JP2008182939A - Working vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent wrong operation, and to improve safety in a remote operation device of a combine harvester. <P>SOLUTION: In the working vehicle including a controller (11) for inputting remote operation signals from a remote controller (12) equipped with a plurality of operation switches (SW2 to 6) and controlling the operation state of each working portion in a vehicle body on the basis of the inputted signals, firstly, the working portions can be operated by the operation switches of the remote controller (12), only when the travel speed of the working vehicle is less than a set travel speed. Secondly, the working portions can be operated by the operation switches of the remote controller (12), only when the travel of the working vehicle is stopped. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a working vehicle such as a combine.

In a working vehicle having a remote operation control unit that inputs a remote operation signal from a transmitter side provided with a plurality of operation switches and controls each operation unit based on the input signal, the remote operation control unit When the operation signal of the steering switch and the operation signal of an arbitrary operation switch set in advance are input in parallel from the transmitter side, it is determined that the operation is a turning operation, and the turning operation command for the steering and brakes and the working unit It is known that a turning control means for outputting a rising time operation command is provided (Patent Document 1).
No. 7-45404

  However, in a working vehicle equipped with the remote control device as described above, when an operator who does not ride on the vehicle body erroneously operates the remote control device while the vehicle body is traveling at a high speed, the vehicle rides on the vehicle body. The driver's response is delayed and dangers such as collision with obstacles are likely to occur.

  The present invention aims to prevent a misoperation during a remote operation and to ensure safety in a remote operation device for a working vehicle.

In order to solve the above-mentioned problems, the present invention takes the following technical means.
According to the first aspect of the present invention, a remote operation signal from a remote operation tool (12) having a plurality of operation switches (SW2 to SW6) is input, and the operating state of each working unit in the vehicle body is controlled based on the input signal. In the working vehicle provided with the controller (11), the working unit can be operated by the operation switch of the remote operation tool (12) only when the traveling speed of the working vehicle is equal to or lower than the set traveling speed. The working vehicle is characterized by the above structure.

  According to this configuration, when a remote operation signal from the remote operation tool 12 provided with the plurality of operation switches SW2 to 6 is input to the controller 11 of the work vehicle, the traveling speed of the work vehicle is set. If it is less than the traveling speed, the operation unit to be operated is operated.

  The invention of claim 2 inputs a remote operation signal from a remote operation tool (12) provided with a plurality of operation switches (SW2-6), and controls the operating state of each working part in the vehicle body based on the input signal. In the working vehicle provided with the controller (11), the working unit can be operated by the operation switch of the remote operation tool (12) only when the working vehicle is in the travel stop state. A working vehicle characterized by

  According to the above configuration, when a remote operation signal from the remote operation tool 12 provided with the plurality of operation switches SW2 to 6 is input to the controller 11 of the work vehicle, the work vehicle is in a travel stop state. In this case, the operation unit to be operated is operated.

  According to the first aspect of the present invention, since each working unit can be operated by the remote operation signal of the remote operation tool 12 only when the traveling speed of the working vehicle is equal to or less than the set traveling speed, an erroneous operation during high-speed traveling can be performed. It is possible to reduce the work safety.

  According to the second aspect of the present invention, since each working unit can be operated by the remote operation signal of the remote operation tool 12 only when the working vehicle is in the travel stop state, the operation safety can be reduced by reducing erroneous operations during travel. Can be improved.

Hereinafter, embodiments of the present invention shown in the drawings will be described.
First, the overall structure of a combine which is a working vehicle equipped with the present invention will be described with reference to FIG. FIG. 1 shows a side view of the combine. Left and right traveling crawlers 3 and 3 are disposed below and below the traveling vehicle body 2 of the combine 1. On the traveling vehicle body 2, a steering unit 4 with a seat on the right front is disposed, and an engine (not shown) is disposed behind the vehicle. ) And a grain storage grain tank 5, a threshing unit 6 is mounted on the left side of the traveling vehicle body 1, a sorting unit 7 is provided below the threshing unit 6, and a front side portion of the traveling vehicle body 1 is provided. Is provided with a cutting and conveying section 8 that can be raised and lowered.

  Further, the rotational power of the engine passes through a continuously variable transmission (not shown), a travel transmission (not shown), and a work transmission (not shown), the driving crawlers 3 and 3, the drive unit of the cutting and conveying unit 8, The threshing unit 6 is configured to transmit to a drive unit such as a feed chain and a handling cylinder and a drive unit such as the discharge auger 9. The transmission path is provided with a reaping clutch and a threshing clutch (not shown), and is configured to intermittently transmit power to the reaping and conveying section 8 and the threshing section 6, and by a reaping / threshing clutch lever (not shown). It is configured to be able to be operated in a state of entering a threshing clutch in a state of cutting / threshing-in state, cutting / threshing-off state, and cutting clutch-off state. Further, the threshing unit 6 is provided with a feed chain 10 for conveying cereals, and configured so that the feed chain 10 can be driven at a high speed or a low speed by operating a feed chain lever (not shown).

