of extension of the outrigger. The lever 46A extends the outrigger when tilted forward, and retracts when tilted rearward.
[0023]
Next, with reference to FIG. 3, an operation of the work radio control transmitter 13B during work will be described.
First, when the upper stick 21B is moved forward, the auxiliary winch is lowered, and when the stick 21B is moved rearward, the auxiliary winch is raised. In addition, turning left will turn left, and turning right will turn right.
By pressing the knob switch of the stick 21B, a camera for displaying an image on a monitor (not shown) from the main winch, the auxiliary winch, and the cameras installed in the room, similarly to the case of the radio control transmitter 13A for traveling. Can be selected.
[0024]
The stick 22B extends the boom when it is tilted forward from the neutral position, and contracts when it is tilted backward. When the knob switch of the stick 22B is pressed, the horn sounds as in the case of the radio control transmitter 13A.
[0025]
The stick 23B lowers the main winch when tilted forward from the neutral position, and raises the main winch when tilted rearward. Also, tilting to the left raises a boom, and tilting to the right lowers the boom.
Similarly to the radio control transmitter for traveling 13A, by rotating the stick 23B, the lighting can be operated, and it is possible to switch off, work lamp + small lamp, headlight, and small lamp.
[0026]
The switch 31B stops turning of the crane's boom and switches ON / OFF of a turning brake. When the switch 31B is tilted backward, the turning brake is turned on and the turning of the boom is stopped.
[0027]
The switch 32B is a lock / release switch of a swing lock pin for locking the upper swing body to the lower running body.
[0028]
The lever 41B is a switch for canceling the stop of the boom turning. When the lever 41B is tilted backward, the stop of the boom turning is forcibly canceled. When the switch is tilted forward, the stop operation due to the failure is released while determining the states of other switches.
[0029]
The switch 42B is a switch for switching the engine speed in three stages of low (Lo) / medium (Mid) / high (Hi).
[0030]
The switch 43B selects ON / OFF of the parking brake.
The switch 44B is an emergency stop switch in an emergency.
[0031]
The switch 45B is a switch for setting the amount of expansion and contraction of the boom, and the lever 46B is a switch for setting the moment limiter.
[0032]
In the driver's seat of the crane vehicle, switches and levers having functions substantially similar to those of FIGS. 2 and 3 are provided as main operation means 14. A switching switch 15 is provided on the side of the main operation unit 14 for switching an effective operation unit between the main operation unit 14 on the driver's seat side and the radio control transmitters 13A and 13B. Furthermore, a PTO (Power Take Off) switch (not shown) for driving a working hydraulic pump or the like is provided.
[0033]
As described above, in the crane vehicle 17, after or during operation with the radio-controlled transmitters 13 </ b> A and 13 </ b> B, the driver's seat changeover switch 15 may be operated to activate the main operation unit 14 again.
This is, for example, a case where the operator operates the radio control transmitters 13A and 13B and gets on the driver's seat, places the radio control transmitters 13A and 13B nearby, and starts the operation from the driver's seat, or the operator operates the radio control transmitters 13A and 13B. This corresponds to, for example, a case where another worker starts operation from the driver's seat while operating at 13A and 13B.
[0034]
In such a case, the controller 12 does not immediately activate the switch of the main operation unit 14 and follow the setting of the switch or lever. Instead, the radio control transmitters 13A and 13B and the main operation unit 14 Compare settings.
[0035]
FIG. 4 is a flowchart showing an example of a procedure for determining which setting of the main operation means 14 in the driver's seat and the radio control transmitters 13A and 13B is valid when the changeover switch 15 is operated. . Here, the setting of the switch 42A (two-wheel steering, four-wheel steering, or crab-shaped steering) in the traveling radio control transmitter 13A will be described.
In the initial state, the main operation means 14 is always enabled.
[0036]
First, the controller 12 checks whether the instruction of the changeover switch 15 is directed to the main operation means 14 or the traveling radio control transmitter 13A (step S11). If the main operation means 14 is on the side, the main operation means 14 is validated and the instruction is followed (step S12).
[0037]
In step S11, if the instruction of the changeover switch 15 is on the radio control transmitter 13A, the controller 12 validates the setting of the switch 42A on the radio control transmitter 13A and follows the instruction (step S13). ).
Thereafter, the controller 12 always checks the changeover switch 15 (step S14), and while this switch is on the side of the radio control transmitter 13A, always returns to step S13 to validate the radio control transmitter 13A.
[0038]
In step S14, when the changeover switch 15 is set to the main operation means 14 side, the controller 12 compares the steering mode of the main operation means 14 with the steering mode of the traveling radio control transmitter 13A ( Step S15).
[0039]
If both the steering mode on the main operating means 14 side and the steering mode on the radio control transmitter 13A for traveling are both four-wheel steering, if both are the same, the setting of the main operating means 14 is followed. (Step S16).
[0040]
