JP2013230101A - Offset working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable an operator to surely conduct a traveling unit operation and surely hear speaker sounds during a levee-plastering operation of an unoperated part.SOLUTION: A levee-plastering machine 100 includes a direction cylinder 141 for adjusting the operation direction of an operation part 120, an offset cylinder 140 for adjusting the operation position of the operation part 120, a speaker of a traveling machine side that is arranged at a traveling machine side and performs a voice guidance of an operation method of a traveling unit 190, an audio output part for outputting sounds from the speaker and a controller 160 that controls the direction cylinder 141 and the offset cylinder 140 on the basis of the direction and the position of the operation part 120 and controls an audio selection of the audio output part. The controller is equipped with an automatic corner plastering control mode for operating the unoperated part and the audio output part of the controller 160 during the mode is controlled by a control signal of the direction cylinder 141 and the offset cylinder 140.

Description

  The present invention relates to a working machine mounted on a traveling machine body, and relates to an offset working machine capable of working a lateral position with respect to a traveling position of the traveling machine body.

  A work machine that is attached to a traveling machine body such as a tractor and performs various continuous linear operations in the field along the traveling direction of the traveling machine body is a general machine for agriculture or civil engineering, and depends on the type of work There are various working machines. Among such working machines, offset working machines that work at positions offset laterally with respect to the traveling position of the traveling machine body are known as glazing machines, groove forming machines, mowing machines, etc. due to the special nature of the work. ing.

  In particular, the plastering machine is used to form the paddle over the outer edge of a wide field, and has recently been attracting attention as having achieved mechanization of the plastering work that requires a great amount of time and labor. The basic configuration of the hull coater includes a mounting portion that is attached to the rear portion of the traveling aircraft body and includes an input shaft that receives power from the traveling aircraft body, a power transmission mechanism that transmits power from the input shaft, and an offset position. A working part that supports the machine body and a working part that performs a dip coating operation with the transmitted power. And a trimming part to be applied on the old iron that has been cut.

  Such a hull coater performs a straight-ahead operation at an offset position along the travel of the traveling machine body, but when performing a straight-ahead operation along the side of the field in a rectangular field, the tip portion of the traveling machine body There is a problem that it becomes impossible to perform a subsequent straight-ahead operation when the end of the field reaches the end of the field.

  In order to solve this problem, when the traveling machine body reaches the corner of the field, the work part of the coater automatically moves along the unworked part while turning the traveling machine body. A machine has been developed (see Patent Document 1). This hull coater is configured so that a buzzer sound of a tone color corresponding to the work state of the hull coater is emitted when the unworked portion is hulled. An operator who has boarded the traveling machine body confirms the operation of the working unit with the buzzer sound, and switches the operation method of the traveling machine body with a change in the tone color of the buzzer sound.

Japanese Patent No. 4866471

  Such a hull coater is used only about several times a year, so when a hull coater performs an unworked portion of a hull with a hull coater, an operator who has traveled on the traveling machine body operates the running machine body. There is a possibility that the wrinkling operation cannot be performed reliably.

  Further, recent traveling aircrafts have excellent quiet performance of a driving cabin on which an operator is boarded, so that it is difficult to hear a buzzer sound from a speaker provided in the coater.

  The present invention has been proposed to cope with such a problem, and it is possible to reliably operate the traveling machine body during the unpainting operation of the unworked part, and an operator who has boarded the traveling machine body An object of the present invention is to provide an offset working machine that can reliably hear the sound of a speaker.