Next, the remote control device of the combine 1 will be described with reference to FIG.
The controller 11 for controlling the mowing / threshing clutch is provided with a mowing / threshing clutch switching unit 11a, a feed chain transmission unit 11b of the threshing unit 6, and a feed chain stop unit 11c. On the input side of the controller 11, there are a parking pedal switch SW 1, a wheat straw sensor for detecting the harvested wheat straw (front left) SE 1 of the harvesting transport unit 8, and a wheat straw sensor for detecting the harvested wheat straw of the harvesting transport unit 8 (front Right) SE2, reaping / threshing position sensor SE3 which detects the cutting state of the reaping / threshing clutch, threshing position sensor SE4 which detects the threshing state of the reaping / threshing clutch, and the entering state of both the reaping / threshing clutch The cutting chain / threshing position sensor SE5, the feed chain high-speed position sensor SE6 for detecting the high-speed drive state of the feed chain, and the feed chain low-speed position sensor SE7 for detecting the low-speed drive state of the feed chain are connected via the digital signal processing circuit. It is connected to the mowing / threshing clutch switching means 11a and the feed chain transmission means 11b. Further, a mowing / threshing operation lever sensor SE8 for detecting the operating position of the mowing / threshing operation lever is connected to the controller 11 via an analog signal input processing circuit, and a vehicle speed sensor SE9 for detecting the vehicle speed of the combine 1 is input as an external interrupt. It is connected to the controller 11 via a processing circuit.

  Further, the cutting / threshing clutch switching means 11a of the controller 11 outputs a cutting / threshing clutch input signal and a cut signal via the cutting / threshing clutch motor output circuit 11d, and the feed chain transmission means 11b outputs a feed chain motor output circuit 11f. The feed chain high-speed drive signal and the feed chain low-speed drive signal are output via.

  In addition, an operation signal is input to the digital signal input processing circuit from the remote operation tool 12 via the remote control signal reception conversion unit 13 by wire or wirelessly. As shown in FIG. 3, the remote operation tool 12 stops the cutting / threshing clutch switch SW2, the cutting / threshing clutch switch SW3, the feed chain high speed switch SW4, the feed chain low speed switch SW5, and the drive of the feed chain. Or a feed chain stop / release switch SW6 for releasing the lock.

Next, the control contents of the controller 11 will be described with reference to the flowchart of FIG.
When the control is started, it is determined whether or not the culm sensor (front left) SE1 and the culm sensor (front right) of the cutting and conveying unit 8 are cut (step S1). It is determined whether or not the dull switch SW1 is turned on (step S2). If it is No, it is determined whether or not the vehicle speed is a work speed slower than a predetermined low speed value (step S3). If the work speed is Yes, the mowing / threshing clutch lever is operated to the mowing / threshing entering position. It is determined whether or not (step S4). If Yes, it is determined whether the mowing / threshing clutch is in the mowing / threshing position (step S5). If No, the controller 11 outputs the mowing / threshing clutch (step S6).

  Further, it is determined whether or not the mowing / threshing clutch lever is operated to the mowing / threshing entering position (step S4). If No, then the mowing / threshing clutch lever is operated to the mowing / threshing cutting position. It is determined whether or not there is (step S7). If Yes, it is determined whether or not the mowing / threshing clutch is in the mowing / threshing cut position (step S9), and if No, the mowing / threshing clutch mowing / threshing cut is output from the controller 11 (step S10). .

  Further, it is determined whether or not the mowing / threshing clutch lever is operated to the mowing / threshing cutting position (step S7), and if it is No, it is then determined whether or not the remote control tool 12 is operated remotely (step S8). ) And Yes, the process proceeds to step S9. When it is No, it is determined whether or not the remote controller 12 is turned on (Step S11). If Yes, it is determined whether or not the cutting / threshing cut position of the cutting / threshing clutch (Step S12). If it is, it is determined whether the cutting / threshing clutch is in the cutting / threshing position (step S13), and if Yes, the cutting / threshing output of the cutting / threshing clutch is output (step S14). The harvesting / threshing-in output of the harvesting / threshing clutch is output (step S15).

