JP2006296371A - Remote control operation type combine harvester controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a remote control operation type combine harvester controller which can avoid an unexpected situation caused by a wireless remote controller, when the forward or backward movement of the remote control operation type combine harvester is operated with the wireless remote controller of remote operating device from the outside of the machine frame. <P>SOLUTION: This remote control operation type combine harvester controller equipped with a control portion 11 for controlling the forward or backward travel movement of the machine frame in response to a main body operation tool signal from a main body operation tool disposed in a cockpit f and used for operating machine frame equipment and to a remote controller operation signal from the wireless remote controller is characterized by disposing an unmanned sensor for detecting the absence of an operator, receiving the detection signal of the unmanned sensor in the control portion 11, and controlling the travel movement of the machine frame in response to the remote controller operation signal under the condition that the control portion 11 receives the detection signal. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a control device for a remote-control combine that enables a vehicle to move forward and backward by a wireless remote controller in addition to a cockpit.

  As described in Patent Document 1, an example in which a remote control device for operating a discharge auger is provided in a combine main body and a discharge auger is known. Since the remote operation device can operate the discharge auger from any of the control devices that receive the operation signal, the work efficiency can be improved.

However, when the combine main body and the remote control device of the discharge auger are operated simultaneously so as to compete, there is a problem that not only the operation of the discharge auger becomes uncertain but also an unexpected situation occurs. This problem is not limited to the operation of the discharge auger, and the same applies to the case where the aircraft moves forward and backward and is steered by a remote control device.
JP 2001-231343 A

  The problem to be solved is that, in the case of operating the forward and backward traveling from the outside of the aircraft by the wireless remote controller which is a remote control device, it is possible to avoid the unexpected situation by the wireless remote controller and ensure the safety of the passenger It is an object of the present invention to provide a remote control type combine control device.

  According to the first aspect of the present invention, there is provided a remote control type combine control including a control unit for controlling a forward / reverse travel operation of the aircraft in accordance with a main body operation tool signal provided by a main body operation tool disposed at a cockpit and a remote control operation signal provided by a wireless remote controller. In the apparatus, the airframe is provided with an unmanned sensor for detecting the absence of a passenger, the detection signal of the unmanned sensor is received by the control unit, and the control unit responds to the remote control operation signal on the condition of the detection signal. Then, the vehicle running operation is controlled.

  With the above configuration, when the operator operates the main body operation tool arranged in the cockpit, the control unit controls the forward / backward traveling operation of the aircraft according to the main body operation tool signal, and the unmanned sensor detects the absence of the passenger. When detected, only in that case, the control unit controls the airframe traveling operation according to the remote control operation signal.

  According to a second aspect of the present invention, there is provided a remote control-operated combine control system including a control unit that controls a forward / reverse travel operation of the airframe in response to a main body operation tool signal from a main body operation tool arranged at a cockpit and a remote control operation signal from a wireless remote controller. In the apparatus, the pilot seat is provided with a remote control permission switch that can be operated by a passenger of the fuselage, and the control unit receives a permission signal from the remote control permission switch, and the control unit uses the permission signal as a condition. The aircraft travel operation is controlled in response to a remote control operation signal.

  With the above configuration, when the operator operates the main body operation tool arranged in the cockpit, the control unit controls the forward / backward traveling operation of the aircraft according to the main body operation tool signal, and the operator operates the remote control permission switch. Then, only when the control unit receives the permission signal, the control unit controls the airframe traveling operation according to the remote control operation signal.

  According to a third aspect of the present invention, in the configuration of the second aspect, the control unit controls the forward / backward traveling operation of the aircraft in preference to the main body operation tool signal over the remote control operation signal. With this configuration, when the operation of the main body operation tool and the wireless remote controller competes with respect to the aircraft traveling, the control unit controls the operation along the main body operation tool signal from the main body operation tool.

  According to the first aspect of the present invention, when the unmanned sensor detects the absence of the occupant, only in that case, the control unit controls the airframe traveling operation in response to the remote control operation signal, so that only when there is no occupant on the airframe side. Thus, the aircraft can be moved forward and backward by operating the wireless remote controller, so that it is possible to avoid an unforeseen situation that would harm the passenger due to an erroneous operation of the wireless remote controller.