  In order to achieve the above object, an offset work machine (spreading machine 100 in the embodiment) of the present invention is equipped with a work unit that is mounted on a traveling machine body and can work a lateral position with respect to the traveling machine body. A reference value setting means (storage unit 161 in the embodiment) for setting the work direction and work position reference value of the work unit, and a work direction detection unit (embodiment) for detecting the work direction of the work unit. Angle sensor 150), work position detecting means for detecting the work position of the work part (position sensor 151 in the embodiment), and work direction adjusting mechanism for adjusting the work direction of the work part (direction cylinder 141 in the embodiment). ), A work position adjustment mechanism (the offset cylinder 140 in the embodiment) for adjusting the work position of the work unit, and the traveling machine body side. A traveling machine side speaker for guiding the method by voice, a voice output unit for outputting a preset voice from the traveling machine side speaker, a reference value set in the reference value setting means, a work direction detection means, and a work position detection Control means for controlling the drive of the work position adjusting mechanism and the work direction adjusting mechanism based on the work direction and work position of the work part detected by the means, and for selecting and controlling the sound output from the sound output part (implementation) And a control means having an automatic cornering control mode for working an unworked portion remaining in the field corner when the tip of the traveling machine body moves to the field corner. The sound output unit of the traveling machine side speaker in the automatic cornering control mode is controlled by control signals from the work direction adjusting mechanism and the work position adjusting mechanism ( Motomeko 1).

  Further, the offset working machine of the present invention is provided with a working machine side speaker that outputs a buzzer sound according to the progress of the automatic cornering control mode, and the control means is configured to operate the working machine when the automatic cornering control mode is executed. Buzzer sound output control from the side speaker and sound output control from the traveling machine side speaker are performed (claim 2).

  Further, the control means of the present invention is configured such that the work direction adjusting mechanism and the work position adjusting mechanism are controlled by a control signal corresponding to the next sound during the voice guidance from the traveling machine side speaker in the automatic cornering control mode. The voice during guidance is switched to the next voice and output (claim 3).

  According to the offset working machine according to the present invention, by having the above-described characteristics, the operation of the traveling machine body can be reliably performed even when only a few times a year are used when the unworked part is painted. It is possible to provide an offset working machine that allows an operator who has boarded the traveling machine body to reliably hear the sound from the speaker even in the cabin.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory diagram showing an overall configuration of a drape coater according to an embodiment of the present invention. It is a block diagram of the control apparatus of a glazing machine. It is explanatory drawing of the position sensor provided in the glazing machine. It is the flowchart which showed the control content at the time of the normal operation mode by the control apparatus of a glazing machine. It is the flowchart which showed the control content at the time of the automatic square filling control mode by the control apparatus of a glazing machine. It is the state figure which showed the control state at the time of the turning of the traveling body in automatic square paint control mode, and the automatic square paint control state. It is the state figure which showed the control state at the time of the turning of the traveling body in an automatic corner coating control state. It is the state figure which showed the control state of the operation | work part in an automatic square filling control state. It is the flowchart which showed the control content of the voice guidance of the traveling body side speaker in automatic square filling control mode.

  Hereinafter, a preferred embodiment of a rotary working machine of the present invention will be described with reference to FIGS. In the present embodiment, a scissor coating machine that performs scissor trimming work will be described as an example of a rotary working machine.

  FIG. 1 is an explanatory diagram showing the overall configuration of the glazing machine according to the present embodiment. As shown in FIG. 1, the hull coater 100 connects the mounting unit 110 that is mounted on the three-point link mechanism of the traveling machine body 190, the working unit 120 that performs the smearing operation, and the mounting unit 110 and the working unit 120. The connection part 130 is provided as a basic configuration.

  The mounting portion 110 includes lower link connecting portions 111A and 111B and a top link connecting portion 112, and also includes a support member 113 on which the connecting portion 130 is mounted. In addition, the mounting unit 110 includes an input shaft of the illustrated saving path connected to the PTO shaft of the traveling machine body 190 via a transmission joint such as a universal joint, and the power transmitted to the input shaft is transmitted to the transmission mechanism of the connecting unit 130. A transmission mechanism for transmitting to the support member 113 is provided.