According to the said structure, operation of a harvesting / threshing clutch can be performed in the position away from the control part 4, and operation of the combine 1 can be performed easily and safely.
Next, other control contents will be described with reference to FIG.

  When the control is started, it is determined whether or not the culm sensor (front left) SE1 and the culm sensor (front right) of the cutting and conveying unit 8 are cut (step S21). It is determined whether or not the dull switch SW1 is turned on (step S22). If No, it is determined whether or not the vehicle speed is a work speed slower than a predetermined low speed value (step S23). If the work speed is Yes, then the feed chain high speed switch SW4 of the remote operation tool 12 is operated. It is determined whether or not it is performed (step S24). If Yes, it is determined whether or not the feed chain is high speed (step S25). If No, the controller 11 outputs the feed chain at high speed (step S26).

  Further, it is determined whether or not the feed chain high speed switch SW4 of the remote operation tool 12 has been operated (step S24). If No, it is determined whether or not the feed chain low speed switch SW5 of the remote control tool 12 has been operated. (Step S27). If Yes, it is determined whether or not the feed chain is at a low speed (step S28). If No, the controller 11 outputs the feed chain at a low speed (step S29).

According to the said structure, operation of the feed chain of the threshing part 6 can be performed in the position away from the control part 4, and the handling operation of the cereals in the threshing part 6 can be performed safely.
Next, other control contents will be described with reference to FIG.

  When the control is started, it is determined whether or not the culm sensor (front left) SE1 and the culm sensor (front right) of the cutting and conveying unit 8 are cut (step S31). It is determined whether or not SW1 is turned on (step S32). If No, it is determined whether or not the vehicle speed is a working speed slower than a predetermined low speed value (step S33). If it is Yes, then it is determined whether the feed chain high speed switch SW4 and the feed chain low speed switch SW5 of the remote control tool 12 are operating (step S34). If yes, it is determined whether or not the feed chain drive / stop operation switch SW6 of the remote operation tool 12 is being operated (step S35). If yes, the controller 11 outputs a feed chain stop output. (Step S36), the memory during the feed chain drive is reset (Step S37).

  Further, it is determined whether or not the feed chain high speed switch SW4 and the feed chain low speed switch SW5 of the remote control tool 12 are in operation (step S34), and if No, the feed chain drive / stop switch of the remote control tool 12 is determined. It is determined whether or not SW6 has been operated (step S38). If Yes, the feed chain stop output is released to drive (step S39), and it is stored that the feed chain is being driven (step S40).

According to the said structure, operation of the feed chain of the threshing part 6 can be performed in the position away from the control part 4, and the handling operation of the cereals in the threshing part 6 can be performed safely.
4 to 6, the vehicle speed sensor SE9 allows the remote control tool 12 to be operated only when the detected vehicle speed is equal to or lower than a predetermined low speed value or 0 (stopped state). Incorrect operation can be prevented.

  In the control of FIGS. 4 to 6, since the remote control tool 12 can be operated only during parking when the parking pedal switch SW1 is detected, the threshing unit 6 can be handled safely. it can.

  In the control of FIGS. 4 to 6, the cedar sensor (front left) SE1 for detecting the front left cereal of the cutting and conveying unit 8 and the cereal sensor (front right) for detecting the front right cereal of the cutting and conveying unit 8 ) Since the SE2 is provided and the switch operation of the remote control tool 12 is invalidated during the cutting operation in which these sensors SE1 and SE2 detect the cereals, it is possible to prevent erroneous operation during traveling and normal cutting operations. Can do.

Next, other control contents will be described with reference to FIG.
This control is performed only when the cutting operation of the cutting and conveying unit 8 is stopped by the remote control tool 12 so that the cutting clutch of the cutting and conveying unit 8 is turned off and only the threshing clutch of the threshing unit 6 is engaged. It is intended to improve safety.

  When the control is started, it is determined whether or not the culm sensor (front left) SE1 and the culm sensor (front right) of the cutting and conveying unit 8 are cut (step S51). It is determined whether or not SW1 is turned on (step S52). If it is No, it is determined whether or not the vehicle speed is a work speed slower than a predetermined low speed value (step S53). If the work speed is Yes, whether or not the mowing / threshing clutch lever is in the position of entering the mowing clutch / threshing clutch. Is determined (step S54). If Yes, it is determined whether the mowing / threshing clutch is in the mowing clutch / threshing position (step S55). If No, the controller 12 outputs the mowing clutch / threshing clutch (step S56).