  According to the second aspect of the present invention, only when the operator operates the remote control permission switch and the control unit receives the permission signal, the control unit controls the airframe traveling operation according to the remote control operation signal. The aircraft can be moved forward and backward by operating the wireless remote controller only when the operator performs an operation of permitting the remote control, so that it is possible to avoid an unexpected situation in which a passenger is harmed by an erroneous operation of the wireless remote controller.

  According to the invention of claim 3, when the operation of the main body operation tool and the wireless remote controller competes with respect to the vehicle running, the control unit controls the operation according to the main body operation tool signal from the main body operation tool. Even when permission for the remote control is given, the judgment operation of the pilot who has boarded the aircraft is reflected, so the safety can be improved.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a left side view of a remote control type combine to which the control device of the present invention is applied.
The combine is provided with a cutting portion a that can be raised and lowered with a cutting blade h that cuts off the cereals that have been weeded by the weeding pestle g and the weed pestle g, and a conveying device from the reaping portion a Threshing part b for threshing cereals received via the storage, storage part c for temporarily storing the thresh separated by this threshing part b, unloading part d by the discharge auger for discharging the stored slag out of the machine, etc. The operation equipment, the left and right crawlers e and e for traveling, and the operation section f and the like are provided in the cockpit for operating the traveling of the working machine and the body at the front of the body. Also, a transmission mechanism (not shown) is mounted between the left and right crawlers e, e, and a speed change mechanism that adjusts the rotation speed of the left and right crawlers e, e steplessly and a left and right crawler e for turning. , E is provided with a turning mechanism for individually adjusting the turning speed of the left and right, and a communication antenna j for a wireless remote controller, which will be described later, is provided in the upper part of the fuselage.

FIG. 2 is a bird's-eye view of the device arrangement of the operation panel of the driving operation unit f.
As shown in FIG. 2, the driving operation unit f is configured by disposing main body operating tools for operating each device on an operation panel on the front side F of the operator. The operation panel is equipped with a so-called power steering lever p that can be operated with one lever by integrating a turning operation tool that can be tilted left and right for the aircraft turning operation and a lifting operation tool that can be tilted forward and backward for the cutting and lifting operation, On the side of the operator, an HST lever q for forward / reverse continuously variable transmission, which is tilted and held by a forward / backward operation as a shift operation tool, a turning mode switching lever r for switching a slow / standard / sudden turning pattern, By arranging various levers / switches, monitor display unit u, etc., centering on the mowing and threshing lever s for cutting and threshing, the auxiliary transmission lever t for setting the speed range, etc., the machine travels and the working machine via the control device. Can be operated by one operator.

In addition to the various operations of the discharge auger d, the remote control device includes a multi-function wireless remote controller 1 that integrates the operation of the machine and other operations.
For example, as shown in the switch layout diagram of FIG. 3, the wireless remote controller 1 has a switch button for operating the discharge auger d in the upper stage, a switch button for operating the aircraft running in the middle stage, and other switch buttons in the lower stage. Configure it together.

  For the operation of the discharge auger, the up / down and left / right swivel button set 2 is set, the expansion / contraction switch 2 is set by the extension and reduction buttons, and the discharge operation is switched by the start / stop switch button. A switch 4 and an overhanging storage changeover switch 5 are arranged by a button for switching between automatic extension and automatic storage.

  For aircraft operation, a forward / backward / left / right four-way switch set 6 with forward / backward and left / right turn buttons is arranged. As other functions, a start / stop two-choice switch set 7 with an engine start / stop button, Two-way switch set 8 for overhanging and storing with a button for overhanging and storing, Two-way switch set for overhanging and storing with a button for extending and storing a narrow guide, and a switch 10 for opening and closing a door with an opening / closing switching button for a cabin door The integrated arrangement.

  As shown in the control system diagram of FIG. 4, device control by the wireless remote controller 1 is performed on the input side of the control unit 11 with respect to the operation of the discharge auger. 2. Two-way switch set 3 for expansion / contraction, changeover switch 4 for discharge, four-way switch set 6 for forward / backward travel and left / right turn for aircraft driving operation, and two-option switch set for engine start / stop for other device operations 7. Receives signals from a two-option switch set 8 for step extension storage, a two-option switch set 9 for narrow guide extension storage, and a change-over switch 10 for opening and closing the cabin door.