  One end side of the connecting portion 130 is supported by the support member 113 of the mounting portion 110, and the working portion 120 is attached to the other end side, so that the working portion 120 is operated at an offset position on the side of the traveling machine body that is omitted in the drawing. The connecting portion 130 has an offset frame 132 provided with a winding transmission means having one end side pivotally supported on the mounting portion 110 side and the other end pivotally supported on the working portion 120 side and transmitting power to the working portion 120 side. And a link member 131 having one end pivotally supported on the mounting portion 110 side and the other end pivotally supported on the working portion 120 side.

  The offset frame 132 has transmission shafts 132A and 132B installed vertically, the offset frame 132 is pivotally supported around the transmission shaft 132A, and the working unit 120 is pivotally supported around the transmission shaft 132B. Has been. Then, the offset frame 132 and the link member 131 are arranged in parallel, and a parallel link mechanism is formed by the support member 123 so that the direction of the working unit 120 does not change with respect to the swing of the connecting unit 130 in the offset angle θ direction. It is a mechanism. In this embodiment, a parallel link mechanism is employed to facilitate control of an offset cylinder 140 and a direction cylinder 141 described later. However, as an embodiment of the present invention, the offset cylinder 140 and the direction cylinder 141 are independent. In the case of an embodiment in which such a parallel link mechanism is not formed, the same control as described below is possible.

  The working unit 120 arranges a new paddle by applying a pre-processing unit 121 that cuts a part of the old paddle to perform a cave work and the soil piled forward by the pre-processing unit 121 on the cut out old paddle. And a trimming unit 122 to be provided. The preprocessing unit 121 and the rectifying unit 122 are mounted on a support case (not shown) and can be driven via a transmission mechanism that distributes the power transmitted to the transmission shaft 132B to the preprocessing unit 121 and the rectifying unit 122. is there.

  Here, the pretreatment unit 121 can adopt a rotary tillage type pretreatment mechanism with a rotary claw attached to the drive shaft, and if necessary, a heaven field treatment mechanism for scraping off the old straw's heaven field (upper surface) is added. It may be what you did. Further, the trimming unit 122 may employ a trimming drum including a cylindrical drum 122A that molds the upper surface of the rod and a conical umbrella-shaped drum 122B that molds the side surface of the rod.

  The plastering machine 100 having such a basic configuration includes an offset cylinder 140 as a work position adjusting mechanism for adjusting the work position of the work unit 120, and a work direction for adjusting the work direction of the work unit 120. A direction cylinder 141 as an adjusting mechanism is provided.

  In addition, an angle sensor 150 is provided as work direction detection means for detecting the work direction of the work unit 120. The angle sensor 150 does not detect a change in the direction of the working unit 120 relative to the connecting unit 130, but detects a change in the working direction with respect to the field scene of the working unit 120 alone, for example, a gyro sensor or the like. Can be adopted. In the present embodiment, the angle sensor 150 is disposed around the transmission shaft 132 </ b> B in the offset frame 132.

  Further, a position sensor 151 is provided as a work position detecting means for detecting the work position of the work unit 120. The position sensor 151 is disposed behind the cylindrical drum 122A through a mounting arm 152 from a support case shown in the illustrated path.

  As shown in FIG. 3, the position sensor 151 has a built-in potentiometer that detects the rotational displacement of the rotating shaft, and one end of a sensor rod 151A is fixed to the rotating shaft. The sensor rod 151A is a rod-shaped member whose sensitivity can be adjusted by adjusting the length. A contact portion 151B is formed at the tip of the sensor rod 151A, and the contact portion 151B is urged so as to be in contact with the side surface of the new Sn. is set up. When the sensor rod 151A swings to the a side in the figure with respect to the reference position, it is detected that the working unit 120 has moved to the left in the traveling direction with respect to the reference, and the sensor rod 151A swings to the b side in the figure. Then, it is detected that the working unit 151 has moved to the right in the traveling direction with respect to the reference.