  Further, it is determined whether or not the mowing / threshing clutch lever is in the position of entering the mowing clutch / threshing clutch (step S54). If No, it is determined whether the mowing / threshing clutch lever is in the mowing clutch / threshing clutch disengagement position. (Step S57). If it is No, it is determined whether the cutting / threshing clutch switch SW2 of the remote control tool 12 is a cutting operation (step S58), and if Yes, it is determined whether the cutting clutch / threshing clutch is in the cutting position. (Step S59) If the answer is No, the controller 11 outputs a cutting clutch / threshing clutch (Step S60).

  Further, it is determined whether the mowing / threshing clutch switch SW2 of the remote operation tool 12 is turned off (step S58). If No, it is determined whether the mowing / threshing clutch switch SW2 of the remote operation tool 12 is turned on. (Step S61). If Yes, it is determined whether or not the mowing clutch / threshing clutch is disengaged (step S62). If No, it is determined whether the mowing clutch / threshing clutch is in the engaged position (step S63). If Yes, the controller 11 outputs the cutting clutch / threshing clutch (Step S64), and if No, outputs only the threshing clutch (Step S65).

  According to the said structure, only when the harvesting conveyance part 8 and the threshing part 6 are stopped, the remote control tool 12 can turn off the harvesting clutch of the harvesting conveyance part 8 and operate only the threshing clutch of the threshing part 6. The safety of handling work can be improved.

  In the control of FIG. 7, after the cutting operation of the mowing / threshing clutch of the remote operation tool 12, the mowing / threshing clutch can be turned on by manually operating the mowing / threshing clutch lever to the cutting clutch / threshing clutch entering position. By doing so, it is possible to prioritize the operation of the operator and perform an accurate operation.

  In addition, in the control of FIG. 7, when the mowing / threshing clutch lever of the remote control tool 12 is manually operated after the turning operation of the mowing / threshing clutch lever, the mowing clutch / threshing clutch is turned off. If it can be turned off, the operator's operation can be prioritized and an appropriate operation can be performed.

Next, other control contents will be described with reference to FIGS.
A CCD camera 21 for recognizing the shape of the field is provided in front of the body of the combine 1 so that the boundary 24 between the field 22 and the shore 23 can be recognized based on image information captured by the CCD camera 21. Then, a turning point P can be set on the detection screen 21a of the touch panel of the camera 21 by an operator's touch operation, and a controller (not shown) according to the turning point P uses a predetermined calculation formula on the shore. The turning reference such as the turning radius and the work start point after the turning is set. Thus, when the combine 1 reaches the turning point P, the combine 1 automatically turns based on the set turning reference, and the operation is resumed after the turn is completed.

  As shown in the flow in FIG. 9, when the control is started, an image of the boundary portion 24 between the farm field 22 and the bank 23 is captured by the camera 21 (step S61), and the shapes of the farm field 22, the bank 23, and the boundary section 24 are changed. Recognized (step S62). Next, the operator inputs the turning point P on the detection screen of the touch panel 21a of the camera 21 (step S63), and the operator controls the contents of control operation ("turning traveling", "turning traveling + crop content", etc.) from the operation panel. (Not shown) is input (step S64). Next, a linear travel distance toward the shore is detected, and operation recording is started (steps S65, 66, 67).

  Next, when the turning point is reached, automatic turning is performed based on the turning reference (step S68). Thereafter, when a work is performed by a manual operation (step S69), the work contents of the manual operation performed thereafter are recorded (step S70), and the same work is performed by returning to step S61.

  According to the above-described configuration, the combine 1 works while turning on the basis of the turning point set by the operator's touch operation on the detection screen of the camera 21, so that the appropriate turning according to the shape of the field and the hard and soft soil state of the field. Can run and work.

Combine side view Control block diagram Front view of remote control tool flowchart flowchart flowchart flowchart (A) Perspective view of field (B) Front view of camera detection screen flowchart

Explanation of symbols

1 Working vehicle 6 Working part (threshing part)
8 Working section (reaping and transporting section)
11 Controller 12 Remote operation tool SW2-6 Operation switch

Claims (2)

  Provided is a controller (11) for inputting a remote operation signal from a remote operation tool (12) provided with a plurality of operation switches (SW2-6) and controlling the operating state of each working part in the vehicle body based on the input signal. The working vehicle is configured such that the working unit can be operated by the operation switch of the remote operation tool (12) only when the traveling speed of the working vehicle is equal to or lower than the set traveling speed. Working vehicle.   Provided is a controller (11) for inputting a remote operation signal from a remote operation tool (12) provided with a plurality of operation switches (SW2-6) and controlling the operating state of each working part in the vehicle body based on the input signal. In the working vehicle, the working vehicle can be operated by the operation switch of the remote control tool (12) only when the working vehicle is in a travel stop state. .

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