  The output side of the control unit 11 includes a left / right turning relay 12a and an upper / lower solenoid 12b of the discharge auger d, a discharge relay 14, a forward / reverse relay 16 for airframe traveling, an engine start / stop solenoid 17, a step extension storage relay 18, a narrow guide Drive circuits for the overhanging storage relay 19 and the cabin door opening / closing relay 20 are connected to each other, and the control unit 11 controls the operation of the corresponding device according to the input signal and related conditions.

  With the control device having the above configuration, the handling of the discharge auger d, the handling of the airframe including steering, the locking / unlocking of the cabin door of the airframe, the start / stop of the engine, the extension guide storage of the narrow guide, and the extension extension storage of the step are performed wirelessly. It can be operated from the remote control 1. As a result, the combine can be operated efficiently.

  As for the example of controlling the device according to the conditions, the combine body is provided with an unmanned sensor for detecting the absence of the passenger, and the control unit 11 receives a detection signal of the unmanned sensor. Thus, the control device is configured to control the forward / reverse relay 16 and the left / right turning steering in response to the remote control operation signal based on the detection signal. The unmanned sensor includes a pressure-sensitive seating sensor, an infrared sensor, and the like, and detects an unmanned state in a necessary range such as the cockpit f and the cabin.

  When the operator operates the main body operation tool arranged in the cockpit f by the control device having the above-described configuration, the control unit 11 controls the forward / backward traveling operation and the left / right turning steering of the aircraft according to the main body operation tool signal. When the unmanned sensor detects the absence of the occupant, only in that case, the control unit 11 controls the airframe traveling operation according to the remote control operation signal. Accordingly, since the aircraft can be moved forward and backward by operating the wireless remote controller only when there is no passenger in the aircraft, it is possible to avoid an unexpected situation in which the passenger is harmed due to an erroneous operation of the wireless remote controller.

  Instead of the above, the cockpit f is provided with a remote control permission switch that can be operated by the passenger of the aircraft, and the control section 11 receives a permission signal from the remote control permission switch and the control section 11 permits the permission. A control device is configured to control the forward / reverse relay 16 and left / right turning steering in response to the remote control operation signal on the condition of the signal.

  When the operator operates the main body operating tool arranged at the cockpit f by the control device having the above-described configuration, the control unit 11 controls the forward / backward traveling operation and the left / right turning steering of the aircraft according to the main body operating tool signal, Only when the operator operates the remote control permission switch and the control unit 11 receives the permission signal, the control unit 11 controls the airframe traveling operation according to the remote control operation signal. Therefore, the aircraft can be moved forward and backward by operating the wireless remote control only when the operator performs the remote control permission operation at the cockpit f. It can be avoided.

  Further, in the above configuration, the control unit 11 configures a control device so that the main body operation tool signal controls the forward / reverse relay 16 and the left / right turning steering of the airframe in preference to the remote control operation signal. With this configuration, when the operation of the main body operation tool and the wireless remote controller 1 competes with respect to the aircraft traveling, the control unit 11 controls the operation along the main body operation tool signal from the main body operation tool. Even when the operator of f gives permission for the wireless remote controller, the judgment operation of the operator who has boarded the aircraft is reflected, so safety can be improved.

  Further, regarding the aircraft running operation by the wireless remote controller 1, it is configured so as to limit the handlers by registration verification for each individual, or a window for biometric authentication is provided on the back of the wireless remote controller 1, for example, fingerprint, iris, etc. Thus, the handling is limited to the registrant through the authentication means for identifying the person. Thus, by limiting the handling to a specific person, it is possible to secure a predetermined skill level and improve the handling safety.

  In addition, as a method of limiting the handler for the airframe traveling operation, a control device is set so that a specific switch operation is set as a condition even when the specific switch operation is set for the individual wireless remote controller 1 and the limitation is released. Configure. For example, it is necessary to press the forward and backward buttons of the front / rear / left / right four-way switch set 6 at the same time, and then simultaneously press the left turn and right turn buttons. By disclosing the operation method, handling can be limited to a specific person.