  As shown in FIG. 1, the spreader 100 configured as described above performs expansion / contraction control of the offset cylinder 140 and the direction cylinder 141 based on the detection signal from the angle sensor 150 and the detection signal from the position sensor 151. A control device 160 is provided.

  FIG. 2 is a block diagram showing the configuration of the control device 160. As shown in FIG. 2, the control device 160 includes a storage unit 161, a comparison operation unit 163, and a signal output unit 162 as main parts. The storage unit 161 stores a work position reference value Xo (161a) and a work direction reference value Ao (161b), and the comparison operation unit 163 is provided with comparison means 163A and 163B.

  Further, a setting signal switching device 165 is provided between the storage unit 161 and the comparison calculation unit 163, and a signal to be input from the storage unit 161 to the comparison calculation unit 163 is provided in the control device 160 in accordance with a control mode described later. It is possible to switch according to the operation of the automatic square fill control switch 166. The automatic squaring control switch 166 is provided in the driving cabin of the traveling machine body 190 (see FIG. 1) and is operated by an operator who has boarded the driving cabin. The signal output unit 162 is provided with a work position adjustment output unit 162A and a work direction adjustment output unit 162B.

  The work position reference value Xo and the work direction reference value Ao stored in the storage unit 161 are set in advance for the control device 160 to execute automatic cornering control. Details will be described later. Then, the detection signal of the angle sensor 150 and the work direction reference value Ao are compared by the comparison unit 163A, and a control signal for driving and controlling the direction cylinder 141 is output from the work direction adjustment output unit 162B so as to eliminate the difference. Further, the detection signal of the position sensor 151 and the work position reference value Xo are compared by the comparison unit 163B, and a control signal for driving and controlling the offset cylinder 140 is output from the work position adjustment output unit 162A so as to eliminate the difference.

  Further, the control device 160 is provided with an attitude determination unit 173, an audio pattern selection output unit 174, an audio pattern transmission unit 175, and an audio pattern output unit 176. The posture determination unit 173 determines the posture of the working unit 120 with respect to the traveling machine body 190 based on a detection signal from a posture sensor 178 described later. As shown in FIG. 1, the attitude sensor 178 passes through the axis of the transmission shaft 132A and is orthogonal to the traveling direction of the traveling machine body 190, X is a line passing through the axes of the transmission shafts 132A and 132B, and Y is the transmission shaft 132B. Assuming that the center axis of rotation of the rectifying section 122 passing through the axis is Z, a swing angle α (an angle formed by the straight lines X and Y) of the offset frame 132 with respect to the support member 113 provided on the transmission shaft 132A is detected. A swing angle sensor 178a and a rotation angle sensor 178b that is provided on the transmission shaft 132B and detects a rotation angle β of the working unit 120 with respect to the support member 113 (an angle formed by the straight line X and Z). . The swing angle sensor 178a and the rotation angle sensor 178b are potentiometers, and detection signals from these sensors are sent to the attitude determination unit 173 shown in FIG.

  As shown in FIG. 2, the posture determination unit 173 includes a swing angle sensor 178a and a rotation angle sensor 178b corresponding to a plurality of postures of the working unit 120 (hereinafter collectively referred to as “posture sensor 178”). ) Is previously stored. Specifically, as shown in FIG. 7A, the posture determination unit 173 includes a state where the tip of the traveling machine body 190 reaches the corner Hn of the farm field when the working unit 120 moves forward along the rod U1. The detected value of the posture sensor 178 corresponding to the posture of the working unit 120 (hereinafter referred to as “D1”), and as shown in FIG. 8D, the traveling machine body 190 turns and stops at the corner Hn of the field. The detected value of the attitude sensor 178 (hereinafter referred to as “D2”) corresponding to the attitude of the working unit 120 when reaching the position immediately before the position to be moved, and as shown in FIG. A detected value (hereinafter, referred to as “D3”) of the posture sensor 178 corresponding to the posture of the working unit 120 from the position immediately before the position where it turns and stops at the corner Hn of the farm field to the stop position, and FIG. As shown in FIG. 8 (f), the traveling machine body 190 has a corner Hn of the field. As shown in FIG. 8G, the detected value of the attitude sensor 178 (hereinafter referred to as “D4”) corresponding to the attitude of the working unit 120 when it reaches the stop position where it turns and stops. The detected value of the attitude sensor 178 corresponding to the attitude of the working unit 120 when the working unit 120 performs the work up to the end of the corner of the basket with 190 stopped at the corner Hn of the farm field (hereinafter referred to as “D5”). Is stored).