However, for example, when the radio control transmitter 13A for traveling is a two-wheel steering and the main operating means 14 is a four-wheel steering, if the main operating means 14 is enabled, the steering mode is changed from two wheels. It will change rapidly to four wheels.
As a result, when the main operation unit 14 is operated, the crane vehicle 17 may move unexpectedly.
[0041]
In order to prevent such unexpected movement, if the steering mode of the main operation means 14 and the steering mode of the radio control transmitter 13A do not match in step S15, the controller 12 transmits the radio control signal for driving. According to the steering mode of the machine 13A (step S17).
[0042]
That is, since the operation has been performed using the traveling radio control transmitter 13A, the crane vehicle 17 is moving in accordance with the steering mode (two wheels described above) of the traveling radio control transmitter 13A. Therefore, the movement of the crane vehicle 17 can be continued by using the two-wheel steering as it is.
[0043]
Then, returning to step S15, the steering modes are compared, and, for example, when the operator who has boarded the crane vehicle 17 changes the steering mode of the main operation means 14 to match the radio control transmitter 13A for traveling. , The process proceeds to step S16.
[0044]
The above flowchart has been described taking the steering mode of the traveling radio control transmitter 13A as an example. However, the present invention is not limited to this, and the same applies to the work radio control transmitter 13B.
That is, when the operation is shifted from the radio control transmitters 13A and 13B to the main operation means 14, the operation of the crane vehicle 17 changes rapidly when the mode is changed. To determine which is more effective.
[0045]
For example, the forward and backward movements of the traveling radio control transmitter 13A by the stick 23A, the turning on and off of the turning brake by the switch 31B of the working radio control transmitter 13B, and the like are performed according to FIG. Further, for example, when the PTO switch is provided in both the main operation unit 14 and the radio control transmitters 13A and 13B, the same applies to ON and OFF.
[0046]
As described above, according to the present invention, in the crane vehicle 17 which can be operated by both the radio control transmitters 13A and 13B and the main operation means 14 in the driver's seat, the radio control transmitters 13A and 13B side to the main operation means 14 side When the operation is switched, the settings of the radio control transmitters 13A and 13B are taken over for a predetermined switch. Thus, the setting is not suddenly changed and the crane vehicle 17 does not perform an unexpected operation, so that the operation can always be performed based on the intention of the worker.
[0047]
After the switches on the main operation unit 14 are set to be the same as those on the radio control transmitters 13A and 13B, the switches on the main operation unit 14 are enabled. As a result, subsequent operations can be performed only by the main operation means 14, and the user can concentrate on the operation without having to worry about the settings of the radio control transmitters 13A and 13B.
[0048]
Although the above description has been made by taking the crane vehicle 17 as an example, the present invention can be similarly applied to any vehicle that can be operated by the radio control transmitters 13A and 13B. In addition, the radio control transmitters 13A and 13B operated wirelessly have been described. However, the same applies to the case where remote control is performed and the case where wired remote control is performed. Further, the same applies to a case where only one radio control transmitter is provided and the mode is switched and operated during traveling and work.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram showing a system chart of an operating device of a crane vehicle according to an embodiment.
FIG. 2 is a layout diagram of a radio control transmitter for traveling according to the embodiment.
FIG. 3 is a layout diagram of a working radio control transmitter according to the embodiment;
FIG. 4 is a flowchart for determining an effective operation unit according to the embodiment.
[Explanation of symbols]
11: operation device, 12: controller, 13A: radio control transmitter for traveling, 13B: radio control transmitter for operation, 14: main operating means, 15: changeover switch, 16: actuator, 17: crane vehicle, 21: stick, 22 : Stick, 23: stick, 31: switch, 32: switch, 41: lever, 42: switch, 43: switch, 44: switch, 45: switch, 46: lever.

Claims (2)

In the operating device of the work vehicle,
Main operating means (14) fixed to the vehicle;
Remote control means (13A, 13B) for remotely controlling the vehicle;
A controller (12) for determining which operation means is effective based on the changeover switch (15),
When the effective operation means is switched from the remote operation means (13A, 13B) to the main operation means (14),
The controller (12) compares a signal output from the main operation means (14) with a signal output from the remote operation means (13A, 13B) for a predetermined signal,
An operation device for a work vehicle, wherein when the two do not match, a signal output from the remote operation means (13A, 13B) is prioritized. The operating device for a work vehicle according to claim 1,
When the effective operation means is switched from the remote operation means (13A, 13B) to the main operation means (14),
After the signal output from the main operation means (14) and the signal output from the remote operation means (13A, 13B) match, the controller (12) always outputs the signal output from the main operation means (14). An operating device for a work vehicle, wherein priority is given to:

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