Next, a configuration example of the switch button for operating the discharge auger d will be described.
An operating tool that enables the operation of the discharge auger d is configured by a collective switch including one operation knob 21.
The operation knob 21 is formed in a substantially disk shape, as shown in a plan view (a) and a front view (b) in FIG. 5, and the left and right pivoting operations L and R about the central axis are performed on the auger d. Swing movement to the left and right, push-down operation P along the central axis is switched between start and stop of automatic auger rotation, depth direction U of the forward / backward slide operation is raised auger d, front direction D is lowered auger d, right and left The sliding operations E and C on the other side are associated as expansion and contraction of the auger d.

  The collective switch provided with the operation knob 21 has a control system diagram as shown in FIG. 6. As for the element switch of the collective switch by the operation knob 21, the up / down switch 22 b corresponding to the forward / backward slide operations U and D, the left / right slide operation The control unit 11a receives operation signals from the telescopic switch 23 corresponding to E and C, the left and right turning switch 22a corresponding to the left and right turning operations L and R, and the automatic turning start / stop switch 25 corresponding to the pressing operation P. In response, the vertical solenoid 12b, the telescopic relay 13 and the left / right turning relay 12a are controlled as outputs.

  By the collective switch having the single operation knob 21 having the above-described configuration, all operations except the start and stop of the auger discharge, that is, the start and stop of the auger automatic turning by the push-down operation P, the front and rear slide operations U and D The auger d can be moved up and down, the auger d can be turned left and right by the left and right turning operations L and R, and the auger d can be expanded and contracted by the left and right slide operations E and C.

  In this way, the auger manual levers are grouped into one switch, and the automatic operation switches are grouped together, so that the area around the operator's seat is clean and the operator can operate without looking for the switch. It becomes easy to operate quickly. In particular, in the case of auger turning, it has been difficult to determine the turning direction for the switch operation depending on the position of the auger, but it can be easily understood by matching the turning direction of the knob with the turning direction of the auger d. Further, since the auger d is vertically expanded and contracted by sliding, erroneous operation of the switch can be reduced.

It is a left view of a remote control type combine provided with the control apparatus of this invention. It is an apparatus arrangement | positioning bird's-eye view of the operation panel of a driving | operation operation part. It is a switch arrangement diagram of a wireless remote controller. It is a control system diagram of device control by a wireless remote controller. It is the top view (a) and front view (b) of an operation knob. It is a control system diagram of a collective switch.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Radio | wireless remote control 2 4 direction switch set 3 Selection switch for expansion / contraction 4 Discharge changeover switch 5 Overhang storage changeover switch 6 4 direction switch set 11, 11a Control part 12a Left-right turning relay 12b Vertical movement solenoid 13 Telescopic operation relay 14 Discharge relay 16 Forward / reverse relay d Unloading part (auger discharge device)
e Crawler (traveling device)
f Pilot's seat (driving operation part)
p Power steering lever q HST lever

Claims (3)

In a control device for a remote-controlled combine that includes a control unit that controls a forward / backward travel operation of a fuselage in accordance with a main body operation tool signal from a main body operation tool for operating a machine device and a remote control signal from a wireless remote controller disposed in a cockpit ,
The airframe is provided with an unmanned sensor for detecting the absence of a passenger, and the control signal is received by the control unit, and the control unit receives the detection signal to satisfy the remote control operation signal. A control device for a remote-controlled combine combiner, characterized by controlling a traveling operation. In a control device for a remote-control combine that includes a control unit that controls a forward / backward traveling operation of a fuselage in accordance with a main body operation tool signal from a main body operation tool for operating a machine device and a remote control signal from a wireless remote controller disposed in a cockpit ,
The cockpit is provided with a remote control permission switch that can be operated by a passenger of the fuselage, and the control unit receives a permission signal from the remote control permission switch, and the remote control operation signal is subject to the permission signal by the control unit. A control device for a remote-operated combine combine that controls the vehicle running operation in response to the above.   3. The control device for a remote control type combine according to claim 2, wherein the control unit controls the forward / backward traveling operation of the aircraft in preference to the main body operation tool signal over the remote control operation signal.

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