  As shown in FIG. 2, the voice pattern selection / output unit 174 stores a voice pattern related to the operation method of the traveling machine body 190 according to the detection value of the attitude sensor 178. Details of the voice pattern will be described later. The voice pattern selected by the voice pattern selection / output unit 174 is wirelessly transmitted by the voice pattern transmission unit 175, converted into a voice signal by the voice pattern output unit 176, and output as a voice from the work implement side speaker 170.

  The traveling machine body side speaker 171 is provided in the driving cabin of the traveling machine body 190 (see FIG. 1), and the work machine side speaker 170 is provided in the basket coater 100. The traveling machine side speaker 171 is connected to a receiving device 180 that receives a control signal of an audio pattern transmitted from the control device 160, converts it into sound, and outputs it.

  The receiving device 180 is provided with an audio pattern receiving unit 181 and an audio pattern output unit 182. The voice pattern receiving unit 181 receives a voice pattern control signal transmitted from the voice pattern transmitting unit 175 of the control device 160. The voice pattern output unit 182 converts the voice pattern control signal received by the voice pattern reception unit 181 into a voice signal, and outputs the voice signal from the traveling machine side speaker 171.

  The control device 160 configured in this way, when the automatic square fill control mode is set by turning on the automatic square fill control switch 166, as shown in FIG. 1 and FIG. Adjustment driving of the offset cylinder 140 and the direction cylinder 141 is performed so that the working position reference value Xo between the forming position and the working unit 120 is maintained. At this time, for the control of the direction cylinder 141, the angle sensor 150 detects a deviation from the set work direction reference value Ao, and a control signal is output from the work direction adjustment output unit 162B so as to eliminate the deviation. Further, the offset cylinder 140 is controlled by detecting a position shift of the position of the working unit 120 from the work position reference value Xo by the position sensor 151 and adjusting the work position by using a control signal for eliminating this shift and keeping the work position constant. Output from the output unit 162A.

  4, 5, and 6 are flowcharts showing the control contents in the control device 160 of the present embodiment. FIG. 4 is a control flow in the normal work mode, FIG. 5 is a control flow in the automatic cornering control mode, Reference numeral 6 denotes a control state when the traveling machine body 190 is turned in the automatic cornering control mode, and an automatic cornering control state. As shown in FIGS. 2 and 4, first, when the work is started (S10) and the control device 160 is turned on (S11), the angle sensor 150 and the position sensor 151 are activated to start detection. (S12A, S12B). Here, the offset cylinder 140 and the directional cylinder 141 are maintained in a predetermined state, and a linear coating operation is advanced by the working unit 120 while the traveling machine body 190 (see FIG. 1) travels straight.

  In this normal work mode, the detection values of the angle sensor 150 and the position sensor 151 are sent to the storage unit 161 of the control device 160 as needed, and the work position reference value Xo (161a) and the work direction reference value Ao (161b) are set. (S13). The work position reference value Xo and the work direction reference value Ao may be set by calculating an average value from the detection values sent at any time and calculating the reference value, or stored as the sent detection values. The reference value may be replaced and updated as needed.

  This reference value setting (S13) is continued until the end of work in the normal work mode (S14, S16), and during that time, when the automatic cornering control switch 166 is turned on (S15), the automatic cornering control shown in FIG. The mode is changed (S21).

  When the automatic cornering control switch 166 is turned on (S21), as shown in FIGS. 2 and 5, the work position reference value Xo and the work direction reference value Ao set at that time are used as the reference for the automatic cornering control mode. A value is set (S22). The automatic cornering control switch 166 at this time can be a manual switch, or is activated when the detected value of the automatic switch or the angle sensor 150 that is linked with the steering operation of the traveling machine body 190 exceeds the allowable value. You can also use an automatic switch.

  When the automatic cornering control mode is entered and a turning operation of the traveling machine body 190 is performed (S23), direction detection by the angle sensor 150 and position detection by the position sensor 151 are performed (S24A, S24B). Then, as described above, the control device 160 compares the detection value At of the angle sensor 150 with the set work direction reference value Ao, and the control means 163A obtains the control deviation | At-Ao | (S25A). The control signal is sent from the working direction adjustment output unit 162B to the direction cylinder 141 until it becomes zero, and the direction control is performed (S26A). Further, the detection value Xt of the position sensor 151 and the set work position reference value Xo are compared, and the control means 163B obtains the control deviation | Xt−Xo | (S25B), and offsets until it becomes zero. A control signal is sent from the work position adjustment output unit 162A to the cylinder 140 to perform work position control (S26B). Then, when the automatic cornering control switch 166 is turned off, the automatic cornering control mode is terminated (S27), and then the automatic straight-ahead operation is terminated (S28).

  FIG. 6 is a control state diagram showing the behavior of the offset angle θ in the automatic square paint control mode described above, and FIGS. 7 and 8 show the control state during turning of the traveling vehicle body in the automatic square paint control mode, and It is the state figure which showed the automatic square filling control state.

  For example, as shown in FIGS. 7 (a), 7 (b), and 7 (c), the traveling machine body 190 in which the hull coater 100 is mounted on the three-point link mechanism is swung at the corner Hn of the field. In the case of turning around the center Cr, the control state shown by the curve A in FIG. 6 is obtained. In FIG. 6, the horizontal axis represents the control time t (s), and the vertical axis represents the offset angle θ.

  Here, as shown in FIG. 7 (a), the traveling machine body 190 is caused to travel straight along the one side L1 of the field in the normal work mode to perform a linear smearing operation, and the front end of the traveling machine body 190 has a corner Hn. When the steering operation is performed and the traveling machine body 190 starts to turn, the automatic square coating control mode is started (t = 0 (s)).

  In the example of the behavior of the offset angle θ shown in FIG. 6, the offset angle θ is set to the control time t1 as the traveling machine body 190 turns with the offset angle θ at the control time t = 0 set to the maximum value θmax (FIG. 6). 8 (d)), the offset angle θ gradually decreases along the curve A, and reaches the minimum value θmin at the control time t1. Further, as the traveling machine body 190 further turns, until the predetermined control time t2 (see FIG. 8F), the offset angle θ gradually increases, and automatically at the offset angle θ1st at the control time t2. The straight work control mode ends.

  When the automatic rectilinear work control mode ends, the working unit 120 further advances to the end of the corner Hn of the field by a predetermined operation according to a control program selected and set in advance. Here, if the offset angle θ is increased as shown by the curve B in FIG. 6, the working unit 120 advances substantially linearly to the end of the corner Hn of the field as shown in FIG. 8G. Can be made. Then, when the working unit 120 reaches the end of the field corner, the automatic cornering control switch 166 is turned off to end the automatic cornering operation up to the end of the corner Hn.

  Thus, when the automatic corner coating control mode is selected and operated when the tip of the traveling machine body 190 moves to the corner Hn of the field, the basket coater 100 of the present application is operated by the working unit 120 of the basket coater 100. It is possible to automatically perform the glazing operation up to the end of the ridge corner Hn.

  In addition, when the automatic cornering control mode is selected and operated, the coater 100 according to the present application operates the working unit 120 with voice guidance and a buzzer sound on an operation method of the traveling machine body 190 for an operator who has boarded the traveling machine body 190. Status notification is made.

  Next, the control content of the voice guidance and the buzzer sound will be described with reference to FIGS. When the mode is shifted to the automatic cornering control mode, as shown in FIG. 9, first, the operation is started (S10), and when the automatic cornering control switch 166 is turned on (S21), the detection value of the attitude sensor 178 is changed. It is determined whether or not it is at D1 (S30).

  When it is determined that the detected value of the posture sensor 178 is D1, the work machine side speaker 170 (see FIG. 2) emits a tone 1 buzzer sound, and the traveling machine side speaker 171 (see FIG. 2). (Refer to 2). Voice guidance (1) that says “Automatic cornering control mode has been entered. Quickly leave the steering wheel fully turned to the left. If there is no autobrake, lightly depress one brake.” S31). If it is determined in S30 that the detected value of the attitude sensor 178 is not in D1, S30 is repeated until it is determined that it is in D1.

  When the automatic cornering control mode is entered and the traveling machine body 190 turns at the corner Hn of the field (see FIGS. 7B, 7C, and 8D), the detected value of the attitude sensor 178 is detected. Is determined to be D2 (S32).

  When it is determined that the detected value of the posture sensor 178 is D2, the work machine side speaker 170 (see FIG. 2) continuously emits a tone 1 buzzer sound and the traveling machine side speaker. From 171 (see FIG. 2), the voice guidance (2) “Prepare to step on the clutch and stop the traveling machine” flows (S33). If it is determined that the detected value of the posture sensor 178 is D2 during the voice guidance (1) described above (S34), the process proceeds to S33 and the voice guidance is forcibly voice guidance ( Switch from 1) to voice guidance (2).

  When the voice guidance (2) flows from the traveling machine side speaker 171 and the traveling machine body 190 further turns (see FIG. 8E), it is determined whether or not the detected value of the attitude sensor 178 is D3 (S35). ).

  When it is determined that the detected value of the posture sensor 178 is D3, the buzzer sound of tone 1 “Peep ...” is continuously emitted from the work machine side speaker 170, and “3” is output from the traveling machine side speaker 171. Voice guidance (3) “2” and “1” flows. If it is determined that the detected value of the posture sensor 178 is D3 during the voice guidance (2) described above (S37), the process proceeds to S36 and the voice guidance is forcibly voice guidance ( Switch from 2) to voice guidance (3).

  When the voice guidance (3) flows, it is determined whether or not the detected value of the attitude sensor 178 is D4 (S38).

  When it is determined that the detected value of the posture sensor 178 is D4, a buzzer sound (tone 2) having a tone different from the tone 1 of “pipi-pi ...” is emitted from the work machine side speaker 170 (see FIG. 2). A voice guidance (4) is sent from the traveling machine side speaker 171 saying "It is a stop. The handle and the traveling lever are neutral and the clutch is released" (S39). If it is determined that the detected value of the posture sensor 178 is D4 during the voice guidance (3) described above (S40), the process proceeds to S39 and the voice guidance is forcibly voice guidance ( Switch from 3) to voice guidance (4).

  When the detected value of the posture sensor 178 becomes D4, the control mode of the coater 100 is switched from the automatic straight work control mode to the automatic corner work control mode, and the work unit 120 moves linearly to the end of the field corner Hn. Then, the glazing operation is performed (see FIG. 8G).

  When the working unit 120 moves to the end of the corner Hn of the field, it is determined whether or not the detected value of the posture sensor 178 is D5 (S41).

  When it is determined that the detection value of the posture sensor 178 is D5, the buzzer sound of the tone 2 “pipip ...” is continuously emitted from the work machine side speaker 170, and from the traveling machine side speaker 171 to the “corner”. When the paint is finished, step on the clutch and press the automatic square paint control switch. ”(S42). It should be noted that whether or not the working unit 120 has moved to the end of the corner Hn of the field is determined by a visual check by an operator who has boarded the traveling machine body 190 or when the automatic cornering control mode has ended. You may judge that it moved after progress.

  When the automatic cornering control switch 166 is turned OFF (S43), the buzzer sound from the work implement side speaker 170 is muted, and the traveling machine side speaker 171 states that “automatic straight-forward operation is complete. The voice guidance (6) flows and the automatic cornering operation is completed.

  When the detected value of the posture sensor 178 becomes D5 (S45) while the voice guidance (4) described above is flowing, the process proceeds to S42 and the voice guidance is forcibly changed from the voice guidance (4) to the voice guidance. Switch to (5).

  As described above, when the automatic cornering control mode is selected, the spreader 100 of the present invention guides the operating method of the traveling machine body 190 from the traveling machine side speaker 171 by voice according to the detection value of the attitude sensor 178. For this reason, even when the operator who has boarded the traveling machine body 190 forgets the operation method of the traveling machine body 190, the traveling machine body 190 can be reliably operated. For this reason, it is possible to reliably perform the smearing operation at the corner of the field. In addition, even when the driving cabin of the traveling machine body 190 has excellent quiet performance and the operator in the driving cabin cannot hear the buzzer sound of the work machine side speaker 170, the voice guidance from the traveling machine body side speaker 171 is provided. Thus, the operator can operate the traveling machine body 190.

  In addition, although the above-mentioned Example demonstrated the plastering machine 100, this invention is applicable not only to this but another offset working machine (for example, a ditching machine etc.). In this case, the sensors are not limited to those described above, and sensors having shapes, structures, and functions suitable for the form of each offset work machine may be employed.

100 Straw coater (offset work machine)
120 Working part 140 Offset cylinder (working position adjustment mechanism)
141 direction cylinder (working direction adjustment mechanism)
150 Angle sensor (working direction detection means)
151 Position sensor (working position detecting means)
160 Control device (control means)
161 storage unit (reference value setting means)
162D audio output unit 170 work machine side speaker 171 travel machine body side speaker 190 travel machine body

Claims (3)

An offset working machine that is mounted on a traveling machine body and includes a working unit capable of working a lateral position with respect to the traveling machine body,
A reference value setting means for setting a reference value of the working direction and the working position of the working unit;
Work direction detecting means for detecting the work direction of the working unit;
Working position detecting means for detecting the working position of the working unit;
A working direction adjusting mechanism for adjusting a working direction of the working unit;
A work position adjustment mechanism for adjusting the work position of the working unit;
A traveling machine body side speaker provided on the traveling machine body side for guiding the operation method of the traveling machine body by voice;
An audio output unit for outputting a preset audio from the traveling machine side speaker;
Based on the reference value set in the reference value setting means and the work direction and work position of the work part detected by the work direction detection means and the work position detection means, the work position adjustment mechanism and the work Control means for controlling the driving of the direction adjustment mechanism, and selecting and controlling the sound output from the sound output unit,
The control means has an automatic cornering control mode for working an unworked portion remaining in the field corner when the tip of the traveling machine body moves to the field corner,
The offset work machine, wherein the sound output unit of the traveling machine side speaker in the automatic square paint control mode is controlled by control signals of the work direction adjusting mechanism and the work position adjusting mechanism. The offset work machine is provided with a work machine side speaker that outputs a buzzer sound according to the progress of the automatic square paint control mode.
The said control means performs the output control of the buzzer sound from the said working machine side speaker, and the audio | voice output control from the said traveling machine body side speaker at the time of execution of the said automatic square filling control mode. The offset work machine described. The control means is configured to control the work direction adjusting mechanism and the work position adjusting mechanism with a control signal corresponding to the next voice during voice guidance from the traveling machine side speaker in the automatic cornering control mode. The offset working machine according to claim 1, wherein the voice during guidance is switched to the next voice and output.

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